139 lines
5.3 KiB
Python
139 lines
5.3 KiB
Python
import os
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import pathlib
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import sys
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# Headless rendering: use OSMesa on Linux servers (must be set before mujoco import)
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if sys.platform == "linux" and "DISPLAY" not in os.environ:
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os.environ.setdefault("MUJOCO_GL", "osmesa")
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import hydra
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import hydra.utils as hydra_utils
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import structlog
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from clearml import Task
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from hydra.core.hydra_config import HydraConfig
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from omegaconf import DictConfig, OmegaConf
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from src.core.env import BaseEnv, BaseEnvConfig, ActuatorConfig
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from src.core.runner import BaseRunner
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from src.envs.cartpole import CartPoleEnv, CartPoleConfig
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from src.envs.rotary_cartpole import RotaryCartPoleEnv, RotaryCartPoleConfig
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from src.training.trainer import Trainer, TrainerConfig
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logger = structlog.get_logger()
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# ── env registry ──────────────────────────────────────────────────────
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# Maps Hydra config-group name → (EnvClass, ConfigClass)
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ENV_REGISTRY: dict[str, tuple[type[BaseEnv], type[BaseEnvConfig]]] = {
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"cartpole": (CartPoleEnv, CartPoleConfig),
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"rotary_cartpole": (RotaryCartPoleEnv, RotaryCartPoleConfig),
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}
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def _build_env(env_name: str, cfg: DictConfig) -> BaseEnv:
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"""Instantiate the right env + config from the Hydra config-group name."""
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if env_name not in ENV_REGISTRY:
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raise ValueError(f"Unknown env '{env_name}'. Registered: {list(ENV_REGISTRY)}")
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env_cls, config_cls = ENV_REGISTRY[env_name]
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env_dict = OmegaConf.to_container(cfg.env, resolve=True)
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# Convert actuator dicts → ActuatorConfig objects
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if "actuators" in env_dict:
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for a in env_dict["actuators"]:
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if "ctrl_range" in a:
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a["ctrl_range"] = tuple(a["ctrl_range"])
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env_dict["actuators"] = [ActuatorConfig(**a) for a in env_dict["actuators"]]
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return env_cls(config_cls(**env_dict))
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# ── runner registry ───────────────────────────────────────────────────
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# Maps Hydra config-group name → (RunnerClass, ConfigClass)
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# Imports are deferred so JAX is only loaded when runner=mjx is chosen.
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RUNNER_REGISTRY: dict[str, tuple[str, str, str]] = {
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"mujoco": ("src.runners.mujoco", "MuJoCoRunner", "MuJoCoRunnerConfig"),
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"mjx": ("src.runners.mjx", "MJXRunner", "MJXRunnerConfig"),
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}
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def _build_runner(runner_name: str, env: BaseEnv, cfg: DictConfig) -> BaseRunner:
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"""Instantiate the right runner from the Hydra config-group name."""
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if runner_name not in RUNNER_REGISTRY:
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raise ValueError(
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f"Unknown runner '{runner_name}'. Registered: {list(RUNNER_REGISTRY)}"
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)
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module_path, cls_name, cfg_cls_name = RUNNER_REGISTRY[runner_name]
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import importlib
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mod = importlib.import_module(module_path)
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runner_cls = getattr(mod, cls_name)
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config_cls = getattr(mod, cfg_cls_name)
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runner_config = config_cls(**OmegaConf.to_container(cfg.runner, resolve=True))
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return runner_cls(env=env, config=runner_config)
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def _init_clearml(choices: dict[str, str], remote: bool = False) -> Task:
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"""Initialize ClearML task with project structure and tags.
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Project: RL-Trainings/<EnvName> (e.g. RL-Trainings/Rotary Cartpole)
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Tags: env, runner, training algo choices from Hydra.
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"""
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Task.ignore_requirements("torch")
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env_name = choices.get("env", "cartpole")
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runner_name = choices.get("runner", "mujoco")
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training_name = choices.get("training", "ppo")
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project = "RL-Framework"
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task_name = f"{env_name}-{runner_name}-{training_name}"
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tags = [env_name, runner_name, training_name]
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task = Task.init(project_name=project, task_name=task_name, tags=tags)
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task.set_base_docker(
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"registry.kube.optimize/worker-image:latest",
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docker_setup_bash_script=(
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"apt-get update && apt-get install -y --no-install-recommends "
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"libosmesa6 libgl1-mesa-glx libglfw3 && rm -rf /var/lib/apt/lists/* "
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"&& pip install 'jax[cuda12]' mujoco-mjx"
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),
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)
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req_file = pathlib.Path(hydra_utils.get_original_cwd()) / "requirements.txt"
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task.set_packages(str(req_file))
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# Execute remotely if requested and running locally
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if remote and task.running_locally():
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logger.info("executing_task_remotely", queue="gpu-queue")
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task.execute_remotely(queue_name="gpu-queue", exit_process=True)
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return task
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@hydra.main(version_base=None, config_path="configs", config_name="config")
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def main(cfg: DictConfig) -> None:
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choices = HydraConfig.get().runtime.choices
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# ClearML init — must happen before heavy work so remote execution
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# can take over early. The remote worker re-runs the full script;
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# execute_remotely() is a no-op on the worker side.
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training_dict = OmegaConf.to_container(cfg.training, resolve=True)
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remote = training_dict.pop("remote", False)
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task = _init_clearml(choices, remote=remote)
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env_name = choices.get("env", "cartpole")
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env = _build_env(env_name, cfg)
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runner = _build_runner(choices.get("runner", "mujoco"), env, cfg)
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trainer_config = TrainerConfig(**training_dict)
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trainer = Trainer(runner=runner, config=trainer_config)
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try:
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trainer.train()
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finally:
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trainer.close()
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task.close()
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if __name__ == "__main__":
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main() |