def main():
# ==============================
# Settings
# ==============================
N_episodes = 200
load_model = False # load model
save_model = True # save model on last episode
save_model_filename = os.path.join("model", "model.h5")
info = {
"env": {"Ny": 20,
"Nx": 20},
"agent": {"policy_mode": "epsgreedy", # "epsgreedy", "softmax"
"eps": 1.0,
"eps_decay": 2.0*np.log(10.0)/N_episodes},
"brain": {"discount": 0.99,
"learning_rate": 0.9},
"memory": {}
}
# ==============================
# Setup environment and agent
# ==============================
env = Environment(info)
agent = Agent(env, info)
brain = Brain(env, info)
memory = Memory(info)
if load_model:
brain.load_model(save_model_filename)
# ==============================
# Train agent
# ==============================
for episode in range(N_episodes):
iter = 0
state = env.starting_state()
while env.is_terminal_state(state) == False:
# Pick an action by sampling action probabilities
action, model_output, prob = agent.get_action(state, brain, env)
# Collect reward and observe next state
reward = env.get_reward(state, action)
state_next = env.perform_action(state, action)
# Append quantities to memory
memory.append_to_memory(state, state_next, action, model_output, prob, reward)
# Transition to next state
state = state_next
iter += 1
# Print
policy_mode = agent.agent_info["policy_mode"]
if (policy_mode == "epsgreedy"):
print("[episode {}] mode = {}, iter = {}, eps = {:.4F}, reward = {:.2F}".format(episode, policy_mode, iter, agent.eps_effective, sum(memory.reward_memory)))
elif (policy_mode == "softmax"):
print("[episode {}] mode = {}, iter = {}, reward = {:.2F}".format(episode, policy_mode, iter, sum(memory.reward_memory)))
# Update model when episode finishes
brain.update(memory, env)
agent.episode += 1
# Save model
if save_model and (episode == N_episodes-1):
brain.save_model(save_model_filename)
# Clear memory for next episode
memory.clear_memory()
def main():
# =========================
# Settings
# =========================
learning_mode = "QLearning" # "RewardAveraging", "QLearning"
if learning_mode == "RewardAveraging":
from RewardAveraging_BrainClass import Brain
N_episodes = 100000
env_info = {"Ny": 7, "Nx": 7}
brain_info = {}
agent_info = {
"name": "epsilon-greedy",
"epsilon": 1.0,
"epsilon_decay": 2.0 * np.log(10.0) / N_episodes
}
elif learning_mode == "QLearning":
from QLearning_BrainClass import Brain
N_episodes = 10000
env_info = {"Ny": 7, "Nx": 7}
brain_info = {
"Q_learning_rate": 0.95,
"Q_discount": 1.0
} # only relevant for Q-learning
agent_info = {
"name": "epsilon-greedy",
"epsilon": 1.0,
"epsilon_decay": 2.0 * np.log(10.0) / N_episodes
}
else:
raise IOError("Error: Invalid learning mode!")
# =========================
# Set up environment, agent, memory and brain
# =========================
env = Environment(
env_info) # set up environment rewards and state-transition rules
agent = Agent(agent_info) # set up epsilon-greedy agent
brain = Brain(env, brain_info) # stores and updates Q(s,a) and policy(s)
memory = Memory(env) # keeps track of run and episode (s,a) histories
# =========================
# Train agent
# =========================
print(
"\nTraining '{}' agent on '{}' environment for {} episodes using '{}' learning mode...\n"
.format(agent.name, env.name, N_episodes, learning_mode,
agent.epsilon))
memory.reset_run_counters() # reset run counters once only
for episode in range(N_episodes):
memory.reset_episode_counters() # reset episodic counters
state = env.starting_state() # starting state
while not env.is_terminal(state):
# Get action from policy
action = agent.get_action(state, brain,
env) # get action from policy
# Collect reward from environment
reward = env.get_reward(state, action) # get reward
# Update episode counters
memory.update_episode_counters(
state, action, reward) # update our episodic counters
# Compute and observe next state
state_next = env.perform_action(state, action)
# Update Q during episode (if needed)
if "update_Q_during_episode" in utils.method_list(Brain):
brain.update_Q_during_episode(state, action, state_next,
reward)
# Transition to next state
state = state_next
# Update run counters first (before updating Q)
memory.update_run_counters(
) # use episode counters to update run counters
agent.episode += 1
# Update Q after episode (if needed)
if "update_Q_after_episode" in utils.method_list(Brain):
brain.update_Q_after_episode(memory)
# Print
if (episode + 1) % (N_episodes / 20) == 0:
print(
" episode = {}/{}, epsilon = {:.3F}, reward = {:.1F}, n_actions = {}"
.format(episode + 1, N_episodes, agent.epsilon_effective,
memory.R_total_episode, memory.N_actions_episode))
# =======================
# Print final policy
# =======================
print("\nFinal policy:\n")
print(brain.compute_policy(env))
print("")
for (key, val) in sorted(env.action_dict.items(),
key=operator.itemgetter(1)):
print(" action['{}'] = {}".format(key, val))
def main():
# =========================
# Settings
# =========================
learning_mode = "QLearning" # "RewardAveraging", "QLearning"
if learning_mode == "RewardAveraging":
from RewardAveraging_BrainClass import Brain
N_episodes = 100000
env_info = {"Ny": 7, "Nx": 7}
brain_info = {}
agent_info = {"name": "epsilon-greedy", "epsilon": 1.0, "epsilon_decay": 2.0 * np.log(10.0) / N_episodes}
elif learning_mode == "QLearning":
from QLearning_BrainClass import Brain
N_episodes = 10000
env_info = {"Ny": 7, "Nx": 7}
brain_info = {"Q_learning_rate": 0.95, "Q_discount": 1.0} # only relevant for Q-learning
agent_info = {"name": "epsilon-greedy", "epsilon": 1.0, "epsilon_decay": 2.0 * np.log(10.0) / N_episodes}
else:
raise IOError("Error: Invalid learning mode!")
# =========================
# Set up environment, agent, memory and brain
# =========================
env = Environment(env_info) # set up environment rewards and state-transition rules
agent = Agent(agent_info) # set up epsilon-greedy agent
brain = Brain(env, brain_info) # stores and updates Q(s,a) and policy(s)
memory = Memory(env) # keeps track of run and episode (s,a) histories
# =========================
# Train agent
# =========================
print("\nTraining '{}' agent on '{}' environment for {} episodes using '{}' learning mode...\n".format(agent.name, env.name, N_episodes, learning_mode, agent.epsilon))
memory.reset_run_counters() # reset run counters once only
for episode in range(N_episodes):
memory.reset_episode_counters() # reset episodic counters
state = env.starting_state() # starting state
while not env.is_terminal(state):
# Get action from policy
action = agent.get_action(state, brain, env) # get action from policy
# Collect reward from environment
reward = env.get_reward(state, action) # get reward
# Update episode counters
memory.update_episode_counters(state, action, reward) # update our episodic counters
# Compute and observe next state
state_next = env.perform_action(state, action)
# Update Q during episode (if needed)
if "update_Q_during_episode" in utils.method_list(Brain):
brain.update_Q_during_episode(state, action, state_next, reward)
# Transition to next state
state = state_next
# Update run counters first (before updating Q)
memory.update_run_counters() # use episode counters to update run counters
agent.episode += 1
# Update Q after episode (if needed)
if "update_Q_after_episode" in utils.method_list(Brain):
brain.update_Q_after_episode(memory)
# Print
if (episode+1) % (N_episodes/20) == 0:
print(" episode = {}/{}, epsilon = {:.3F}, reward = {:.1F}, n_actions = {}".format(episode + 1, N_episodes, agent.epsilon_effective, memory.R_total_episode, memory.N_actions_episode))
# =======================
# Print final policy
# =======================
print("\nFinal policy:\n")
print(brain.compute_policy(env))
print("")
for (key, val) in sorted(env.action_dict.items(), key=operator.itemgetter(1)):
print(" action['{}'] = {}".format(key, val))
def main():
# ==============================
# Settings
# ==============================
N_episodes = 200
load_model = False # load model
save_model = True # save model on last episode
save_model_filename = os.path.join("model", "model.h5")
info = {
"env": {
"Ny": 20,
"Nx": 20
},
"agent": {
"policy_mode": "epsgreedy", # "epsgreedy", "softmax"
"eps": 1.0,
"eps_decay": 2.0 * np.log(10.0) / N_episodes
},
"brain": {
"discount": 0.99,
"learning_rate": 0.9
},
"memory": {}
}
# ==============================
# Setup environment and agent
# ==============================
env = Environment(info)
agent = Agent(env, info)
brain = Brain(env, info)
memory = Memory(info)
if load_model:
brain.load_model(save_model_filename)
# ==============================
# Train agent
# ==============================
for episode in range(N_episodes):
iter = 0
state = env.starting_state()
while env.is_terminal_state(state) == False:
# Pick an action by sampling action probabilities
action, model_output, prob = agent.get_action(state, brain, env)
# Collect reward and observe next state
reward = env.get_reward(state, action)
state_next = env.perform_action(state, action)
# Append quantities to memory
memory.append_to_memory(state, state_next, action, model_output,
prob, reward)
# Transition to next state
state = state_next
iter += 1
# Print
policy_mode = agent.agent_info["policy_mode"]
if (policy_mode == "epsgreedy"):
print(
"[episode {}] mode = {}, iter = {}, eps = {:.4F}, reward = {:.2F}"
.format(episode, policy_mode, iter, agent.eps_effective,
sum(memory.reward_memory)))
elif (policy_mode == "softmax"):
print("[episode {}] mode = {}, iter = {}, reward = {:.2F}".format(
episode, policy_mode, iter, sum(memory.reward_memory)))
# Update model when episode finishes
brain.update(memory, env)
agent.episode += 1
# Save model
if save_model and (episode == N_episodes - 1):
brain.save_model(save_model_filename)
# Clear memory for next episode
memory.clear_memory()
def main():
# =========================
# Settings
# =========================
learning_mode = "SampleAveraging"
if learning_mode == "SampleAveraging":
from SampleAveraging_BrainClass import Brain
N_episodes_train = 100000
N_episodes_test = 30
agent_info = {"name": "hunter", "epsilon": 0.5}
env_info = {"N_global": 7}
brain_info = {}
elif learning_mode == "QLearning":
from QLearning_BrainClass import Brain
N_episodes_train = 10000
N_episodes_test = 30
agent_info = {"name": "hunter", "epsilon": 0.5}
env_info = {"N_global": 7}
brain_info = {
"learning_rate": 0.8,
"discount": 0.9
} # only relevant for Q-learning
else:
raise IOError("Error: Invalid learning mode!")
save_video = True
video_file = "results/hunterprey.mp4"
convert_mp4_to_gif = True
gif_file = "results/hunterprey.gif"
# =========================
# Set up environment, agent, memory and brain
# =========================
agent = Agent(agent_info)
env = Environment(env_info)
brain = Brain(env, brain_info)
memory = Memory(env)
# =========================
# Train agent
# =========================
print(
"\nTraining '{}' agent on '{}' environment for {} episodes, testing for {} episodes (epsilon = {})...\n"
.format(agent.name, env.name, N_episodes_train, N_episodes_test,
agent.epsilon))
memory.reset_run_counters() # reset run counters once only
state_global_history_video = []
state_target_global_history_video = []
for episode in range(N_episodes_train + N_episodes_test):
if (episode >= N_episodes_train):
agent.epsilon = 0 # set no exploration for test episodes
memory.reset_episode_counters() # reset episodic counters
# state = position of hunter relative to prey (want to get to [0,0])
# state_global = global position of hunter
# state_target_global = global position of prey
if episode == 0:
(state, state_global, state_target_global) = env.get_random_state()
else:
(state, state_global, state_target_global) = env.get_random_state(
set_state_global=state_global)
env.set_state_terminal_global(state_target_global)
state_global_history = [state_global]
n_iter_episode = 0
while not env.is_terminal(
state
): # NOTE: terminates when hunter hits local coordinates of (0,0)
# Get action from policy
action = agent.get_action(state, brain,
env) # get action from policy
# Collect reward from environment
reward = env.get_reward(state, action) # get reward
# Update episode counters
memory.update_episode_counters(
state, action, reward) # update our episodic counters
# Compute and observe next state
state_next = env.perform_action(state, action)
state_global_next = env.perform_action_global(state_global, action)
# Update Q after episode (if needed)
if "update_Q_during_episode" in utils.method_list(Brain):
brain.update_Q_during_episode(state, action, state_next,
reward)
# Transition to next state
state = state_next
state_global = state_global_next
# Track states for video
state_global_history.append(state_global)
# Exit program if testing fails (bad policy)
n_iter_episode += 1
if (episode >= N_episodes_train) and (n_iter_episode > 2000):
raise IOError("Bad policy found! Non-terminal episode!")
# Append for video output
if episode >= N_episodes_train:
state_global_history_video.append(state_global_history)
state_target_global_history_video.append([state_target_global] *
len(state_global_history))
# Update run counters first (before updating Q)
memory.update_run_counters(
) # use episode counters to update run counters
# Update Q after episode (if needed)
if "update_Q_after_episode" in utils.method_list(Brain):
brain.update_Q_after_episode(memory)
# Give output to user on occasion
if (episode + 1) % (N_episodes_train / 20) == 0 or (episode >=
N_episodes_train):
n_optimal = np.abs(
env.ygrid_global[state_global_history[0][0]] -
env.ygrid_global[state_target_global[0]]) + np.abs(
env.xgrid_global[state_global_history[0][1]] -
env.xgrid_global[state_target_global[1]])
# =====================
# Print text
# =====================
mode = "train" if (episode < N_episodes_train) else "test"
print(
" [{} episode = {}/{}] epsilon = {}, total reward = {:.1F}, n_actions = {}, n_optimal = {}, grid goal: [{},{}] -> [{},{}]"
.format(mode, episode + 1, N_episodes_train + N_episodes_test,
agent.epsilon, memory.R_total_episode,
memory.N_actions_episode, n_optimal,
env.ygrid_global[state_global_history[0][0]],
env.xgrid_global[state_global_history[0][1]],
env.ygrid_global[state_target_global[0]],
env.xgrid_global[state_target_global[1]]))
# =====================
# Make video animation
# =====================
if save_video:
print("\nSaving file to '{}'...".format(video_file))
plot_hunter_prey(state_global_history_video,
state_target_global_history_video,
env,
video_file=video_file)
if convert_mp4_to_gif:
print("\nConverting '{}' to '{}'...".format(video_file, gif_file))
import moviepy.editor as mp
clip = mp.VideoFileClip(video_file)
clip.write_gif(gif_file)