def _fill_experience(self, sess):
"""
Fill experience buffer until buffer is full.
"""
prev_state = self.environment.last_state
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
pi_, _ = self.local_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
action = self.choose_action(pi_)
new_state, reward, terminal, pixel_change = self.environment.process(
action)
frame = ExperienceFrame(prev_state, reward, action, terminal,
pixel_change, last_action, last_reward)
self.experience.add_frame(frame)
if terminal:
self.environment.reset()
if self.experience.is_full():
self.environment.reset()
print("Replay buffer filled")
def _fill_experience(self, sess):
"""
Fill experience buffer until buffer is full.
"""
prev_state = self.environment.last_state
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_intrinsic_reward = self.environment.last_intrinsic_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
input_map = self.environment.map
prev_localization_state, pi_, _, short_term_goal, shift_weights, location_distribution = self.local_network.run_policy_and_value(
sess, prev_state, last_action_reward, input_map, replan=False)
action = self.choose_action(pi_)
new_state, reward, intrinsic_reward, terminal = self.environment.process(
action, short_term_goal, shift_weights)
frame = ExperienceFrame(prev_state, input_map, prev_localization_state,
location_distribution, reward,
intrinsic_reward, action, terminal,
last_action, last_reward,
last_intrinsic_reward)
self.experience.add_frame(frame)
if terminal:
self.level_seed = np.random.randint(LEVEL_SET_SIZE)
self.environment.reset(self.maze_size, self.level_seed)
if self.experience.is_full():
print(
"Replay buffer filled--------------------------------------------------------------------------------------"
)
sys.stdout.flush()
def _fill_experience(self, sess):
"""
Fill experience buffer until buffer is full.
"""
#print("Start experience filling", flush=True)
prev_state = self.environment.last_state
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward, prev_state)
#print("Local network run base policy, value!", flush=True)
pi_, _, _ = self.local_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
action = self.choose_action(pi_)
new_state, reward, terminal, pixel_change = self.environment.process(
action, flag=0)
frame = ExperienceFrame(
{
key: val
for key, val in prev_state.items() if 'objectType' not in key
}, reward, action, terminal, pixel_change, last_action,
last_reward)
self.experience.add_frame(frame)
if terminal:
self.environment.reset()
if self.experience.is_full():
self.environment.reset()
print("Replay buffer filled")
def _add_batch_to_exp(self, batch):
# if we just started, copy the first state as last state
if self.last_state is None:
self.last_state = batch.si[0]
#logger.debug("adding batch to exp. len:{}".format(len(batch.si)))
for k in range(len(batch.si)):
state = batch.si[k]
action = batch.a[k]#np.argmax(batch.a[k])
reward = batch.a_r[k][-1]
self.episode_reward += reward
features = batch.features[k]
pixel_change = batch.pc[k]
#logger.debug("k = {} of {} -- terminal = {}".format(k,len(batch.si), batch.terminal))
if k == len(batch.si)-1 and batch.terminal:
terminal = True
else:
terminal = False
frame = ExperienceFrame(state, reward, action, terminal, features, pixel_change,
self.last_action, self.last_reward)
self.experience.add_frame(frame)
self.last_state = state
self.last_action = action
self.last_reward = reward
if terminal:
total_ep_reward = self.episode_reward
self.episode_reward = 0
return total_ep_reward
else:
return None
def process(self, sess):
self.img = np.zeros(shape=(HEIGHT, WIDTH, 3), dtype=np.uint8)
last_action = self.env.last_action
last_reward = np.clip(self.env.last_reward, -1, 1)
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
if not USE_PIXEL_CHANGE:
pi_values, v_value = self.global_network.run_base_policy_and_value(
sess, self.env.last_state, last_action_reward)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(
sess, self.env.last_state, last_action_reward)
self.value_history.add_value(v_value)
action = self.choose_action(pi_values)
state, reward, terminal, pc, vtrans, vrot = self.env.process(action)
self.state_history.add_state(state)
self.ep_reward += reward
self.mazemap.update(vtrans, vrot)
if reward > 9: # agent到达迷宫终点时，reward为10，地图需要重置
self.mazemap.reset()
if terminal: # lab环境默认3600帧为一个episode而不是到达迷宫终点时给terminal信号
self.env.reset()
self.ep_reward = 0
self.mazemap.reset()
self.show_ob(state, 3, 3, "Observation")
self.show_pc(pc, 100, 3, 3.0, "Pixel Change")
self.show_pc(pc_q[:, :, action], 200, 3, 0.4, "PC Q")
self.show_map(300, 3, "Maze Map")
self.show_pi(pi_values)
self.show_reward()
self.show_rp()
self.show_value()
def process(self, sess, global_t, summary_writer, summary_op, score_input):
""" TODO """
self.environment.reset()
for ep in range(self.environment.num_episodes):
print("starting episode number {}!".format(ep))
terminal = False
while not terminal:
# Prepare last action reward
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(last_action,
self.action_size,
last_reward)
_last_state = self.environment.last_state
pi_, value_ = self.local_network.run_base_policy_and_value(sess,
self.environment.last_state,
last_action_reward)
action = self.choose_action(pi_)
# Process game
new_state, reward, terminal, pixel_change = self.environment.process(action)
self.episode_reward += reward
if terminal:
print("score={}".format(self.episode_reward))
self.episode_reward = 0
self.environment.reset()
self.local_network.reset_state()
break
self.environment.env.close()
def record(self, obs, reward, terminal, pc, action):
last_state = self.env.last_state
last_action = self.env.last_action
last_reward = self.env.last_reward
frame = ExperienceFrame(last_state, reward, action, terminal, pc,
last_action, last_reward)
self.ExpPool.add_frame(frame)
if self.ExpPool.is_full():
print('Experience pool is filled!')
print('Filled %d/%d.' % (len(self.ExpPool._frames), MAX_EXP), end='\r')
sys.stdout.flush()
def process(self, sess):
last_action = self.environment.last_action
last_reward = np.clip(self.environment.last_reward, -1, 1)
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
if not USE_PIXEL_CHANGE:
pi_values, v_value = self.global_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(
sess, self.environment.last_state, last_action_reward)
self.value_history.add_value(v_value)
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change, vtrans, vrot = self.environment.process(
action)
self.episode_reward += reward
self.mazemap.update(vtrans, vrot)
if reward > 9:
self.mazemap.reset()
if terminal:
self.environment.reset()
self.episode_reward = 0
self.mazemap.reset()
self.show_image(state[:, :, :3])
self.show_policy(pi_values)
self.show_value()
self.show_reward()
self.show_map()
if USE_PIXEL_CHANGE:
self.show_pixel_change(pixel_change, 100, 0, 3.0, "PC")
self.show_pixel_change(pc_q[:, :, action], 200, 0, 0.4, "PC Q")
if USE_REWARD_PREDICTION:
if self.state_history.is_full:
rp_c = self.global_network.run_rp_c(sess,
self.state_history.states)
self.show_reward_prediction(rp_c, reward)
self.state_history.add_state(state)
def process(self, sess):
last_action = self.environment.last_action
last_reward = np.clip(self.environment.last_reward, -1, 1)
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward,
self.environment.last_state)
if not flags.use_pixel_change:
pi_values, v_value = self.global_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(
sess, self.environment.last_state, last_action_reward)
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change = self.environment.process(
action)
self.episode_reward += reward
if terminal:
self.environment.reset()
self.episode_reward = 0
def process(self, sess):
last_action = self.environment.last_action
last_reward = np.clip(self.environment.last_reward, -1, 1)
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward,
self.environment.last_state)
if not flags.use_pixel_change:
pi_values, v_value = self.global_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(
sess, self.environment.last_state, last_action_reward)
self.value_history.add_value(v_value)
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change = self.environment.process(
action)
self.episode_reward += reward
if terminal:
self.environment.reset()
self.episode_reward = 0
self.show_image(state['image'])
self.show_policy(pi_values)
self.show_value()
self.show_reward()
if flags.use_pixel_change:
self.show_pixel_change(pixel_change, 100, 0, 3.0, "PC")
self.show_pixel_change(pc_q[:, :, action], 200, 0, 0.4, "PC Q")
if flags.use_reward_prediction:
if self.state_history.is_full:
rp_c = self.global_network.run_rp_c(sess,
self.state_history.states)
self.show_reward_prediction(rp_c, reward)
self.state_history.add_state(state)
def process(self, sess):
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(last_action, self.action_size,
last_reward, self.environment.last_state)
if random_policy:
pi_values = [1/3.0, 1/3.0, 1/3.0]
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change = self.environment.process(action)
self.episode_reward[-1] += reward
else:
mode = "segnet" if flags.segnet >= 2 else ""
segnet_preds = None
if not flags.use_pixel_change:
pi_values, v_value, segnet_preds = self.global_network.run_base_policy_and_value(sess,
self.environment.last_state,
last_action_reward, mode=mode)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(sess,
self.environment.last_state,
last_action_reward)
if segnet_preds is not None:
mask = self.environment.last_state.get('objectType', None)
if mask is not None:
new_classes = np.unique(mask)
if segnet_preds.shape != mask.shape:
print("Predictions have shape {}, but groundtruth mask has shape {}".format(segnet_preds.shape, mask.shape))
else:
similar = segnet_preds == mask
for id_class in new_classes:
id_list = self.segnet_class_dict.get(id_class, None)
if id_list is None:
id_list = []
id_list += [[np.sum(similar[mask == id_class]), np.sum(mask == id_class)]]
self.segnet_class_dict[id_class] = id_list
self.batch_cur_num += 1
if flags.segnet == -1: #just not necessary
if self.batch_cur_num != 0 and self.batch_cur_num - self.batch_prev_num >= self.batch_size:
#print(np.unique(self.batch_sobjT))
feed_dict = {self.global_network.base_input: self.batch_si,
self.global_network.base_segm_mask: self.batch_sobjT,
self.global_network.is_training: not True}
segm_loss, preds, confusion_mtx = sess.run([self.global_network.decoder_loss,
self.global_network.preds, self.global_network.update_evaluation_vars],
feed_dict=feed_dict)
total_loss = 0
self.total_loss += [total_loss]
self.segm_loss += [segm_loss] # TODO: here do something with it, store somwhere?
#update every_thing else
self.batch_prev_num = self.batch_cur_num
self.batch_si = []
self.batch_sobjT = []
self.batch_a = []
else:
self.batch_si += [self.environment.last_state["image"]]
self.batch_sobjT += [self.environment.last_state["objectType"]]
self.batch_a += [self.environment.ACTION_LIST[self.environment.last_action]]
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change = self.environment.process(action)
self.episode_reward[-1] += reward
if terminal:
ep_info = self.environment._episode_info
if ep_info['task'] == 'room_goal':
one_hot_room = ep_info['goal']['roomTypeEncoded']
room_type = ep_info['goal']['roomType']
ind = np.where(one_hot_room)[0][0]
self.roomType_dict[ind] = room_type
self.episode_roomtype += [ind]
self.success_rate += [int(self.environment._last_full_state["success"])]
self.environment.reset()
self.episode_reward += [0]
def _process_base(self, sess, global_t, summary_writer, summary_op,
score_input):
# [Base A3C]
states = []
last_action_rewards = []
actions = []
rewards = []
values = []
terminal_end = False
start_lstm_state = self.local_network.base_lstm_state_out
# t_max times loop
for _ in range(self.local_t_max):
# Prepare last action reward
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
#Modify Last State - with attention
pi_, value_ = self.local_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward)
action = self.choose_action(pi_)
states.append(self.environment.last_state)
last_action_rewards.append(last_action_reward)
actions.append(action)
values.append(value_)
if (self.thread_index == 0) and (self.local_t % LOG_INTERVAL == 0):
print("pi={}".format(pi_))
print(" V={}".format(value_))
prev_state = self.environment.last_state
# Process game
new_state, reward, terminal, pixel_change = self.environment.process(
action) #Modify New State - with attention
frame = ExperienceFrame(prev_state, reward, action, terminal,
pixel_change, last_action, last_reward)
# Store to experience
self.experience.add_frame(frame)
self.episode_reward += reward
rewards.append(reward)
self.local_t += 1
if terminal:
terminal_end = True
print("score={}".format(self.episode_reward))
self._record_score(sess, summary_writer, summary_op,
score_input, self.episode_reward, global_t)
self.episode_reward = 0
self.environment.reset()
self.local_network.reset_state()
break
R = 0.0
if not terminal_end:
R = self.local_network.run_base_value(
sess, new_state, frame.get_action_reward(self.action_size))
actions.reverse()
states.reverse()
rewards.reverse()
values.reverse()
batch_si = []
batch_a = []
batch_adv = []
batch_R = []
for (ai, ri, si, Vi) in zip(actions, rewards, states, values):
R = ri + self.gamma * R
adv = R - Vi
a = np.zeros([self.action_size])
a[ai] = 1.0
batch_si.append(si)
batch_a.append(a)
batch_adv.append(adv)
batch_R.append(R)
batch_si.reverse()
batch_a.reverse()
batch_adv.reverse()
batch_R.reverse()
return batch_si, last_action_rewards, batch_a, batch_adv, batch_R, start_lstm_state
def process(self, sess):
last_action_reward = ExperienceFrame.concat_action_and_reward(self.environment.last_action,
self.action_size,
self.environment.last_reward)
map_input = self.environment.map
pi_values, v_value, location,angle,value_map,reward_map,short_term_goal,angle_neurons, local_map_prediction, \
local_map, actual_local_map, vlm_target,vlm_prediction,location_estimate,shift_weights = self.global_network.run_display_values(sess,
self.environment.last_state,
last_action_reward,
map_input,
self.replan)
if self.replan:
self.path = []
self.step_count = 0
self.episode_reward = 0
self.episode_intrinsic_reward = 0
self.replan = False
self.value_history.add_value(v_value)
action = self.choose_action(pi_values)
state, reward, intrinsic_reward, terminal = self.environment.process(action, short_term_goal, shift_weights)
self.replan = False
if terminal:
print('Steps needed: ', self.step_count)
sys.stdout.flush()
self.environment.reset(DISPLAY_LEVEL[0],np.random.randint(LEVEL_SET_SIZE))
self.global_network.reset_state()
self.replan = True
self.episode_reward += reward
self.episode_intrinsic_reward += intrinsic_reward
self.step_count += 1
self.show_image(self.state)
self.show_angle(angle)
self.show_pixels(np.reshape(angle_neurons,[1,30]),370, 176, 4, 1, "Discretized Angle")
self.show_pixels(np.reshape(shift_weights,[3,3]),400, 250, 20, 1, "Egomotion Estimation")
self.show_pixels(vlm_target,550, 8, 5, 1, "Visible Local Map Target",True)
self.show_pixels(vlm_prediction,550, 176, 5, 1, "Visible Local Map Estimation",True)
self.show_pixels(actual_local_map,725, 8, 5, 1, "Local Map Target",True)
self.show_pixels(local_map_prediction,725, 176, 5, 1, "Local Map Estimation",True)
self.show_pixels(local_map,900, 8, 5, 1, "Map Feedback Local Map",True)
self.draw_text("Estimated Position: " + str(np.around(location_estimate)), 900, 220)
self.draw_text("Actual Position: " + str(np.asarray(self.state['position'][2], 'float')), 900, 240)
self.draw_text("STEPS: {}".format(int(self.step_count)), 900, 260)
self.draw_text("REWARD: {}".format(float(self.episode_reward)), 900, 280)
self.draw_text("INTRINSIC REWARD: {}".format(float(self.episode_intrinsic_reward)), 900, 300)
disp_map = np.reshape(map_input, [126, 126,1])
self.show_map(disp_map,8,400,3,1,"Map",location,self.state['position'][1])
self.show_map(self.scale_image(reward_map, 2), 400, 400, 3, 1, "Reward Map, R = 0, G = +, B = -")
stg = np.asarray([[0, short_term_goal[2], 0],
[short_term_goal[3], short_term_goal[4], short_term_goal[1]],
[0, short_term_goal[0], 0]])
self.show_pixels(stg, 840, 400, 20, 1, "Short Term")
self.draw_center_text("Target Direction", 870, 490)
rp_c = self.global_network.run_map_rp_c(sess, self.state, state, map_input)
self.show_reward_prediction(rp_c, reward, 820, 600, "Reward Prediction")
self.show_policy(pi_values,action)
self.show_value()
self.state = state
time.sleep(DISPLAY_SLOW_DOWN)
def process(self, sess):
sess.run([
tf.global_variables_initializer(),
tf.local_variables_initializer()
])
#sess.run(tf.initialize_all_variables())
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward,
self.environment.last_state)
preds = None
mode = "segnet" if flags.segnet >= 2 else ""
mode = "" #don't want preds
if not flags.use_pixel_change:
pi_values, v_value, preds = self.global_network.run_base_policy_and_value(
sess,
self.environment.last_state,
last_action_reward,
mode=mode)
else:
pi_values, v_value, pc_q = self.global_network.run_base_policy_value_pc_q(
sess, self.environment.last_state, last_action_reward)
#print(preds)
self.value_history.add_value(v_value)
prev_state = self.environment.last_state
action = self.choose_action(pi_values)
state, reward, terminal, pixel_change = self.environment.process(
action)
self.episode_reward += reward
if terminal:
self.environment.reset()
self.episode_reward = 0
self.show_image(state['image'])
self.show_policy(pi_values)
self.show_value()
self.show_reward()
if not flags.use_pixel_change:
if preds is not None:
self.show_pixel_change(self.label_to_rgb(preds), 100, 0, 3.0,
"Preds")
self.show_pixel_change(self.label_to_rgb(state['objectType']),
200, 0, 0.4, "Segm Mask")
else:
self.show_pixel_change(pixel_change, 100, 0, 3.0, "PC")
self.show_pixel_change(pc_q[:, :, action], 200, 0, 0.4, "PC Q")
if flags.use_reward_prediction:
if self.state_history.is_full:
rp_c = self.global_network.run_rp_c(sess,
self.state_history.states)
self.show_reward_prediction(rp_c, reward)
self.state_history.add_state(state)
def _process_base(self, sess, global_t, summary_writer, summary_op_dict,
summary_dict): #, losses_input):
# [Base A3C]
states = []
last_action_rewards = []
actions = []
rewards = []
values = []
terminal_end = False
start_lstm_state = None
if self.use_lstm:
start_lstm_state = self.local_network.base_lstm_state_out
mode = "segnet" if self.segnet_mode >= 2 else ""
# t_max times loop
flag = 0
for _ in range(self.n_step_TD):
# Prepare last action reward
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward,
self.environment.last_state)
pi_, value_, losses = self.local_network.run_base_policy_and_value(
sess, self.environment.last_state, last_action_reward, mode)
action = self.choose_action(pi_)
states.append(self.environment.last_state)
last_action_rewards.append(last_action_reward)
actions.append(action)
values.append(value_)
if (self.thread_index == 0) and (self.local_t % LOG_INTERVAL == 0):
print("Trainer {}>>> Local step {}:".format(
self.thread_index, self.local_t))
print("Trainer {}>>> pi={}".format(self.thread_index, pi_))
print("Trainer {}>>> V={}".format(self.thread_index, value_))
flag = 1
prev_state = self.environment.last_state
# Process game
new_state, reward, terminal, pixel_change = self.environment.process(
action, flag=flag)
frame = ExperienceFrame(
{
key: val
for key, val in prev_state.items()
if 'objectType' not in key
}, reward, action, terminal, pixel_change, last_action,
last_reward)
# Store to experience
self.experience.add_frame(frame)
# Use to know about Experience collection
#print(self.experience.get_debug_string())
self.episode_reward += reward
rewards.append(reward)
self.local_t += 1
if terminal:
terminal_end = True
print("Trainer {}>>> score={}".format(
self.thread_index, self.episode_reward)) #, flush=True)
summary_dict['values'].update(
{'score_input': self.episode_reward})
success = 1 if self.environment._last_full_state[
"success"] else 0
#print("Type:", type(self.environment._last_full_state["success"]), len(self.success_rates), success)
self.success_rates.append(success)
summary_dict['values'].update({
'sr_input':
np.mean(self.success_rates)
if len(self.success_rates) == self.sr_size else 0
})
self.episode_reward = 0
self.environment.reset()
self.local_network.reset_state()
if flag:
flag = 0
break
R = 0.0
if not terminal_end:
R = self.local_network.run_base_value(
sess, new_state, frame.get_action_reward(self.action_size))
actions.reverse()
states.reverse()
rewards.reverse()
values.reverse()
batch_si = []
batch_a = []
batch_adv = []
batch_R = []
batch_sobjT = []
for (ai, ri, si, Vi) in zip(actions, rewards, states, values):
R = ri + self.gamma * R
adv = R - Vi
a = np.zeros([self.action_size])
a[ai] = 1.0
batch_si.append(si['image'])
batch_a.append(a)
batch_adv.append(adv)
batch_R.append(R)
if self.segnet_param_dict["segnet_mode"] >= 2:
batch_sobjT.append(si['objectType'])
batch_si.reverse()
batch_a.reverse()
batch_adv.reverse()
batch_R.reverse()
batch_sobjT.reverse()
#print(np.unique(batch_sobjT))
## HERE Mathematical Error A3C: only last values should be used for base/ or aggregate with last made
return batch_si, batch_sobjT, last_action_rewards, batch_a, batch_adv, batch_R, start_lstm_state
def _process_base(self, sess, global_t, summary_writer, summary_op,
score_input, average_entropy):
# [Base A3C]
states = []
map_states = []
last_action_rewards = []
actions = []
rewards = []
values = []
episode_entropy = 0.0
episode_steps = 0
terminal_end = False
start_lstm_state = self.local_network.base_lstm_state_out
# t_max times loop
for _ in range(LOCAL_T_MAX):
# Prepare last action reward
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
prev_map_state = self.mazemap.get_map(84, 84)
pi_, value_ = self.local_network.run_base_policy_and_value(
sess, self.environment.last_state, prev_map_state,
last_action_reward)
action = self.choose_action(pi_)
states.append(self.environment.last_state)
map_states.append(prev_map_state)
last_action_rewards.append(last_action_reward)
actions.append(action)
values.append(value_)
if (self.thread_index == 0) and (self.local_t % LOG_INTERVAL == 0):
print("pi={}".format(pi_))
print(" V={}".format(value_))
prev_state = self.environment.last_state
# Process game
new_state, reward, terminal, pixel_change, vtrans, vrot = self.environment.process(
action)
self.mazemap.update(vtrans, vrot)
if reward > 9:
self.mazemap.reset()
frame = ExperienceFrame(prev_state, prev_map_state, reward, action,
terminal, pixel_change, last_action,
last_reward)
# Store to experience
self.experience.add_frame(frame)
self.episode_reward += reward
episode_entropy += np.sum(pi_ * np.log(pi_))
episode_steps += 1
rewards.append(reward)
self.local_t += 1
if terminal:
terminal_end = True
print("score={}".format(self.episode_reward))
self._record_score(sess, summary_writer, summary_op,
score_input, self.episode_reward,
average_entropy,
episode_entropy / episode_steps, global_t)
self.episode_reward = 0
episode_entropy = 0.0
episode_steps = 0
self.environment.reset()
self.mazemap.reset()
self.local_network.reset_state()
break
R = 0.0
if not terminal_end:
R = self.local_network.run_base_value(
sess, new_state, self.mazemap.get_map(84, 84),
frame.get_last_action_reward(self.action_size))
actions.reverse()
states.reverse()
map_states.reverse()
rewards.reverse()
values.reverse()
batch_si = []
batch_mi = []
batch_a = []
batch_adv = []
batch_R = []
for (ai, ri, si, mi, Vi) in zip(actions, rewards, states, map_states,
values):
R = ri + GAMMA * R
adv = R - Vi
a = np.zeros([self.action_size])
a[ai] = 1.0
batch_si.append(si)
batch_mi.append(mi)
batch_a.append(a)
batch_adv.append(adv)
batch_R.append(R)
batch_si.reverse()
batch_mi.reverse()
batch_a.reverse()
batch_adv.reverse()
batch_R.reverse()
return batch_si, batch_mi, last_action_rewards, batch_a, batch_adv, batch_R, start_lstm_state
def _add_frame(self, experience, reward): frame = ExperienceFrame(0, reward, 0, False, 0, 0, 0) experience.add_frame(frame)
def _process_base(self, sess, global_t, map_input):
# [Base A3C]
states = []
actions = []
batch_last_action_rewards = []
rewards = []
values = []
terminal_end = False
replan = (self.apply_next_location_loss == 0.0)
start_localization_state = self.local_network.localization_state_out
# t_max times loop
for _ in range(LOCAL_T_MAX):
self.local_t += 1
# Previous state
prev_state = self.environment.last_state
last_action = self.environment.last_action
last_reward = self.environment.last_reward
last_intrinsic_reward = self.environment.last_intrinsic_reward
last_action_reward = ExperienceFrame.concat_action_and_reward(
last_action, self.action_size, last_reward)
prev_localization_state, pi_, value_, short_term_goal, shift_weights, location_distribution = self.local_network.run_policy_and_value(
sess, prev_state, last_action_reward, map_input, replan)
replan = False
action = self.choose_action(pi_)
states.append(prev_state)
actions.append(
ExperienceFrame.get_action_neurons(action, self.action_size))
batch_last_action_rewards.append(last_action_reward)
values.append(value_)
if (self.thread_index == 0) and (self.local_t % LOG_INTERVAL == 0):
print("pi={}".format(pi_))
print(" V={}".format(value_))
# Process game
new_state, reward, intrinsic_reward, terminal = self.environment.process(
action, short_term_goal, shift_weights)
frame = ExperienceFrame(prev_state, map_input,
prev_localization_state,
location_distribution, reward,
intrinsic_reward, action, terminal,
last_action, last_reward,
last_intrinsic_reward)
# Store to experience
self.experience.add_frame(frame)
self.episode_reward += reward + intrinsic_reward
rewards.append(reward + intrinsic_reward)
if terminal:
terminal_end = True
if reward > 0: self.correct_exits += 1
steps_needed = self.local_t - self.last_terminal_local_t
self.last_terminal_local_t = self.local_t
self.steps_buffer.append(steps_needed)
if len(self.steps_buffer) > 50:
self.steps_buffer.popleft()
print("Steps needed: ", steps_needed)
print("score={}".format(self.episode_reward))
self.episode_reward = 0
if (np.mean(self.steps_buffer) < 100 +
(self.maze_size - 7) * 20
and len(self.steps_buffer) == 50):
self.maze_size += 2
if self.maze_size > 13:
print(">>>>>>>>>>> REACHED END <<<<<<<<<<<")
self.environment.stop()
sys.stdout.flush()
self.running = False
break
print(">>>>>> SWITCHING TO MAZES OF SIZE ", self.maze_size,
"x", self.maze_size, " AT GLOBAL T ", global_t,
" <<<<<<<<<<<<<<<")
sys.stdout.flush()
#reset moving average
self.correct_exits = 0
self.steps_buffer = deque()
self.level_seed = np.random.randint(LEVEL_SET_SIZE)
self.environment.reset(self.maze_size, self.level_seed)
self.local_network.reset_state()
break
last_action_reward = ExperienceFrame.concat_action_and_reward(
action, self.action_size, reward)
R = 0.0
if not terminal_end:
R = self.local_network.run_value(sess, new_state,
last_action_reward, frame.map)
self.apply_next_location_loss = 1.0
else:
self.apply_next_location_loss = 0.0
states.reverse()
rewards.reverse()
values.reverse()
batch_si = []
batch_adv = []
batch_R = []
for (ri, si, Vi) in zip(rewards, states, values):
R = ri + GAMMA * R
adv = R - Vi
batch_si.append(si)
batch_adv.append(adv)
batch_R.append(R)
batch_si.reverse()
batch_adv.reverse()
batch_R.reverse()
return batch_si, batch_last_action_rewards, actions, batch_adv, batch_R, start_localization_state
