def setup_dqn(self):
print_ts("Setup DQN of Move2BeaconAgent")
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def setup_dqn(self):
# TODO(vloet): what to do with history length? unecessary imho.
self.history_length = 1
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def setup_dqn(self):
self.dim_actions = 2
self.smart_actions = SMART_ACTIONS
print_ts("Setup DQN of CartPoleAgent")
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def setup_dqn(self):
"""
Setting up the DQN module with the grid action space.
"""
self._xy_pairs, self.dim_actions, self.smart_actions = \
self.discretize_xy_grid()
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def setup_dqn(self):
"""
Setting up the DQN module with the compass action space.
"""
self.smart_actions = SMART_ACTIONS
self.dim_actions = len(self.smart_actions)
self.DQN = DQN_module(self.batch_size,
self.gamma,
self.history_length,
self.size_replaybuffer,
self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
class DQNBaseAgent(base_agent.BaseAgent):
"""
This is a simple agent that uses an PyTorch DQN_module as Q value
approximator. Current implemented features of the agent:
- Simple initializing with the help of an agent_specs.
- Policy switch between imitation and epsilon greedy learning session.
- Storage of experience into simple Experience Replay Buffer
- Intermediate saving of model weights
"""
# ##########################################################################
# Initializing the agent
# ##########################################################################
def __init__(self, agent_specs):
"""
steps_done: Total timesteps done in the agents lifetime.
timesteps: Timesteps performed in the current episode.
choice: Choice of epsilon greedy method (None if supervised)
loss: Action loss
hist: The history buffer for more complex minigames.
"""
super(DQNBaseAgent, self).__init__()
self.unzip_hyperparameter_file(agent_specs)
self.episodes = 1
self.choice = None # Choice of epsilon greedy
self.episode_reward_env = 0
self.episode_reward_shaped = 0
self.loss = 0 # Action loss
self.reward = 0
self.steps_done = 0 # total_timesteps
self.timesteps = 0 # timesteps in the current episode
self.setup_action_space(agent_specs) # define self.dim_actions here
self.setup_dqn()
# counter for book keepping
self.shaped_reward_cumulative = 0
self.shaped_reward_per_episode = 0
self.pysc2_reward_cumulative = 0
# lists for book keeping
self.list_shaped_reward_per_episode = []
self.list_shaped_reward_cumulative = []
self.list_epsilon_progression = []
self.list_loss_per_episode = []
self.list_loss_mean = []
self.list_pysc2_reward_per_episode = []
self.list_pysc2_reward_cumulative = []
def setup_dqn(self):
# TODO(vloet): what to do with history length? unecessary imho.
self.history_length = 1
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def unzip_hyperparameter_file(self, agent_specs):
"""
Unzipping and writing the hyperparameter file into member variables.
"""
self.exp_name = agent_specs['EXP_NAME']
self.action_type = agent_specs['ACTION_TYPE']
self.gamma = float(agent_specs['GAMMA'])
self.optim_learning_rate = float(agent_specs['OPTIM_LR'])
self.eps_start = float(agent_specs['EPS_START'])
self.eps_decay = int(agent_specs['EPS_DECAY'])
self.eps_end = float(agent_specs['EPS_END'])
self.epsilon = 0
self.batch_size = int(agent_specs['BATCH_SIZE'])
self.size_replaybuffer = int(float(agent_specs['REPLAY_SIZE']))
self.target_update_period = int(agent_specs['TARGET_UPDATE_PERIOD'])
self.mode = agent_specs['MODE']
self.supervised_episodes = int(agent_specs['SUPERVISED_EPISODES'])
self.model_save_period = agent_specs['MODEL_SAVE_PERIOD']
# ##########################################################################
# Action Space Definition
# GridAgent / CompassAgent
# ##########################################################################
def setup_action_space(self, agent_specs):
"""
Returns action space and action dimensionality
"""
if self.action_type == 'compass':
self.action_space = SMART_ACTIONS_COMPASS
self.dim_actions = len(self.action_space)
if self.action_type == 'grid':
grid_dim_x = agent_specs['GRID_DIM_X']
grid_dim_y = agent_specs['GRID_DIM_Y']
self.xy_space, self.dim_actions, self.action_space = discretize_xy_grid(
grid_dim_x, grid_dim_y)
if self.action_type == 'minigame':
raise ("This action space type has not been implemeted yet.")
exit()
if self.action_type == 'original':
raise ("This action space type has not been implemeted yet.")
exit()
# ##########################################################################
# Action Selection
# ##########################################################################
def prepare_timestep(self, obs, reward, done, info):
"""
timesteps:
"""
# from PYSC2 base class
self.steps += 1
self.reward += reward
# Current episode
self.timesteps += 1
self.episode_reward_env += reward
# self.available_actions = obs.observation.available_actions
# Unzip the observation tuple
self.state = np.array(obs[0], dtype=np.uint8)
self.first = obs[1]
self.last = obs[2]
self.available_actions = obs[5]
self.distance = obs[6]
self.marine_center = obs[7]
self.beacon_center = obs[8]
# mode switch
if (self.episodes > self.supervised_episodes) and \
(not self.mode == 'testing'):
self.set_learning_mode()
def policy(self, obs, reward, done, info):
"""
Choosing an action
"""
# Set all variables at the start of a new timestep
self.prepare_timestep(obs, reward, done, info)
# Action selection for regular step
if not self.last:
if self.mode == 'supervised':
# For the first n episodes learn on forced actions.
self.action, self.action_idx = self.supervised_action()
if self.mode == 'learning':
# Choose an action according to the policy
self.action, self.action_idx = self.epsilon_greedy_action()
if self.mode == 'testing':
self.action, self.action_idx = self.pick_action()
else:
self.action, self.action_idx = 'no action', 'no action_idx'
if self.last: # End episode in last step
self.action = 'reset'
if self.mode != 'testing':
self.update_target_network()
self.reset()
return self.action
def supervised_action(self):
"""
This method selects an action which will force the marine in the
direction of the beacon.
Further improvements are possible.
"""
raise NotImplementedError
def pick_action(self):
action_q_values = self.DQN.predict_q_values(self.state)
action_q_values_numpy = action_q_values.detach().cpu().numpy()
print(action_q_values_numpy)
print(self.available_actions)
avail_actions = action_q_values_numpy.T[self.available_actions]
action_idx = np.argmax(avail_actions)
best_action = self.action_space[action_idx]
chosen_action = best_action
return chosen_action, action_idx
def epsilon_greedy_action(self):
"""
chooses an action according to the current policy
returns the chosen action id with x,y coordinates and the index of the
action with respect to the SMART_ACTIONS constant. The additional index
is used for the catergorical labeling of the actions as an
"intermediate" solution for a restricted action space.
"""
self.choice = self.epsilon_greedy()
if self.choice == 'random':
avail_action_idx = np.random.randint(self.available_actions)
action_idx = avail_action_idx
chosen_action = self.action_space[action_idx]
else:
chosen_action, action_idx = self.pick_action()
return chosen_action, action_idx
def epsilon_greedy(self):
"""
returns a string in order to determine if the next action choice is
going to be random or according to an decaying epsilon greeedy policy
"""
self.epsilon = self.eps_end + (self.eps_start - self.eps_end) \
* np.exp(-1. * self.steps_done / self.eps_decay)
self.steps_done += 1
return np.random.choice(['random', 'greedy'],
p=[self.epsilon, 1 - self.epsilon])
# ##########################################################################
# Evaluate a timestep
# ##########################################################################
def evaluate(self, obs, reward, done, info):
"""
A generic wrapper, that contains all agent operations which are used
after finishing a timestep.
Retuns a dictionary with the following information:
- Shaped reward per episode
- Shaped reward cumulative
- Mean loss per episode
- epsilon progression per episode
"""
if self.mode != 'testing':
# Saving the episode data. Pushing the information onto the memory.
self.store_transition(obs, reward)
# Optimize the agent
self.optimize()
# collect reward, loss and epsilon information as dictionary
agent_report = self.collect_report(obs, reward, done)
return agent_report
def set_learning_mode(self):
"""
Set the agent to learning mode. The agent will perform
actions according to an epsilon-greedy policy.
"""
self.mode = "learning"
def set_supervised_mode(self):
"""
Set the agent to supervised mode. The agent will perform
actions which are generating valuable experience.
"""
self.mode = "supervised"
def set_testing_mode(self):
"""
Set the agent to testing mode. The agent will perform only
aexploiting actions without any randomness.
"""
self.mode = "testing"
def collect_report(self, obs, reward, done):
"""
Retuns a dictionary with the following information:
- Shaped reward per episode
- Shaped reward cumulative
- Mean loss per episode
- epsilon progression per episode
"""
self.shaped_reward_cumulative += reward
self.shaped_reward_per_episode += reward
if self.get_memory_length() >= self.batch_size:
self.list_loss_per_episode.append(self.loss.item())
else:
self.list_loss_per_episode.append(self.loss)
if done:
self.list_shaped_reward_cumulative.append(
self.shaped_reward_cumulative)
self.list_shaped_reward_per_episode.append(
self.shaped_reward_per_episode)
self.list_loss_mean.append(np.mean(self.list_loss_per_episode))
# score observation per episode from pysc2 is appended
self.list_pysc2_reward_per_episode.append(obs[6])
# cumulative pysc2 reward
self.pysc2_reward_cumulative += obs[6]
self.list_pysc2_reward_cumulative.append(
self.pysc2_reward_cumulative)
# if self.episodes > self.supervised_episodes:
self.list_epsilon_progression.append(self.epsilon)
# else:
# self.list_epsilon_progression.append(self.eps_start)
dict_agent_report = {
"ShapedRewardPerEpisode": self.list_shaped_reward_per_episode,
"ShapedRewardCumulative": self.list_shaped_reward_cumulative,
"Pysc2RewardPerEpisode": self.list_pysc2_reward_per_episode,
"Pysc2RewardCumulative": self.list_pysc2_reward_cumulative,
"MeanLossPerEpisode": self.list_loss_mean,
"Epsilon": self.list_epsilon_progression,
}
print("Last epsilon: {}| Memory length: {}".format(
self.list_epsilon_progression[-1], self.get_memory_length()))
return dict_agent_report
def store_transition(self, next_obs, reward):
"""
Save the actual information in the history. As soon as there has been
enough data, the experience is sampled from the replay buffer.
TODO: Maybe using uint8 for storing into ReplayBuffer
"""
# Don't store transition if first or last step
if self.last:
return
self.reward = reward
self.next_state = np.array(next_obs[0], dtype=np.uint8)
self.DQN.memory.push([self.state], [self.action_idx], self.reward,
[self.next_state])
# ##########################################################################
# DQN module wrappers
# ##########################################################################
def get_memory_length(self):
"""
Returns the length of the ReplayBuffer
"""
return len(self.DQN.memory)
def optimize(self):
"""
Optimizes the DQN_module on a minibatch
"""
if self.get_memory_length() >= self.batch_size:
self.loss = self.DQN.optimize()
# ##########################################################################
# Ending Episode
# ##########################################################################
def update_target_network(self):
"""
Transferring the estimator weights to the target weights and resetting
the agent.
"""
if self.episodes % self.target_update_period == 0:
print_ts("About to update")
self.DQN.update_target_net()
def reset(self):
"""
Resetting the agent --> More explanation
"""
super(DQNBaseAgent, self).reset()
self.timesteps = 0
self.episode_reward_env = 0
self.episode_reward_shaped = 0
self.shaped_reward_per_episode = 0
self.list_loss_per_episode = []
# ##########################################################################
# Print status information of timestep
# ##########################################################################
def save_model(self, exp_path, emergency=False):
if emergency:
print("KeyboardInterrupt detected, saving last model!")
save_path = exp_path + "/model/emergency_model_{}.pt".format(
self.episodes)
else:
save_path = exp_path + "/model/model_{}.pt".format(self.episodes)
# Path((self.exp_path + "/model")).mkdir(parents=True, exist_ok=True)
self.DQN.save(save_path)
def _load_model(self):
load_path = self.exp_path + "/model/emergency_model.pt"
self.DQN.load(load_path)
class CartPoleAgent():
"""
This is a simple agent that uses an PyTorch DQN_module as Q value
approximator. Current implemented features of the agent:
- Simple initializing with the help of an agent_specs.
- Policy switch between imitation and epsilon greedy learning session.
- Storage of experience into simple Experience Replay Buffer
- Intermediate saving of model weights
To be implemented:
- Saving the hyperparameter file of the experiments.
- Storing the DQN model weights in case of Runtime error.
"""
# ##########################################################################
# Initializing the agent
# ##########################################################################
def __init__(self, agent_specs):
"""
steps_done: Total timesteps done in the agents lifetime.
timesteps: Timesteps performed in the current episode.
choice: Choice of epsilon greedy method (None if supervised)
loss: Action loss
hist: The history buffer for more complex minigames.
"""
self.unzip_hyperparameter_file(agent_specs)
self.episodes = 1
self.choice = None # Choice of epsilon greedy
self.episode_reward_env = 0
self.episode_reward_shaped = 0
self.loss = 0 # Action loss
self.reward = 0
self.steps_done = 0 # total_timesteps
self.steps = 0
self.timesteps = 0 # timesteps in the current episode
self.setup_dqn()
self.done = False
# counter for book keepping
self.shaped_reward_cumulative = 0
self.shaped_reward_per_episode = 0
self.pysc2_reward_cumulative = 0
# lists for book keeping
self.list_shaped_reward_per_episode = []
self.list_shaped_reward_cumulative = []
self.list_epsilon_progression = []
self.list_loss_per_episode = []
self.list_loss_mean = []
self.list_pysc2_reward_per_episode = []
self.list_pysc2_reward_cumulative = []
def setup_dqn(self):
self.dim_actions = 2
self.smart_actions = SMART_ACTIONS
print_ts("Setup DQN of CartPoleAgent")
self.DQN = DQN_module(self.batch_size, self.gamma, self.history_length,
self.size_replaybuffer, self.optim_learning_rate,
self.dim_actions)
self.device = self.DQN.device
print_ts("DQN module has been initalized")
def unzip_hyperparameter_file(self, agent_specs):
"""
Unzipping and writing the hyperparameter file into member variables.
"""
self.gamma = float(agent_specs['GAMMA'])
self.optim_learning_rate = float(agent_specs['OPTIM_LR'])
self.batch_size = int(agent_specs['BATCH_SIZE'])
self.target_update_period = int(agent_specs['TARGET_UPDATE_PERIOD'])
self.history_length = int(agent_specs['HIST_LENGTH'])
self.size_replaybuffer = int(agent_specs['REPLAY_SIZE'])
# self.device = agent_specs['DEVICE']
# self.silentmode = agent_specs['SILENTMODE']
# self.logging = agent_specs['LOGGING']
self.supervised_episodes = int(agent_specs['SUPERVISED_EPISODES'])
self.patience = int(agent_specs['PATIENCE'])
# epsilon_file = agent_specs['EPSILON_FILE']
self.eps_start = float(agent_specs['EPS_START'])
self.eps_end = float(agent_specs['EPS_END'])
self.eps_decay = int(agent_specs['EPS_DECAY'])
# epsilon in current timestep
self.epsilon = 0
self.mode = agent_specs['MODE']
self.grid_dim_x = int(agent_specs['GRID_DIM_X'])
self.grid_dim_y = int(agent_specs['GRID_DIM_Y'])
self.exp_name = agent_specs['EXP_NAME']
# ##########################################################################
# Action Selection
# ##########################################################################
def prepare_timestep(self, obs, reward, done, info):
"""
timesteps:
"""
# from PYSC2 base class
self.steps += 1
self.reward += reward
# Current episode
self.timesteps += 1
self.episode_reward_env += reward
# TODO(vloeth): extend observation to full pysc2 observation
# self.available_actions = obs.observation.available_actions
# Unzip the observation tuple
self.state = obs
# mode switch
if (self.episodes > self.supervised_episodes) and \
(not self.mode == 'testing'):
self.set_learning_mode()
def policy(self, obs, reward, done, info):
"""
Choosing an action
"""
# Set all variables at the start of a new timestep
self.prepare_timestep(obs, reward, done, info)
# Action selection for regular step
if self.mode == 'supervised':
# For the first n episodes learn on forced actions.
self.action, self.action_idx = self.supervised_action()
if self.mode == 'learning':
# Choose an action according to the policy
self.action, self.action_idx = self.epsilon_greedy_action()
if self.mode == 'testing':
self.action, self.action_idx = self.pick_action()
# self.done = False
# if self.done: # End episode in last step
# if self.mode != 'testing':
# self.update_target_network()
return self.action
def supervised_action(self):
"""
This method selects an action which will force the marine in the
direction of the beacon.
Further improvements are possible.
"""
raise NotImplementedError
def pick_action(self):
action_q_values = self.DQN.predict_q_values(self.state)
# Beste Action bestimmen
best_action_numpy = action_q_values.detach().cpu().numpy()
action_idx = np.argmax(best_action_numpy)
best_action = self.smart_actions[action_idx]
chosen_action = best_action
return chosen_action, action_idx
def epsilon_greedy_action(self):
"""
chooses an action according to the current policy
returns the chosen action id with x,y coordinates and the index of the
action with respect to the SMART_ACTIONS constant. The additional index
is used for the catergorical labeling of the actions as an
"intermediate" solution for a restricted action space.
"""
self.choice = self.epsilon_greedy()
if self.choice == 'random':
action_idx = np.random.randint(self.dim_actions)
chosen_action = self.smart_actions[action_idx]
else:
chosen_action, action_idx = self.pick_action()
return chosen_action, action_idx
def epsilon_greedy(self):
"""
returns a string in order to determine if the next action choice is
going to be random or according to an decaying epsilon greeedy policy
"""
self.epsilon = self.eps_end + (self.eps_start - self.eps_end) \
* np.exp(-1. * self.steps_done / self.eps_decay)
self.steps_done += 1
return np.random.choice(['random', 'greedy'],
p=[self.epsilon, 1 - self.epsilon])
# ##########################################################################
# Evaluate a timestep
# ##########################################################################
def evaluate(self, obs, reward, done, info):
"""
A generic wrapper, thaprintt contains all agent operations which are used
after finishing a timestep.
Retuns a dictionary with the following information:
- Shaped reward per episode
- Shaped reward cumulative
- Mean loss per episode
- epsilon progression per episode
"""
try:
if self.mode != 'testing':
# Saving the episode data. Pushing the information onto the memory.
self.store_transition(obs, reward)
# Optimize the agent
self.optimize()
# collect reward, loss and epsilon information as dictionary
# agent_report = self.collect_report(obs, reward, done)
return None
except KeyboardInterrupt:
self.save_model(emergency=True)
return agent_report
def set_learning_mode(self):
"""
Set the agent to learning mode. The agent will perform
actions according to an epsilon-greedy policy.
"""
self.mode = "learning"
def set_supervised_mode(self):
"""
Set the agent to supervised mode. The agent will perform
actions which are generating valuable experience.
"""
self.mode = "supervised"
def set_testing_mode(self):
"""
Set the agent to testing mode. The agent will perform only
aexploiting actions without any randomness.
"""
self.mode = "testing"
def collect_report(self, obs, reward, done):
"""
Retuns a dictionary with the following information:
- Shaped reward per episode
- Shaped reward cumulative
- Mean loss per episode
- epsilon progression per episode
"""
self.shaped_reward_cumulative += reward
self.shaped_reward_per_episode += reward
if self.get_memory_length() >= self.batch_size * self.patience:
self.list_loss_per_episode.append(self.loss.data[0])
else:
self.list_loss_per_episode.append(self.loss)
if done:
self.list_shaped_reward_cumulative.append(
self.shaped_reward_cumulative)
self.list_shaped_reward_per_episode.append(
self.shaped_reward_per_episode)
self.list_loss_mean.append(np.mean(self.list_loss_per_episode))
# score observation per episode from pysc2 is appended
self.list_pysc2_reward_per_episode.append(obs[7])
# cumulative pysc2 reward
self.pysc2_reward_cumulative += obs[7]
self.list_pysc2_reward_cumulative.append(
self.pysc2_reward_cumulative)
# if self.episodes > self.supervised_episodes:
self.list_epsilon_progression.append(self.epsilon)
# else:
# self.list_epsilon_progression.append(self.eps_start)
dict_agent_report = {
"ShapedRewardPerEpisode": self.list_shaped_reward_per_episode,
"ShapedRewardCumulative": self.list_shaped_reward_cumulative,
"Pysc2RewardPerEpisode": self.list_pysc2_reward_per_episode,
"Pysc2RewardCumulative": self.list_pysc2_reward_cumulative,
"MeanLossPerEpisode": self.list_loss_mean,
"Epsilon": self.list_epsilon_progression,
}
print("Last epsilon: {}".format(self.list_epsilon_progression[-1]))
return dict_agent_report
def store_transition(self, next_obs, reward):
"""
Save the actual information in the history. As soon as there has been
enough data, the experience is sampled from the replay buffer.
TODO: Maybe using uint8 for storing into ReplayBuffer
"""
self.reward = reward
self.next_state = next_obs
# self.state = self.state.astype(np.uint8)
# self.next_state = self.next_state.astype(np.uint8)
self.DQN.memory.push(self.state, [self.action_idx], self.reward,
self.next_state)
# print(80 * "-")
# print("Size of state: {} | {} | {}".format(self.state.nbytes, type(self.state), self.state.shape))
# print("Size of action_idx: {} | {}".format(self.action_idx.nbytes, type(self.action_idx)))
# print("Size of reward: {} | {}".format(self.reward.nbytes, type(self.reward)))
# print("Size of next_state: {} | {}".format(self.next_state.nbytes, type(self.next_state)))
# for i in range(0,len(self.DQN.memory[0])):
# # print(self.DQN.memory[0][i])
# print("Size of memory: {}".format(getsizeof(self.DQN.memory[0][i])))
# print(80 * "-")
# exit()
# ##########################################################################
# DQN module wrappers
# ##########################################################################
def get_memory_length(self):
"""
Returns the length of the ReplayBuffer
"""
return len(self.DQN.memory)
def optimize(self):
"""
Optimizes the DQN_module on a minibatch
"""
if self.get_memory_length() >= self.batch_size * self.patience:
self.loss = self.DQN.optimize()
# ##########################################################################
# Ending Episode
# ##########################################################################
def update_target_network(self):
"""
Transferring the estimator weights to the target weights and resetting
the agent.
"""
if self.episodes % self.target_update_period == 0:
print_ts("About to update")
self.DQN.update_target_net()
def reset(self):
"""
Resetting the agent --> More explanation
"""
super(Move2BeaconAgent, self).reset()
self.timesteps = 0
self.episode_reward_env = 0
self.episode_reward_shaped = 0
self.shaped_reward_per_episode = 0
self.list_loss_per_episode = []
# ##########################################################################
# Print status information of timestep
# ##########################################################################
def save_model(self, exp_path, emergency=False):
if emergency:
print("KeyboardInterrupt detected, saving last model!")
save_path = exp_path + "/model/emergency_model.pt"
else:
save_path = exp_path + "/model/model.pt"
# Path((self.exp_path + "/model")).mkdir(parents=True, exist_ok=True)
self.DQN.save(save_path)
print_ts("Model has been saved at {}".format(save_path))
def _load_model(self):
load_path = self.exp_path + "/model/emergency_model.pt"
self.DQN.load(load_path)