class Agent(object):
def __init__(self, model, env, args, state):
self.model = model
self.env = env
self.state = state
self.hx = None
self.cx = None
self.eps_len = 0
self.args = args
self.values = []
self.log_probs = []
self.rewards = []
self.entropies = []
self.done = True
self.info = None
self.reward = 0
self.gpu_id = -1
self.position_history = Buffer(200)
def action_train(self):
if self.args.model == 'CONV':
self.state = self.state.unsqueeze(0)
value, mu, sigma, (self.hx, self.cx) = self.model(
(Variable(self.state), (self.hx, self.cx)))
mu = torch.clamp(mu, -1.0, 1.0)
sigma = F.softplus(sigma) + 1e-5
eps = torch.randn(mu.size())
pi = np.array([math.pi])
pi = torch.from_numpy(pi).float()
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
eps = Variable(eps).cuda()
pi = Variable(pi).cuda()
else:
eps = Variable(eps)
pi = Variable(pi)
action = (mu + sigma.sqrt() * eps).data
act = Variable(action)
prob = normal(act, mu, sigma, self.gpu_id, gpu=self.gpu_id >= 0)
action = torch.clamp(action, -1.0, 1.0)
entropy = 0.5 * ((sigma * 2 * pi.expand_as(sigma)).log() + 1)
self.entropies.append(entropy)
log_prob = (prob + 1e-6).log()
self.log_probs.append(log_prob)
state, reward, self.done, self.info = self.env.step(
action.cpu().numpy()[0])
reward = max(min(float(reward), 1.0), -1.0)
self.state = torch.from_numpy(state).float()
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
self.state = self.state.cuda()
self.eps_len += 1
# update position history
self.position_history.push(self.env.env.hull.position.x)
# check for the stagnation
if self._is_stagnating():
self.done = True
self.reward = -100
self.done = self.done or self.eps_len >= self.args.max_episode_length
self.values.append(value)
self.rewards.append(reward)
return self
def action_test(self):
with torch.no_grad():
if self.done:
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
self.cx = Variable(torch.zeros(1, 128).cuda())
self.hx = Variable(torch.zeros(1, 128).cuda())
else:
self.cx = Variable(torch.zeros(1, 128))
self.hx = Variable(torch.zeros(1, 128))
else:
self.cx = Variable(self.cx.data)
self.hx = Variable(self.hx.data)
if self.args.model == 'CONV':
self.state = self.state.unsqueeze(0)
value, mu, sigma, (self.hx, self.cx) = self.model(
(Variable(self.state), (self.hx, self.cx)))
mu = torch.clamp(mu.data, -1.0, 1.0)
action = mu.cpu().numpy()[0]
#print("action ====================", action)
state, self.reward, self.done, self.info = self.env.step(action)
self.state = torch.from_numpy(state).float()
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
self.state = self.state.cuda()
self.eps_len += 1
# update position history
self.position_history.push(self.env.env.hull.position.x)
# check for the stagnation
if self._is_stagnating():
self.done = True
self.reward = -100
self.done = self.done or self.eps_len >= self.args.max_episode_length
return self
def _is_stagnating(self):
if self.position_history.is_full():
pos_past = self.position_history.get(0)
pos_now = self.position_history.get(-1)
if pos_now - pos_past == 0:
return True
return False
def clear_actions(self):
self.values = []
self.log_probs = []
self.rewards = []
self.entropies = []
return self
def test_set():
buf = Buffer([0, 0, 0, 0])
buf.set(1, 16)
assert_equal(buf.get(1), 16)
def test_get():
buf = Buffer([0, 16, 0])
assert_equal(buf.get(1), 16)
ep_ret += rew
ep_len += 1
if done or (t==local_steps_per_epoch-1):
# if not done:
# print("WARNING: trajectory cut off by epoch at %d steps." % ep_len)
last_val = rew if done else v_t
buffer.finish_path(last_val)
if done:
rewards.append(ep_ret)
obs, rew, done, ep_ret, ep_len = env.reset(), 0, False, 0, 0
agent.update(buffer.get())
for i in range(10):
obs, r, d, ep_ret, ep_len = env.reset(), 0, False, 0, 0
rewards = []
while not d or ep_len == 1000:
act, _, _ = agent.get_action(obs)
obs, r, d, _ = env.step(act[0])
ep_len += 1
ep_ret += r
rewards.append(r)
env.render()
obs, r, d, ep_ret, ep_len = env.reset(), 0, False, 0, 0
print(np.mean(np.array(rewards)))
print(rewards)
def test_set():
buf = Buffer([0, 0, 0, 0])
buf.set(1, 16)
assert_equal(buf.get(1), 16)
def test_get():
buf = Buffer([0, 16, 0])
assert_equal(buf.get(1), 16)
