def playActor(self):
self.load("NetworkParam/FinalParam")
hdg0_rand_vec=[0,7,12]
'''
WIND CONDITIONS
'''
mean = 45 * TORAD
std = 0.1 * TORAD
wind_samples = 10
w = wind(mean=mean, std=std, samples = wind_samples)
try:
for i in range(len(hdg0_rand_vec)):
# Initial state
WH = w.generateWind()
hdg0_rand = hdg0_rand_vec[i]
hdg0 = hdg0_rand * TORAD * np.ones(10)
s = self.env.reset(hdg0,WH)
episode_reward = 0
episode_step=0
v_episode=[]
i_episode=[]
while episode_step < 40: #not done:
if episode_step==0:
i_episode.append(hdg0_rand+WH[0]/TORAD-40)
else:
i_episode.append(s[0][-1]/TORAD)
s = np.reshape([s[0,:], s[1,:]], [self.state_size,1])
a, = self.sess.run(self.network.actions,
feed_dict={self.network.state_ph: s[None]})
a = np.clip(a, self.low_bound, self.high_bound)
s_, r = self.env.act(a,WH)
episode_reward += r
v_episode.append(r)
episode_step += 1
s = s_
DISPLAYER.displayVI(v_episode,i_episode,i)
print("Episode reward :", episode_reward," for incidence: ",hdg0_rand)
except KeyboardInterrupt as e:
pass
except Exception as e:
print("Exception :", e)
finally:
print("End of the demo")
def __init__(self, sess):
print("Initializing the agent...")
self.sess = sess
self.env = Environment()
self.state_size = self.env.get_state_size()[0]
self.action_size = self.env.get_action_size()
self.low_bound, self.high_bound = self.env.get_bounds()
self.buffer = ExperienceBuffer()
print("Creation of the actor-critic network")
self.network = Network(self.state_size, self.action_size,
self.low_bound, self.high_bound)
self.sess.run(tf.global_variables_initializer())
DISPLAYER.reset()
def run(self):
self.total_steps = 1
self.sess.run(self.network.target_init)
self.z = self.sess.run(self.network.z)
self.delta_z = self.network.delta_z
ep = 1
while ep < settings.TRAINING_EPS + 1 and not GUI.STOP:
s = self.env.reset()
episode_reward = 0
episode_step = 0
done = False
memory = deque()
# Initialize exploration noise process
noise_scale = settings.NOISE_SCALE * settings.NOISE_DECAY**ep
# Initial state
self.env.set_render(GUI.render.get(ep))
self.env.set_gif(GUI.gif.get(ep))
plot_distrib = GUI.plot_distrib.get(ep)
max_eps = settings.MAX_EPISODE_STEPS + (ep // 50)
while episode_step < max_eps and not done:
noise = np.random.normal(size=self.action_size)
scaled_noise = noise_scale * noise
a = np.clip(
self.predict_action(s, plot_distrib) + scaled_noise,
*self.bounds)
s_, r, done, info = self.env.act(a)
episode_reward += r
memory.append((s, a, r, s_, 0 if done else 1))
if len(memory) >= settings.N_STEP_RETURN:
s_mem, a_mem, discount_r, ss_mem, done_mem = memory.popleft(
)
for i, (si, ai, ri, s_i, di) in enumerate(memory):
discount_r += ri * settings.DISCOUNT**(i + 1)
BUFFER.add(s_mem, a_mem, discount_r, s_, 0 if done else 1)
if len(
BUFFER
) > 0 and self.total_steps % settings.TRAINING_FREQ == 0:
self.network.train(BUFFER.sample(), self.critic_lr,
self.actor_lr)
s = s_
episode_step += 1
self.total_steps += 1
self.critic_lr -= self.delta_critic_lr
self.actor_lr -= self.delta_actor_lr
# Plot reward
plot = GUI.plot.get(ep)
DISPLAYER.add_reward(episode_reward, plot)
# Print episode reward
if GUI.ep_reward.get(ep):
print(
'Episode %2i, Reward: %7.3f, Steps: %i, Final noise scale: %7.3f, Critic LR: %f, Actor LR: %f'
% (ep, episode_reward, episode_step, noise_scale,
self.critic_lr, self.actor_lr))
# Save the model
if GUI.save.get(ep):
SAVER.save(ep)
ep += 1
def run(self):
print("Beginning of the run...")
self.pre_train()
self.total_steps = 0
self.nb_ep = 1
while self.nb_ep < parameters.TRAINING_STEPS:
self.learning_rate = self.initial_learning_rate * \
(parameters.TRAINING_STEPS - self.nb_ep) / \
parameters.TRAINING_STEPS
s = self.env.reset()
episode_reward = 0
done = False
memory = deque()
discount_R = 0
episode_step = 0
max_step = parameters.MAX_EPISODE_STEPS + \
self.nb_ep // parameters.EP_ELONGATION
# Render parameters
self.env.set_render(self.nb_ep % parameters.RENDER_FREQ == 0)
while episode_step < max_step and not done:
if random.random() < self.epsilon:
a = random.randint(0, self.action_size - 1)
else:
a = self.sess.run(self.mainQNetwork.predict,
feed_dict={self.mainQNetwork.inputs: [s]})
a = a[0]
s_, r, done, info = self.env.act(a)
episode_reward += r
memory.append((s, a, r, s_, done))
if len(memory) > parameters.N_STEP_RETURN:
s_mem, a_mem, r_mem, ss_mem, done_mem = memory.popleft()
discount_R = r_mem
for i, (si, ai, ri, s_i, di) in enumerate(memory):
discount_R += ri * parameters.DISCOUNT ** (i + 1)
self.buffer.add(s_mem, a_mem, discount_R, s_, done)
if episode_step % parameters.TRAINING_FREQ == 0:
train_batch = self.buffer.sample(parameters.BATCH_SIZE,
self.beta)
# Incr beta
if self.beta <= parameters.BETA_STOP:
self.beta += parameters.BETA_INCR
feed_dict = {self.mainQNetwork.inputs: train_batch[0]}
oldQvalues = self.sess.run(self.mainQNetwork.Qvalues,
feed_dict=feed_dict)
tmp = [0] * len(oldQvalues)
for i, oldQvalue in enumerate(oldQvalues):
tmp[i] = oldQvalue[train_batch[1][i]]
oldQvalues = tmp
feed_dict = {self.mainQNetwork.inputs: train_batch[3]}
mainQaction = self.sess.run(self.mainQNetwork.predict,
feed_dict=feed_dict)
feed_dict = {self.targetQNetwork.inputs: train_batch[3]}
targetQvalues = self.sess.run(self.targetQNetwork.Qvalues,
feed_dict=feed_dict)
# Done multiplier :
# equals 0 if the episode was done
# equals 1 else
done_multiplier = (1 - train_batch[4])
doubleQ = targetQvalues[range(parameters.BATCH_SIZE),
mainQaction]
targetQvalues = train_batch[2] + \
parameters.DISCOUNT * doubleQ * done_multiplier
errors = np.square(targetQvalues - oldQvalues) + 1e-6
self.buffer.update_priorities(train_batch[6], errors)
feed_dict = {self.mainQNetwork.inputs: train_batch[0],
self.mainQNetwork.Qtarget: targetQvalues,
self.mainQNetwork.actions: train_batch[1],
self.mainQNetwork.learning_rate: self.learning_rate}
_ = self.sess.run(self.mainQNetwork.train,
feed_dict=feed_dict)
update_target(self.update_target_ops, self.sess)
s = s_
episode_step += 1
self.total_steps += 1
# Decay epsilon
if self.epsilon > parameters.EPSILON_STOP:
self.epsilon -= parameters.EPSILON_DECAY
DISPLAYER.add_reward(episode_reward)
# if episode_reward > self.best_run and \
# self.nb_ep > 50:
# self.best_run = episode_reward
# print("Save best", episode_reward)
# SAVER.save('best')
# self.play(1)
self.total_steps += 1
if self.nb_ep % parameters.DISP_EP_REWARD_FREQ == 0:
print('Episode %2i, Reward: %7.3f, Steps: %i, Epsilon: %.3f'
', Max steps: %i, Learning rate: %g' % (
self.nb_ep, episode_reward, episode_step,
self.epsilon, max_step, self.learning_rate))
# Save the model
if self.nb_ep % parameters.SAVE_FREQ == 0:
SAVER.save(self.nb_ep)
self.nb_ep += 1
from Displayer import DISPLAYER
from Saver import SAVER
import parameters
if __name__ == '__main__':
tf.reset_default_graph()
with tf.Session() as sess:
agent = Agent(sess)
SAVER.set_sess(sess)
SAVER.load(agent)
print("Beginning of the run")
try:
agent.run()
except KeyboardInterrupt:
pass
print("End of the run")
SAVER.save(agent.total_steps)
DISPLAYER.disp()
# agent.play(10)
# agent.play(3, "results/gif/".format(parameters.ENV))
agent.close()
def run(self):
self.total_steps = 0
for ep in range(1, parameters.TRAINING_STEPS + 1):
episode_reward = 0
episode_step = 0
done = False
# Initial state
s = self.env.reset()
self.env.set_render(ep % 1000 == 0)
gif = (ep % 1500 == 0)
step_allonge = ep // 1000
while episode_step < parameters.MAX_EPISODE_STEPS + step_allonge \
and not done:
if random.random() < self.epsilon:
a = self.env.random()
else:
# choose action based on deterministic policy
a, = self.sess.run(self.network.actions,
feed_dict={self.network.state_ph: [s]})
s_, r, done, info = self.env.act(a, gif)
episode_reward += r
self.buffer.add((s, a, r, s_, 0.0 if done else 1.0))
# update network weights to fit a minibatch of experience
if self.total_steps % parameters.TRAINING_FREQ == 0 and \
len(self.buffer) >= parameters.BATCH_SIZE:
minibatch = self.buffer.sample()
_, _ = self.sess.run([self.network.critic_train_op, self.network.actor_train_op],
feed_dict={
self.network.state_ph: np.asarray([elem[0] for elem in minibatch]),
self.network.action_ph: np.asarray([elem[1] for elem in minibatch]),
self.network.reward_ph: np.asarray([elem[2] for elem in minibatch]),
self.network.next_state_ph: np.asarray([elem[3] for elem in minibatch]),
self.network.is_not_terminal_ph: np.asarray([elem[4] for elem in minibatch])})
# update target networks
_ = self.sess.run(self.network.update_slow_targets_op)
s = s_
episode_step += 1
self.total_steps += 1
# Decay epsilon
if self.epsilon > parameters.EPSILON_STOP:
self.epsilon -= self.epsilon_decay
if gif:
self.env.save_gif('results/gif/', self.n_gif)
self.n_gif = (self.n_gif + 1) % 5
if episode_reward > self.best_run:
self.best_run = episode_reward
print("Save best", episode_reward)
SAVER.save('best')
DISPLAYER.add_reward(episode_reward)
if ep % 50 == 0:
print('Episode %2i, Reward: %7.3f, Steps: %i, Epsilon: %7.3f'
' (max step: %i)' % (ep, episode_reward, episode_step,
self.epsilon,
parameters.MAX_EPISODE_STEPS +
step_allonge))
if ep % 500 == 0:
DISPLAYER.disp()
SAVER.set_sess(sess)
SAVER.load()
# Run threads that each contains one worker
worker_threads = []
for i, worker in enumerate(workers):
print("Threading worker", i + 1)
sleep(0.05)
work = lambda: worker.work(sess, coord)
t = threading.Thread(target=(work))
t.start()
worker_threads.append(t)
sleep(0.1)
try:
# Wait till all the workers are done
coord.join(worker_threads)
except Exception as e:
coord.request_stop(e)
except KeyboardInterrupt as e:
coord.request_stop()
finally:
print("End of the training")
DISPLAYER.disp_all()
DISPLAYER.disp_one()
DISPLAYER.disp_seq()
master_agent.play(sess, 10)
master_agent.play(sess, 1, "results/gif/{}_1.gif".format(settings.ENV))
import tensorflow as tf
from Agent import Agent
from Displayer import DISPLAYER
import parameters
if __name__ == '__main__':
tf.reset_default_graph()
with tf.Session() as sess:
agent = Agent(sess)
print("Beginning of the run")
try:
print("I do not do the run")
#agent.run()
except KeyboardInterrupt:
agent.save("NetworkParam/FinalParam")
print("End of the run")
DISPLAYER.dispR()
agent.playActor()
agent.playCritic()
def playCritic(self):
self.load("NetworkParam/FinalParam")
hdg0_rand_vec=[0,7,12]
'''
WIND CONDITIONS
'''
mean = 45 * TORAD
std = 0.1 * TORAD
wind_samples = 10
w = wind(mean=mean, std=std, samples = wind_samples)
try:
for i in range(len(hdg0_rand_vec)):
# Initial state
WH = w.generateWind()
hdg0_rand = hdg0_rand_vec[i]
hdg0 = hdg0_rand * TORAD * np.ones(10)
s = self.env.reset(hdg0,WH)
episode_reward = 0
episode_step=0
v_episode=[]
i_episode=[]
while episode_step < 30: #not done:
if episode_step==0:
i_episode.append(hdg0_rand+WH[0]/TORAD-40)
else:
i_episode.append(s[0][-1]/TORAD)
# Critic policy
critic = [self.evaluate(s, -1.5),self.evaluate(s, -1.25),self.evaluate(s, -1),
self.evaluate(s, -0.75),self.evaluate(s, -0.5),self.evaluate(s, -0.25),self.evaluate(s, 0),self.evaluate(s, 0.25),
self.evaluate(s, 0.5),self.evaluate(s, 0.75),self.evaluate(s, 1),self.evaluate(s, 1.25),
self.evaluate(s, 1.5)]
a = np.argmax(critic)
if a == 0:
a = -1.5
if a == 1:
a = -1.25
if a == 2:
a = -1
if a == 3:
a = -0.75
if a == 4:
a = -0.5
if a == 5:
a = -0.25
if a == 6:
a = 0
if a == 7:
a = 0.25
if a == 8:
a = 0.5
if a == 9:
a = 0.75
if a == 10:
a = 1
if a == 11:
a = 1.25
if a == 12:
a = 1.5
s_, r = self.env.act(a,WH)
episode_reward += r
v_episode.append(r)
episode_step += 1
s = s_
DISPLAYER.displayVI(v_episode,i_episode,i+3)
print("Episode reward :", episode_reward," for incidence: ",hdg0_rand)
except KeyboardInterrupt as e:
pass
except Exception as e:
print("Exception :", e)
finally:
print("End of the demo")
def work(self, sess, coord):
print("Running", self.name, end='\n\n')
self.starting_time = time()
self.nb_ep = 1
nearlyDone = 0
with sess.as_default(), sess.graph.as_default():
with coord.stop_on_exception():
while not coord.should_stop():
self.states_buffer = []
self.actions_buffer = []
self.rewards_buffer = []
self.values_buffer = []
self.mean_values_buffer = []
self.total_steps = 0
episode_reward = 0
episode_step = 0
# Reset the local network to the global
sess.run(self.update_local_vars)
mean = 45 * TORAD
std = 0 * TORAD
wind_samples = 10
w = wind(mean=mean, std=std, samples=wind_samples)
WH = w.generateWind()
hdg0_rand = random.uniform(5, 12)
hdg0 = hdg0_rand * TORAD * np.ones(10)
s = self.env.reset(hdg0, WH)
done = False
#if self.worker_index == 1 and render and settings.DISPLAY:
# self.env.set_render(True)
#self.lstm_state = self.network.lstm_state_init
#self.initial_lstm_state = self.lstm_state
while not coord.should_stop() and not done and \
episode_step < settings.MAX_EPISODE_STEP:
WH = np.random.uniform(mean - std,
mean + std,
size=wind_samples)
s = np.reshape([s[0, :], s[1, :]],
[2 * self.state_size, 1])
# Prediction of the policy and the value
feed_dict = {self.network.inputs: [s]}
policy, value = sess.run(
[self.network.policy, self.network.value],
feed_dict=feed_dict)
policy, value = policy[0], value[0][0]
if random.random() < self.epsilon:
action = random.choice([1.5, 0, -1.5])
else:
# Choose an action according to the policy
action = np.random.choice([1.5, 0, -1.5], p=policy)
s_, v = self.env.act(action, WH)
#reward assignation algorithm
if episode_step == 1:
r = 0
elif s[int(self.state_size / 2 - 2)] > (
13 *
TORAD) and s[int(self.state_size / 2 - 2)] < (
15 * TORAD
) and v > 0.63 and v < 0.67 and action < 0:
r = 0.5
else:
if v <= 0.69:
r = 0
nearlyDone = 0
elif v > 0.69 and v <= 0.75:
r = 0.00001
nearlyDone = 0
elif v > 0.75 and v <= 0.8:
r = 0.01
nearlyDone = 0
elif v > 0.80:
r = 0.1
if nearlyDone >= 3:
r = 1
done = True
elif nearlyDone == 2:
r = 0.8
elif nearlyDone == 1:
r = 0.25
nearlyDone = nearlyDone + 1
else:
r = 0
nearlyDone = False
#s_ = np.reshape(s_, [2*self.state_size,1])
# Store the experience
self.states_buffer.append(s)
self.actions_buffer.append(action)
self.rewards_buffer.append(r)
self.values_buffer.append(value)
self.mean_values_buffer.append(value)
episode_reward += r
s = s_
episode_step += 1
self.total_steps += 1
# If we have more than MAX_LEN_BUFFER experiences, we
# apply the gradients and update the global network,
# then we empty the episode buffers
if len(self.states_buffer) == settings.MAX_LEN_BUFFER \
and not done:
feed_dict = {
self.network.inputs: [
np.reshape([s[0, :], s[1, :]],
[2 * self.state_size, 1])
]
}
bootstrap_value = sess.run(self.network.value,
feed_dict=feed_dict)
self.train(sess, bootstrap_value
) #with this we change global network
sess.run(self.update_local_vars)
#self.initial_lstm_state = self.lstm_state
if len(self.states_buffer) != 0:
if done:
bootstrap_value = 0
else:
feed_dict = {
self.network.inputs: [
np.reshape([s[0, :], s[1, :]],
[2 * self.state_size, 1])
]
}
bootstrap_value = sess.run(self.network.value,
feed_dict=feed_dict)
self.train(sess, bootstrap_value)
if self.epsilon > settings.EPSILON_STOP:
self.epsilon -= settings.EPSILON_DECAY
self.nb_ep += 1
if not coord.should_stop():
DISPLAYER.add_reward(episode_reward, self.worker_index)
if (self.worker_index == 1 and
self.nb_ep % settings.DISP_EP_REWARD_FREQ == 0):
print(
'Episode %2i, Initial hdg: %2i, Reward: %7.3f, Steps: %i, '
'Epsilon: %7.3f' %
(self.nb_ep, hdg0_rand, episode_reward,
episode_step, self.epsilon))
print("Policy: ", policy)
if (self.worker_index == 1
and self.nb_ep % settings.SAVE_FREQ == 0):
self.save(self.total_steps)
if time() - self.starting_time > settings.LIMIT_RUN_TIME:
coord.request_stop()
self.summary_writer.close()
def run(self):
self.total_steps = 0
for ep in range(1, parameters.TRAINING_STEPS + 1):
episode_reward = 0
episode_step = 0
done = False
# Initialize exploration noise process
noise_process = np.zeros(self.action_size)
noise_scale = (parameters.NOISE_SCALE_INIT *
parameters.NOISE_DECAY**ep) * \
(self.high_bound - self.low_bound)
# Initial state
s = self.env.reset()
render = (ep % parameters.RENDER_FREQ == 0 and parameters.DISPLAY)
self.env.set_render(render)
while episode_step < parameters.MAX_EPISODE_STEPS and not done:
# choose action based on deterministic policy
a, = self.sess.run(self.network.actions,
feed_dict={self.network.state_ph: s[None]})
# add temporally-correlated exploration noise to action
# (using an Ornstein-Uhlenbeck process)
noise_process = parameters.EXPLO_THETA * \
(parameters.EXPLO_MU - noise_process) + \
parameters.EXPLO_SIGMA * np.random.randn(self.action_size)
a += noise_scale * noise_process
s_, r, done, info = self.env.act(a)
episode_reward += r
self.buffer.add((s, a, r, s_, 0.0 if done else 1.0))
# update network weights to fit a minibatch of experience
if self.total_steps % parameters.TRAINING_FREQ == 0 and \
len(self.buffer) >= parameters.BATCH_SIZE:
minibatch = self.buffer.sample()
_, _ = self.sess.run(
[
self.network.critic_train_op,
self.network.actor_train_op
],
feed_dict={
self.network.state_ph:
np.asarray([elem[0] for elem in minibatch]),
self.network.action_ph:
np.asarray([elem[1] for elem in minibatch]),
self.network.reward_ph:
np.asarray([elem[2] for elem in minibatch]),
self.network.next_state_ph:
np.asarray([elem[3] for elem in minibatch]),
self.network.is_not_terminal_ph:
np.asarray([elem[4] for elem in minibatch])
})
# update target networks
_ = self.sess.run(self.network.update_slow_targets_op)
s = s_
episode_step += 1
self.total_steps += 1
if ep % parameters.DISP_EP_REWARD_FREQ == 0:
print(
'Episode %2i, Reward: %7.3f, Steps: %i, Final noise scale: %7.3f'
% (ep, episode_reward, episode_step, noise_scale))
DISPLAYER.add_reward(episode_reward)
def run(self):
print("Beginning of the run...")
self.pre_train()
self.total_steps = 0
self.nb_ep = 1
while self.nb_ep < parameters.TRAINING_STEPS:
s = self.env.reset()
episode_reward = 0
done = False
memory = deque()
discount_R = 0
episode_step = 0
# Render parameters
self.env.set_render(self.nb_ep % parameters.RENDER_FREQ == 0)
while episode_step < parameters.MAX_EPISODE_STEPS and not done:
if random.random() < self.epsilon:
a = random.randint(0, self.action_size - 1)
else:
a = self.sess.run(
self.mainQNetwork.predict,
feed_dict={self.mainQNetwork.inputs: [s]})
a = a[0]
s_, r, done, info = self.env.act(a)
episode_reward += r
memory.append((s, a, r, s_, done))
if len(memory) > parameters.N_STEP_RETURN:
s_mem, a_mem, r_mem, ss_mem, done_mem = memory.popleft()
discount_R = r_mem
for i, (si, ai, ri, s_i, di) in enumerate(memory):
discount_R += ri * parameters.DISCOUNT**(i + 1)
self.buffer.add(s_mem, a_mem, discount_R, s_, done)
if episode_step % parameters.TRAINING_FREQ == 0:
train_batch = self.buffer.sample(parameters.BATCH_SIZE,
self.beta)
# Incr beta
if self.beta <= parameters.BETA_STOP:
self.beta += parameters.BETA_INCR
feed_dict = {self.mainQNetwork.inputs: train_batch[3]}
mainQaction = self.sess.run(self.mainQNetwork.predict,
feed_dict=feed_dict)
feed_dict = {self.targetQNetwork.inputs: train_batch[3]}
targetQvalues = self.sess.run(self.targetQNetwork.Qvalues,
feed_dict=feed_dict)
# Done multiplier :
# equals 0 if the episode was done
# equals 1 else
done_multiplier = (1 - train_batch[4])
doubleQ = targetQvalues[range(parameters.BATCH_SIZE),
mainQaction]
targetQvalues = train_batch[2] + \
parameters.DISCOUNT * doubleQ * done_multiplier
feed_dict = {
self.mainQNetwork.inputs: train_batch[0],
self.mainQNetwork.Qtarget: targetQvalues,
self.mainQNetwork.actions: train_batch[1]
}
td_error, _ = self.sess.run(
[self.mainQNetwork.td_error, self.mainQNetwork.train],
feed_dict=feed_dict)
self.buffer.update_priorities(train_batch[6],
td_error + 1e-6)
update_target(self.update_target_ops, self.sess)
s = s_
episode_step += 1
self.total_steps += 1
# Decay epsilon
if self.epsilon > parameters.EPSILON_STOP:
self.epsilon -= parameters.EPSILON_DECAY
DISPLAYER.add_reward(episode_reward)
self.total_steps += 1
if self.nb_ep % parameters.DISP_EP_REWARD_FREQ == 0:
print('Episode %2i, Reward: %7.3f, Steps: %i, Epsilon: %f' %
(self.nb_ep, episode_reward, episode_step, self.epsilon))
self.nb_ep += 1
def work(self, sess, coord):
print("Running", self.name, end='\n\n')
self.starting_time = time()
self.nb_ep = 1
with sess.as_default(), sess.graph.as_default():
with coord.stop_on_exception():
while not coord.should_stop():
self.states_buffer = []
self.actions_buffer = []
self.rewards_buffer = []
self.values_buffer = []
self.mean_values_buffer = []
self.lstm_buffer = []
self.total_steps = 0
episode_reward = 0
episode_step = 0
# Reset the local network to the global
sess.run(self.update_local_vars)
s = self.env.reset()
done = False
render = (self.nb_ep % parameters.RENDER_FREQ == 0)
if render and parameters.DISPLAY:
self.env.set_render(True)
self.lstm_state = self.network.lstm_state_init
self.initial_lstm_state = self.lstm_state
while not coord.should_stop() and not done and \
episode_step < parameters.MAX_EPISODE_STEP:
self.lstm_buffer.append(self.lstm_state)
# Prediction of the policy and the value
feed_dict = {
self.network.inputs: [s],
self.network.state_in: self.lstm_state
}
policy, value, self.lstm_state = sess.run(
[
self.network.policy, self.network.value,
self.network.state_out
],
feed_dict=feed_dict)
policy, value = policy[0], value[0][0]
if random.random() < self.epsilon:
action = random.randint(0, self.action_size - 1)
else:
# Choose an action according to the policy
action = np.random.choice(self.action_size,
p=policy)
s_, r, done, _ = self.env.act(action)
# Store the experience
self.states_buffer.append(s)
self.actions_buffer.append(action)
self.rewards_buffer.append(r)
self.values_buffer.append(value)
self.mean_values_buffer.append(value)
episode_reward += r
s = s_
episode_step += 1
self.total_steps += 1
# If we have more than MAX_LEN_BUFFER experiences, we
# apply the gradients and update the global network,
# then we empty the episode buffers
if len(self.states_buffer) == parameters.MAX_LEN_BUFFER \
and not done:
feed_dict = {
self.network.inputs: [s],
self.network.state_in: self.lstm_state
}
bootstrap_value = sess.run(self.network.value,
feed_dict=feed_dict)
self.train(sess, bootstrap_value)
sess.run(self.update_local_vars)
self.initial_lstm_state = self.lstm_state
if len(self.states_buffer) != 0:
if done:
bootstrap_value = 0
else:
feed_dict = {
self.network.inputs: [s],
self.network.state_in: self.lstm_state
}
bootstrap_value = sess.run(self.network.value,
feed_dict=feed_dict)
self.train(sess, bootstrap_value)
if self.epsilon > parameters.EPSILON_STOP:
self.epsilon -= parameters.EPSILON_DECAY
self.nb_ep += 1
if not coord.should_stop():
DISPLAYER.add_reward(episode_reward, self.worker_index)
if self.nb_ep % parameters.DISP_EP_REWARD_FREQ == 0:
print('Agent: %i, Episode %2i, Reward: %i, Steps: %i, '
'Epsilon: %7.3f' %
(self.worker_index, self.nb_ep, episode_reward,
episode_step, self.epsilon))
if (self.worker_index == 1
and self.nb_ep % parameters.SAVE_FREQ == 0):
self.save(self.total_steps)
if time() - self.starting_time > parameters.LIMIT_RUN_TIME:
coord.request_stop()
self.env.set_render(False)
self.summary_writer.close()
self.env.close()
def run(self):
#self.load("NetworkParam_best_ThirdSemester/FinalParam") #get the best parameters to start the training
self.total_steps = 0
'''
WIND CONDITIONS
'''
mean = 45 * TORAD
std = 0.1 * TORAD
wind_samples = 10
w = wind(mean=mean, std=std, samples = wind_samples)
WH = w.generateWind()
for ep in range(1, parameters.TRAINING_STEPS+1):
episode_reward = 0
episode_step = 0
nearlyDone=0
done=False
# Initialize exploration noise process
noise_process = np.zeros(self.action_size)
noise_scale = (parameters.NOISE_SCALE_INIT *
parameters.NOISE_DECAY**ep) * \
(self.high_bound - self.low_bound)
# Initial state
w = wind(mean=mean, std=std, samples = wind_samples)
WH = w.generateWind()
hdg0_rand = random.uniform(6,13)
hdg0 = hdg0_rand * TORAD * np.ones(10)
s = self.env.reset(hdg0,WH)
while episode_step < parameters.MAX_EPISODE_STEPS: #and not done:
WH = np.random.uniform(mean - std, mean + std, size=wind_samples)
# choose action based on deterministic policy
s = np.reshape([s[0,:], s[1,:]], [self.state_size,1])
a, = self.sess.run(self.network.actions,
feed_dict={self.network.state_ph: s[None]})
# add temporally-correlated exploration noise to action
# (using an Ornstein-Uhlenbeck process)
noise_process = parameters.EXPLO_THETA * \
(parameters.EXPLO_MU - noise_process) + \
parameters.EXPLO_SIGMA * np.random.randn(self.action_size)
a += noise_scale * noise_process
#to respect the bounds:
a = np.clip(a, self.low_bound, self.high_bound)
s_, v = self.env.act(a,WH)
#reward assignation algorithm
if episode_step==1:
r=0
#elif s[int(self.state_size/2-2)]>(13*TORAD) and s[int(self.state_size/2-2)]<(15*TORAD) and v>0.63 and v<0.67 and a<0:
# r=0.1
else:
if v<=0.69:
r=0
nearlyDone = 0
elif v>0.69 and v<=0.75:
r=0.00001
nearlyDone = 0
elif v>0.75 and v<=0.8:
r=0.01
nearlyDone = 0
elif v>0.80:
r=0.1
if nearlyDone>=3:
r=1
done = True
elif nearlyDone==2:
r=0.8
elif nearlyDone==1:
r=0.25
nearlyDone=nearlyDone+1
else:
r=0
nearlyDone = False
episode_reward += r
self.buffer.add((s, np.reshape(a, [1,1] ), r, np.reshape(s_, [self.state_size,1]), 0.0 if episode_step<parameters.MAX_EPISODE_STEPS-1 else 1.0)) #, 0.0 if done else 1.0
# update network weights to fit a minibatch of experience
if self.total_steps % parameters.TRAINING_FREQ == 0 and \
len(self.buffer) >= parameters.BATCH_SIZE:
minibatch = self.buffer.sample()
_, _,critic_loss = self.sess.run([self.network.critic_train_op, self.network.actor_train_op,self.network.critic_loss],
feed_dict={
self.network.state_ph: np.asarray([elem[0] for elem in minibatch]),
self.network.action_ph: np.asarray([elem[1] for elem in minibatch]),
self.network.reward_ph: np.asarray([elem[2] for elem in minibatch]),
self.network.next_state_ph: np.asarray([elem[3] for elem in minibatch]),
self.network.is_not_terminal_ph: np.asarray([elem[4] for elem in minibatch])})
# update target networks
_ = self.sess.run(self.network.update_slow_targets_op)
s = s_
episode_step += 1
self.total_steps += 1
if ep % parameters.DISP_EP_REWARD_FREQ == 0:
print('Episode %2i, initial heading: %7.3f, Reward: %7.3f, Final noise scale: %7.3f, critic loss: %7.3f' %
(ep, hdg0[0]*(1/TORAD), episode_reward, noise_scale,critic_loss))
DISPLAYER.add_reward(episode_reward)
# We save CNN weights every 500 epochs
if ep % 500 == 0 and ep != 0:
self.save("NetworkParam/"+ str(ep) +"_epochs")
self.save("NetworkParam/"+"FinalParam")
def process(self, sess, total_steps, summary_writer, summary_op, score_input):
start_time = time.time()
buffer = []
done = False
episode_step = 0
# copy weights from global to local
sess.run(self.update_network)
start_lstm_state = self.local_network.lstm_state_out
for i in range(UPDATE_FREQ):
pi, value = self.local_network.run_policy_and_value(sess,
self.state)
a = np.random.choice(ACTION_SIZE, p=pi)
s_, r, terminal, _ = self.env.act(a)
self.episode_reward += r
# clip reward
r = np.clip(r, -1, 1)
buffer.append((self.state, a, r, value))
episode_step += 1
self.worker_total_steps += 1
self.state = s_
if terminal:
done = True
self.worker_total_eps += 1
DISPLAYER.add_reward(self.episode_reward, self.thread_index)
if (self.thread_index == 1 and
self.worker_total_eps % DISP_REWARD_FREQ == 0):
cur_learning_rate = self._anneal_learning_rate(total_steps)
print('Episode %i, Reward %i, Steps %i, LR %g' %
(self.worker_total_eps, self.episode_reward,
episode_step, cur_learning_rate))
self._record_score(sess, summary_writer, summary_op, score_input,
self.episode_reward, total_steps)
self.episode_reward = 0
self.env.reset()
self.local_network.reset_state()
render = (DISPLAY and self.thread_index == 1 and
(self.worker_total_eps - 1) % RENDER_FREQ == 0)
self.env.set_render(render)
break
batch_s = deque()
batch_a = deque()
batch_td = deque()
batch_R = deque()
# Bootstrapping
R = 0.0
if not done:
R = self.local_network.run_value(sess, self.state)
# compute and accumulate gradients
for i in range(len(buffer) - 1, -1, -1):
si, ai, ri, Vi = buffer[i]
R = ri + GAMMA * R
td = R - Vi
a = np.zeros([ACTION_SIZE])
a[ai] = 1
batch_s.appendleft(si)
batch_a.appendleft(a)
batch_td.appendleft(td)
batch_R.appendleft(R)
cur_learning_rate = self._anneal_learning_rate(total_steps)
feed_dict = {self.local_network.state: batch_s,
self.local_network.action: batch_a,
self.local_network.td_error: batch_td,
self.local_network.reward: batch_R,
self.local_network.initial_lstm_state: start_lstm_state,
self.local_network.step_size: [len(batch_a)],
self.learning_rate_input: cur_learning_rate}
sess.run(self.apply_gradients, feed_dict=feed_dict)
if done and (self.thread_index == 1) and \
(self.worker_total_eps % PERF_FREQ == 0 or
self.worker_total_eps == 15):
global_time = time.time() - self.start_time
steps_per_sec = total_steps / global_time
print("### Performance : {} STEPS in {:.0f} sec."
"{:.0f} STEPS/sec. {:.2f}M STEPS/hour ###".format(
total_steps, global_time, steps_per_sec,
steps_per_sec * 3600 / 1000000.))
elapsed_time = time.time() - start_time
return elapsed_time, done, episode_step
def run(self):
self.nb_ep = 1
self.total_steps = 0
for self.nb_ep in range(1, parameters.TRAINING_STEPS + 1):
episode_reward = 0
episode_step = 0
done = False
memory = deque()
# Initial state
s = self.env.reset()
max_steps = parameters.MAX_EPISODE_STEPS + self.nb_ep // parameters.EP_ELONGATION
while episode_step < max_steps and not done:
if random.random() < self.epsilon:
a = self.env.random()
else:
# choose action based on deterministic policy
a, = self.sess.run(self.network.actions,
feed_dict={self.network.state_ph: [s]})
# Decay epsilon
if self.epsilon > parameters.EPSILON_STOP:
self.epsilon -= parameters.EPSILON_DECAY
s_, r, done, info = self.env.act(a)
memory.append((s, a, r, s_, 0.0 if done else 1.0))
if len(memory) > parameters.N_STEP_RETURN:
s_mem, a_mem, r_mem, ss_mem, done_mem = memory.popleft()
discount_R = 0
for i, (si, ai, ri, s_i, di) in enumerate(memory):
discount_R += ri * parameters.DISCOUNT**(i + 1)
self.buffer.add(s_mem, a_mem, discount_R, s_, done)
# update network weights to fit a minibatch of experience
if self.total_steps % parameters.TRAINING_FREQ == 0 and \
len(self.buffer) >= parameters.BATCH_SIZE:
minibatch = self.buffer.sample(parameters.BATCH_SIZE,
self.beta)
if self.beta <= parameters.BETA_STOP:
self.beta += parameters.BETA_INCR
td_errors, _, _ = self.sess.run(
[
self.network.td_errors,
self.network.critic_train_op,
self.network.actor_train_op
],
feed_dict={
self.network.state_ph: minibatch[0],
self.network.action_ph: minibatch[1],
self.network.reward_ph: minibatch[2],
self.network.next_state_ph: minibatch[3],
self.network.is_not_terminal_ph: minibatch[4]
})
self.buffer.update_priorities(minibatch[6],
td_errors + 1e-6)
# update target networks
_ = self.sess.run(self.network.update_slow_targets_op)
episode_reward += r
s = s_
episode_step += 1
self.total_steps += 1
self.nb_ep += 1
if self.nb_ep % parameters.DISP_EP_REWARD_FREQ == 0:
print(
'Episode %2i, Reward: %7.3f, Steps: %i, Epsilon : %7.3f, Max steps : %i'
% (self.nb_ep, episode_reward, episode_step, self.epsilon,
max_steps))
DISPLAYER.add_reward(episode_reward)
if episode_reward > self.best_run and self.nb_ep > 100:
self.best_run = episode_reward
print("Best agent ! ", episode_reward)
SAVER.save('best')
if self.nb_ep % parameters.SAVE_FREQ == 0:
SAVER.save(self.nb_ep)
def play(self, sess, number_run, path=''):
print("Playing", self.name, "for", number_run, "runs")
with sess.as_default(), sess.graph.as_default():
hdg0_rand_vec = [0, 7, 13]
'''
WIND CONDITIONS
'''
mean = 45 * TORAD
std = 0 * TORAD
wind_samples = 10
w = wind(mean=mean, std=std, samples=wind_samples)
try:
for i in range(number_run):
# Reset the local network to the global
if self.name != 'global':
sess.run(self.update_local_vars)
WH = w.generateWind()
hdg0_rand = hdg0_rand_vec[i]
hdg0 = hdg0_rand * TORAD * np.ones(10)
s = self.env.reset(hdg0, WH)
episode_reward = 0
episode_step = 0
v_episode = []
i_episode = []
done = False
#self.lstm_state = self.network.lstm_state_init
while (not done and episode_step < 70):
i_episode.append(round(s[0][-1] / TORAD))
s = np.reshape([s[0, :], s[1, :]],
[2 * self.state_size, 1])
# Prediction of the policy
feed_dict = {self.network.inputs: [s]}
policy, value = sess.run(
[self.network.policy, self.network.value],
feed_dict=feed_dict)
policy = policy[0]
# Choose an action according to the policy
action = np.random.choice([1.5, 0, -1.5], p=policy)
s_, r = self.env.act(action, WH)
if episode_step > 12:
if np.mean(v_episode[-4:]) > 0.8:
#done=True
print("Done!")
else:
done = False
episode_reward += r
v_episode.append(r)
episode_step += 1
s = s_
DISPLAYER.displayVI(v_episode, i_episode, i)
print("Episode reward :", episode_reward)
except KeyboardInterrupt as e:
pass
finally:
print("End of the demo")
