class LearningRateSchedule(object):
"""Mixin for TFPolicy that adds a learning rate schedule."""
@DeveloperAPI
def __init__(self, lr, lr_schedule):
self.cur_lr = tf.get_variable("lr", initializer=lr, trainable=False)
if lr_schedule is None:
self.lr_schedule = ConstantSchedule(lr)
elif isinstance(lr_schedule, list):
self.lr_schedule = PiecewiseSchedule(
lr_schedule, outside_value=lr_schedule[-1][-1])
elif isinstance(lr_schedule, dict):
self.lr_schedule = LinearSchedule(
schedule_timesteps=lr_schedule["schedule_timesteps"],
initial_p=lr,
final_p=lr_schedule["final_lr"])
else:
raise ValueError('lr_schedule must be either list, dict or None')
@override(Policy)
def on_global_var_update(self, global_vars):
super(LearningRateSchedule, self).on_global_var_update(global_vars)
self.cur_lr.load(
self.lr_schedule.value(global_vars["timestep"]),
session=self._sess)
@override(TFPolicy)
def optimizer(self):
return tf.train.AdamOptimizer(self.cur_lr)
class SyncReplayOptimizer(PolicyOptimizer):
"""Variant of the local sync optimizer that supports replay (for DQN).
This optimizer requires that rollout workers return an additional
"td_error" array in the info return of compute_gradients(). This error
term will be used for sample prioritization."""
def __init__(self,
workers,
learning_starts=1000,
buffer_size=10000,
prioritized_replay=True,
prioritized_replay_alpha=0.6,
prioritized_replay_beta=0.4,
prioritized_replay_eps=1e-6,
schedule_max_timesteps=100000,
beta_annealing_fraction=0.2,
final_prioritized_replay_beta=0.4,
train_batch_size=32,
sample_batch_size=4,
before_learn_on_batch=None,
synchronize_sampling=False):
"""Initialize an sync replay optimizer.
Arguments:
workers (WorkerSet): all workers
learning_starts (int): wait until this many steps have been sampled
before starting optimization.
buffer_size (int): max size of the replay buffer
prioritized_replay (bool): whether to enable prioritized replay
prioritized_replay_alpha (float): replay alpha hyperparameter
prioritized_replay_beta (float): replay beta hyperparameter
prioritized_replay_eps (float): replay eps hyperparameter
schedule_max_timesteps (int): number of timesteps in the schedule
beta_annealing_fraction (float): fraction of schedule to anneal
beta over
final_prioritized_replay_beta (float): final value of beta
train_batch_size (int): size of batches to learn on
sample_batch_size (int): size of batches to sample from workers
before_learn_on_batch (function): callback to run before passing
the sampled batch to learn on
synchronize_sampling (bool): whether to sample the experiences for
all policies with the same indices (used in MADDPG).
"""
PolicyOptimizer.__init__(self, workers)
self.replay_starts = learning_starts
# linearly annealing beta used in Rainbow paper
self.prioritized_replay_beta = LinearSchedule(
schedule_timesteps=int(schedule_max_timesteps *
beta_annealing_fraction),
initial_p=prioritized_replay_beta,
final_p=final_prioritized_replay_beta)
self.prioritized_replay_eps = prioritized_replay_eps
self.train_batch_size = train_batch_size
self.before_learn_on_batch = before_learn_on_batch
self.synchronize_sampling = synchronize_sampling
# Stats
self.update_weights_timer = TimerStat()
self.sample_timer = TimerStat()
self.replay_timer = TimerStat()
self.grad_timer = TimerStat()
self.learner_stats = {}
# Set up replay buffer
if prioritized_replay:
def new_buffer():
return PrioritizedReplayBuffer(buffer_size,
alpha=prioritized_replay_alpha)
else:
def new_buffer():
return ReplayBuffer(buffer_size)
self.replay_buffers = collections.defaultdict(new_buffer)
if buffer_size < self.replay_starts:
logger.warning("buffer_size={} < replay_starts={}".format(
buffer_size, self.replay_starts))
@override(PolicyOptimizer)
def step(self):
with self.update_weights_timer:
if self.workers.remote_workers():
weights = ray.put(self.workers.local_worker().get_weights())
for e in self.workers.remote_workers():
e.set_weights.remote(weights)
with self.sample_timer:
if self.workers.remote_workers():
batch = SampleBatch.concat_samples(
ray_get_and_free([
e.sample.remote()
for e in self.workers.remote_workers()
]))
else:
batch = self.workers.local_worker().sample()
# Handle everything as if multiagent
if isinstance(batch, SampleBatch):
batch = MultiAgentBatch({DEFAULT_POLICY_ID: batch},
batch.count)
for policy_id, s in batch.policy_batches.items():
for row in s.rows():
self.replay_buffers[policy_id].add(
pack_if_needed(row["obs"]),
row["actions"],
row["rewards"],
pack_if_needed(row["new_obs"]),
row["dones"],
weight=None)
if self.num_steps_sampled >= self.replay_starts:
self._optimize()
self.num_steps_sampled += batch.count
@override(PolicyOptimizer)
def stats(self):
return dict(
PolicyOptimizer.stats(self), **{
"sample_time_ms": round(1000 * self.sample_timer.mean, 3),
"replay_time_ms": round(1000 * self.replay_timer.mean, 3),
"grad_time_ms": round(1000 * self.grad_timer.mean, 3),
"update_time_ms": round(1000 * self.update_weights_timer.mean,
3),
"opt_peak_throughput": round(self.grad_timer.mean_throughput,
3),
"opt_samples": round(self.grad_timer.mean_units_processed, 3),
"learner": self.learner_stats,
})
def _optimize(self):
samples = self._replay()
with self.grad_timer:
if self.before_learn_on_batch:
samples = self.before_learn_on_batch(
samples,
self.workers.local_worker().policy_map,
self.train_batch_size)
info_dict = self.workers.local_worker().learn_on_batch(samples)
for policy_id, info in info_dict.items():
self.learner_stats[policy_id] = get_learner_stats(info)
replay_buffer = self.replay_buffers[policy_id]
if isinstance(replay_buffer, PrioritizedReplayBuffer):
td_error = info["td_error"]
new_priorities = (np.abs(td_error) +
self.prioritized_replay_eps)
replay_buffer.update_priorities(
samples.policy_batches[policy_id]["batch_indexes"],
new_priorities)
self.grad_timer.push_units_processed(samples.count)
self.num_steps_trained += samples.count
def _replay(self):
samples = {}
idxes = None
with self.replay_timer:
for policy_id, replay_buffer in self.replay_buffers.items():
if self.synchronize_sampling:
if idxes is None:
idxes = replay_buffer.sample_idxes(
self.train_batch_size)
else:
idxes = replay_buffer.sample_idxes(self.train_batch_size)
if isinstance(replay_buffer, PrioritizedReplayBuffer):
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_indexes) = replay_buffer.sample_with_idxes(
idxes,
beta=self.prioritized_replay_beta.value(
self.num_steps_trained))
else:
(obses_t, actions, rewards, obses_tp1,
dones) = replay_buffer.sample_with_idxes(idxes)
weights = np.ones_like(rewards)
batch_indexes = -np.ones_like(rewards)
samples[policy_id] = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": weights,
"batch_indexes": batch_indexes
})
return MultiAgentBatch(samples, self.train_batch_size)
class SyncReplayOptimizer(PolicyOptimizer):
"""Variant of the local sync optimizer that supports replay (for DQN).
This optimizer requires that policy evaluators return an additional
"td_error" array in the info return of compute_gradients(). This error
term will be used for sample prioritization."""
def __init__(self,
local_evaluator,
remote_evaluators,
learning_starts=1000,
buffer_size=10000,
prioritized_replay=True,
prioritized_replay_alpha=0.6,
prioritized_replay_beta=0.4,
schedule_max_timesteps=100000,
beta_annealing_fraction=0.2,
final_prioritized_replay_beta=0.4,
prioritized_replay_eps=1e-6,
train_batch_size=32,
sample_batch_size=4):
PolicyOptimizer.__init__(self, local_evaluator, remote_evaluators)
self.replay_starts = learning_starts
# linearly annealing beta used in Rainbow paper
self.prioritized_replay_beta = LinearSchedule(
schedule_timesteps=int(schedule_max_timesteps *
beta_annealing_fraction),
initial_p=prioritized_replay_beta,
final_p=final_prioritized_replay_beta)
self.prioritized_replay_eps = prioritized_replay_eps
self.train_batch_size = train_batch_size
# Stats
self.update_weights_timer = TimerStat()
self.sample_timer = TimerStat()
self.replay_timer = TimerStat()
self.grad_timer = TimerStat()
self.learner_stats = {}
# Set up replay buffer
if prioritized_replay:
def new_buffer():
return PrioritizedReplayBuffer(buffer_size,
alpha=prioritized_replay_alpha)
else:
def new_buffer():
return ReplayBuffer(buffer_size)
self.replay_buffers = collections.defaultdict(new_buffer)
if buffer_size < self.replay_starts:
logger.warning("buffer_size={} < replay_starts={}".format(
buffer_size, self.replay_starts))
@override(PolicyOptimizer)
def step(self):
with self.update_weights_timer:
if self.remote_evaluators:
weights = ray.put(self.local_evaluator.get_weights())
for e in self.remote_evaluators:
e.set_weights.remote(weights)
with self.sample_timer:
if self.remote_evaluators:
batch = SampleBatch.concat_samples(
ray_get_and_free(
[e.sample.remote() for e in self.remote_evaluators]))
else:
batch = self.local_evaluator.sample()
# Handle everything as if multiagent
if isinstance(batch, SampleBatch):
batch = MultiAgentBatch({DEFAULT_POLICY_ID: batch},
batch.count)
for policy_id, s in batch.policy_batches.items():
for row in s.rows():
self.replay_buffers[policy_id].add(
pack_if_needed(row["obs"]),
row["actions"],
row["rewards"],
pack_if_needed(row["new_obs"]),
row["dones"],
weight=None)
if self.num_steps_sampled >= self.replay_starts:
self._optimize()
self.num_steps_sampled += batch.count
@override(PolicyOptimizer)
def stats(self):
return dict(
PolicyOptimizer.stats(self), **{
"sample_time_ms": round(1000 * self.sample_timer.mean, 3),
"replay_time_ms": round(1000 * self.replay_timer.mean, 3),
"grad_time_ms": round(1000 * self.grad_timer.mean, 3),
"update_time_ms": round(1000 * self.update_weights_timer.mean,
3),
"opt_peak_throughput": round(self.grad_timer.mean_throughput,
3),
"opt_samples": round(self.grad_timer.mean_units_processed, 3),
"learner": self.learner_stats,
})
def _optimize(self):
samples = self._replay()
with self.grad_timer:
info_dict = self.local_evaluator.learn_on_batch(samples)
for policy_id, info in info_dict.items():
self.learner_stats[policy_id] = get_learner_stats(info)
replay_buffer = self.replay_buffers[policy_id]
if isinstance(replay_buffer, PrioritizedReplayBuffer):
td_error = info["td_error"]
new_priorities = (np.abs(td_error) +
self.prioritized_replay_eps)
replay_buffer.update_priorities(
samples.policy_batches[policy_id]["batch_indexes"],
new_priorities)
self.grad_timer.push_units_processed(samples.count)
self.num_steps_trained += samples.count
def _replay(self):
samples = {}
with self.replay_timer:
for policy_id, replay_buffer in self.replay_buffers.items():
if isinstance(replay_buffer, PrioritizedReplayBuffer):
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_indexes) = replay_buffer.sample(
self.train_batch_size,
beta=self.prioritized_replay_beta.value(
self.num_steps_trained))
else:
(obses_t, actions, rewards, obses_tp1,
dones) = replay_buffer.sample(self.train_batch_size)
weights = np.ones_like(rewards)
batch_indexes = -np.ones_like(rewards)
samples[policy_id] = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": weights,
"batch_indexes": batch_indexes
})
return MultiAgentBatch(samples, self.train_batch_size)
class SyncReplayOptimizer(PolicyOptimizer):
"""Variant of the local sync optimizer that supports replay (for DQN).
This optimizer requires that rollout workers return an additional
"td_error" array in the info return of compute_gradients(). This error
term will be used for sample prioritization."""
def __init__(self,
workers,
config,
learning_starts=1000,
buffer_size=50000,
prioritized_replay=True,
prioritized_replay_alpha=0.6,
prioritized_replay_beta=0.4,
prioritized_replay_eps=1e-6,
schedule_max_timesteps=100000,
beta_annealing_fraction=0.2,
final_prioritized_replay_beta=0.4,
train_batch_size=32,
sample_batch_size=4,
before_learn_on_batch=None,
synchronize_sampling=False):
"""Initialize an sync replay optimizer.
Arguments:
workers (WorkerSet): all workers
learning_starts (int): wait until this many steps have been sampled
before starting optimization.
buffer_size (int): max size of the replay buffer
prioritized_replay (bool): whether to enable prioritized replay
prioritized_replay_alpha (float): replay alpha hyperparameter
prioritized_replay_beta (float): replay beta hyperparameter
prioritized_replay_eps (float): replay eps hyperparameter
schedule_max_timesteps (int): number of timesteps in the schedule
beta_annealing_fraction (float): fraction of schedule to anneal
beta over
final_prioritized_replay_beta (float): final value of beta
train_batch_size (int): size of batches to learn on
sample_batch_size (int): size of batches to sample from workers
before_learn_on_batch (function): callback to run before passing
the sampled batch to learn on
synchronize_sampling (bool): whether to sample the experiences for
all policies with the same indices (used in MADDPG).
"""
PolicyOptimizer.__init__(self, workers)
self.replay_starts = learning_starts
# linearly annealing beta used in Rainbow paper
self.prioritized_replay_beta = LinearSchedule(
schedule_timesteps=int(schedule_max_timesteps *
beta_annealing_fraction),
initial_p=prioritized_replay_beta,
final_p=final_prioritized_replay_beta)
self.prioritized_replay_eps = prioritized_replay_eps
self.train_batch_size = train_batch_size
self.before_learn_on_batch = before_learn_on_batch
self.synchronize_sampling = synchronize_sampling
# Stats
self.update_weights_timer = TimerStat()
self.sample_timer = TimerStat()
self.replay_timer = TimerStat()
self.grad_timer = TimerStat()
self.learner_stats = {}
'''Attention Info'''
self.traffic_light_node_dict = {}
self.record_dir = '/home/skylark/PycharmRemote/Gamma-Reward-Perfect/record/' + config[
"env_config"]["Name"]
self.read_traffic_light_node_dict()
self.tmp_dic = self.traffic_light_node_dict['intersection_1_1'][
'inter_id_to_index']
# -------------------------------------------
'''
For compare reward change
'''
self.raw_reward_store = {}
self.Reward_store = {}
for inter_id in self.tmp_dic:
self.raw_reward_store[inter_id] = []
self.Reward_store[inter_id] = []
# self.j_store = 0
# ------------------------------
# Set up replay buffer
if prioritized_replay:
def new_buffer():
return PrioritizedReplayBuffer(buffer_size,
alpha=prioritized_replay_alpha)
else:
def new_buffer():
return ReplayBuffer(buffer_size)
self.replay_buffers = collections.defaultdict(new_buffer)
if buffer_size < self.replay_starts:
logger.warning("buffer_size={} < replay_starts={}".format(
buffer_size, self.replay_starts))
'''
For Gamma Reward by Skylark
'''
self.memory_thres = config["env_config"]["memory_thres"]
self.num_steps_presampled = 0
self.gamma = 0.5
self.index = 0
self.punish_coeff = 1.5
self.config = config
# Set up replay buffer
if prioritized_replay:
def pre_new_buffer():
return PrioritizedReplayBuffer(buffer_size + self.memory_thres,
alpha=prioritized_replay_alpha)
else:
def pre_new_buffer():
return ReplayBuffer(buffer_size + self.memory_thres)
self.pre_replay_buffers = collections.defaultdict(pre_new_buffer)
# ------------------------------------------
# '''
# For Attention Reward by Skylark
# '''
# sa_size = [(15, 8), (15, 8), (15, 8), (15, 8), (15, 8), (15, 8)]
# critic_hidden_dim = 128
# attend_heads = 4
# q_lr = 0.01
# self.attention = AttentionCritic(sa_size, hidden_dim=critic_hidden_dim,
# attend_heads=attend_heads)
# self.target_attention = AttentionCritic(sa_size, hidden_dim=critic_hidden_dim,
# attend_heads=attend_heads)
# hard_update(self.target_attention, self.attention)
# self.attention_optimizer = Adam(self.attention.parameters(), lr=q_lr,
# weight_decay=1e-3)
# self.niter = 0
# ------------------------------------------------------------------
@override(PolicyOptimizer)
def step(self, attention_score_dic=None):
with self.update_weights_timer:
if self.workers.remote_workers():
weights = ray.put(self.workers.local_worker().get_weights())
for e in self.workers.remote_workers():
e.set_weights.remote(weights)
with self.sample_timer:
if self.workers.remote_workers():
batch = SampleBatch.concat_samples(
ray_get_and_free([
e.sample.remote()
for e in self.workers.remote_workers()
]))
else:
batch = self.workers.local_worker().sample()
# Handle everything as if multiagent
if isinstance(batch, SampleBatch):
batch = MultiAgentBatch({DEFAULT_POLICY_ID: batch},
batch.count)
'''
For Gamma Reward by LJJ (You can check the local history for changing)
'''
for policy_id, s in batch.policy_batches.items():
for row in s.rows():
self.pre_replay_buffers[policy_id].add(
pack_if_needed(row["obs"]),
row["actions"],
row["rewards"],
pack_if_needed(row["new_obs"]),
row["dones"],
weight=None)
if self.num_steps_presampled >= self.memory_thres:
self._preprocess(batch, attention_score_dic)
self.num_steps_presampled += batch.count
# -----------------------------------------------------------------------
@override(PolicyOptimizer)
def stats(self):
return dict(
PolicyOptimizer.stats(self), **{
"sample_time_ms": round(1000 * self.sample_timer.mean, 3),
"replay_time_ms": round(1000 * self.replay_timer.mean, 3),
"grad_time_ms": round(1000 * self.grad_timer.mean, 3),
"update_time_ms": round(1000 * self.update_weights_timer.mean,
3),
"opt_peak_throughput": round(self.grad_timer.mean_throughput,
3),
"opt_samples": round(self.grad_timer.mean_units_processed, 3),
"learner": self.learner_stats,
})
def _optimize(self):
samples = self._replay()
with self.grad_timer:
if self.before_learn_on_batch:
samples = self.before_learn_on_batch(
samples,
self.workers.local_worker().policy_map,
self.train_batch_size)
info_dict = self.workers.local_worker().learn_on_batch(samples)
for policy_id, info in info_dict.items():
self.learner_stats[policy_id] = get_learner_stats(info)
replay_buffer = self.replay_buffers[policy_id]
if isinstance(replay_buffer, PrioritizedReplayBuffer):
td_error = info["td_error"]
new_priorities = (np.abs(td_error) +
self.prioritized_replay_eps)
replay_buffer.update_priorities(
samples.policy_batches[policy_id]["batch_indexes"],
new_priorities)
self.grad_timer.push_units_processed(samples.count)
self.num_steps_trained += samples.count
def _replay(self):
samples = {}
idxes = None
with self.replay_timer:
for policy_id, replay_buffer in self.replay_buffers.items():
if self.synchronize_sampling:
if idxes is None:
idxes = replay_buffer.sample_idxes(
self.train_batch_size)
else:
idxes = replay_buffer.sample_idxes(self.train_batch_size)
if isinstance(replay_buffer, PrioritizedReplayBuffer):
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_indexes) = replay_buffer.sample_with_idxes(
idxes,
beta=self.prioritized_replay_beta.value(
self.num_steps_trained))
else:
(obses_t, actions, rewards, obses_tp1,
dones) = replay_buffer.sample_with_idxes(idxes)
weights = np.ones_like(rewards)
batch_indexes = -np.ones_like(rewards)
samples[policy_id] = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": weights,
"batch_indexes": batch_indexes
})
return MultiAgentBatch(samples, self.train_batch_size)
def _preprocess(self, batch, attention_score_dic=None):
"""
Self-defined function: For Gamma Reward Replay Buffer Amendment
:param batch: SampleBatch class,
:param attention_score_dic: For transferring Attention score calculated by target attention layers
:return: return Amendatory Replay Buffer
"""
global j_store
for policy_id, s in batch.policy_batches.items():
storage = list(self.pre_replay_buffers[policy_id]._storage)
index = len(storage) - self.memory_thres - 1
tmp_buffer = storage.copy()
current_intersection = self.inter_num_2_id(
policy_id_handle(policy_id))
'''
For comparing the change of rewards
'''
# ------------------------------
while index > self.index - 1:
obs = storage[index][0]
action = storage[index][1]
reward = storage[index][2]
new_obs = storage[index][3]
done = storage[index][4]
p_value = 0
all_roads_path_2dlst = np.array(
self.config['env_config']['lane_phase_info']
[current_intersection]['phase_roadLink_mapping'][action +
1])
all_end_roads = self.config['env_config']['lane_phase_info'][
current_intersection]['end_lane']
permitted_end_roads = np.unique([
all_roads_path_2dlst[lane_index, 1] for lane_index,
start_lane in enumerate(all_roads_path_2dlst[:, 0])
if start_lane[-1] != '2'
])
dis_permitted_end_roads = list(
set(all_end_roads).difference(
set(list(permitted_end_roads))))
# Take neighbors into account
for other_policy_id, s in batch.policy_batches.items():
other_intersection = self.inter_num_2_id(
policy_id_handle(other_policy_id))
if other_policy_id != policy_id and other_intersection in \
self.traffic_light_node_dict[current_intersection]['neighbor_ENWS']:
other_storage = self.pre_replay_buffers[
other_policy_id]._storage
'''
For corresponding lane in a neighbouring intersection, m_2 represents the waiting count in
t+n time step and m_1 for t step. m_2-m_1/m_1
'''
road_index_dict = {
road: road_index
for road_index, road in
enumerate(self.config['env_config']['road_sort']
[other_intersection])
}
# differential = np.max(
# np.array(other_storage[index + self.memory_thres - 1:index + self.memory_thres])[:,
# 2]) / other_storage[index][2]
for road in road_index_dict.keys():
if road in all_end_roads:
if road in permitted_end_roads:
I_a = -1
elif road in dis_permitted_end_roads:
I_a = 0
else:
print('wrong')
road_index = road_index_dict[road]
m_1 = np.array(
other_storage[index])[0][road_index]
m_2 = np.mean([
other_storage[index + self.memory_thres -
2][0][road_index],
other_storage[index + self.memory_thres -
1][0][road_index]
])
if m_2 - m_1 == 0 or m_1 == 0:
differential = 0
else:
differential = m_2 - m_1 / m_1 # m_2 = 0, m_1 != 0 -> differential = -1
if differential > 1:
differential = 0
p_value += m_1 * np.tanh(differential) * I_a
if self.config['env_config']['Gamma_Reward']:
p_reward = reward + self.gamma * p_value
# print('Reward: ' + str(Reward) + ',' + 'reward: ' + str(reward))
if p_reward <= -20:
p_reward = -20
# print(Reward)
else:
p_reward = reward
'''
For compare reward change
'''
# if 50 < j_store < 100:
# self.raw_reward_store[self.inter_num_2_id(policy_id_handle(policy_id))].append(reward)
# self.Reward_store[self.inter_num_2_id(policy_id_handle(policy_id))].append(Reward)
# ------------------------------
tmp_buffer[index] = list(storage[index])
tmp_buffer[index][2] = p_reward
index -= 1
for i in range(self.index, len(tmp_buffer) - self.memory_thres):
self.replay_buffers[policy_id].add(obs_t=tmp_buffer[i][0],
action=tmp_buffer[i][1],
reward=tmp_buffer[i][2],
obs_tp1=tmp_buffer[i][3],
done=tmp_buffer[i][4],
weight=None)
# Reward MDP
index = len(storage) - self.memory_thres - 1
while index > self.index - 1:
for policy_id, s in batch.policy_batches.items():
current_intersection = self.inter_num_2_id(
policy_id_handle(policy_id))
storage = list(self.replay_buffers[policy_id]._storage)
p_reward = storage[index][2]
sum_other_reward = 0
for other_policy_id, s in batch.policy_batches.items():
other_intersection = self.inter_num_2_id(
policy_id_handle(other_policy_id))
if other_policy_id != policy_id and other_intersection in \
self.traffic_light_node_dict[current_intersection]['neighbor_ENWS']:
other_storage = self.replay_buffers[
other_policy_id]._storage
pre_other_storage = self.pre_replay_buffers[
other_policy_id]._storage
if index + self.memory_thres >= len(other_storage):
sum_other_reward = 0
else:
sum_other_reward += np.tanh(
other_storage[index + self.memory_thres][2] /
pre_other_storage[index +
self.memory_thres][2] -
self.punish_coeff)
Reward = p_reward + self.gamma * sum_other_reward
self.replay_buffers[policy_id]._storage[index] = list(
self.replay_buffers[policy_id]._storage[index])
self.replay_buffers[policy_id]._storage[index][2] = Reward
self.replay_buffers[policy_id]._storage[index] = tuple(
self.replay_buffers[policy_id]._storage[index])
index -= 1
j_store += 1
self.index = len(storage) - self.memory_thres
# if j_store == 100:
# print("Start recording the reward !!!!!!!!!!!")
# raw_reward_store_np = {}
# Reward_store_np = {}
# for inter_id in self.tmp_dic:
# raw_reward_store_np[inter_id] = np.array(self.raw_reward_store[inter_id])
# Reward_store_np[inter_id] = np.array(self.Reward_store[inter_id])
# raw_reward_store_pd = pd.DataFrame(dict((k, pd.Series(v)) for k, v in raw_reward_store_np.items()))
# Reward_store_pd = pd.DataFrame(dict((k, pd.Series(v)) for k, v in Reward_store_np.items()))
# raw_reward_store_pd.to_csv(os.path.join(self.record_dir, 'raw_reward_store_pd.csv'))
# Reward_store_pd.to_csv(os.path.join(self.record_dir, 'Reward_store_pd.csv'))
# self.replay_buffers = storage[:self.index]
self.num_steps_sampled = len(
self.replay_buffers[policy_id]._storage) # Any policy_id is OK
if self.num_steps_sampled >= self.replay_starts:
self._optimize()
def _sigmoid(self, x):
return 1 / (1 + math.exp(-x))
def read_traffic_light_node_dict(self):
path_to_read = os.path.join(self.record_dir,
'traffic_light_node_dict.conf')
with open(path_to_read, 'r') as f:
self.traffic_light_node_dict = eval(f.read())
print("Read traffic_light_node_dict")
def inter_num_2_id(self, num):
return list(self.tmp_dic.keys())[list(
self.tmp_dic.values()).index(num)]
class SyncReplayOptimizer(PolicyOptimizer):
"""Variant of the local sync optimizer that supports replay (for DQN).
This optimizer requires that policy evaluators return an additional
"td_error" array in the info return of compute_gradients(). This error
term will be used for sample prioritization."""
@override(PolicyOptimizer)
def _init(self,
learning_starts=1000,
buffer_size=10000,
prioritized_replay=True,
prioritized_replay_alpha=0.6,
prioritized_replay_beta=0.4,
schedule_max_timesteps=100000,
beta_annealing_fraction=0.2,
final_prioritized_replay_beta=0.4,
prioritized_replay_eps=1e-6,
train_batch_size=32,
sample_batch_size=4):
self.replay_starts = learning_starts
# linearly annealing beta used in Rainbow paper
self.prioritized_replay_beta = LinearSchedule(
schedule_timesteps=int(
schedule_max_timesteps * beta_annealing_fraction),
initial_p=prioritized_replay_beta,
final_p=final_prioritized_replay_beta)
self.prioritized_replay_eps = prioritized_replay_eps
self.train_batch_size = train_batch_size
# Stats
self.update_weights_timer = TimerStat()
self.sample_timer = TimerStat()
self.replay_timer = TimerStat()
self.grad_timer = TimerStat()
self.learner_stats = {}
# Set up replay buffer
if prioritized_replay:
def new_buffer():
return PrioritizedReplayBuffer(
buffer_size, alpha=prioritized_replay_alpha)
else:
def new_buffer():
return ReplayBuffer(buffer_size)
self.replay_buffers = collections.defaultdict(new_buffer)
assert buffer_size >= self.replay_starts
@override(PolicyOptimizer)
def step(self):
with self.update_weights_timer:
if self.remote_evaluators:
weights = ray.put(self.local_evaluator.get_weights())
for e in self.remote_evaluators:
e.set_weights.remote(weights)
with self.sample_timer:
if self.remote_evaluators:
batch = SampleBatch.concat_samples(
ray.get(
[e.sample.remote() for e in self.remote_evaluators]))
else:
batch = self.local_evaluator.sample()
# Handle everything as if multiagent
if isinstance(batch, SampleBatch):
batch = MultiAgentBatch({
DEFAULT_POLICY_ID: batch
}, batch.count)
for policy_id, s in batch.policy_batches.items():
for row in s.rows():
self.replay_buffers[policy_id].add(
pack_if_needed(row["obs"]),
row["actions"],
row["rewards"],
pack_if_needed(row["new_obs"]),
row["dones"],
weight=None)
if self.num_steps_sampled >= self.replay_starts:
self._optimize()
self.num_steps_sampled += batch.count
@override(PolicyOptimizer)
def stats(self):
return dict(
PolicyOptimizer.stats(self), **{
"sample_time_ms": round(1000 * self.sample_timer.mean, 3),
"replay_time_ms": round(1000 * self.replay_timer.mean, 3),
"grad_time_ms": round(1000 * self.grad_timer.mean, 3),
"update_time_ms": round(1000 * self.update_weights_timer.mean,
3),
"opt_peak_throughput": round(self.grad_timer.mean_throughput,
3),
"opt_samples": round(self.grad_timer.mean_units_processed, 3),
"learner": self.learner_stats,
})
def _optimize(self):
samples = self._replay()
with self.grad_timer:
info_dict = self.local_evaluator.learn_on_batch(samples)
for policy_id, info in info_dict.items():
if "stats" in info:
self.learner_stats[policy_id] = info["stats"]
replay_buffer = self.replay_buffers[policy_id]
if isinstance(replay_buffer, PrioritizedReplayBuffer):
td_error = info["td_error"]
new_priorities = (
np.abs(td_error) + self.prioritized_replay_eps)
replay_buffer.update_priorities(
samples.policy_batches[policy_id]["batch_indexes"],
new_priorities)
self.grad_timer.push_units_processed(samples.count)
self.num_steps_trained += samples.count
def _replay(self):
samples = {}
with self.replay_timer:
for policy_id, replay_buffer in self.replay_buffers.items():
if isinstance(replay_buffer, PrioritizedReplayBuffer):
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_indexes) = replay_buffer.sample(
self.train_batch_size,
beta=self.prioritized_replay_beta.value(
self.num_steps_trained))
else:
(obses_t, actions, rewards, obses_tp1,
dones) = replay_buffer.sample(self.train_batch_size)
weights = np.ones_like(rewards)
batch_indexes = -np.ones_like(rewards)
samples[policy_id] = SampleBatch({
"obs": obses_t,
"actions": actions,
"rewards": rewards,
"new_obs": obses_tp1,
"dones": dones,
"weights": weights,
"batch_indexes": batch_indexes
})
return MultiAgentBatch(samples, self.train_batch_size)