[Question]

[Eureka725]

Required prerequisites

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Questions

`"""Example of training a policy from exp-x config with OmniSafe."""

import warnings

import torch

from omnisafe.common.experiment_grid import ExperimentGrid
from omnisafe.utils.exp_grid_tools import train
if name == 'main':
eg = ExperimentGrid(exp_name='TEST')

# set up the algorithms.
naive_lagrange_policy = ['PPOLag']
first_order_policy = [
    'P3O',
    #'CUP',
    #'FOCOPS',
    ]
second_order_policy = ['PCPO',
                       'RCPO']
saute_policy = ['PPOSaute']
simmer_policy = ['CRPO']
early_mdp_policy = ['PPOEarlyTerminated']

eg.add(
    'algo',
    naive_lagrange_policy
    +
    first_order_policy 
    +
    second_order_policy 
    +
    saute_policy 
    +
    simmer_policy 
    +
    early_mdp_policy
)

# you can use wandb to monitor the experiment.
eg.add('logger_cfgs:use_wandb', [False])
# you can use tensorboard to monitor the experiment.
eg.add('logger_cfgs:use_tensorboard', [True])

# the default configs here are as follows:
# eg.add('algo_cfgs:steps_per_epoch', [20000])
# eg.add('train_cfgs:total_steps', [20000 * 500])
# which can reproduce results of 1e7 steps.

# if you want to reproduce results of 1e6 steps, using
# eg.add('algo_cfgs:steps_per_epoch', [2048])
# eg.add('train_cfgs:total_steps', [2048 * 500])

# set the device.
avaliable_gpus = list(range(torch.cuda.device_count()))
# if you want to use GPU, please set gpu_id like follows:
# gpu_id = [0, 1, 2, 3]
# if you want to use CPU, please set gpu_id = None
# we recommends using CPU to obtain results as consistent
# as possible with our publicly available results,
# since the performance of all on-policy algorithms
# in OmniSafe is tested on CPU.
gpu_id = [0,1,2,3]

if gpu_id and not set(gpu_id).issubset(avaliable_gpus):
    warnings.warn('The GPU ID is not available, use CPU instead.', stacklevel=1)
    gpu_id = None

# set up the environment.
eg.add('env_id', [
    #'SafetyCarGoal2-v0',#1
    #'SafetyRacecarCircle2-v0',#2
    'SafetyHopperVelocity-v1',
    #'SafetyCarButton2-v0',#3
    'SafetyAntVelocity-v1',
    'SafetyHalfCheetahVelocity-v1',#4
    #'SafetyPointGoal1-v0',
    #'SafetyPointButton1-v0',
    #'SafetyCarCircle1-v0',
    #'SafetyCarButton1-v0',
    'SafetyHumanoidVelocity-v1',#5
    #'SafetyCarGoal1-v0'#6
    ])
eg.add('seed', [0,5,10])#1,5,10,15,20
#eg.add('seed', [8])

# total experiment num must can be divided by num_pool.
# meanwhile, users should decide this value according to their machine.
eg.run(train, num_pool=3, gpu_id=gpu_id)`
Thank you for your work! Hello, I would like to ask a question about why I use CPU instead of GPU when running this code?

[Eureka725]

Sorry, there is an issue with my presentation. I modified the use of CUDA in the config, but it also requires a lot of CPU usage. Is this correct?