def value_update(batch, params, nets, optimizer,
device=torch.device('cpu'),
debug=None, writer=utils.DummyWriter(),
learn=False, step=-1):
"""
Everything is the same as in ddpg_update
"""
state, action, reward, next_state, done = data.get_base_batch(batch, device=device)
with torch.no_grad():
next_action = nets['target_policy_net'](next_state)
target_value = nets['target_value_net'](next_state, next_action.detach())
expected_value = temporal_difference(reward, done, params['gamma'], target_value)
expected_value = torch.clamp(expected_value,
params['min_value'], params['max_value'])
value = nets['value_net'](state, action)
value_loss = torch.pow(value - expected_value.detach(), 2).mean()
if learn:
optimizer['value_optimizer'].zero_grad()
value_loss.backward(retain_graph=True)
optimizer['value_optimizer'].step()
elif not learn:
debug['next_action'] = next_action
writer.add_figure('next_action',
utils.pairwise_distances_fig(next_action[:50]), step)
writer.add_histogram('value', value, step)
writer.add_histogram('target_value', target_value, step)
writer.add_histogram('expected_value', expected_value, step)
return value_loss
def td3_update(
batch,
params,
nets,
optimizer,
device=torch.device("cpu"),
debug=None,
writer=utils.DummyWriter(),
learn=False,
step=-1,
):
"""
:param batch: batch [state, action, reward, next_state] returned by environment.
:param params: dict of algorithm parameters.
:param nets: dict of networks.
:param optimizer: dict of optimizers
:param device: torch.device
:param debug: dictionary where debug data about actions is saved
:param writer: torch.SummaryWriter
:param learn: whether to learn on this step (used for testing)
:param step: integer step for policy update
:return: loss dictionary
How parameters should look like::
params = {
'gamma': 0.99,
'noise_std': 0.5,
'noise_clip': 3,
'soft_tau': 0.001,
'policy_update': 10,
'policy_lr': 1e-5,
'value_lr': 1e-5,
'actor_weight_init': 25e-2,
'critic_weight_init': 6e-1,
}
nets = {
'value_net1': models.Critic,
'target_value_net1': models.Critic,
'value_net2': models.Critic,
'target_value_net2': models.Critic,
'policy_net': models.Actor,
'target_policy_net': models.Actor,
}
optimizer = {
'policy_optimizer': some optimizer
'value_optimizer1': some optimizer
'value_optimizer2': some optimizer
}
"""
if debug is None:
debug = dict()
state, action, reward, next_state, done = data.get_base_batch(
batch, device=device)
# --------------------------------------------------------#
# Value Learning
next_action = nets["target_policy_net"](next_state)
noise = torch.normal(torch.zeros(next_action.size()),
params["noise_std"]).to(device)
noise = torch.clamp(noise, -params["noise_clip"], params["noise_clip"])
next_action += noise
with torch.no_grad():
target_q_value1 = nets["target_value_net1"](next_state, next_action)
target_q_value2 = nets["target_value_net2"](next_state, next_action)
target_q_value = torch.min(target_q_value1, target_q_value2)
expected_q_value = temporal_difference(reward, done, params["gamma"],
target_q_value)
q_value1 = nets["value_net1"](state, action)
q_value2 = nets["value_net2"](state, action)
value_criterion = torch.nn.MSELoss()
value_loss1 = value_criterion(q_value1, expected_q_value.detach())
value_loss2 = value_criterion(q_value2, expected_q_value.detach())
if learn:
optimizer["value_optimizer1"].zero_grad()
value_loss1.backward()
optimizer["value_optimizer1"].step()
optimizer["value_optimizer2"].zero_grad()
value_loss2.backward()
optimizer["value_optimizer2"].step()
else:
debug["next_action"] = next_action
writer.add_figure("next_action",
utils.pairwise_distances_fig(next_action[:50]), step)
writer.add_histogram("value1", q_value1, step)
writer.add_histogram("value2", q_value2, step)
writer.add_histogram("target_value", target_q_value, step)
writer.add_histogram("expected_value", expected_q_value, step)
# --------------------------------------------------------#
# Policy learning
gen_action = nets["policy_net"](state)
policy_loss = nets["value_net1"](state, gen_action)
policy_loss = -policy_loss
if not learn:
debug["gen_action"] = gen_action
writer.add_figure("gen_action",
utils.pairwise_distances_fig(gen_action[:50]), step)
writer.add_histogram("policy_loss", policy_loss, step)
policy_loss = policy_loss.mean()
# delayed policy update
if step % params["policy_update"] == 0 and learn:
optimizer["policy_optimizer"].zero_grad()
policy_loss.backward()
torch.nn.utils.clip_grad_norm_(nets["policy_net"].parameters(), -1, 1)
optimizer["policy_optimizer"].step()
soft_update(nets["value_net1"],
nets["target_value_net1"],
soft_tau=params["soft_tau"])
soft_update(nets["value_net2"],
nets["target_value_net2"],
soft_tau=params["soft_tau"])
losses = {
"value1": value_loss1.item(),
"value2": value_loss2.item(),
"policy": policy_loss.item(),
"step": step,
}
utils.write_losses(writer, losses, kind="train" if learn else "test")
return losses
def ddpg_update(
batch,
params,
nets,
optimizer,
device=torch.device("cpu"),
debug=None,
writer=utils.DummyWriter(),
learn=False,
step=-1,
):
"""
:param batch: batch [state, action, reward, next_state] returned by environment.
:param params: dict of algorithm parameters.
:param nets: dict of networks.
:param optimizer: dict of optimizers
:param device: torch.device
:param debug: dictionary where debug data about actions is saved
:param writer: torch.SummaryWriter
:param learn: whether to learn on this step (used for testing)
:param step: integer step for policy update
:return: loss dictionary
How parameters should look like::
params = {
'gamma' : 0.99,
'min_value' : -10,
'max_value' : 10,
'policy_step': 3,
'soft_tau' : 0.001,
'policy_lr' : 1e-5,
'value_lr' : 1e-5,
'actor_weight_init': 3e-1,
'critic_weight_init': 6e-1,
}
nets = {
'value_net': models.Critic,
'target_value_net': models.Critic,
'policy_net': models.Actor,
'target_policy_net': models.Actor,
}
optimizer - {
'policy_optimizer': some optimizer
'value_optimizer': some optimizer
}
"""
state, action, reward, next_state, _ = data.get_base_batch(batch,
device=device)
# --------------------------------------------------------#
# Value Learning
value_loss = value_update(
batch,
params,
nets,
optimizer,
writer=writer,
device=device,
debug=debug,
learn=learn,
step=step,
)
# --------------------------------------------------------#
# Policy learning
gen_action = nets["policy_net"](state)
policy_loss = -nets["value_net"](state, gen_action)
if not learn:
debug["gen_action"] = gen_action
writer.add_histogram("policy_loss", policy_loss, step)
writer.add_figure("next_action",
utils.pairwise_distances_fig(gen_action[:50]), step)
policy_loss = policy_loss.mean()
if learn and step % params["policy_step"] == 0:
optimizer["policy_optimizer"].zero_grad()
policy_loss.backward(retain_graph=True)
torch.nn.utils.clip_grad_norm_(nets["policy_net"].parameters(), -1, 1)
optimizer["policy_optimizer"].step()
soft_update(nets["value_net"],
nets["target_value_net"],
soft_tau=params["soft_tau"])
soft_update(nets["policy_net"],
nets["target_policy_net"],
soft_tau=params["soft_tau"])
losses = {
"value": value_loss.item(),
"policy": policy_loss.item(),
"step": step
}
utils.write_losses(writer, losses, kind="train" if learn else "test")
return losses
def bcq_update(batch,
params,
nets,
optimizer,
device=torch.device('cpu'),
debug=None,
writer=utils.DummyWriter(),
learn=False,
step=-1):
"""
:param batch: batch [state, action, reward, next_state] returned by environment.
:param params: dict of algorithm parameters.
:param nets: dict of networks.
:param optimizer: dict of optimizers
:param device: torch.device
:param debug: dictionary where debug data about actions is saved
:param writer: torch.SummaryWriter
:param learn: whether to learn on this step (used for testing)
:param step: integer step for policy update
:return: loss dictionary
How parameters should look like::
params = {
# algorithm parameters
'gamma' : 0.99,
'soft_tau' : 0.001,
'n_generator_samples': 10,
'perturbator_step' : 30,
# learning rates
'perturbator_lr' : 1e-5,
'value_lr' : 1e-5,
'generator_lr' : 1e-3,
}
nets = {
'generator_net': models.bcqGenerator,
'perturbator_net': models.bcqPerturbator,
'target_perturbator_net': models.bcqPerturbator,
'value_net1': models.Critic,
'target_value_net1': models.Critic,
'value_net2': models.Critic,
'target_value_net2': models.Critic,
}
optimizer = {
'generator_optimizer': some optimizer
'policy_optimizer': some optimizer
'value_optimizer1': some optimizer
'value_optimizer2': some optimizer
}
"""
if debug is None:
debug = dict()
state, action, reward, next_state, done = data.get_base_batch(
batch, device=device)
batch_size = done.size(0)
# --------------------------------------------------------#
# Variational Auto-Encoder Learning
recon, mean, std = nets['generator_net'](state, action)
recon_loss = F.mse_loss(recon, action)
KL_loss = -0.5 * (1 + torch.log(std.pow(2)) - mean.pow(2) -
std.pow(2)).mean()
generator_loss = recon_loss + 0.5 * KL_loss
if not learn:
writer.add_histogram('generator_mean', mean, step)
writer.add_histogram('generator_std', std, step)
debug['recon'] = recon
writer.add_figure('reconstructed',
utils.pairwise_distances_fig(recon[:50]), step)
if learn:
optimizer['generator_optimizer'].zero_grad()
generator_loss.backward()
optimizer['generator_optimizer'].step()
# --------------------------------------------------------#
# Value Learning
with torch.no_grad():
# p.s. repeat_interleave was added in torch 1.1
# if an error pops up, run 'conda update pytorch'
state_rep = torch.repeat_interleave(next_state,
params['n_generator_samples'], 0)
sampled_action = nets['generator_net'].decode(state_rep)
perturbed_action = nets['target_perturbator_net'](state_rep,
sampled_action)
target_Q1 = nets['target_value_net1'](state_rep, perturbed_action)
target_Q2 = nets['target_value_net1'](state_rep, perturbed_action)
target_value = 0.75 * torch.min(target_Q1,
target_Q2) # value soft update
target_value += 0.25 * torch.max(target_Q1, target_Q2) #
target_value = target_value.view(batch_size, -1).max(1)[0].view(-1, 1)
expected_value = temporal_difference(reward, done, params['gamma'],
target_value)
value = nets['value_net1'](state, action)
value_loss = torch.pow(value - expected_value.detach(), 2).mean()
if learn:
optimizer['value_optimizer1'].zero_grad()
optimizer['value_optimizer2'].zero_grad()
value_loss.backward()
optimizer['value_optimizer1'].step()
optimizer['value_optimizer2'].step()
else:
writer.add_histogram('value', value, step)
writer.add_histogram('target_value', target_value, step)
writer.add_histogram('expected_value', expected_value, step)
writer.close()
# --------------------------------------------------------#
# Perturbator learning
sampled_actions = nets['generator_net'].decode(state)
perturbed_actions = nets['perturbator_net'](state, sampled_actions)
perturbator_loss = -nets['value_net1'](state, perturbed_actions)
if not learn:
writer.add_histogram('perturbator_loss', perturbator_loss, step)
perturbator_loss = perturbator_loss.mean()
if learn:
if step % params['perturbator_step']:
optimizer['perturbator_optimizer'].zero_grad()
perturbator_loss.backward()
torch.nn.utils.clip_grad_norm_(
nets['perturbator_net'].parameters(), -1, 1)
optimizer['perturbator_optimizer'].step()
soft_update(nets['value_net1'],
nets['target_value_net1'],
soft_tau=params['soft_tau'])
soft_update(nets['value_net2'],
nets['target_value_net2'],
soft_tau=params['soft_tau'])
soft_update(nets['perturbator_net'],
nets['target_perturbator_net'],
soft_tau=params['soft_tau'])
else:
debug['sampled_actions'] = sampled_actions
debug['perturbed_actions'] = perturbed_actions
writer.add_figure('sampled_actions',
utils.pairwise_distances_fig(sampled_actions[:50]),
step)
writer.add_figure('perturbed_actions',
utils.pairwise_distances_fig(perturbed_actions[:50]),
step)
# --------------------------------------------------------#
losses = {
'value': value_loss.item(),
'perturbator': perturbator_loss.item(),
'generator': generator_loss.item(),
'step': step
}
utils.write_losses(writer, losses, kind='train' if learn else 'test')
return losses
def ddpg_update(batch,
params,
nets,
optimizer,
device,
debug,
writer=False,
learn=True,
step=-1):
"""
:param batch: batch [state, action, reward, next_state] returned by environment.
:param params: dict of algorithm parameters.
:param nets: dict of networks.
:param optimizer: dict of optimizers
:param device: torch.device
:param debug: dictionary where debug data about actions is saved
:param writer: torch.SummaryWriter
:param learn: whether to learn on this step (used for testing)
:param step: integer step for policy update
:return: loss dictionary
How parameters should look like::
params = {
'gamma' : 0.99,
'min_value' : -10,
'max_value' : 10,
'policy_step': 3,
'soft_tau' : 0.001,
'policy_lr' : 1e-5,
'value_lr' : 1e-5,
'actor_weight_init': 3e-1,
'critic_weight_init': 6e-1,
}
nets = {
'value_net': models.Critic,
'target_value_net': models.Critic,
'policy_net': models.Actor,
'target_policy_net': models.Actor,
}
optimizer - {
'policy_optimizer': some optimizer
'value_optimizer': some optimizer
}
"""
state, action, reward, next_state, done = data.get_base_batch(
batch, device=device)
# --------------------------------------------------------#
# Value Learning
with torch.no_grad():
next_action = nets['target_policy_net'](next_state)
target_value = nets['target_value_net'](next_state,
next_action.detach())
expected_value = reward + params['gamma'] * target_value
expected_value = torch.clamp(expected_value, params['min_value'],
params['max_value'])
value = nets['value_net'](state, action)
value_loss = torch.pow(value - expected_value.detach(), 2).mean()
if learn:
optimizer['value_optimizer'].zero_grad()
value_loss.backward(retain_graph=True)
optimizer['value_optimizer'].step()
elif not learn:
debug['next_action'] = next_action
writer.add_figure('next_action',
utils.pairwise_distances_fig(next_action[:50]), step)
writer.add_histogram('value', value, step)
writer.add_histogram('target_value', target_value, step)
writer.add_histogram('expected_value', expected_value, step)
# --------------------------------------------------------#
# Policy learning
gen_action = nets['policy_net'](state)
policy_loss = -nets['value_net'](state, gen_action)
if not learn:
debug['gen_action'] = gen_action
writer.add_histogram('policy_loss', policy_loss, step)
writer.add_figure('next_action',
utils.pairwise_distances_fig(gen_action[:50]), step)
policy_loss = policy_loss.mean()
if learn and step % params['policy_step'] == 0:
optimizer['policy_optimizer'].zero_grad()
policy_loss.backward(retain_graph=True)
torch.nn.utils.clip_grad_norm_(nets['policy_net'].parameters(), -1, 1)
optimizer['policy_optimizer'].step()
soft_update(nets['value_net'],
nets['target_value_net'],
soft_tau=params['soft_tau'])
soft_update(nets['policy_net'],
nets['target_policy_net'],
soft_tau=params['soft_tau'])
losses = {
'value': value_loss.item(),
'policy': policy_loss.item(),
'step': step
}
utils.write_losses(writer, losses, kind='train' if learn else 'test')
return losses
def td3_update(batch,
params,
nets,
optimizer,
writer,
device,
debug,
learn=True,
step=-1):
"""
:param batch: batch [state, action, reward, next_state] returned by environment.
:param params: dict of algorithm parameters.
:param nets: dict of networks.
:param optimizer: dict of optimizers
:param device: torch.device
:param debug: dictionary where debug data about actions is saved
:param writer: torch.SummaryWriter
:param learn: whether to learn on this step (used for testing)
:param step: integer step for policy update
:return: loss dictionary
How parameters should look like::
params = {
'gamma': 0.99,
'noise_std': 0.5,
'noise_clip': 3,
'soft_tau': 0.001,
'policy_update': 10,
'policy_lr': 1e-5,
'value_lr': 1e-5,
'actor_weight_init': 25e-2,
'critic_weight_init': 6e-1,
}
nets = {
'value_net1': models.Critic,
'target_value_net1': models.Critic,
'value_net2': models.Critic,
'target_value_net2': models.Critic,
'policy_net': models.Actor,
'target_policy_net': models.Actor,
}
optimizer = {
'policy_optimizer': some optimizer
'value_optimizer1': some optimizer
'value_optimizer2': some optimizer
}
"""
state, action, reward, next_state, done = data.get_base_batch(
batch, device=device)
# --------------------------------------------------------#
# Value Learning
next_action = nets['target_policy_net'](next_state)
noise = torch.normal(torch.zeros(next_action.size()),
params['noise_std']).to(device)
noise = torch.clamp(noise, -params['noise_clip'], params['noise_clip'])
next_action += noise
with torch.no_grad():
target_q_value1 = nets['target_value_net1'](next_state, next_action)
target_q_value2 = nets['target_value_net2'](next_state, next_action)
target_q_value = torch.min(target_q_value1, target_q_value2)
expected_q_value = reward + (1.0 -
done) * params['gamma'] * target_q_value
q_value1 = nets['value_net1'](state, action)
q_value2 = nets['value_net2'](state, action)
value_criterion = torch.nn.MSELoss()
value_loss1 = value_criterion(q_value1, expected_q_value.detach())
value_loss2 = value_criterion(q_value2, expected_q_value.detach())
if learn:
optimizer['value_optimizer1'].zero_grad()
value_loss1.backward()
optimizer['value_optimizer1'].step()
optimizer['value_optimizer2'].zero_grad()
value_loss2.backward()
optimizer['value_optimizer2'].step()
else:
debug['next_action'] = next_action
writer.add_figure('next_action',
utils.pairwise_distances_fig(next_action[:50]), step)
writer.add_histogram('value1', q_value1, step)
writer.add_histogram('value2', q_value2, step)
writer.add_histogram('target_value', target_q_value, step)
writer.add_histogram('expected_value', expected_q_value, step)
# --------------------------------------------------------#
# Policy learning
gen_action = nets['policy_net'](state)
policy_loss = nets['value_net1'](state, gen_action)
policy_loss = -policy_loss
if not learn:
debug['gen_action'] = gen_action
writer.add_figure('gen_action',
utils.pairwise_distances_fig(gen_action[:50]), step)
writer.add_histogram('policy_loss', policy_loss, step)
policy_loss = policy_loss.mean()
# delayed policy update
if step % params['policy_update'] == 0 and learn:
optimizer['policy_optimizer'].zero_grad()
policy_loss.backward()
torch.nn.utils.clip_grad_norm_(nets['policy_net'].parameters(), -1, 1)
optimizer['policy_optimizer'].step()
soft_update(nets['value_net1'],
nets['target_value_net1'],
soft_tau=params['soft_tau'])
soft_update(nets['value_net2'],
nets['target_value_net2'],
soft_tau=params['soft_tau'])
losses = {
'value1': value_loss1.item(),
'value2': value_loss2.item(),
'policy': policy_loss.item(),
'step': step
}
utils.write_losses(writer, losses, kind='train' if learn else 'test')
return losses