class Actor:
def __init__(self, actor_id,config,dev,shared_state,shared_queue,eps):
# self.env = suite.load(domain_name="walker", task_name="run")
# self.action_size = self.env.action_spec().shape[0]
# self.obs_size = get_obs(self.env.reset().observation).shape[1]
self.env = env_cover(config,dev)
self.num_env = config['num_envs']
self.shared_queue = shared_queue
self.shared_state = shared_state
self.dev = dev
self.actor_id = actor_id
self.burn_in_length = config['burn_in_length'] # 40-80
self.learning_length = config['learning_length']
self.sequence_length = self.burn_in_length + self.learning_length
self.n_step = config['n_step']
self.sequence = []
self.recurrent_state = []
self.priority = []
self.td_loss = deque(maxlen=self.learning_length)
# self.memory_sequence_size = 1000
# self.memory = ReplayMemory(memory_sequence_size=self.memory_sequence_size)
# self.memory_save_interval = 3
self.max_frame = config['actor_max_frame']
self.gamma = config['gamma']
# self.actor_parameter_update_interval = config['actor_parameter_update_interval']
self.max_shared_q_size=config['max_shared_q_size']
self.model_path = './'
self.memory_path = './'
self.actor = ActorNet(dev,config).to(self.dev)
self.target_actor = ActorNet(dev,config).to(self.dev)
self.critic = CriticNet(dev,config).to(self.dev)
self.target_critic = CriticNet(dev,config).to(self.dev)
self.actor.load_state_dict(self.shared_state["actor"].state_dict())
self.target_actor.load_state_dict(self.shared_state["target_actor"].state_dict())
self.critic.load_state_dict(self.shared_state["critic"].state_dict())
self.target_critic.load_state_dict(self.shared_state["target_critic"].state_dict())
# self.actor.load_state_dict(self.shared_state["actor"])
# self.target_actor.load_state_dict(self.shared_state["target_actor"])
# self.critic.load_state_dict(self.shared_state["critic"])
# self.target_critic.load_state_dict(self.shared_state["target_critic"])
self.action_argmax = config['action_argmax']
# self.load_model()
self.epsilon = eps
def __del__(self):
self.env.close()
def PrePro(self,obs):
return obs
# return torch.from_numpy(obs).detach().float().reshape((1,self.obs_size)).to(self.dev)
def save_memory(self):
model_dict = {'sequence': self.sequence,
'recurrent_state': self.recurrent_state,
'priority': self.priority,
}
torch.save(model_dict, self.memory_path + 'memory.pt')
# with open('outfile', 'wb') as fp:
# pickle.dump(itemlist, fp)
#
# with open ('outfile', 'rb') as fp:
# itemlist = pickle.load(fp)
def load_model(self):
if os.path.isfile(self.model_path + 'model.pt'):
while True:
try:
# TODO: Delete
# self.actor = ActorNet(self.obs_size, self.action_size, self.actor_id%2+1).cuda().eval()
# self.target_actor = deepcopy(self.actor)
# self.critic = CriticNet(self.obs_size, self.action_size, self.actor_id%2+1).cuda().eval()
# self.target_critic = deepcopy(self.critic)
#model_dict = torch.load(self.model_path + 'model.pt', map_location={'cuda:0':'cuda:{}'.format(self.actor_id%2+1)})
print('waiting model.pt')
model_dict = torch.load(self.model_path + 'model.pt')
self.actor.load_state_dict(model_dict['actor'])
self.target_actor.load_state_dict(model_dict['target_actor'])
self.critic.load_state_dict(model_dict['critic'])
self.target_critic.load_state_dict(model_dict['target_critic'])
self.actor.to(self.dev)
self.target_actor.to(self.dev)
self.critic.to(self.dev)
self.target_critic.to(self.dev)
except:
sleep(np.random.rand() * 5 + 2)
else:
break
def calc_nstep_reward(self):
for i in range(len(self.sequence) - self.n_step):
self.sequence[i][2] = sum([ self.sequence[i+j][2] * (self.sequence[i+j][3] ** j) for j in range(self.n_step)] )
def calc_priorities(self):
with torch.no_grad():
self.actor.reset_state()
self.critic.reset_state()
self.target_actor.reset_state()
self.target_critic.reset_state()
# self.td_loss = deque(maxlen=self.learning_length)
self.td_loss = []
self.priority = []
# 이부분은 target 넷을 nstep 만큼 진행 해놓는것.
for i in range(self.n_step):
next_obs = self.sequence[i][0]
next_action = self.target_actor(self.PrePro(next_obs)).to(self.dev)
next_q_value = self.target_critic(self.PrePro(next_obs), next_action)
# n 스텝 진행 하면서 Q 벨류 예측. seq[시퀀스][0:staet ,1:action ,2:reward,3:term->gamma]
for i in range(len(self.sequence) - self.n_step):
# obs = torch.from_numpy(self.sequence[i][0]).unsqueeze(0)
obs = self.sequence[i][0]
# action = self.sequence[i][1].unsqueeze(0)
next_obs = self.sequence[i + self.n_step][0]
action = self.sequence[i][1]
# action = torch.Tensor(self.sequence[i][1]).view(1,-1).to(self.dev)
# next_obs = torch.from_numpy(self.sequence[i + self.n_step][0]).unsqueeze(0)
next_action = self.target_actor(self.PrePro(next_obs)).to(self.dev)
q_value = self.critic(self.PrePro(obs), action)
reward = self.sequence[i][2]
gamma = self.sequence[i + self.n_step - 1][3]
next_q_value = self.target_critic(self.PrePro(next_obs), next_action)
if i >= self.burn_in_length:
target_q_value = (reward + (gamma ** self.n_step)) * next_q_value
# target_q_value = invertical_vf(target_q_value)
self.td_loss.append(((q_value - target_q_value)**2))
if len(self.td_loss) > self.learning_length:
self.td_loss.pop(0)
if i >= self.sequence_length:
self.priority.append(calc_priority(self.td_loss))
def run(self):
# sleep(random.random()*1)
frame = 0
if self.actor_id%3 == 0:
win_r = vis.line(Y=torch.Tensor([0]), opts=dict(title ='reward'+str(self.epsilon)))
reward_sum = 0
while frame < self.max_frame:
# self.shared_state['frame'][self.actor_id]=frame
# while self.shared_state['sleep'][self.actor_id] :
# sleep(0.5)
st, rt, dt = self.env.reset()
self.actor.reset_state()
self.critic.reset_state()
self.target_actor.reset_state()
self.target_critic.reset_state()
self.sequence = []
self.recurrent_state = []
self.priority = []
self.td_loss.clear()
if self.actor_id%3 == 0:
win_r = vis.line(X=torch.Tensor([frame]), Y=torch.Tensor([reward_sum]), win= win_r , update ='append')
reward_sum = 0
count_step = 0
sleep(0.01)
while sum(dt)!=self.num_env:
frame+=1
# get recurrent state
actor_hx, actor_cx = self.actor.get_state()
target_actor_hx, target_actor_cx = self.target_actor.get_state()
critic_hx, critic_cx = self.critic.get_state()
target_critic_hx, target_critic_cx = self.target_critic.get_state()
action = self.actor(self.PrePro(st))
target_action = self.target_actor(self.PrePro(st))
_ = self.critic(self.PrePro(st), action)
_ = self.target_critic(self.PrePro(st), target_action)
noise = torch.normal(mean=torch.zeros([self.num_env,1]),std=torch.ones([self.num_env,1])).to(self.dev)
# action = action.detach().item() + np.random.normal(0, self.epsilon, (self.action_size))
# action = np.clip(action, -1, 1)
if self.action_argmax:
act = action.argmax(1).cpu().numpy().item()
else:
action = action.cpu().numpy()
if random.random()> self.epsilon:
act = random.randint(0,1)
# action = (action+noise*self.epsilon).clamp(min=-1,max=1)
st_1, rt, dt = self.env.step(act)
reward_sum += rt
count_step += 1
gamma = torch.ones([self.num_env,1]).to(self.dev)*self.gamma*(1-dt)
# gamma = self.gamma if not dt else 0.
self.sequence.append([st, action, rt, gamma])
st = st_1
self.recurrent_state.append([torch.cat([actor_hx, actor_cx]), torch.cat([target_actor_hx, target_actor_cx]),
torch.cat([critic_hx, critic_cx]), torch.cat([target_critic_hx, target_critic_cx])])
# if True:
if self.shared_state["update"][self.actor_id]:
self.actor.load_state_dict(self.shared_state["actor"].state_dict())
self.target_actor.load_state_dict(self.shared_state["target_actor"].state_dict())
self.critic.load_state_dict(self.shared_state["critic"].state_dict())
self.target_critic.load_state_dict(self.shared_state["target_critic"].state_dict())
self.shared_state["update"][self.actor_id]=False
print('actor_update',self.actor.policy_l0.weight.data[0][0])
# self.load_model()
if len(self.sequence) >= self.sequence_length:
#self.sequence.extend([(st, action, 0., 0.) for i in range(self.n_step)])
st, rt, dt = self.env.end_dummy()
self.sequence.extend([[st,action, rt, dt] for i in range(self.n_step)])
self.calc_nstep_reward()
self.calc_priorities()
for i in range(len(self.sequence)):
for j in range(4):
self.sequence[i][j] = self.sequence[i][j].cpu()
for i in range(len(self.recurrent_state)):
for j in range(4):
self.recurrent_state[i][j] = self.recurrent_state[i][j].cpu()
for i in range(len(self.priority)):
self.priority[i] = self.priority[i].cpu()
blocking = True if self.shared_queue.qsize()>self.max_shared_q_size else False
self.shared_queue.put([self.sequence, self.recurrent_state, self.priority],block=blocking)
# if self.actor_id == 0:
print('#',self.actor_id,'frame:', frame,'step:', count_step, 'reward:', reward_sum)
class Actor:
def __init__(self, actor_id):
self.env = suite.load(domain_name="walker", task_name="run")
self.action_size = self.env.action_spec().shape[0]
self.obs_size = get_obs(self.env.reset().observation).shape[1]
self.actor_id = actor_id
self.burn_in_length = 20 # 40-80
self.learning_length = 40
self.sequence_length = self.burn_in_length + self.learning_length
self.n_step = 5
self.sequence = []
self.recurrent_state = []
self.priority = []
self.td_loss = deque(maxlen=self.learning_length)
self.memory_sequence_size = 1000
self.memory = ReplayMemory(
memory_sequence_size=self.memory_sequence_size)
self.memory_save_interval = 3
self.gamma = 0.997
self.actor_parameter_update_interval = 500
self.model_path = './model_data/'
self.actor = ActorNet(self.obs_size,
self.action_size,
cuda_id=self.actor_id % 2 +
1).cuda(self.actor_id % 2 + 1).eval()
self.target_actor = deepcopy(self.actor)
self.critic = CriticNet(self.obs_size,
self.action_size,
cuda_id=self.actor_id % 2 +
1).cuda(self.actor_id % 2 + 1).eval()
self.target_critic = deepcopy(self.critic)
self.load_model()
self.epsilon = 1
self.last_obs = None
def load_model(self):
if os.path.isfile(self.model_path + 'model.pt'):
while True:
try:
# TODO: Delete
self.actor = ActorNet(self.obs_size, self.action_size,
self.actor_id % 2 + 1).cuda().eval()
self.target_actor = deepcopy(self.actor)
self.critic = CriticNet(self.obs_size, self.action_size,
self.actor_id % 2 +
1).cuda().eval()
self.target_critic = deepcopy(self.critic)
#model_dict = torch.load(self.model_path + 'model.pt', map_location={'cuda:0':'cuda:{}'.format(self.actor_id%2+1)})
model_dict = torch.load(self.model_path + 'model.pt')
self.actor.load_state_dict(model_dict['actor'])
self.target_actor.load_state_dict(
model_dict['target_actor'])
self.critic.load_state_dict(model_dict['critic'])
self.target_critic.load_state_dict(
model_dict['target_critic'])
self.actor.cuda(self.actor_id % 2 + 1)
self.target_actor.cuda(self.actor_id % 2 + 1)
self.critic.cuda(self.actor_id % 2 + 1)
self.target_critic.cuda(self.actor_id % 2 + 1)
except:
sleep(np.random.rand() * 5 + 2)
else:
break
def calc_nstep_reward(self):
for i in range(len(self.sequence) - self.n_step):
self.sequence[i][2][0] = sum([
self.sequence[i + j][2][0] * (self.gamma**j)
for j in range(self.n_step)
])
def calc_priorities(self):
self.actor.reset_state()
self.critic.reset_state()
self.target_actor.reset_state()
self.target_critic.reset_state()
self.td_loss = deque(maxlen=self.learning_length)
self.priority = []
for i in range(self.n_step):
next_obs = torch.from_numpy(
self.sequence[i][0]).cuda(self.actor_id % 2 + 1).unsqueeze(0)
next_action = self.target_actor(next_obs)
next_q_value = self.target_critic(
next_obs, next_action).detach().cpu().numpy()
for i in range(len(self.sequence) - self.n_step):
obs = torch.from_numpy(
self.sequence[i][0]).cuda(self.actor_id % 2 + 1).unsqueeze(0)
action = torch.from_numpy(
self.sequence[i][1]).cuda(self.actor_id % 2 + 1).unsqueeze(0)
next_obs = torch.from_numpy(
self.sequence[i + self.n_step][0]).cuda(self.actor_id % 2 +
1).unsqueeze(0)
next_action = self.target_actor(next_obs)
q_value = self.critic(obs, action).detach().cpu().numpy()
reward = self.sequence[i][2][0]
terminal = self.sequence[i + self.n_step - 1][3][0]
next_q_value = self.target_critic(
next_obs, next_action).detach().cpu().numpy()
if i >= self.burn_in_length:
target_q_value = (reward + (self.gamma**self.n_step) *
(1. - terminal) * next_q_value)
target_q_value = invertical_vf(
torch.tensor(target_q_value).cuda(
self.actor_id % 2 + 1)).detach().cpu().numpy()
self.td_loss.append((q_value - target_q_value).mean())
if i >= self.sequence_length:
self.priority.append(
calc_priority(
np.array(list(self.td_loss), dtype=np.float32)**2.))
def run(self):
episode = 0
step = 0
reward_sum = 0
while True:
time_step = self.env.reset()
obs = get_obs(time_step.observation)
self.actor.reset_state()
self.critic.reset_state()
self.target_actor.reset_state()
self.target_critic.reset_state()
self.sequence = []
self.recurrent_state = []
self.priority = []
self.td_loss.clear()
last_obs = None
episode_step = 0
done = False
if self.actor_id == 0 and episode != 0:
print('episode:', episode, 'step:', step, 'reward:',
reward_sum)
episode += 1
reward_sum = 0
while not time_step.last():
# get recurrent state
actor_hx, actor_cx = self.actor.get_state()
target_actor_hx, target_actor_cx = self.target_actor.get_state(
)
critic_hx, critic_cx = self.critic.get_state()
target_critic_hx, target_critic_cx = self.target_critic.get_state(
)
action = self.actor(
torch.from_numpy(obs).cuda(self.actor_id % 2 + 1))
target_action = self.target_actor(
torch.from_numpy(obs).cuda(self.actor_id % 2 + 1))
_ = self.critic(
torch.from_numpy(obs).cuda(self.actor_id % 2 + 1), action)
_ = self.target_critic(
torch.from_numpy(obs).cuda(self.actor_id % 2 + 1),
target_action)
action = action.detach().cpu().numpy()[0]
action += np.random.normal(0, 0.3, (self.action_size))
action = np.clip(action, -1, 1)
reward = 0.
sleep(0.01)
for i in range(4):
time_step = self.env.step(action)
next_obs = get_obs(time_step.observation)
reward += time_step.reward
if time_step.last():
break
reward_sum += reward
step += 1
episode_step += 1
terminal = 1. if time_step.last() else 0.
self.sequence.append((obs[0], action, [reward], [terminal]))
obs = next_obs.copy()
self.recurrent_state.append(
[[actor_hx[0], actor_cx[0]],
[target_actor_hx[0], target_actor_cx[0]],
[critic_hx[0], critic_cx[0]],
[target_critic_hx[0], target_critic_cx[0]]])
if step % self.actor_parameter_update_interval == 0:
self.load_model()
if len(self.sequence) >= self.sequence_length:
self.sequence.extend([(np.zeros((self.obs_size),
dtype=np.float32),
np.zeros((self.action_size),
dtype=np.float32), [0.], [1.])
for i in range(self.n_step)])
self.calc_nstep_reward()
self.calc_priorities()
self.memory.add(self.sequence, self.recurrent_state,
self.priority)
if len(self.memory.memory) > self.memory_save_interval:
self.memory.save(self.actor_id)
