def test(self, episodes, render=False, log=False, record=False):
self.model.eval()
env = self.env
if record:
env = Monitor(self.env_fn(),
directory=os.path.join(self.path, 'recordings'),
force=True,
video_callable=lambda episode_id: True)
with torch.no_grad():
test_rewards = []
total_test_steps = 0
for ep in range(episodes):
terminal = False
obs_n = env.reset()
step = 0
ep_reward = [0 for _ in range(self.model.n_agents)]
while not terminal:
if render:
env.render()
torch_obs_n = torch.FloatTensor(obs_n).to(
self.device).unsqueeze(0)
action_n = self._select_action(self.model,
torch_obs_n,
explore=False)
next_obs_n, reward_n, done_n, info = env.step(action_n)
terminal = all(done_n) or step >= self.episode_max_steps
obs_n = next_obs_n
step += 1
for i, r_n in enumerate(reward_n):
ep_reward[i] += r_n
total_test_steps += step
test_rewards.append(ep_reward)
test_rewards = np.array(test_rewards).mean(axis=0)
if log:
# log - test
for i, r_n in enumerate(test_rewards):
self.writer.add_scalar('agent_{}/eval_reward'.format(i),
r_n, self._step_iter)
self.writer.add_scalar('_overall/eval_reward',
sum(test_rewards), self._step_iter)
self.writer.add_scalar('_overall/test_ep_steps',
total_test_steps / episodes,
self._step_iter)
if record:
env.close()
return test_rewards
def test(self, episodes, render=False, log=False, record=False):
self.model.eval()
env = self.env
if record:
env = Monitor(self.env_fn(),
directory=os.path.join(self.path, 'recordings'),
force=True,
video_callable=lambda episode_id: True)
with torch.no_grad():
test_rewards = []
total_test_steps = 0
for ep in range(episodes):
terminal = False
obs_n = env.reset()
step = 0
ep_reward = [0 for _ in range(self.model.n_agents)]
self.model.init_hidden(device=self.device)
while not terminal:
if render:
env.render()
torch_obs_n = torch.FloatTensor(obs_n).to(
self.device).unsqueeze(0)
thoughts = []
for agent_i in range(self.model.n_agents):
thoughts.append(
self.model.agent(agent_i).get_thought(
torch_obs_n[:, agent_i]))
for i in range(self.share_iter):
for agent_i in range(self.model.n_agents):
thoughts[agent_i] = (thoughts[agent_i] + thoughts[
(agent_i + 1) % len(thoughts)]) / 2
thoughts = torch.stack(thoughts)
action_n = []
for agent_i in range(self.model.n_agents):
# assuming every other agent is a neighbour as of now
_neighbours = list(range(self.model.n_agents))
_neighbours.remove(agent_i)
logits = self.model.agent(agent_i)(thoughts[agent_i])
prob = F.softmax(logits, dim=1)
action = prob.argmax(1).item()
# action = prob.multinomial(num_samples=1).detach().item()
if log and step == 0 and ep == 0:
log_prob = F.log_softmax(logits, dim=1)
entropy = -(log_prob * prob).sum(1)
self.writer.add_scalar(
'agent_{}/entropy'.format(agent_i), entropy,
self._step_iter)
action_n.append(action)
next_obs_n, reward_n, done_n, info = env.step(action_n)
terminal = all(done_n) or step >= self.episode_max_steps
obs_n = next_obs_n
step += 1
for i, r_n in enumerate(reward_n):
ep_reward[i] += r_n
total_test_steps += step
test_rewards.append(ep_reward)
test_rewards = np.array(test_rewards).mean(axis=0)
# log - test
if log:
for i, r_n in enumerate(test_rewards):
self.writer.add_scalar('agent_{}/eval_reward'.format(i),
r_n, self._step_iter)
self.writer.add_scalar('_overall/eval_reward',
sum(test_rewards), self._step_iter)
self.writer.add_scalar('_overall/test_ep_steps',
total_test_steps / episodes,
self._step_iter)
if record:
env.close()
return test_rewards
description='Interactive Agent for ma-gym')
parser.add_argument('--env',
default='Checkers-v0',
help='Name of the environment (default: %(default)s)')
parser.add_argument('--episodes',
type=int,
default=1,
help='episodes (default: %(default)s)')
args = parser.parse_args()
print(
'Enter the actions space together and press enter ( Eg: \'11<enter>\' which meanes take 1'
' for agent 1 and 1 for agent 2)')
env = gym.make('ma_gym:{}'.format(args.env))
env = Monitor(env, directory='recordings', force=True)
for ep_i in range(args.episodes):
done_n = [False for _ in range(env.n_agents)]
ep_reward = 0
obs_n = env.reset()
env.render()
while not all(done_n):
action_n = [int(_) for _ in input('Action:')]
obs_n, reward_n, done_n, _ = env.step(action_n)
ep_reward += sum(reward_n)
env.render()
print('Episode #{} Reward: {}'.format(ep_i, ep_reward))
env.close()
state = concat_obs(obs_n)
round = 0
cur_round = 0
is_l_hit = False
is_r_hit = False
while not all(done_n):
l_action = LEFT_agent.get_action(state_number,
state,
evaluation=False)
r_action = RIGHT_agent.get_action(state_number,
state,
evaluation=False)
end_round = False
next_state, reward_n, done_n, info = env.step(
[l_action, r_action])
next_state = concat_obs(next_state)
cur_round = info['rounds']
if cur_round != round:
is_l_hit = False
is_r_hit = False
round = cur_round
end_round = True
paddle_l = np.array([state[0], state[1]])
paddle_r = np.array([state[2], state[3]])
ball = np.array([state[4], state[5]])
dir = np.array(state[6:12])
next_dir = np.array(next_state[6:12])
break
print('Episode: {:07d} - Cumulative reward this episode: {}'.format(
e, cumulative_reward))
input('End of training. \n\nPress `ENTER` to start testing.')
env = Monitor(env,
directory="recordings",
video_callable=lambda episode_id: True,
force=True)
obs = env.reset()
# while True:
for _ in range(num_steps):
env.render()
state_0, state_1 = get_obs_tuples(obs)
a_0_y, b_0_y, b_0_x, d_0, e_0_y, = state_0[0], state_0[1], state_0[
2], state_0[3], state_0[4]
a_1_y, b_1_y, b_1_x, d_1, e_1_y, = state_1[0], state_1[1], state_1[
2], state_1[3], state_1[4]
action_0 = agent_0.get_action_greedy(a_0_y, b_0_y, b_0_x, d_0, e_0_y)
action_1 = agent_1.get_action_greedy(a_1_y, b_1_y, b_1_x, d_1, e_1_y)
action_1 = env.action_space.sample()[1]
action = []
action.append(action_0)
action.append(action_1)
obs, reward, done, info = env.step(action)
if all(done):
break
env.close()
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Random Agent for ma-gym')
parser.add_argument('--env',
default='Checkers-v0',
help='Name of the environment (default: %(default)s)')
parser.add_argument('--episodes',
type=int,
default=1,
help='episodes (default: %(default)s)')
args = parser.parse_args()
env = gym.make(args.env)
env = Monitor(env, directory='recordings/' + args.env, force=True)
for ep_i in range(args.episodes):
done_n = [False for _ in range(env.n_agents)]
ep_reward = 0
env.seed(ep_i)
obs_n = env.reset()
env.render()
while not all(done_n):
action_n = env.action_space.sample()
obs_n, reward_n, done_n, info = env.step(action_n)
ep_reward += sum(reward_n)
env.render()
print('Episode #{} Reward: {}'.format(ep_i, ep_reward))
env.close()
class Tester():
def __init__(self, models, env_name="PongDuel-v0", render=True, video=True, step_number=1000, log_after_steps=200, log_on_win=True):
self._models = models # list of model id to test. If "all", test "all"
if "all" in self._models:
self._models = [i for i in registered_models["all"]]
self._render = render
self._video = video
self._step_number = step_number
self._log_after_steps = log_after_steps
self._log_on_win = log_on_win
self._env_name = env_name
self._env = None
def log_score(self, step, score, msg=""):
print("Step: {0:05d} Score: {1}".format(step, score), end="")
if msg != "":
print(" [{}]".format(msg))
else:
print("")
def run_tests(self):
print("Running tests for model IDs: {}".format(self._models))
print("-" * 10)
models_score_summary = {}
for model_id in self._models:
print("Selected model_id: {}".format(model_id))
model = AutoLoadModel(model_id)
score = {"agent_0": {"moves": 0,
"wins": 0},
"agent_1": {"moves": 0,
"wins": 0}}
self._env = gym.make(self._env_name)
if self._video:
if type(model_id) is list:
model_id = "{}_VS_{}".format(model_id[0], model_id[1])
output_directory = "recordings/{}".format(model_id)
self._env = Monitor(self._env, directory=output_directory, video_callable=lambda episode_id: True, force=True)
obs_n = self._env.reset()
for _ in range(self._step_number):
# render env
if self._render:
self._env.render()
# select actions
actions, actions_as_list = model.get_agents_actions(obs_n)
# update moves counter
for an in ["agent_0", "agent_1"]:
if actions[an] in [1, 2]:
score[an]["moves"] += 1
# execute actions
obs_n, reward_n, done_n, info = self._env.step(actions_as_list)
# update score
if any(reward_n):
score["agent_0"]["wins"] += reward_n[0]
score["agent_1"]["wins"] += reward_n[1]
if self._log_on_win == True:
self.log_score(_, score, "win")
models_score_summary[model_id] = score
if _ % self._log_after_steps == 0:
self.log_score(_, score)
if all(done_n):
break
self.log_score(_, score, "end")
print("-" * 10)
self._env.close()
# Score summary
print("Summary:")
for k, v in models_score_summary.items():
n_moves = 0
n_wins = 0
print("Model{}:".format(k))
for a, b in v.items():
print(a, b)
n_moves += b["moves"]
n_wins += b["wins"]
print("Average move count: {}".format(n_moves / 2))
print("Total move count: {}".format(n_moves))
print("Total win count: {}".format(n_wins))
print("")
def main():
env = gym.make('PongDuel-v0')
env = Monitor(env, directory='testings/PongDuel-v0', force=True)
action_dim = env.action_space[0].n
state_dim = env.observation_space[0].shape[0] + 2
MAIN_DQN = create_model(state_dim, action_dim, is_dueling=True)
TARGET_DQN = create_model(state_dim, action_dim, is_dueling=True)
replay_buffer = ReplayBuffer(size=MEM_SIZE, input_shape=INPUT_SHAPE, use_per=USE_PER)
agent = Agent(MAIN_DQN, TARGET_DQN, replay_buffer, action_dim, input_shape=INPUT_SHAPE, batch_size=BATCH_SIZE,
use_per=USE_PER)
if LOAD_FROM is None:
state_number = 0
rewards = []
loss_list = []
else:
print('Loading from', LOAD_FROM)
meta = agent.load(LOAD_FROM, LOAD_REPLAY_BUFFER)
state_number = meta['state_number']
rewards = meta['rewards']
loss_list = meta['loss_list']
try:
last_50_l = deque(maxlen=50)
last_50_r = deque(maxlen=50)
recent_10_game = deque(maxlen=10)
start_time = datetime.now()
print(start_time)
for ep in range(MAX_EPISODE_LENGTH):
done_n = [False for _ in range(env.n_agents)]
l_cnt = 0
r_cnt = 0
state = env.reset()
state = concat_obs(state)
while not all(done_n):
trained_action = agent.get_action(state_number, state, evaluation=False)
next_state, reward_n, done_n, _ = env.step([trained_action, random_action()])
next_state = concat_obs(next_state)
paddle_l = next_state[0]
paddle_r = next_state[2]
ball = state[4]
delta_l = np.subtract(paddle_l, ball)
delta_r = np.subtract(paddle_r, ball)
# if reward_n[1] == 1:
# if delta_l > 0:
# if trained_action == 1:
# reward = 1
# else:
# reward = -1
# elif delta_l == 0:
# if trained_action == 0:
# reward = 1
# else:
# reward = -1
# else:
# if trained_action == 2:
# reward = 1
# else:
# reward = -1
# elif reward_n[0] == 1:
# reward = abs(delta_r)*10
# else:
# reward = reward_n[0]
agent.add_experience(action=trained_action, state=state, reward=reward_n[0], clip_reward=CLIP_REWARD,
done=done_n[0])
state_number += 1
l_reward = reward_n[0]
r_reward = reward_n[1]
l_cnt += l_reward
r_cnt += r_reward
if state_number % UPDATE_FREQ == 0 and agent.replay_buffer.count > MIN_REPLAY_BUFFER_SIZE:
loss, _ = agent.learn(BATCH_SIZE, gamma=DISCOUNT_FACTOR, state_number=state_number,
priority_scale=PRIORITY_SCALE)
loss_list.append(loss)
if state_number % UPDATE_FREQ == 0 and state_number > MIN_REPLAY_BUFFER_SIZE:
agent.update_target_network()
state = next_state
if l_cnt > r_cnt:
is_win = 'Win'
recent_10_game.append(1)
elif l_cnt == r_cnt:
is_win = 'draw'
else:
is_win = 'Lose'
recent_10_game.append(0)
last_50_l.append(l_cnt)
last_50_r.append(r_cnt)
avg_l, avg_r = np.mean(last_50_l), np.mean(last_50_r)
recent_10_win_rate = np.mean(recent_10_game)
cur_time = datetime.now()
print("{}||Episode #{} {} left: {} right: {} / avg score {}:{} / recent 10 game win rate: {}".format(cur_time, ep, is_win, l_cnt, r_cnt, avg_l, avg_r, recent_10_win_rate))
SAVE_PATH = 'PongDuel-saves'
print('\nTraining end.')
if SAVE_PATH is None:
try:
SAVE_PATH = input(
'Would you like to save the trained model? If so, type in a save path, otherwise, interrupt with '
'ctrl+c. ')
except KeyboardInterrupt:
print('\nExiting...')
if SAVE_PATH is not None:
print('Saving...')
agent.save(f'{SAVE_PATH}/save-{str(state_number).zfill(8)}', state_number=state_number, rewards=rewards,
loss_list=loss_list)
print('Saved.')
except KeyboardInterrupt:
SAVE_PATH = 'PongDuel-saves'
print('\nTraining exited early.')
if SAVE_PATH is None:
try:
SAVE_PATH = input(
'Would you like to save the trained model? If so, type in a save path, otherwise, interrupt with '
'ctrl+c. ')
except KeyboardInterrupt:
print('\nExiting...')
if SAVE_PATH is not None:
print('Saving...')
agent.save(f'{SAVE_PATH}/save-{str(state_number).zfill(8)}', state_number=state_number, rewards=rewards,
loss_list=loss_list)
print('Saved.')