Added tensorboard support.

Author: deeplearningrobotics

README.md

@@ -168,3 +168,27 @@ python enjoy.py --load-dir trained_models/ppo --env-name "Reacher-v2"
 ![QbertNoFrameskip-v4](imgs/acktr_qbert.png)
 
 ![beamriderNoFrameskip-v4](imgs/acktr_beamrider.png)
+
+## Visualization with tensorboard.
+
+### Requirements
+
+* [Tensorboard](https://github.com/tensorflow/tensorboard)
+* [tensorboardX](https://github.com/lanpa/tensorboardX)
+
+### Installation of requirements
+
+```bash
+pip install tensorboard
+pip install tensorboardX
+```
+
+### Using tensorboard to visualize training
+
+```bash
+python main.py --env-name "PongNoFrameskip-v4" --algo ppo --use-gae --lr 2.5e-4 --clip-param 0.1 --value-loss-coef 1 --num-processes 8 --num-steps 128 --num-mini-batch 4 --vis-interval 1 --log-interval 1 --tensorboard-logdir "/tmp/tfboard"
+tensorboard --logdir "/tmp/tfboard"
+```
+
+In a browser open [localhost:6006](http://localhost:6006). Note that a new folder is created every time training is 
+started with the current timestamp.

arguments.py

@@ -63,6 +63,8 @@ def get_args():
                         help='enable visdom visualization')
     parser.add_argument('--port', type=int, default=8097,
                         help='port to run the server on (default: 8097)')
+    parser.add_argument('--tensorboard-logdir', default=None,
+                        help='logs to tensorboard in the specified directory')
     args = parser.parse_args()
 
     args.cuda = not args.no_cuda and torch.cuda.is_available()

main.py

@@ -58,6 +58,13 @@ def main():
         viz = Visdom(port=args.port)
         win = None
 
+    tensorboard_writer = None
+    if args.tensorboard_logdir is not None:
+        from tensorboardX import SummaryWriter
+        import time, os, datetime
+        ts_str = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d_%H-%M-%S')
+        tensorboard_writer = SummaryWriter(log_dir=os.path.join(args.tensorboard_logdir, ts_str))
+
     envs = make_vec_envs(args.env_name, args.seed, args.num_processes,
                         args.gamma, args.log_dir, args.add_timestep, device, False)
 
@@ -150,9 +157,19 @@ def main():
                        np.mean(episode_rewards),
                        np.median(episode_rewards),
                        np.min(episode_rewards),
-                       np.max(episode_rewards), dist_entropy,
+                       np.max(episode_rewards),
+                       dist_entropy,
                        value_loss, action_loss))
 
+            if tensorboard_writer is not None:
+                tensorboard_writer.add_scalar("mean reward", np.mean(episode_rewards), total_num_steps)
+                tensorboard_writer.add_scalar("median reward", np.median(episode_rewards), total_num_steps)
+                tensorboard_writer.add_scalar("min reward", np.min(episode_rewards), total_num_steps)
+                tensorboard_writer.add_scalar("max reward", np.max(episode_rewards), total_num_steps)
+                tensorboard_writer.add_scalar("dist entropy", dist_entropy, total_num_steps)
+                tensorboard_writer.add_scalar("value loss", value_loss, total_num_steps)
+                tensorboard_writer.add_scalar("action loss", action_loss, total_num_steps)
+
         if (args.eval_interval is not None
                 and len(episode_rewards) > 1
                 and j % args.eval_interval == 0):