def __init__(self, env_creator, config, logdir):
DQNEvaluator.__init__(self, env_creator, config, logdir)
# Create extra workers if needed
if self.config["num_workers"] > 1:
remote_cls = ray.remote(num_cpus=1)(DQNEvaluator)
self.workers = [
remote_cls.remote(env_creator, config, logdir)
for _ in range(self.config["num_workers"])
]
else:
self.workers = []
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
self.samples_to_prioritize = None
def __init__(self, env_name, config, upload_dir=None):
config.update({"alg": "DQN"})
Algorithm.__init__(self, env_name, config, upload_dir=upload_dir)
env = gym.make(env_name)
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
model = models.cnn_to_mlp(convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
hiddens=[256],
dueling=True)
sess = U.make_session(num_cpu=config["num_cpu"])
sess.__enter__()
def make_obs_ph(name):
return U.BatchInput(env.observation_space.shape, name=name)
self.act, self.optimize, self.update_target, self.debug = build_train(
make_obs_ph=make_obs_ph,
q_func=model,
num_actions=env.action_space.n,
optimizer=tf.train.AdamOptimizer(learning_rate=config["lr"]),
gamma=config["gamma"],
grad_norm_clipping=10)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = (
config["prioritized_replay_beta_iters"])
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = (
config["schedule_max_timesteps"])
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
U.initialize()
self.update_target()
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.num_timesteps = 0
self.num_iterations = 0
def _init(self):
config = self.config
env = gym.make(self.env_name)
# TODO(ekl): replace this with RLlib preprocessors
if "NoFrameskip" in self.env_name:
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
num_cpu = config["num_cpu"]
tf_config = tf.ConfigProto(
inter_op_parallelism_threads=num_cpu,
intra_op_parallelism_threads=num_cpu)
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = (
config["prioritized_replay_beta_iters"])
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = (
config["schedule_max_timesteps"])
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(
config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.num_timesteps = 0
self.num_iterations = 0
self.file_writer = tf.summary.FileWriter(self.logdir, self.sess.graph)
self.saver = tf.train.Saver(max_to_keep=None)
def __init__(self, env_creator, config, logdir):
env = env_creator()
env = wrap_dqn(env, config["model"])
self.env = env
self.config = config
tf_config = tf.ConfigProto(**config["tf_session_args"])
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config, logdir)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.set_weights_time = RunningStat(())
self.sample_time = RunningStat(())
self.grad_time = RunningStat(())
# Note that workers don't need target vars to be synced
self.variables = ray.experimental.TensorFlowVariables(
tf.group(self.dqn_graph.q_t, self.dqn_graph.q_tp1), self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.file_writer = tf.summary.FileWriter(logdir, self.sess.graph)
def __init__(self, env_creator, config, logdir):
env = env_creator()
# TODO(ekl): replace this with RLlib preprocessors
if "NoFrameskip" in env.spec.id:
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
self.config = config
num_cpu = config["num_cpu"]
tf_config = tf.ConfigProto(inter_op_parallelism_threads=num_cpu,
intra_op_parallelism_threads=num_cpu)
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.variables = ray.experimental.TensorFlowVariables(
tf.group(self.dqn_graph.q_tp1, self.dqn_graph.q_t), self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.file_writer = tf.summary.FileWriter(logdir, self.sess.graph)
class DQNReplayEvaluator(DQNEvaluator):
"""Wraps DQNEvaluators to provide replay buffer functionality.
This has two modes:
If config["num_workers"] == 1:
Samples will be collected locally.
If config["num_workers"] > 1:
Samples will be collected from a number of remote workers.
"""
def __init__(self, env_creator, config, logdir):
DQNEvaluator.__init__(self, env_creator, config, logdir)
# Create extra workers if needed
if self.config["num_workers"] > 1:
remote_cls = ray.remote(num_cpus=1)(DQNEvaluator)
self.workers = [
remote_cls.remote(env_creator, config, logdir)
for _ in range(self.config["num_workers"])
]
else:
self.workers = []
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
self.samples_to_prioritize = None
def sample(self, no_replay=False):
# First seed the replay buffer with a few new samples
if self.workers:
weights = ray.put(self.get_weights())
for w in self.workers:
w.set_weights.remote(weights)
samples = ray.get([w.sample.remote() for w in self.workers])
else:
samples = [DQNEvaluator.sample(self)]
for s in samples:
for row in s.rows():
self.replay_buffer.add(row["obs"], row["actions"],
row["rewards"], row["new_obs"],
row["dones"])
if no_replay:
return samples
# Then return a batch sampled from the buffer
if self.config["prioritized_replay"]:
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_indexes) = self.replay_buffer.sample(
self.config["train_batch_size"],
beta=self.beta_schedule.value(self.global_timestep))
self._update_priorities_if_needed()
batch = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": weights,
"batch_indexes": batch_indexes
})
self.samples_to_prioritize = batch
else:
obses_t, actions, rewards, obses_tp1, dones = \
self.replay_buffer.sample(self.config["train_batch_size"])
batch = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": np.ones_like(rewards)
})
return batch
def compute_gradients(self, samples):
td_errors, grad = self.dqn_graph.compute_gradients(
self.sess, samples["obs"], samples["actions"], samples["rewards"],
samples["new_obs"], samples["dones"], samples["weights"])
if self.config["prioritized_replay"]:
new_priorities = (np.abs(td_errors) +
self.config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(samples["batch_indexes"],
new_priorities)
self.samples_to_prioritize = None
return grad
def _update_priorities_if_needed(self):
"""Manually updates replay buffer priorities on the last batch.
Note that this is only needed when not computing gradients on this
Evaluator (e.g. when using local multi-GPU). Otherwise, priorities
can be updated more efficiently as part of computing gradients.
"""
if not self.samples_to_prioritize:
return
batch = self.samples_to_prioritize
td_errors = self.dqn_graph.compute_td_error(
self.sess, batch["obs"], batch["actions"], batch["rewards"],
batch["new_obs"], batch["dones"], batch["weights"])
new_priorities = (np.abs(td_errors) +
self.config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(batch["batch_indexes"],
new_priorities)
self.samples_to_prioritize = None
def stats(self):
if self.workers:
return ray.get([s.stats.remote() for s in self.workers])
else:
return DQNEvaluator.stats(self)
def save(self):
return [
DQNEvaluator.save(self),
ray.get([w.save.remote() for w in self.workers]),
self.beta_schedule, self.replay_buffer
]
def restore(self, data):
DQNEvaluator.restore(self, data[0])
for (w, d) in zip(self.workers, data[1]):
w.restore.remote(d)
self.beta_schedule = data[2]
self.replay_buffer = data[3]
class DQN(Algorithm):
def __init__(self, env_name, config, upload_dir=None):
config.update({"alg": "DQN"})
Algorithm.__init__(self, env_name, config, upload_dir=upload_dir)
env = gym.make(env_name)
# TODO(ekl): replace this with RLlib preprocessors
if "NoFrameskip" in env_name:
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
num_cpu = config["num_cpu"]
tf_config = tf.ConfigProto(inter_op_parallelism_threads=num_cpu,
intra_op_parallelism_threads=num_cpu)
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = (
config["prioritized_replay_beta_iters"])
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = (
config["schedule_max_timesteps"])
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.num_timesteps = 0
self.num_iterations = 0
self.file_writer = tf.summary.FileWriter(self.logdir, self.sess.graph)
def train(self):
config = self.config
sample_time, learn_time = 0, 0
for _ in range(config["timesteps_per_iteration"]):
self.num_timesteps += 1
dt = time.time()
# Take action and update exploration to the newest value
action = self.dqn_graph.act(
self.sess,
np.array(self.obs)[None],
self.exploration.value(self.num_timesteps))[0]
new_obs, rew, done, _ = self.env.step(action)
# Store transition in the replay buffer.
self.replay_buffer.add(self.obs, action, rew, new_obs, float(done))
self.obs = new_obs
self.episode_rewards[-1] += rew
self.episode_lengths[-1] += 1
if done:
self.obs = self.env.reset()
self.episode_rewards.append(0.0)
self.episode_lengths.append(0.0)
sample_time += time.time() - dt
if self.num_timesteps > config["learning_starts"] and \
self.num_timesteps % config["train_freq"] == 0:
dt = time.time()
# Minimize the error in Bellman's equation on a batch sampled
# from replay buffer.
if config["prioritized_replay"]:
experience = self.replay_buffer.sample(
config["batch_size"],
beta=self.beta_schedule.value(self.num_timesteps))
(obses_t, actions, rewards, obses_tp1, dones, _,
batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = (
self.replay_buffer.sample(config["batch_size"]))
batch_idxes = None
td_errors = self.dqn_graph.train(self.sess, obses_t, actions,
rewards, obses_tp1, dones,
np.ones_like(rewards))
if config["prioritized_replay"]:
new_priorities = np.abs(td_errors) + (
config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(
batch_idxes, new_priorities)
learn_time += (time.time() - dt)
if self.num_timesteps > config["learning_starts"] and (
self.num_timesteps % config["target_network_update_freq"]
== 0):
# Update target network periodically.
self.dqn_graph.update_target(self.sess)
mean_100ep_reward = round(np.mean(self.episode_rewards[-101:-1]), 1)
mean_100ep_length = round(np.mean(self.episode_lengths[-101:-1]), 1)
num_episodes = len(self.episode_rewards)
info = {
"sample_time": sample_time,
"learn_time": learn_time,
"steps": self.num_timesteps,
"episodes": num_episodes,
"exploration":
int(100 * self.exploration.value(self.num_timesteps))
}
logger.record_tabular("sample_time", sample_time)
logger.record_tabular("learn_time", learn_time)
logger.record_tabular("steps", self.num_timesteps)
logger.record_tabular("buffer_size", len(self.replay_buffer))
logger.record_tabular("episodes", num_episodes)
logger.record_tabular("mean 100 episode reward", mean_100ep_reward)
logger.record_tabular(
"% time spent exploring",
int(100 * self.exploration.value(self.num_timesteps)))
logger.dump_tabular()
res = TrainingResult(self.experiment_id.hex, self.num_iterations,
mean_100ep_reward, mean_100ep_length, info)
self.num_iterations += 1
return res
class Actor(object):
def __init__(self, env_name, config, logdir):
env = gym.make(env_name)
# TODO(ekl): replace this with RLlib preprocessors
if "NoFrameskip" in env_name:
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
self.config = config
num_cpu = config["num_cpu"]
tf_config = tf.ConfigProto(inter_op_parallelism_threads=num_cpu,
intra_op_parallelism_threads=num_cpu)
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.variables = ray.experimental.TensorFlowVariables(
tf.group(self.dqn_graph.q_tp1, self.dqn_graph.q_t), self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.file_writer = tf.summary.FileWriter(logdir, self.sess.graph)
def step(self, cur_timestep):
# Take action and update exploration to the newest value
action = self.dqn_graph.act(self.sess,
np.array(self.obs)[None],
self.exploration.value(cur_timestep))[0]
new_obs, rew, done, _ = self.env.step(action)
ret = (self.obs, action, rew, new_obs, float(done))
self.obs = new_obs
self.episode_rewards[-1] += rew
self.episode_lengths[-1] += 1
if done:
self.obs = self.env.reset()
self.episode_rewards.append(0.0)
self.episode_lengths.append(0.0)
return ret
def do_steps(self, num_steps, cur_timestep):
for _ in range(num_steps):
obs, action, rew, new_obs, done = self.step(cur_timestep)
self.replay_buffer.add(obs, action, rew, new_obs, done)
def get_gradient(self, cur_timestep):
if self.config["prioritized_replay"]:
experience = self.replay_buffer.sample(
self.config["train_batch_size"],
beta=self.beta_schedule.value(cur_timestep))
(obses_t, actions, rewards, obses_tp1, dones, _,
batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = \
self.replay_buffer.sample(self.config["train_batch_size"])
batch_idxes = None
td_errors, grad = self.dqn_graph.compute_gradients(
self.sess, obses_t, actions, rewards, obses_tp1, dones,
np.ones_like(rewards))
if self.config["prioritized_replay"]:
new_priorities = (np.abs(td_errors) +
self.config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(batch_idxes, new_priorities)
return grad
def apply_gradients(self, grad):
self.dqn_graph.apply_gradients(self.sess, grad)
def stats(self, num_timesteps):
mean_100ep_reward = round(np.mean(self.episode_rewards[-101:-1]), 1)
mean_100ep_length = round(np.mean(self.episode_lengths[-101:-1]), 1)
exploration = self.exploration.value(num_timesteps)
return (mean_100ep_reward,
mean_100ep_length, len(self.episode_rewards), exploration,
len(self.replay_buffer))
def get_weights(self):
return self.variables.get_weights()
def set_weights(self, weights):
self.variables.set_weights(weights)
def save(self):
return [
self.beta_schedule, self.exploration, self.episode_rewards,
self.episode_lengths, self.saved_mean_reward, self.obs
]
def restore(self, data):
self.beta_schedule = data[0]
self.exploration = data[1]
self.episode_rewards = data[2]
self.episode_lengths = data[3]
self.saved_mean_reward = data[4]
self.obs = data[5]
class DQN(Algorithm):
def __init__(self, env_name, config, upload_dir=None):
config.update({"alg": "DQN"})
Algorithm.__init__(self, env_name, config, upload_dir=upload_dir)
env = gym.make(env_name)
env = ScaledFloatFrame(wrap_dqn(env))
self.env = env
model = models.cnn_to_mlp(convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
hiddens=[256],
dueling=True)
sess = U.make_session(num_cpu=config["num_cpu"])
sess.__enter__()
def make_obs_ph(name):
return U.BatchInput(env.observation_space.shape, name=name)
self.act, self.optimize, self.update_target, self.debug = build_train(
make_obs_ph=make_obs_ph,
q_func=model,
num_actions=env.action_space.n,
optimizer=tf.train.AdamOptimizer(learning_rate=config["lr"]),
gamma=config["gamma"],
grad_norm_clipping=10)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = (
config["prioritized_replay_beta_iters"])
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = (
config["schedule_max_timesteps"])
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
U.initialize()
self.update_target()
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.num_timesteps = 0
self.num_iterations = 0
def train(self):
config = self.config
sample_time, learn_time = 0, 0
for t in range(config["timesteps_per_iteration"]):
self.num_timesteps += 1
dt = time.time()
# Take action and update exploration to the newest value
action = self.act(np.array(self.obs)[None],
update_eps=self.exploration.value(t))[0]
new_obs, rew, done, _ = self.env.step(action)
# Store transition in the replay buffer.
self.replay_buffer.add(self.obs, action, rew, new_obs, float(done))
self.obs = new_obs
self.episode_rewards[-1] += rew
self.episode_lengths[-1] += 1
if done:
self.obs = self.env.reset()
self.episode_rewards.append(0.0)
self.episode_lengths.append(0.0)
sample_time += time.time() - dt
if self.num_timesteps > config["learning_starts"] and \
self.num_timesteps % config["train_freq"] == 0:
dt = time.time()
# Minimize the error in Bellman's equation on a batch sampled
# from replay buffer.
if config["prioritized_replay"]:
experience = self.replay_buffer.sample(
config["batch_size"], beta=self.beta_schedule.value(t))
(obses_t, actions, rewards, obses_tp1, dones, _,
batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = \
self.replay_buffer.sample(config["batch_size"])
batch_idxes = None
td_errors = self.optimize(obses_t, actions, rewards, obses_tp1,
dones, np.ones_like(rewards))
if config["prioritized_replay"]:
new_priorities = (np.abs(td_errors) +
config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(
batch_idxes, new_priorities)
learn_time += (time.time() - dt)
if (self.num_timesteps > config["learning_starts"]
and self.num_timesteps %
config["target_network_update_freq"] == 0):
# Update target network periodically.
self.update_target()
mean_100ep_reward = round(np.mean(self.episode_rewards[-101:-1]), 1)
mean_100ep_length = round(np.mean(self.episode_lengths[-101:-1]), 1)
num_episodes = len(self.episode_rewards)
info = {
"sample_time": sample_time,
"learn_time": learn_time,
"steps": self.num_timesteps,
"episodes": num_episodes,
"exploration": int(100 * self.exploration.value(t))
}
logger.record_tabular("sample_time", sample_time)
logger.record_tabular("learn_time", learn_time)
logger.record_tabular("steps", self.num_timesteps)
logger.record_tabular("episodes", num_episodes)
logger.record_tabular("mean 100 episode reward", mean_100ep_reward)
logger.record_tabular("% time spent exploring",
int(100 * self.exploration.value(t)))
logger.dump_tabular()
res = TrainingResult(self.experiment_id.hex, self.num_iterations,
mean_100ep_reward, mean_100ep_length, info)
self.num_iterations += 1
return res
class Actor(object):
def __init__(self, env_creator, config, logdir):
env = env_creator()
env = wrap_dqn(env, config["model"])
self.env = env
self.config = config
tf_config = tf.ConfigProto(**config["tf_session_args"])
self.sess = tf.Session(config=tf_config)
self.dqn_graph = models.DQNGraph(env, config, logdir)
# Create the replay buffer
if config["prioritized_replay"]:
self.replay_buffer = PrioritizedReplayBuffer(
config["buffer_size"],
alpha=config["prioritized_replay_alpha"])
prioritized_replay_beta_iters = \
config["prioritized_replay_beta_iters"]
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = \
config["schedule_max_timesteps"]
self.beta_schedule = LinearSchedule(
prioritized_replay_beta_iters,
initial_p=config["prioritized_replay_beta0"],
final_p=1.0)
else:
self.replay_buffer = ReplayBuffer(config["buffer_size"])
self.beta_schedule = None
# Create the schedule for exploration starting from 1.
self.exploration = LinearSchedule(
schedule_timesteps=int(config["exploration_fraction"] *
config["schedule_max_timesteps"]),
initial_p=1.0,
final_p=config["exploration_final_eps"])
# Initialize the parameters and copy them to the target network.
self.sess.run(tf.global_variables_initializer())
self.dqn_graph.update_target(self.sess)
self.set_weights_time = RunningStat(())
self.sample_time = RunningStat(())
self.grad_time = RunningStat(())
# Note that workers don't need target vars to be synced
self.variables = ray.experimental.TensorFlowVariables(
tf.group(self.dqn_graph.q_t, self.dqn_graph.q_tp1), self.sess)
self.episode_rewards = [0.0]
self.episode_lengths = [0.0]
self.saved_mean_reward = None
self.obs = self.env.reset()
self.file_writer = tf.summary.FileWriter(logdir, self.sess.graph)
def step(self, cur_timestep):
"""Takes a single step, and returns the result of the step."""
action = self.dqn_graph.act(self.sess,
np.array(self.obs)[None],
self.exploration.value(cur_timestep))[0]
new_obs, rew, done, _ = self.env.step(action)
ret = (self.obs, action, rew, new_obs, float(done))
self.obs = new_obs
self.episode_rewards[-1] += rew
self.episode_lengths[-1] += 1
if done:
self.obs = self.env.reset()
self.episode_rewards.append(0.0)
self.episode_lengths.append(0.0)
return ret
def do_steps(self, num_steps, cur_timestep, store):
"""Takes N steps.
If store is True, the steps will be stored in the local replay buffer.
Otherwise, the steps will be returned.
"""
output = []
for _ in range(num_steps):
result = self.step(cur_timestep)
if store:
obs, action, rew, new_obs, done = result
self.replay_buffer.add(obs, action, rew, new_obs, done)
else:
output.append(result)
if not store:
return output
def do_multi_gpu_optimize(self, cur_timestep):
"""Performs N iters of multi-gpu SGD over the local replay buffer."""
dt = time.time()
if self.config["prioritized_replay"]:
experience = self.replay_buffer.sample(
self.config["train_batch_size"],
beta=self.beta_schedule.value(cur_timestep))
(obses_t, actions, rewards, obses_tp1, dones, _,
batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = \
self.replay_buffer.sample(self.config["train_batch_size"])
batch_idxes = None
replay_buffer_read_time = (time.time() - dt)
dt = time.time()
tuples_per_device = self.dqn_graph.multi_gpu_optimizer.load_data(
self.sess, [
obses_t, actions, rewards, obses_tp1, dones,
np.ones_like(rewards)
])
per_device_batch_size = (
self.dqn_graph.multi_gpu_optimizer.per_device_batch_size)
num_batches = (int(tuples_per_device) // int(per_device_batch_size))
data_load_time = (time.time() - dt)
dt = time.time()
for _ in range(self.config["num_sgd_iter"]):
batches = list(range(num_batches))
np.random.shuffle(batches)
for i in batches:
self.dqn_graph.multi_gpu_optimizer.optimize(
self.sess, i * per_device_batch_size)
sgd_time = (time.time() - dt)
dt = time.time()
if self.config["prioritized_replay"]:
dt = time.time()
td_errors = self.dqn_graph.compute_td_error(
self.sess, obses_t, actions, rewards, obses_tp1, dones,
np.ones_like(rewards))
dt = time.time()
new_priorities = (np.abs(td_errors) +
self.config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(batch_idxes, new_priorities)
prioritization_time = (time.time() - dt)
return {
"replay_buffer_read_time": replay_buffer_read_time,
"data_load_time": data_load_time,
"sgd_time": sgd_time,
"prioritization_time": prioritization_time,
}
def do_async_step(self, worker_id, cur_timestep, params, gradient_id):
"""Takes steps and returns grad to apply async in the driver."""
dt = time.time()
self.set_weights(params)
self.set_weights_time.push(time.time() - dt)
dt = time.time()
self.do_steps(self.config["sample_batch_size"],
cur_timestep,
store=True)
self.sample_time.push(time.time() - dt)
if (cur_timestep > self.config["learning_starts"]
and len(self.replay_buffer) > self.config["train_batch_size"]):
dt = time.time()
gradient = self.sample_buffer_gradient(cur_timestep)
self.grad_time.push(time.time() - dt)
else:
gradient = None
return gradient, {"id": worker_id, "gradient_id": gradient_id}
def sample_buffer_gradient(self, cur_timestep):
"""Returns grad over a batch sampled from the local replay buffer."""
if self.config["prioritized_replay"]:
experience = self.replay_buffer.sample(
self.config["sgd_batch_size"],
beta=self.beta_schedule.value(cur_timestep))
(obses_t, actions, rewards, obses_tp1, dones, _,
batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = \
self.replay_buffer.sample(self.config["sgd_batch_size"])
batch_idxes = None
td_errors, grad = self.dqn_graph.compute_gradients(
self.sess, obses_t, actions, rewards, obses_tp1, dones,
np.ones_like(rewards))
if self.config["prioritized_replay"]:
new_priorities = (np.abs(td_errors) +
self.config["prioritized_replay_eps"])
self.replay_buffer.update_priorities(batch_idxes, new_priorities)
return grad
def apply_gradients(self, grad):
self.dqn_graph.apply_gradients(self.sess, grad)
# TODO(ekl) return a dictionary and use that everywhere to clean up the
# bookkeeping of stats
def stats(self, num_timesteps):
mean_100ep_reward = round(np.mean(self.episode_rewards[-101:-1]), 5)
mean_100ep_length = round(np.mean(self.episode_lengths[-101:-1]), 5)
exploration = self.exploration.value(num_timesteps)
return (mean_100ep_reward,
mean_100ep_length, len(self.episode_rewards), exploration,
len(self.replay_buffer), float(self.set_weights_time.mean),
float(self.sample_time.mean), float(self.grad_time.mean))
def get_weights(self):
return self.variables.get_weights()
def set_weights(self, weights):
self.variables.set_weights(weights)
def save(self):
return [
self.beta_schedule, self.exploration, self.episode_rewards,
self.episode_lengths, self.saved_mean_reward, self.obs,
self.replay_buffer
]
def restore(self, data):
self.beta_schedule = data[0]
self.exploration = data[1]
self.episode_rewards = data[2]
self.episode_lengths = data[3]
self.saved_mean_reward = data[4]
self.obs = data[5]
self.replay_buffer = data[6]
