feat(*): Add v2 files

rlgym training/.gitignore

@@ -1,4 +1,4 @@
 collision_meshes
-data
+checkpoints
 wandb
 rlgym-training

rlgym training/rlgym-ppo-training.py

@@ -5,9 +5,11 @@ from rlgym_ppo.util import MetricsLogger
 
 class ExampleLogger(MetricsLogger):
     def _collect_metrics(self, game_state: GameState) -> list:
-        return [game_state.players[0].car_data.linear_velocity,
-                game_state.players[0].car_data.rotation_mtx(),
-                game_state.orange_score]
+        return [
+            game_state.players[0].car_data.linear_velocity,
+            game_state.players[0].car_data.rotation_mtx(),
+            game_state.orange_score,
+        ]
 
     def _report_metrics(self, collected_metrics, wandb_run, cumulative_timesteps):
         avg_linvel = np.zeros(3)
@@ -15,23 +17,33 @@ class ExampleLogger(MetricsLogger):
             p0_linear_velocity = metric_array[0]
             avg_linvel += p0_linear_velocity
         avg_linvel /= len(collected_metrics)
-        report = {"x_vel":avg_linvel[0],
-                  "y_vel":avg_linvel[1],
-                  "z_vel":avg_linvel[2],
-                  "Cumulative Timesteps":cumulative_timesteps}
+        report = {
+            "x_vel": avg_linvel[0],
+            "y_vel": avg_linvel[1],
+            "z_vel": avg_linvel[2],
+            "Cumulative Timesteps": cumulative_timesteps,
+        }
         wandb_run.log(report)
 
 
 def build_rocketsim_env():
     import rlgym_sim
     from rlgym_sim.utils.reward_functions import CombinedReward
-    from rlgym_sim.utils.reward_functions.common_rewards import VelocityPlayerToBallReward, VelocityBallToGoalReward, \
-        EventReward, SaveBoostReward
+    from rlgym_sim.utils.reward_functions.common_rewards import (
+        VelocityPlayerToBallReward,
+        VelocityBallToGoalReward,
+        EventReward,
+        SaveBoostReward,
+    )
     from rlgym_tools.extra_rewards.kickoff_reward import KickoffReward
     from rlgym_sim.utils.obs_builders import DefaultObs
-    from rlgym_sim.utils.terminal_conditions.common_conditions import NoTouchTimeoutCondition, GoalScoredCondition
+    from rlgym_sim.utils.terminal_conditions.common_conditions import (
+        NoTouchTimeoutCondition,
+        GoalScoredCondition,
+    )
     from rlgym_sim.utils import common_values
     from rlgym_sim.utils.action_parsers import ContinuousAction
+    from rlgym_tools.extra_obs.advanced_padder import AdvancedObsPadder
 
     spawn_opponents = True
     team_size = 1
@@ -41,63 +53,131 @@ def build_rocketsim_env():
     timeout_ticks = int(round(timeout_seconds * game_tick_rate / tick_skip))
 
     action_parser = ContinuousAction()
-    terminal_conditions = [NoTouchTimeoutCondition(timeout_ticks), GoalScoredCondition()]
+    terminal_conditions = [
+        NoTouchTimeoutCondition(timeout_ticks),
+        GoalScoredCondition(),
+    ]
 
-    rewards_to_combine = (VelocityPlayerToBallReward(),
-                    VelocityBallToGoalReward(),
-                    EventReward(
-                        team_goal=1000.0,
-                        concede=-100.0,
-                        shot=10.0,
-                        save=60.0,
-                        demo=20.0,
-                    ),
-                    KickoffReward(),
-                    SaveBoostReward(),)
+    rewards_to_combine = (
+        VelocityPlayerToBallReward(),
+        VelocityBallToGoalReward(),
+        EventReward(
+            team_goal=150.0,
+            concede=-100.0,
+            shot=10.0,
+            save=60.0,
+            demo=20.0,
+        ),
+        KickoffReward(),
+        SaveBoostReward(),
+    )
     reward_weights = (1.0, 1.0, 1.0, 1.0, 1.0)
 
-    reward_fn = CombinedReward(reward_functions=rewards_to_combine,
-                               reward_weights=reward_weights)
+    reward_fn = CombinedReward(
+        reward_functions=rewards_to_combine, reward_weights=reward_weights
+    )
 
-    obs_builder = DefaultObs(
-        pos_coef=np.asarray([1 / common_values.SIDE_WALL_X, 1 / common_values.BACK_NET_Y, 1 / common_values.CEILING_Z]),
-        ang_coef=1 / np.pi,
-        lin_vel_coef=1 / common_values.CAR_MAX_SPEED,
-        ang_vel_coef=1 / common_values.CAR_MAX_ANG_VEL)
+    obs_builder = AdvancedObsPadder(team_size=team_size)
 
-    env = rlgym_sim.make(tick_skip=tick_skip,
-                         team_size=team_size,
-                         spawn_opponents=spawn_opponents,
-                         terminal_conditions=terminal_conditions,
-                         reward_fn=reward_fn,
-                         obs_builder=obs_builder,
-                         action_parser=action_parser)
+    # DefaultObs(
+    #     pos_coef=np.asarray([1 / common_values.SIDE_WALL_X, 1 / common_values.BACK_NET_Y, 1 / common_values.CEILING_Z]),
+    #     ang_coef=1 / np.pi,
+    #     lin_vel_coef=1 / common_values.CAR_MAX_SPEED,
+    #     ang_vel_coef=1 / common_values.CAR_MAX_ANG_VEL)
+
+    env = rlgym_sim.make(
+        tick_skip=tick_skip,
+        team_size=team_size,
+        spawn_opponents=spawn_opponents,
+        terminal_conditions=terminal_conditions,
+        reward_fn=reward_fn,
+        obs_builder=obs_builder,
+        action_parser=action_parser,
+    )
 
     return env
 
+
 if __name__ == "__main__":
     from rlgym_ppo import Learner
+    import os
+
+    root_folder = "checkpoints/"
+    checkpoint_load_folder = ""
+
+    # Get a list of all subdirectories in the root folder
+    subdirectories = [
+        f
+        for f in os.listdir(root_folder)
+        if os.path.isdir(os.path.join(root_folder, f))
+    ]
+
+    highest_checkpoint_folder = None
+    highest_checkpoint_number = -1
+
+    # Iterate through the subdirectories to find the highest "checkpoints-" directory
+    for subdir in subdirectories:
+        if subdir.startswith("checkpoints-") and subdir[12:].isdigit():
+            checkpoint_number = int(subdir[12:])
+            if checkpoint_number > highest_checkpoint_number:
+                highest_checkpoint_number = checkpoint_number
+                highest_checkpoint_folder = subdir
+
+    if highest_checkpoint_folder:
+        checkpoint_load_folder = os.path.join(root_folder, highest_checkpoint_folder)
+
+        # Now, let's find the highest numbered folder within the highest checkpoint folder
+        highest_numbered_subfolder = None
+        highest_number = -1
+        checkpoint_subdirectories = [
+            f
+            for f in os.listdir(checkpoint_load_folder)
+            if os.path.isdir(os.path.join(checkpoint_load_folder, f))
+        ]
+
+        for subdir in checkpoint_subdirectories:
+            if subdir.isdigit():
+                subdir_number = int(subdir)
+                if subdir_number > highest_number:
+                    highest_number = subdir_number
+                    highest_numbered_subfolder = subdir
+
+        if highest_numbered_subfolder:
+            checkpoint_load_folder = os.path.join(
+                checkpoint_load_folder, highest_numbered_subfolder
+            )
+    else:
+        print("No 'checkpoints-' directories found in the checkpoints folder.")
+
     metrics_logger = ExampleLogger()
 
-    # 32 processes
-    n_proc = 32
+    # number of instances of the environment to run in parallel
+    n_proc = 75
 
     # educated guess - could be slightly higher or lower
     min_inference_size = max(1, int(round(n_proc * 0.9)))
 
-    learner = Learner(build_rocketsim_env,
-                      n_proc=n_proc,
-                      min_inference_size=min_inference_size,
-                      metrics_logger=metrics_logger,
-                      ppo_batch_size=50000,
-                      ts_per_iteration=50000,
-                      exp_buffer_size=150000,
-                      ppo_minibatch_size=50000,
-                      ppo_ent_coef=0.001,
-                      ppo_epochs=1,
-                      standardize_returns=True,
-                      standardize_obs=False,
-                      save_every_ts=100_000,
-                      timestep_limit=1_000_000_000,
-                      log_to_wandb=True)
-    learner.learn()
+    learner = Learner(
+        build_rocketsim_env,
+        n_proc=n_proc,
+        min_inference_size=min_inference_size,
+        metrics_logger=metrics_logger,
+        ppo_batch_size=500_000,
+        ts_per_iteration=1_000_000,
+        exp_buffer_size=1_000_000,
+        ppo_minibatch_size=50_000,
+        ppo_ent_coef=0.001,
+        ppo_epochs=2,
+        standardize_returns=True,
+        standardize_obs=False,
+        save_every_ts=100_000,
+        checkpoints_save_folder="checkpoints/checkpoints",
+        **(
+            {"checkpoint_load_folder": checkpoint_load_folder}
+            if checkpoint_load_folder != ""
+            else {}
+        ),
+        timestep_limit=1_000_000_000,
+        log_to_wandb=True,
+    )
+    learner.learn()