def worker(env_name, proc_num, state_sender, result_sender, action_receiver,
reset_receiver, motion_receiver):
"""
:type env_name: str
:type proc_num: int
:type result_sender: Connection
:type action_receiver: Connection
:return:
"""
# reset variable
# 0 : go on (no reset)
# 1 : soft reset ( w/o motion change )
# 2 : hard reset ( with motion change )
env = HpDartEnv(env_name)
state = None
while True:
reset_flag = reset_receiver.recv()
if reset_flag == 1:
state = env.reset()
elif reset_flag == 2:
goals, qs = motion_receiver.recv()
env.update_target(goals, qs)
state = env.reset()
state_sender.send(state)
action = action_receiver.recv()
state, reward, is_done, _ = env.step(action)
result_sender.send((reward, is_done))
def __init__(self, env_name, num_slaves=1, eval_print=True, eval_log=True, visualize_only=False):
np.random.seed(seed=int(time.time()))
self.env_name = env_name
self.env = HpDartEnv(env_name)
self.num_slaves = num_slaves
self.num_state = self.env.observation_space.shape[0]
self.num_action = self.env.action_space.shape[0]
self.num_epochs = 10
self.num_evaluation = 0
self.num_training = 0
self.gamma = 0.99
self.lb = 0.95
self.clip_ratio = 0.2
self.buffer_size = 2048
self.batch_size = 128
self.replay_buffer = ReplayBuffer(10000)
self.total_episodes = []
self.model = Model(self.num_state, self.num_action).float()
self.optimizer = optim.Adam(self.model.parameters(), lr=7E-4)
self.w_entropy = 0.0
self.saved = False
self.save_directory = self.env_name + '_' + 'model_'+time.strftime("%m%d%H%M") + '/'
if not self.saved and not os.path.exists(self.save_directory) and not visualize_only:
os.makedirs(self.save_directory)
self.saved = True
self.log_file = None
if not visualize_only:
self.log_file = open(self.save_directory + 'log.txt', 'w')
self.eval_print = eval_print
self.eval_log = eval_log
self.result_receiver = [] # type: list[Connection]
self.action_sender = [] # type: list[Connection]
self.reset_sender = [] # type: list[Connection]
self.envs = [] # type: list[Process]
self.init_envs()
import tensorflow as tf
from DartDeep.dart_env_v2_1 import HpDartEnv
from DartDeep.tf.ppo_tf import *
from DartDeep.tf.worker import Worker
import pydart2
tf.reset_default_graph()
global_episodes = tf.Variable(0,
dtype=tf.int32,
name='global_episodes',
trainable=False)
summary_writer = tf.summary.FileWriter('./summary_log/' + 'Walking')
pydart2.init()
env = HpDartEnv()
chief = Worker('Walking',
env,
summary_writer,
global_episodes,
visualize=False,
gamma=0.95,
batch_size=128,
a_lr=5e-5,
c_lr=1e-2)
with tf.Session() as sess:
saver = tf.train.Saver(max_to_keep=5)
sess.run(tf.global_variables_initializer())
chief.ppo.load_model(sess, saver)
chief.process(sess, saver)
def __init__(self, session, env_name='walk', num_slaves=1):
self.sess = session
self.env = HpDartEnv(env_name)
self.num_slaves = num_slaves
self.num_state = self.env.observation_space.shape[0]
self.num_action = self.env.action_space.shape[0]
self.action_bound = [
self.env.action_space.low, self.env.action_space.high
]
self.num_train = 0
self.layer_size = [128, 64]
self.error_mag = 0.1
self.num_epoches = 10
# self.sample_size = 256
self.sample_size = 2048
self.batch_size = 128
self.gamma = 0.95
self.td_lambda = 0.95
self.clip_ratio = 0.2
# set memory and episodes
self.replay_buffer = Replay()
self.total_episodes = list() # type: list[Episode]
# set varialbles
with tf.variable_scope('state'):
self.state = tf.placeholder(tf.float32,
shape=[None, self.num_state])
with tf.variable_scope('action'):
self.action = tf.placeholder(tf.float32,
shape=[None, self.num_action])
with tf.variable_scope('target_value'):
self.y = tf.placeholder(tf.float32, shape=[None, 1])
with tf.variable_scope('advantages'):
self.advantages = tf.placeholder(tf.float32, shape=[None, 1])
# build networks
self.value = self.build_value_net()
self.actor, self.actor_param = self.build_actor_net('actor_net',
trainable=True)
self.actor_old, self.actor_old_param = self.build_actor_net(
'actor_old', trainable=False)
self.syn_old_pi = [
oldp.assign(p)
for p, oldp in zip(self.actor_param, self.actor_old_param)
]
self.sample_op = tf.clip_by_value(
tf.squeeze(self.actor.sample(1), axis=0), self.action_bound[0],
self.action_bound[1])
# set loss function
with tf.variable_scope('critic_loss'):
self.adv = self.y - self.value
self.critic_loss = tf.reduce_mean(tf.square(self.adv))
with tf.variable_scope('actor_loss'):
ratio = self.actor.prob(self.action) / self.actor_old.prob(
self.action)
self.actor_loss = tf.reduce_mean(
tf.minimum(
ratio * self.advantages,
tf.clip_by_value(ratio, 1. - self.clip_ratio,
1. + self.clip_ratio)))
# set optimizer
self.value_step_size = 1e-2
self.value_optimizer = tf.train.AdamOptimizer(self.value_step_size)
self.train_critic = self.value_optimizer.minimize(self.critic_loss)
self.policy_step_size = 1e-4
self.policy_optimizer = tf.train.AdamOptimizer(self.policy_step_size)
self.train_policy = self.value_optimizer.minimize(self.actor_loss)
# for evaluation
self.num_eval = 0
# for multiprocessing
self.state_sender = [] # type: list[Connection]
self.result_sender = [] # type: list[Connection]
self.state_receiver = [] # type: list[Connection]
self.result_receiver = [] # type: list[Connection]
self.action_sender = [] # type: list[Connection]
self.reset_sender = [] # type: list[Connection]
self.motion_sender = [] # type: list[Connection]
self.envs = [] # type: list[Process]
class HpPPO(object):
def __init__(self, session, env_name='walk', num_slaves=1):
self.sess = session
self.env = HpDartEnv(env_name)
self.num_slaves = num_slaves
self.num_state = self.env.observation_space.shape[0]
self.num_action = self.env.action_space.shape[0]
self.action_bound = [
self.env.action_space.low, self.env.action_space.high
]
self.num_train = 0
self.layer_size = [128, 64]
self.error_mag = 0.1
self.num_epoches = 10
# self.sample_size = 256
self.sample_size = 2048
self.batch_size = 128
self.gamma = 0.95
self.td_lambda = 0.95
self.clip_ratio = 0.2
# set memory and episodes
self.replay_buffer = Replay()
self.total_episodes = list() # type: list[Episode]
# set varialbles
with tf.variable_scope('state'):
self.state = tf.placeholder(tf.float32,
shape=[None, self.num_state])
with tf.variable_scope('action'):
self.action = tf.placeholder(tf.float32,
shape=[None, self.num_action])
with tf.variable_scope('target_value'):
self.y = tf.placeholder(tf.float32, shape=[None, 1])
with tf.variable_scope('advantages'):
self.advantages = tf.placeholder(tf.float32, shape=[None, 1])
# build networks
self.value = self.build_value_net()
self.actor, self.actor_param = self.build_actor_net('actor_net',
trainable=True)
self.actor_old, self.actor_old_param = self.build_actor_net(
'actor_old', trainable=False)
self.syn_old_pi = [
oldp.assign(p)
for p, oldp in zip(self.actor_param, self.actor_old_param)
]
self.sample_op = tf.clip_by_value(
tf.squeeze(self.actor.sample(1), axis=0), self.action_bound[0],
self.action_bound[1])
# set loss function
with tf.variable_scope('critic_loss'):
self.adv = self.y - self.value
self.critic_loss = tf.reduce_mean(tf.square(self.adv))
with tf.variable_scope('actor_loss'):
ratio = self.actor.prob(self.action) / self.actor_old.prob(
self.action)
self.actor_loss = tf.reduce_mean(
tf.minimum(
ratio * self.advantages,
tf.clip_by_value(ratio, 1. - self.clip_ratio,
1. + self.clip_ratio)))
# set optimizer
self.value_step_size = 1e-2
self.value_optimizer = tf.train.AdamOptimizer(self.value_step_size)
self.train_critic = self.value_optimizer.minimize(self.critic_loss)
self.policy_step_size = 1e-4
self.policy_optimizer = tf.train.AdamOptimizer(self.policy_step_size)
self.train_policy = self.value_optimizer.minimize(self.actor_loss)
# for evaluation
self.num_eval = 0
# for multiprocessing
self.state_sender = [] # type: list[Connection]
self.result_sender = [] # type: list[Connection]
self.state_receiver = [] # type: list[Connection]
self.result_receiver = [] # type: list[Connection]
self.action_sender = [] # type: list[Connection]
self.reset_sender = [] # type: list[Connection]
self.motion_sender = [] # type: list[Connection]
self.envs = [] # type: list[Process]
def init_envs(self):
for slave_idx in range(self.num_slaves):
s_s, s_r = Pipe()
r_s, r_r = Pipe()
a_s, a_r = Pipe()
reset_s, reset_r = Pipe()
motion_s, motion_r = Pipe()
p = Process(target=worker,
args=(self.rnn_len, slave_idx, s_s, r_s, a_r, reset_r,
motion_r))
self.state_sender.append(s_s)
self.result_sender.append(r_s)
self.state_receiver.append(s_r)
self.result_receiver.append(r_r)
self.action_sender.append(a_s)
self.reset_sender.append(reset_s)
self.motion_sender.append(motion_s)
self.envs.append(p)
p.start()
def envs_get_states(self, terminated):
states = []
for recv_idx in range(len(self.state_receiver)):
if terminated[recv_idx]:
states.append([0.] * self.num_state)
else:
states.append(self.state_receiver[recv_idx].recv())
return states
def envs_send_actions(self, actions, terminated):
for i in range(len(self.action_sender)):
if not terminated[i]:
self.action_sender[i].send(actions[i])
def envs_get_status(self, terminated):
status = []
for recv_idx in range(len(self.result_receiver)):
if terminated[recv_idx]:
status.append((0., True))
else:
status.append(self.result_receiver[recv_idx].recv())
return zip(*status)
def envs_resets(self, reset_flag):
for i in range(len(self.reset_sender)):
self.reset_sender[i].send(reset_flag)
def envs_reset(self, i, reset_flag):
self.reset_sender[i].send(reset_flag)
def build_value_net(self):
# build networks
with tf.variable_scope('value_net'):
value_dl1 = tf.contrib.layers.fully_connected(
inputs=self.state,
num_outputs=self.layer_size[0],
activation_fn=tf.nn.relu,
scope='value_dl1')
value_dl2 = tf.contrib.layers.fully_connected(
inputs=value_dl1,
num_outputs=self.layer_size[1],
activation_fn=tf.nn.relu,
scope='value_dl2')
value = tf.contrib.layers.fully_connected(inputs=value_dl2,
num_outputs=1,
activation_fn=None,
scope='value')
return value
def build_actor_net(self, scope, trainable):
with tf.variable_scope(scope):
actor_dl1 = tf.contrib.layers.fully_connected(
inputs=self.state,
num_outputs=self.layer_size[0],
activation_fn=tf.nn.relu,
trainable=trainable,
scope='dl1')
actor_dl2 = tf.contrib.layers.fully_connected(
inputs=actor_dl1,
num_outputs=self.layer_size[1],
activation_fn=tf.nn.relu,
trainable=trainable,
scope='dl2')
mu = tf.contrib.layers.fully_connected(inputs=actor_dl2,
num_outputs=self.num_action,
activation_fn=None,
trainable=trainable,
scope='mu')
sigma = tf.contrib.layers.fully_connected(
inputs=actor_dl2,
num_outputs=self.num_action,
activation_fn=tf.nn.softplus,
trainable=trainable,
scope='sigma')
# sigma = tf.convert_to_tensor(0.1 * np.ones(self.num_action), dtype=np.float32)
actor_dist = tf.contrib.distributions.Normal(loc=mu, scale=sigma)
param = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope)
return actor_dist, param
def get_action(self, s):
return self.sess.run(self.sample_op,
feed_dict={self.state: s[np.newaxis, :]})
def get_v(self, s):
if s.ndim < 2:
s = s[np.newaxis, :]
return self.sess.run(self.value, feed_dict={self.state: s})[0, 0]
def train(self):
self.generate_transitions()
self.optimize_model()
self.num_train += 1
def generate_transitions(self):
del self.total_episodes[:]
episodes = [Episode() for _ in range(self.num_slaves)]
terminated = [False for _ in range(self.num_slaves)]
self.env.Resets(True)
# self.envs_resets(1)
local_step = 0
while True:
states = self.env.GetStates()
# states = self.envs_get_states(terminated)
actions = np.asarray(self.get_action(states))
values = self.get_v(states)
logprobs = self.actor.prob(actions)
# self.envs_send_actions(actions, terminated)
# rewards, is_done = self.envs_get_status(terminated)
__, reward, is_done, info = self.env.step(actions.flatten())
rewards = [reward]
is_dones = [is_done]
for j in range(self.num_slaves):
if terminated[j]:
continue
nan_occur = np.any(np.isnan(states[j])) or np.any(
np.isnan(actions[j]))
if not nan_occur:
episodes[j].append((states[j], actions[j], rewards[j],
values[j], logprobs[j]))
if is_dones[j] or nan_occur:
self.total_episodes.append(deepcopy(episodes[j]))
if local_step < self.sample_size:
episodes[j] = Episode()
# self.envs_reset(j, 1)
self.env.reset()
else:
terminated[j] = True
else:
# self.envs_reset(j, 0)
pass
if local_step >= self.sample_size and all(terminated):
break
def optimize_model(self):
self.compute_td_gae()
for _ in range(self.num_epoches):
transitions = self.replay_buffer.sample(self.batch_size)
batch = list(zip(*transitions))
td = batch[3]
self.update_value()
self.update_policy()
def compute_td_gae(self):
for epi in self.total_episodes:
len_epi = len(epi)
states, actions, rewards, values, logprobs = zip(*epi)
values = np.concatenate((values, np.zeros(1)), axis=0)
advantages = np.zeros(len_epi)
ad_t = 0
for i in reversed(range(len_epi)):
delta = rewards[i] + values[i + 1] * self.gamma - values[i]
ad_t = delta + self.gamma * self.td_lambda * ad_t
advantages[i] = ad_t
TD = values[:len_epi] + advantages
for i in range(len_epi):
self.replay_buffer.append(
(states[i], actions[i], logprobs[i], TD[i], advantages[i]))
def update_value(self):
pass
def update_policy(self):
pass
def evaluate(self):
self.num_eval += 1
total_reward = 0
total_step = 0
self.env.Reset(False, 0)
state = self.env.GetState(0)
for t in count():
action = np.asarray(self.actor.mean().eval(
feed_dict={ppo.state: [state]})).flatten()
state, reward, is_done, info = self.env.step(action)
if is_done:
break
else:
total_step += 1
total_reward += reward
# print('noise: {:.3f}'.format(self.actor.stddev().eval(feed_dict={ppo.state: [state]})))
print('noise: ',
self.actor.stddev().eval(feed_dict={ppo.state: [state]}))
if total_step > 0:
print('Epi reward : {:.2f}, Step reward : {:.2f} Total step : {}'.
format(total_reward, total_reward / total_step, total_step))
else:
print('bad')
return total_reward, total_step
class PPO(object):
def __init__(self, env_name, num_slaves=1, eval_print=True, eval_log=True, visualize_only=False):
np.random.seed(seed=int(time.time()))
self.env_name = env_name
self.env = HpDartEnv(env_name)
self.num_slaves = num_slaves
self.num_state = self.env.observation_space.shape[0]
self.num_action = self.env.action_space.shape[0]
self.num_epochs = 10
self.num_evaluation = 0
self.num_training = 0
self.gamma = 0.99
self.lb = 0.95
self.clip_ratio = 0.2
self.buffer_size = 2048
self.batch_size = 128
self.replay_buffer = ReplayBuffer(10000)
self.total_episodes = []
self.model = Model(self.num_state, self.num_action).float()
self.optimizer = optim.Adam(self.model.parameters(), lr=7E-4)
self.w_entropy = 0.0
self.saved = False
self.save_directory = self.env_name + '_' + 'model_'+time.strftime("%m%d%H%M") + '/'
if not self.saved and not os.path.exists(self.save_directory) and not visualize_only:
os.makedirs(self.save_directory)
self.saved = True
self.log_file = None
if not visualize_only:
self.log_file = open(self.save_directory + 'log.txt', 'w')
self.eval_print = eval_print
self.eval_log = eval_log
self.result_receiver = [] # type: list[Connection]
self.action_sender = [] # type: list[Connection]
self.reset_sender = [] # type: list[Connection]
self.envs = [] # type: list[Process]
self.init_envs()
def init_envs(self):
for slave_idx in range(self.num_slaves):
r_s, r_r = Pipe()
a_s, a_r = Pipe()
reset_s, reset_r = Pipe()
p = Process(target=worker, args=(self.env_name, slave_idx, r_s, a_r, reset_r))
self.result_receiver.append(r_r)
self.action_sender.append(a_s)
self.reset_sender.append(reset_s)
self.envs.append(p)
p.start()
def envs_get_states(self, terminated):
states = []
for recv_idx in range(len(self.result_receiver)):
if terminated[recv_idx]:
states.append([0.] * self.num_state)
else:
states.append(self.result_receiver[recv_idx].recv())
return states
def envs_send_actions(self, actions, terminated):
for i in range(len(self.action_sender)):
if not terminated[i]:
self.action_sender[i].send(actions[i])
def envs_get_status(self, ternimated):
status = []
for recv_idx in range(len(self.result_receiver)):
if ternimated[recv_idx]:
status.append((0., True))
else:
status.append(self.result_receiver[recv_idx].recv())
return zip(*status)
def envs_resets(self):
for i in range(len(self.reset_sender)):
self.reset_sender[i].send(True)
def envs_reset(self, i):
self.reset_sender[i].send(True)
def SaveModel(self):
torch.save(self.model.state_dict(), self.save_directory + str(self.num_evaluation) + '.pt')
def LoadModel(self, model_path):
self.model.load_state_dict(torch.load(model_path))
def ComputeTDandGAE(self):
self.replay_buffer.clear()
for epi in self.total_episodes:
data = epi.get_data()
size = len(data)
states, actions, rewards, values, logprobs = zip(*data)
values = np.concatenate((values, np.zeros(1)), axis=0)
advantages = np.zeros(size)
ad_t = 0
for i in reversed(range(len(data))):
delta = rewards[i] + values[i + 1] * self.gamma - values[i]
ad_t = delta + self.gamma * self.lb * ad_t
advantages[i] = ad_t
TD = values[:size] + advantages
for i in range(size):
self.replay_buffer.push(states[i], actions[i], logprobs[i], TD[i], advantages[i])
def GenerateTransitions(self):
del self.total_episodes[:]
episodes = [None] * self.num_slaves
for j in range(self.num_slaves):
episodes[j] = EpisodeBuffer()
self.envs_resets()
local_step = 0
terminated = [False] * self.num_slaves
# print('Generate Transtions...')
percent = 0
while True:
# update states
states = self.envs_get_states(terminated)
# print(local_step)
# new_percent = local_step*10//self.buffer_size
# if (new_percent == percent) is not True:
# percent = new_percent
# print('{}0%'.format(percent))
a_dist, v = self.model(torch.tensor(states).float())
actions = a_dist.sample().detach().numpy()
logprobs = a_dist.log_prob(torch.tensor(actions).float()).detach().numpy().reshape(-1)
values = v.detach().numpy().reshape(-1)
self.envs_send_actions(actions, terminated)
rewards, is_done = self.envs_get_status(terminated)
for j in range(self.num_slaves):
if terminated[j]:
continue
nan_occur = False
if np.any(np.isnan(states[j])) or np.any(np.isnan(actions[j])):
nan_occur = True
else:
episodes[j].push(states[j], actions[j], rewards[j], values[j], logprobs[j])
local_step += 1
# if episode is terminated
if is_done[j] or nan_occur:
if not is_done[j] and nan_occur:
print('!!!!!!!!!!!!!!!!!!!!!!!!exception')
# push episodes
self.total_episodes.append(episodes[j])
# if data limit is exceeded, stop simulations
if local_step < self.buffer_size:
episodes[j] = EpisodeBuffer()
self.envs_reset(j)
else:
terminated[j] = True
if local_step >= self.buffer_size:
all_terminated = True
for j in range(self.num_slaves):
if terminated[j] is False:
all_terminated = False
if all_terminated is True:
break
# print('Done!')
def OptimizeModel(self):
# print('Optimize Model...')
self.ComputeTDandGAE()
all_transitions = np.array(self.replay_buffer.buffer)
for _ in range(self.num_epochs):
np.random.shuffle(all_transitions)
for i in range(len(all_transitions) // self.batch_size):
transitions = all_transitions[i * self.batch_size:(i + 1) * self.batch_size]
batch = Transition(*zip(*transitions))
stack_s = np.vstack(batch.s).astype(np.float32)
stack_a = np.vstack(batch.a).astype(np.float32)
stack_lp = np.vstack(batch.logprob).astype(np.float32)
stack_td = np.vstack(batch.TD).astype(np.float32)
stack_gae = np.vstack(batch.GAE).astype(np.float32)
a_dist, v = self.model(torch.tensor(stack_s).float())
'''Critic Loss'''
loss_critic = ((v - torch.tensor(stack_td).float()).pow(2)).mean()
'''Actor Loss'''
ratio = torch.exp(a_dist.log_prob(torch.tensor(stack_a).float()) - torch.tensor(stack_lp).float())
stack_gae = (stack_gae - stack_gae.mean()) / (stack_gae.std() + 1E-5)
surrogate1 = ratio * torch.tensor(stack_gae).float()
surrogate2 = torch.clamp(ratio, min=1.0 - self.clip_ratio, max=1.0 + self.clip_ratio) * torch.tensor(stack_gae).float()
loss_actor = - torch.min(surrogate1, surrogate2).mean()
'''Entropy Loss'''
loss_entropy = - self.w_entropy * a_dist.entropy().mean()
loss = loss_critic + loss_actor + loss_entropy
# loss = loss_critic + loss_actor
self.optimizer.zero_grad()
loss.backward(retain_graph=True)
for param in self.model.parameters():
param.grad.data.clamp_(-0.5, 0.5)
self.optimizer.step()
# print('Done!')
def Train(self):
self.GenerateTransitions()
self.OptimizeModel()
self.num_training += 1
def Evaluate(self):
self.num_evaluation += 1
total_reward = 0
total_step = 0
self.env.Reset(False, 0)
states = self.env.GetStates()
for j in range(len(states)):
if np.any(np.isnan(states[j])):
self.print("state warning!!!!!!!! start")
for t in count():
action_dist, _ = self.model(torch.tensor(states).float())
actions = action_dist.loc.detach().numpy()
for j in range(len(actions)):
if np.any(np.isnan(actions[j])):
self.print("action warning!!!!!!!!" + str(t))
self.env.Steps(actions)
for j in range(len(states)):
if np.any(np.isnan(states[j])):
self.print("state warning!!!!!!!!"+str(t))
if self.env.IsTerminalState(0) is False:
total_step += 1
total_reward += self.env.GetReward(0)
states = self.env.GetStates()
if all(self.env.IsTerminalStates()):
break
self.print('noise : {:.3f}'.format(self.model.log_std.exp().mean()))
if total_step is not 0:
self.print('Epi reward : {:.2f}, Step reward : {:.2f} Total step : {}'
.format(total_reward, total_reward / total_step, total_step))
else:
self.print('bad..')
return total_reward, total_step
def print(self, s):
if self.eval_print:
print(s)
if self.eval_log:
self.log_file.write(s+"\n")
def worker(env_name, proc_num, result_sender, action_receiver, reset_receiver):
"""
:type env_name: str
:type proc_num: int
:type result_sender: Connection
:type action_receiver: Connection
:return:
"""
env = HpDartEnv(env_name)
new_start = reset_receiver.recv()
if new_start:
env.reset()
new_start = False
local_step = 0
while True:
# print(proc_num, local_step)
# print(proc_num, 'state_send')
result_sender.send(env.state())
# print(proc_num, 'action_recv')
action = action_receiver.recv()
env.step(action)
local_step += 1
reward, is_done = env.reward(), env.is_done()
# print(proc_num, is_done, local_step, env.world.time())
# print(proc_num, 'reward_send')
result_sender.send((reward, is_done))
if is_done:
# print(proc_num, 'reset_recv')
new_start = reset_receiver.recv()
if new_start:
env.reset()
new_start = False