def __init__(self, env_id, input_shape, n_actions, icm, n_threads=8):
names = [str(i) for i in range(1, n_threads + 1)]
global_actor_critic = ActorCritic(input_shape, n_actions)
global_actor_critic.share_memory()
global_optim = SharedAdam(global_actor_critic.parameters())
if not icm:
global_icm = None
global_icm_optim = None
else:
global_icm = ICM(input_shape, n_actions)
global_icm.share_memory()
global_icm_optim = SharedAdam(global_icm.parameters())
self.ps = [
mp.Process(target=worker,
args=(name, input_shape, n_actions, global_actor_critic,
global_icm, global_optim, global_icm_optim,
env_id, n_threads, icm)) for name in names
]
[p.start() for p in self.ps]
[p.join() for p in self.ps]
def main():
envs = [make_env() for i in range(num_envs)]
envs = SubprocVecEnv(envs)
state_shape = envs.observation_space.shape
num_actions = envs.action_space.n
num_rewards = len(task_rewards[mode])
full_rollout = True
env_model = EnvModel(envs.observation_space.shape, num_pixels, num_rewards)
env_model.load_state_dict(torch.load("env_model_" + mode))
distil_policy = ActorCritic(envs.observation_space.shape,
envs.action_space.n)
distil_optimizer = optim.Adam(distil_policy.parameters())
imagination = ImaginationCore(1,
state_shape,
num_actions,
num_rewards,
env_model,
distil_policy,
full_rollout=full_rollout)
actor_critic = I2A(state_shape,
num_actions,
num_rewards,
256,
imagination,
full_rollout=full_rollout)
#rmsprop hyperparams:
lr = 7e-4
eps = 1e-5
alpha = 0.99
optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
#if USE_CUDA:
# env_model = env_model.cuda()
# distil_policy = distil_policy.cuda()
# actor_critic = actor_critic.cuda()
gamma = 0.99
entropy_coef = 0.01
value_loss_coef = 0.5
max_grad_norm = 0.5
num_steps = 5
num_frames = int(10e5)
rollout = RolloutStorage(num_steps, num_envs, envs.observation_space.shape)
#rollout.cuda()
all_rewards = []
all_losses = []
state = envs.reset()
current_state = torch.FloatTensor(np.float32(state))
rollout.states[0].copy_(current_state)
episode_rewards = torch.zeros(num_envs, 1)
final_rewards = torch.zeros(num_envs, 1)
for i_update in tqdm(range(num_frames)):
for step in range(num_steps):
#if USE_CUDA:
# current_state = current_state.cuda()
action = actor_critic.act(autograd.Variable(current_state))
next_state, reward, done, _ = envs.step(
action.squeeze(1).cpu().data.numpy())
reward = torch.FloatTensor(reward).unsqueeze(1)
episode_rewards += reward
masks = torch.FloatTensor(1 - np.array(done)).unsqueeze(1)
final_rewards *= masks
final_rewards += (1 - masks) * episode_rewards
episode_rewards *= masks
#if USE_CUDA:
# masks = masks.cuda()
current_state = torch.FloatTensor(np.float32(next_state))
rollout.insert(step, current_state, action.data, reward, masks)
_, next_value = actor_critic(
autograd.Variable(rollout.states[-1], volatile=True))
next_value = next_value.data
returns = rollout.compute_returns(next_value, gamma)
logit, action_log_probs, values, entropy = actor_critic.evaluate_actions(
autograd.Variable(rollout.states[:-1]).view(-1, *state_shape),
autograd.Variable(rollout.actions).view(-1, 1))
distil_logit, _, _, _ = distil_policy.evaluate_actions(
autograd.Variable(rollout.states[:-1]).view(-1, *state_shape),
autograd.Variable(rollout.actions).view(-1, 1))
distil_loss = 0.01 * (F.softmax(logit).detach() *
F.log_softmax(distil_logit)).sum(1).mean()
values = values.view(num_steps, num_envs, 1)
action_log_probs = action_log_probs.view(num_steps, num_envs, 1)
advantages = autograd.Variable(returns) - values
value_loss = advantages.pow(2).mean()
action_loss = -(autograd.Variable(advantages.data) *
action_log_probs).mean()
optimizer.zero_grad()
loss = value_loss * value_loss_coef + action_loss - entropy * entropy_coef
loss.backward()
nn.utils.clip_grad_norm(actor_critic.parameters(), max_grad_norm)
optimizer.step()
distil_optimizer.zero_grad()
distil_loss.backward()
optimizer.step()
if i_update % 100 == 0:
all_rewards.append(final_rewards.mean())
all_losses.append(loss.item())
#clear_output(True)
plt.figure(figsize=(20, 5))
plt.subplot(131)
plt.title('epoch %s. reward: %s' %
(i_update, np.mean(all_rewards[-10:])))
plt.plot(all_rewards)
plt.subplot(132)
plt.title('loss %s' % all_losses[-1])
plt.plot(all_losses)
plt.show()
rollout.after_update()
torch.save(actor_critic.state_dict(), "i2a_" + mode)
class PPO:
def __init__(self, device, state_dim, action_dim, action_std, lr, betas,
gamma, K_epochs, eps_clip):
self.lr = lr
self.device = device
self.betas = betas
self.gamma = gamma
self.eps_clip = eps_clip
self.K_epochs = K_epochs
self.policy = ActorCritic(state_dim, action_dim, action_std).to(device)
#self.optimizer = RAdam(self.policy.parameters(), lr=lr, betas=betas)
self.optimizer = optim.Adam(self.policy.parameters(), lr=lr)
self.policy_old = ActorCritic(state_dim, action_dim,
action_std).to(device)
self.policy_old.load_state_dict(self.policy.state_dict())
self.MseLoss = nn.MSELoss()
def select_action(self, state, memory):
if np.any(np.isnan(state)):
print('in select action: state is nan', state)
state = torch.FloatTensor(state.reshape(1, -1)).to(self.device)
return self.policy_old.act(state, memory).cpu().data.numpy().flatten()
def update(self, memory):
# Monte Carlo estimate of rewards:
rewards = []
discounted_reward = 0
for reward, is_terminal in zip(reversed(memory.rewards),
reversed(memory.is_terminals)):
if is_terminal:
discounted_reward = 0
discounted_reward = reward + (self.gamma * discounted_reward)
rewards.insert(0, discounted_reward)
# Normalizing the rewards:
rewards = torch.tensor(rewards).to(self.device)
rewards = (rewards - rewards.mean()) / (rewards.std() + 1e-5)
# convert list to tensor
old_states_ = torch.squeeze(
torch.stack(memory.states).to(self.device)).detach()
old_actions_ = torch.squeeze(
torch.stack(memory.actions).to(self.device)).detach()
old_logprobs_ = torch.squeeze(torch.stack(memory.logprobs)).to(
self.device).detach()
batch_size = old_states_.shape[0]
mini_batch_size = batch_size // 8 # 64
# Optimize policy for K epochs:
for _ in range(self.K_epochs):
# Evaluating old actions and values :
for i in range(batch_size // mini_batch_size):
rand_ids = np.random.randint(0, batch_size, mini_batch_size)
old_states = old_states_[rand_ids, :]
old_actions = old_actions_[rand_ids, :]
old_logprobs = old_logprobs_[rand_ids, :]
rewards_batch = rewards[rand_ids]
logprobs, state_values, dist_entropy = self.policy.evaluate(
old_states, old_actions)
# Finding the ratio (pi_theta / pi_theta__old):
ratios = torch.exp(logprobs - old_logprobs.detach())
# Finding Surrogate Loss:
advantages = rewards_batch - state_values.detach()
## torch.clamp(ratios, 1 - self.eps_clip, 1 + self.eps_clip)
#surr = -torch.min(ratios, 1) * advantages # as per the paper
len_adv = advantages.shape[0]
advantages = advantages.reshape((len_adv, 1))
surr1 = ratios * advantages
surr2 = 1 * advantages ## as per the paper
surr = -torch.min(surr1, surr2).mean()
w_crit_loss = 1
loss = surr + w_crit_loss * (rewards_batch - state_values).pow(
2).mean() #- 0.01 * dist_entropy
# take gradient step
self.optimizer.zero_grad()
loss.mean().backward()
self.optimizer.step()
# Copy new weights into old policy:
self.policy_old.load_state_dict(self.policy.state_dict())
def train(args, dynet):
torch.manual_seed(args.seed)
embedding_size = args.embedding_size
lstm_size = args.lstm_size
num_modules = len(dynet.library) + 1
libr = librarian.SimpleLibrarian(num_modules, embedding_size)
print type(libr)
model = ActorCritic(num_modules, libr, lstm_size)
env = learning_env.Environment(args, dynet, libr)
optimizer = optim.Adam(model.parameters(), lr=args.ac_lr)
model.train()
values = []
log_probs = []
state = env.reset()
#state = torch.from_numpy(state)
done = True
episode_length = 0
while True:
episode_length += 1
# Sync with the shared model
# model.load_state_dict(shared_model.state_dict())
if done:
cx = Variable(torch.zeros(1, lstm_size))
hx = Variable(torch.zeros(1, lstm_size))
else:
cx = Variable(cx.data)
hx = Variable(hx.data)
values = []
log_probs = []
rewards = []
entropies = []
for step in range(args.num_steps):
value, logit, (hx, cx) = model((state.unsqueeze(0)), (hx, cx))
prob = F.softmax(logit)
log_prob = F.log_softmax(logit)
entropy = -(log_prob * prob).sum(1)
entropies.append(entropy)
action = prob.multinomial().data
log_prob = log_prob.gather(1, Variable(action))
state, reward, done, _ = env.step(action.numpy()[0, 0])
done = done or episode_length >= args.num_steps
reward = max(min(reward, 1), -1)
if done:
episode_length = 0
state = env.reset()
#state = torch.from_numpy(state)
values.append(value)
log_probs.append(log_prob)
rewards.append(reward)
if done:
break
R = torch.zeros(1, 1)
if not done:
value, _, _ = model((state.unsqueeze(0)), (hx, cx))
R = value.data
values.append(Variable(R))
policy_loss = 0
value_loss = 0
R = Variable(R)
gae = torch.zeros(1, 1)
for i in reversed(range(len(rewards))):
R = args.gamma * R + rewards[i]
advantage = R - values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimataion
delta_t = rewards[i] + args.gamma * \
values[i + 1].data - values[i].data
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - \
log_probs[i] * Variable(gae) - 0.01 * entropies[i]
optimizer.zero_grad()
(policy_loss + 0.5 * value_loss).backward()
global_norm = 0
for param in model.parameters():
global_norm += param.grad.data.pow(2).sum()
global_norm = math.sqrt(global_norm)
ratio = 40 / global_norm
if ratio < 1:
for param in model.parameters():
param.grad.data.mul_(ratio)
optimizer.step()
class PPO(nn.Module):
def __init__(self,
state_dim,
action_dim,
eps=0.2,
gamma=0.99,
lambda_=0.95,
K_epoch=80,
batch_size=64):
super(PPO, self).__init__()
self.eps = eps
self.gamma = gamma
self.lambda_ = lambda_
self.K_epoch = K_epoch
self.batch_size = batch_size
self.model = ActorCritic(state_dim, action_dim)
self.model_old = ActorCritic(state_dim, action_dim)
for param in self.model_old.parameters():
param.requires_grad = False
self.copy_weights()
def forward(self, x):
self.pi, self.v = self.model_old(x)
return self.pi, self.v
def copy_weights(self):
self.model_old.load_state_dict(self.model.state_dict())
def update(self, buffer, optimizer):
self.model.train()
self.model_old.eval()
self.advantage_fcn(buffer.data)
batch_loss, batch_clip_loss, batch_vf_loss = [], [], []
for epoch in range(self.K_epoch):
for state, action, next_s, reward, log_prob_old, entropy, advantage in buffer.get_data(
self.batch_size):
pi, v = self.model(state)
log_prob_pi = pi.log_prob(action)
prob_ratio = torch.exp(log_prob_pi - log_prob_old)
first_term = prob_ratio * advantage
second_term = self.clip_by_value(prob_ratio) * advantage
loss_clip = (torch.min(first_term, second_term)).mean()
_, v_next = self.model_old(next_s)
v_target = reward + self.gamma * v_next
loss_vf = ((v - v_target)**2).mean(
) # squared error loss: (v(s_t) - v_target)**2
loss = -(loss_clip - loss_vf
) #-(loss_clip - 0.5*loss_vf + 0.01*entropy.mean())
optimizer.zero_grad()
loss.backward()
optimizer.step()
batch_loss.append(loss.detach().numpy())
batch_clip_loss.append(loss_clip.detach().numpy())
batch_vf_loss.append(loss_vf.detach().numpy())
self.copy_weights()
buffer.reset()
def advantage_fcn(self, buffer, normalize=True):
_, v_st1 = self.model(torch.stack(buffer['next_s']))
_, v_s = self.model(torch.stack(buffer['s']))
deltas = torch.stack(buffer['r']) + self.gamma * v_st1 - v_s
advantage, temp = [], 0
idxs = torch.tensor(range(len(deltas) - 1, -1, -1)) #reverse
reverse_deltas = deltas.index_select(0, idxs)
for delta_t in reverse_deltas:
temp = delta_t + self.lambda_ * self.gamma * temp
advantage.append(temp)
advantage = torch.as_tensor(advantage[::-1]) #re-reverse
if normalize:
advantage = (advantage - advantage.mean()) / advantage.std()
buffer['advantage'] = advantage.unsqueeze(1)
def clip_by_value(self, x):
return x.clamp(1 - self.eps, 1 + self.eps) # clamp(min, max)
def worker(name, input_shape, n_actions, global_agent, global_icm,
optimizer, icm_optimizer, env_id, n_threads, icm=False):
T_MAX = 20
local_agent = ActorCritic(input_shape, n_actions)
if icm:
local_icm = ICM(input_shape, n_actions)
algo = 'ICM'
else:
intrinsic_reward = T.zeros(1)
algo = 'A3C'
memory = Memory()
env = gym.make(env_id)
t_steps, max_eps, episode, scores, avg_score = 0, 1000, 0, [], 0
while episode < max_eps:
obs = env.reset()
hx = T.zeros(1, 256)
score, done, ep_steps = 0, False, 0
while not done:
state = T.tensor([obs], dtype=T.float)
action, value, log_prob, hx = local_agent(state, hx)
obs_, reward, done, info = env.step(action)
t_steps += 1
ep_steps += 1
score += reward
reward = 0 # turn off extrinsic rewards
memory.remember(obs, action, reward, obs_, value, log_prob)
obs = obs_
if ep_steps % T_MAX == 0 or done:
states, actions, rewards, new_states, values, log_probs = \
memory.sample_memory()
if icm:
intrinsic_reward, L_I, L_F = \
local_icm.calc_loss(states, new_states, actions)
loss = local_agent.calc_loss(obs, hx, done, rewards, values,
log_probs, intrinsic_reward)
optimizer.zero_grad()
hx = hx.detach_()
if icm:
icm_optimizer.zero_grad()
(L_I + L_F).backward()
loss.backward()
T.nn.utils.clip_grad_norm_(local_agent.parameters(), 40)
for local_param, global_param in zip(
local_agent.parameters(),
global_agent.parameters()):
global_param._grad = local_param.grad
optimizer.step()
local_agent.load_state_dict(global_agent.state_dict())
if icm:
for local_param, global_param in zip(
local_icm.parameters(),
global_icm.parameters()):
global_param._grad = local_param.grad
icm_optimizer.step()
local_icm.load_state_dict(global_icm.state_dict())
memory.clear_memory()
if name == '1':
scores.append(score)
avg_score = np.mean(scores[-100:])
print('{} episode {} thread {} of {} steps {:.2f}M score {:.2f} '
'intrinsic_reward {:.2f} avg score (100) {:.1f}'.format(
algo, episode, name, n_threads,
t_steps/1e6, score,
T.sum(intrinsic_reward),
avg_score))
episode += 1
if name == '1':
x = [z for z in range(episode)]
fname = algo + '_CartPole_no_rewards.png'
plot_learning_curve(x, scores, fname)
