# Hands-on

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We learned what ML-Agents is and how it works. We also studied the two environments we're going to use. Now we're ready to train our agents!

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/envs.png" alt="Environments" />

To validate this hands-on for the certification process, you **just need to push your trained models to the Hub.**
There are **no minimum results to attain** in order to validate this Hands On. But if you want to get nice results, you can try to reach the following:

- For [Pyramids](https://huggingface.co/spaces/unity/ML-Agents-Pyramids): Mean Reward = 1.75
- For [SnowballTarget](https://huggingface.co/spaces/ThomasSimonini/ML-Agents-SnowballTarget): Mean Reward = 15 or 30 targets shoot in an episode.

For more information about the certification process, check this section 👉 https://huggingface.co/deep-rl-course/en/unit0/introduction#certification-process

**To start the hands-on, click on Open In Colab button** 👇 :

[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/huggingface/deep-rl-class/blob/master/notebooks/unit5/unit5.ipynb)

We strongly **recommend students use Google Colab for the hands-on exercises** instead of running them on their personal computers. 

By using Google Colab, **you can focus on learning and experimenting without worrying about the technical aspects** of setting up your environments.

# Unit 5: An Introduction to ML-Agents

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/thumbnail.png" alt="Thumbnail"/>

In this notebook, you'll learn about ML-Agents and train two agents.

- The first one will learn to **shoot snowballs onto spawning targets**.
- The second needs to press a button to spawn a pyramid, then navigate to the pyramid, knock it over, **and move to the gold brick at the top**. To do that, it will need to explore its environment, and we will use a technique called curiosity.

After that, you'll be able **to watch your agents playing directly on your browser**.

For more information about the certification process, check this section 👉 https://huggingface.co/deep-rl-course/en/unit0/introduction#certification-process

⬇️ Here is an example of what **you will achieve at the end of this unit.** ⬇️

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/pyramids.gif" alt="Pyramids"/>

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballtarget.gif" alt="SnowballTarget"/>

### 🎮 Environments:

- [Pyramids](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Examples.md#pyramids)
- SnowballTarget

### 📚 RL-Library:

- [ML-Agents](https://github.com/Unity-Technologies/ml-agents)

We're constantly trying to improve our tutorials, so **if you find some issues in this notebook**, please [open an issue on the GitHub Repo](https://github.com/huggingface/deep-rl-class/issues).

## Objectives of this notebook 🏆

At the end of the notebook, you will:

- Understand how **ML-Agents** works and the environment library.
- Be able to **train agents in Unity Environments**.

## Prerequisites 🏗️
Before diving into the notebook, you need to:

🔲 📚 **Study [what ML-Agents is and how it works by reading Unit 5](https://huggingface.co/deep-rl-course/unit5/introduction)**  🤗

# Let's train our agents 🚀

## Set the GPU 💪

- To **accelerate the agent's training, we'll use a GPU**. To do that, go to `Runtime > Change Runtime type`

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/gpu-step1.jpg" alt="GPU Step 1">

- `Hardware Accelerator > GPU`

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/gpu-step2.jpg" alt="GPU Step 2">

## Clone the repository and install the dependencies 🔽
- We need to clone the repository that **contains the experimental version of the library that allows you to push your trained agent to the Hub.**

```bash
# Clone the repository
git clone --depth 1 https://github.com/Unity-Technologies/ml-agents
```

```bash
# Go inside the repository and install the package
cd ml-agents
pip install -e ./ml-agents-envs
pip install -e ./ml-agents
```

## SnowballTarget ⛄

If you need a refresher on how this environment works check this section 👉
https://huggingface.co/deep-rl-course/unit5/snowball-target

### Download and move the environment zip file in `./training-envs-executables/linux/`

- Our environment executable is in a zip file.
- We need to download it and place it to `./training-envs-executables/linux/`
- We use a linux executable because we use colab, and colab machines OS is Ubuntu (linux)

```bash
# Here, we create training-envs-executables and linux
mkdir ./training-envs-executables
mkdir ./training-envs-executables/linux
```

We downloaded the file SnowballTarget.zip from https://github.com/huggingface/Snowball-Target using `wget`

```bash
wget "https://github.com/huggingface/Snowball-Target/raw/main/SnowballTarget.zip" -O ./training-envs-executables/linux/SnowballTarget.zip
```

We unzip the executable.zip file

```bash
unzip -d ./training-envs-executables/linux/ ./training-envs-executables/linux/SnowballTarget.zip
```

Make sure your file is accessible

```bash
chmod -R 755 ./training-envs-executables/linux/SnowballTarget
```

### Define the SnowballTarget config file
- In ML-Agents, you define the **training hyperparameters in config.yaml files.**

There are multiple hyperparameters. To understand them better, you should read the explanation for each one in [the documentation](https://github.com/Unity-Technologies/ml-agents/blob/release_20_docs/docs/Training-Configuration-File.md)


You need to create a `SnowballTarget.yaml` config file in ./content/ml-agents/config/ppo/

We'll give you a preliminary version of this config (to copy and paste into your `SnowballTarget.yaml file`), **but you should modify it**.

```yaml
behaviors:
  SnowballTarget:
    trainer_type: ppo
    summary_freq: 10000
    keep_checkpoints: 10
    checkpoint_interval: 50000
    max_steps: 200000
    time_horizon: 64
    threaded: true
    hyperparameters:
      learning_rate: 0.0003
      learning_rate_schedule: linear
      batch_size: 128
      buffer_size: 2048
      beta: 0.005
      epsilon: 0.2
      lambd: 0.95
      num_epoch: 3
    network_settings:
      normalize: false
      hidden_units: 256
      num_layers: 2
      vis_encode_type: simple
    reward_signals:
      extrinsic:
        gamma: 0.99
        strength: 1.0
```

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballfight_config1.png" alt="Config SnowballTarget"/>
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballfight_config2.png" alt="Config SnowballTarget"/>

As an experiment, try to modify some other hyperparameters. Unity provides very [good documentation explaining each of them here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-Configuration-File.md).

Now that you've created the config file and understand what most hyperparameters do, we're ready to train our agent 🔥.

### Train the agent

To train our agent, we need to **launch mlagents-learn and select the executable containing the environment.**

We define four parameters:

1. `mlagents-learn <config>`: the path where the hyperparameter config file is.
2. `--env`: where the environment executable is.
3. `--run_id`: the name you want to give to your training run id.
4. `--no-graphics`: to not launch the visualization during the training.

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/mlagentslearn.png" alt="MlAgents learn"/>

Train the model and use the `--resume` flag to continue training in case of interruption.

> It will fail the first time if and when you use `--resume`. Try rerunning the block to bypass the error.

The training will take 10 to 35min depending on your config. Go take a ☕️ you deserve it 🤗.

```bash
mlagents-learn ./config/ppo/SnowballTarget.yaml --env=./training-envs-executables/linux/SnowballTarget/SnowballTarget --run-id="SnowballTarget1" --no-graphics
```

### Push the agent to the Hugging Face Hub

- Now that we've trained our agent, we’re **ready to push it to the Hub and visualize it playing on your browser🔥.**

To be able to share your model with the community, there are three more steps to follow:

1️⃣ (If it's not already done) create an account to HF ➡ https://huggingface.co/join

2️⃣ Sign in and store your authentication token from the Hugging Face website.
- Create a new token (https://huggingface.co/settings/tokens) **with write role**

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/create-token.jpg" alt="Create HF Token">

- Copy the token
- Run the cell below and paste the token

```python
from huggingface_hub import notebook_login

notebook_login()
```

If you don't want to use Google Colab or a Jupyter Notebook, you need to use this command instead: `huggingface-cli login`

Then we need to run `mlagents-push-to-hf`.

And we define four parameters:

1. `--run-id`: the name of the training run id.
2. `--local-dir`: where the agent was saved, it’s results/<run_id name>, so in my case results/First Training.
3. `--repo-id`: the name of the Hugging Face repo you want to create or update. It’s always <your huggingface username>/<the repo name>
If the repo does not exist **it will be created automatically**
4. `--commit-message`: since HF repos are git repositories you need to give a commit message.

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/mlagentspushtohub.png" alt="Push to Hub"/>

For instance:

`mlagents-push-to-hf  --run-id="SnowballTarget1" --local-dir="./results/SnowballTarget1" --repo-id="ThomasSimonini/ppo-SnowballTarget"  --commit-message="First Push"`

```python
mlagents-push-to-hf  --run-id= # Add your run id  --local-dir= # Your local dir  --repo-id= # Your repo id  --commit-message= # Your commit message
```

If everything worked you should see this at the end of the process (but with a different url 😆) :



```
Your model is pushed to the hub. You can view your model here: https://huggingface.co/ThomasSimonini/ppo-SnowballTarget
```

It's the link to your model. It contains a model card that explains how to use it, your Tensorboard, and your config file. **What's awesome is that it's a git repository, which means you can have different commits, update your repository with a new push, etc.**

But now comes the best: **being able to visualize your agent online 👀.**

### Watch your agent playing 👀

This step it's simple:

1. Remember your repo-id

2. Go here: https://huggingface.co/spaces/ThomasSimonini/ML-Agents-SnowballTarget

3. Launch the game and put it in full screen by clicking on the bottom right button

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballtarget_load.png" alt="Snowballtarget load"/>

1. In step 1, choose your model repository, which is the model id (in my case ThomasSimonini/ppo-SnowballTarget).

2. In step 2, **choose what model you want to replay**:
  - I have multiple ones since we saved a model every 500000 timesteps.
  - But if I want the more recent I choose `SnowballTarget.onnx`

👉 It's nice to **try different model stages to see the improvement of the agent.**

And don't hesitate to share the best score your agent gets on discord in the #rl-i-made-this channel 🔥

Now let's try a more challenging environment called Pyramids.

## Pyramids 🏆

### Download and move the environment zip file in `./training-envs-executables/linux/`
- Our environment executable is in a zip file.
- We need to download it and place it into `./training-envs-executables/linux/`
- We use a linux executable because we're using colab, and the colab machine's OS is Ubuntu (linux)

Download the file Pyramids.zip from https://drive.google.com/uc?export=download&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H using `wget`. Check out the full solution to download large files from GDrive [here](https://bcrf.biochem.wisc.edu/2021/02/05/download-google-drive-files-using-wget/)

```python
!wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H" -O ./training-envs-executables/linux/Pyramids.zip && rm -rf /tmp/cookies.txt
```

Unzip it

```python
%%capture
!unzip -d ./training-envs-executables/linux/ ./training-envs-executables/linux/Pyramids.zip
```

Make sure your file is accessible

```bash
chmod -R 755 ./training-envs-executables/linux/Pyramids/Pyramids
```

###  Modify the PyramidsRND config file
  
- Contrary to the first environment, which was a custom one, **Pyramids was made by the Unity team**.
- So the PyramidsRND config file already exists and is in ./content/ml-agents/config/ppo/PyramidsRND.yaml
- You might ask why "RND" is in PyramidsRND. RND stands for *random network distillation* it's a way to generate curiosity rewards. If you want to know more about that, we wrote an article explaining this technique: https://medium.com/data-from-the-trenches/curiosity-driven-learning-through-random-network-distillation-488ffd8e5938

For this training, we’ll modify one thing:
- The total training steps hyperparameter is too high since we can hit the benchmark (mean reward = 1.75) in only 1M training steps.
👉 To do that, we go to config/ppo/PyramidsRND.yaml,**and change max_steps to 1000000.**

<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/pyramids-config.png" alt="Pyramids config"/>

As an experiment, you should also try to modify some other hyperparameters. Unity provides very [good documentation explaining each of them here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-Configuration-File.md).

We’re now ready to train our agent 🔥.

### Train the agent

The training will take 30 to 45min depending on your machine, go take a ☕️ you deserve it 🤗.

```python
mlagents-learn ./config/ppo/PyramidsRND.yaml --env=./training-envs-executables/linux/Pyramids/Pyramids --run-id="Pyramids Training" --no-graphics
```

### Push the agent to the Hugging Face Hub

- Now that we trained our agent, we’re **ready to push it to the Hub to be able to visualize it playing on your browser🔥.**

```python
mlagents-push-to-hf  --run-id= # Add your run id  --local-dir= # Your local dir  --repo-id= # Your repo id  --commit-message= # Your commit message
```

### Watch your agent playing 👀

👉 https://huggingface.co/spaces/unity/ML-Agents-Pyramids
  
### 🎁 Bonus: Why not train on another environment?
  
Now that you know how to train an agent using MLAgents, **why not try another environment?**

MLAgents provides 17 different environments and we’re building some custom ones. The best way to learn is to try things on your own, have fun.

![cover](https://miro.medium.com/max/1400/0*xERdThTRRM2k_U9f.png)

You have the full list of the one currently available environments on Hugging Face here 👉 https://github.com/huggingface/ml-agents#the-environments

For the demos to visualize your agent 👉 https://huggingface.co/unity

For now we have integrated: 
- [Worm](https://huggingface.co/spaces/unity/ML-Agents-Worm) demo where you teach a **worm to crawl**.
- [Walker](https://huggingface.co/spaces/unity/ML-Agents-Walker) demo where you teach an agent **to walk towards a goal**.

That’s all for today. Congrats on finishing this tutorial!

The best way to learn is to practice and try stuff. Why not try another environment? ML-Agents has 18 different environments, but you can also create your own. Check the documentation and have fun!

See you on Unit 6 🔥,

## Keep Learning, Stay awesome 🤗
