class CERL_Agent:
"""Main CERL class containing all methods for CERL
Parameters:
args (int): Parameter class with all the parameters
"""
def __init__(self, args):
self.args = args
self.evolver = SSNE(self.args)
#MP TOOLS
self.manager = Manager()
#Genealogy tool
self.genealogy = Genealogy()
#Initialize population
self.pop = self.manager.list()
for _ in range(args.pop_size):
wwid = self.genealogy.new_id('evo')
if ALGO == 'SAC':
self.pop.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, wwid))
else:
self.pop.append(Actor(args.state_dim, args.action_dim, wwid))
if ALGO == "SAC":
self.best_policy = GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1)
else:
self.best_policy = Actor(args.state_dim, args.action_dim, -1)
#Turn off gradients and put in eval mod
for actor in self.pop:
actor = actor.cpu()
actor.eval()
#Init BUFFER
self.replay_buffer = Buffer(1000000, self.args.buffer_gpu)
#Intialize portfolio of learners
self.portfolio = []
self.portfolio = initialize_portfolio(self.portfolio, self.args,
self.genealogy, PORTFOLIO_ID)
self.rollout_bucket = self.manager.list()
for _ in range(len(self.portfolio)):
if ALGO == 'SAC':
self.rollout_bucket.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1))
else:
self.rollout_bucket.append(
Actor(args.state_dim, args.action_dim, -1))
# Initialize shared data bucket
self.data_bucket = self.replay_buffer.tuples
############## MULTIPROCESSING TOOLS ###################
#Evolutionary population Rollout workers
self.evo_task_pipes = [Pipe() for _ in range(args.pop_size)]
self.evo_result_pipes = [Pipe() for _ in range(args.pop_size)]
self.evo_workers = [
Process(target=rollout_worker,
args=(id, self.evo_task_pipes[id][1],
self.evo_result_pipes[id][0], False,
self.data_bucket, self.pop, ENV_NAME, None, ALGO))
for id in range(args.pop_size)
]
for worker in self.evo_workers:
worker.start()
self.evo_flag = [True for _ in range(args.pop_size)]
#Learner rollout workers
self.task_pipes = [Pipe() for _ in range(args.rollout_size)]
self.result_pipes = [Pipe() for _ in range(args.rollout_size)]
self.workers = [
Process(target=rollout_worker,
args=(id, self.task_pipes[id][1], self.result_pipes[id][0],
True, self.data_bucket, self.rollout_bucket,
ENV_NAME, args.noise_std, ALGO))
for id in range(args.rollout_size)
]
for worker in self.workers:
worker.start()
self.roll_flag = [True for _ in range(args.rollout_size)]
#Test bucket
self.test_bucket = self.manager.list()
if ALGO == 'SAC':
self.test_bucket.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1))
else:
self.test_bucket.append(Actor(args.state_dim, args.action_dim, -1))
#5 Test workers
self.test_task_pipes = [Pipe() for _ in range(TEST_SIZE)]
self.test_result_pipes = [Pipe() for _ in range(TEST_SIZE)]
self.test_workers = [
Process(target=rollout_worker,
args=(id, self.test_task_pipes[id][1],
self.test_result_pipes[id][0], False, None,
self.test_bucket, ENV_NAME, args.noise_std, ALGO))
for id in range(TEST_SIZE)
]
for worker in self.test_workers:
worker.start()
self.test_flag = False
#Meta-learning controller (Resource Distribution)
self.allocation = [
] #Allocation controls the resource allocation across learners
for i in range(args.rollout_size):
self.allocation.append(
i % len(self.portfolio)) #Start uniformly (equal resources)
#self.learner_stats = [{'fitnesses': [], 'ep_lens': [], 'value': 0.0, 'visit_count':0} for _ in range(len(self.portfolio))] #Track node statistsitic (each node is a learner), to compute UCB scores
#Trackers
self.best_score = 0.0
self.gen_frames = 0
self.total_frames = 0
self.best_shaped_score = None
self.test_score = None
self.test_std = None
def train(self, gen, frame_tracker):
"""Main training loop to do rollouts, neureoevolution, and policy gradients
Parameters:
gen (int): Current epoch of training
Returns:
None
"""
################ START ROLLOUTS ##############
#Start Evolution rollouts
if not ISOLATE_PG:
for id, actor in enumerate(self.pop):
if self.evo_flag[id]:
self.evo_task_pipes[id][0].send(id)
self.evo_flag[id] = False
#Sync all learners actor to cpu (rollout) actor
for i, learner in enumerate(self.portfolio):
learner.algo.actor.cpu()
utils.hard_update(self.rollout_bucket[i], learner.algo.actor)
learner.algo.actor.cuda()
# Start Learner rollouts
for rollout_id, learner_id in enumerate(self.allocation):
if self.roll_flag[rollout_id]:
self.task_pipes[rollout_id][0].send(learner_id)
self.roll_flag[rollout_id] = False
#Start Test rollouts
if gen % 5 == 0:
self.test_flag = True
for pipe in self.test_task_pipes:
pipe[0].send(0)
############# UPDATE PARAMS USING GRADIENT DESCENT ##########
if self.replay_buffer.__len__(
) > self.args.batch_size * 10: ###BURN IN PERIOD
self.replay_buffer.tensorify(
) # Tensorify the buffer for fast sampling
#Spin up threads for each learner
threads = [
threading.Thread(
target=learner.update_parameters,
args=(self.replay_buffer, self.args.buffer_gpu,
self.args.batch_size,
int(self.gen_frames * self.args.gradperstep)))
for learner in self.portfolio
]
# Start threads
for thread in threads:
thread.start()
#Join threads
for thread in threads:
thread.join()
self.gen_frames = 0
########## SOFT -JOIN ROLLOUTS FOR EVO POPULATION ############
if not ISOLATE_PG:
all_fitness = []
all_net_ids = []
all_eplens = []
while True:
for i in range(self.args.pop_size):
if self.evo_result_pipes[i][1].poll():
entry = self.evo_result_pipes[i][1].recv()
all_fitness.append(entry[1])
all_net_ids.append(entry[0])
all_eplens.append(entry[2])
self.gen_frames += entry[2]
self.total_frames += entry[2]
self.evo_flag[i] = True
# Soft-join (50%)
if len(all_fitness
) / self.args.pop_size >= self.args.asynch_frac:
break
########## HARD -JOIN ROLLOUTS FOR LEARNER ROLLOUTS ############
for i in range(self.args.rollout_size):
entry = self.result_pipes[i][1].recv()
learner_id = entry[0]
fitness = entry[1]
num_frames = entry[2]
self.portfolio[learner_id].update_stats(fitness, num_frames)
self.gen_frames += num_frames
self.total_frames += num_frames
if fitness > self.best_score: self.best_score = fitness
self.roll_flag[i] = True
#Referesh buffer (housekeeping tasks - pruning to keep under capacity)
self.replay_buffer.referesh()
######################### END OF PARALLEL ROLLOUTS ################
############ PROCESS MAX FITNESS #############
if not ISOLATE_PG:
champ_index = all_net_ids[all_fitness.index(max(all_fitness))]
utils.hard_update(self.test_bucket[0], self.pop[champ_index])
if max(all_fitness) > self.best_score:
self.best_score = max(all_fitness)
utils.hard_update(self.best_policy, self.pop[champ_index])
if SAVE:
torch.save(
self.pop[champ_index].state_dict(),
self.args.aux_folder + ENV_NAME + '_best' + SAVETAG)
print("Best policy saved with score",
'%.2f' % max(all_fitness))
else: #Run PG in isolation
utils.hard_update(self.test_bucket[0], self.rollout_bucket[0])
###### TEST SCORE ######
if self.test_flag:
self.test_flag = False
test_scores = []
for pipe in self.test_result_pipes: #Collect all results
entry = pipe[1].recv()
test_scores.append(entry[1])
test_scores = np.array(test_scores)
test_mean = np.mean(test_scores)
test_std = (np.std(test_scores))
# Update score to trackers
frame_tracker.update([test_mean], self.total_frames)
else:
test_mean, test_std = None, None
#NeuroEvolution's probabilistic selection and recombination step
if not ISOLATE_PG:
if gen % 5 == 0:
self.evolver.epoch(gen, self.genealogy, self.pop, all_net_ids,
all_fitness, self.rollout_bucket)
else:
self.evolver.epoch(gen, self.genealogy, self.pop, all_net_ids,
all_fitness, [])
#META LEARNING - RESET ALLOCATION USING UCB
if gen % 1 == 0:
self.allocation = ucb(len(self.allocation), self.portfolio,
self.args.ucb_coefficient)
#Metrics
if not ISOLATE_PG:
champ_len = all_eplens[all_fitness.index(max(all_fitness))]
champ_wwid = int(self.pop[champ_index].wwid.item())
max_fit = max(all_fitness)
else:
champ_len = num_frames
champ_wwid = int(self.rollout_bucket[0].wwid.item())
all_fitness = [fitness]
max_fit = fitness
all_eplens = [num_frames]
return max_fit, champ_len, all_fitness, all_eplens, test_mean, test_std, champ_wwid
class CERL_Agent:
"""Main CERL class containing all methods for CERL
Parameters:
args (int): Parameter class with all the parameters
"""
def __init__(self,
args): # need to intialize rollout_workers to have blue agent
self.args = args
self.evolver = SSNE(
self.args) # this evolver implements neuro-evolution
# MP TOOLS
self.manager = Manager()
self.mutate_algos = [
Mutation_Add(self),
Mutation_Delete(self),
Mutation_Exchange(self)
] #store all the mutate algorithm objects
# Genealogy tool
self.genealogy = Genealogy()
# Init BUFFER
self.replay_buffer = Buffer(1000000, self.args.buffer_gpu)
#if SA_FLAG:
self.metrics = []
self.last_portfolio = None
self.T_max = 30
self.T = self.T_max
self.T_min = 0.2
self.decay_rate = 0.975
# Initialize population
self.pop = self.manager.list()
for _ in range(args.pop_size):
wwid = self.genealogy.new_id('evo')
if ALGO == 'SAC':
self.pop.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, wwid))
elif ALGO == 'TD3':
self.pop.append(
Actor(args.state_dim, args.action_dim, wwid, ALGO))
# use ALGO to distinguish differe net architecture
elif ALGO == 'dis' or 'TD3_tennis':
self.pop.append(
Actor(args.state_dim, args.action_dim, wwid, ALGO))
else:
assert False, "invalid algorithm type"
if ALGO == "SAC":
self.best_policy = GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1)
else:
self.best_policy = Actor(args.state_dim, args.action_dim, -1, ALGO)
if ALGO == 'dis':
self.average_policy = AverageActor(args.state_dim,
args.action_dim,
-2,
ALGO,
self.pop,
self.replay_buffer,
args.buffer_gpu,
args.batch_size,
iterations=10)
self.average_policy.share_memory()
self.best_policy.share_memory()
# added by macheng, share the best policy accross processes (used as internal belief update models for blue)
# now we assign shared blue_trainer, we should train this agent such that the roll_out workers are also up to date
# should make sure that self.best_policy (emergent learner) is also shared
if ALGO == 'dis' or 'TD3_tennis':
assert hasattr(
args, "blue_trainer"
), "must have blue_agent trainer to intialize rollout_worker, see line 109, class Parameter definition"
if ALGO == 'dis':
trainers = [args.blue_trainer, self.average_policy]
else:
trainers = [args.blue_trainer, None
] if ALGO == 'TD3_tennis' else []
self.trainers = trainers
self.blue_dqn = args.blue_trainer
# Turn off gradients and put in eval mod
for actor in self.pop:
actor = actor.cpu()
actor.eval()
# Intialize portfolio of learners
self.portfolio = []
self.portfolio = initialize_portfolio(self.portfolio, self.args,
self.genealogy, PORTFOLIO_ID)
self.complement_portfolio = [
] #complementary of the portfolio, whatever not in the portfolio should be stored here
self.total_rollout_bucket = self.manager.list(
) #macheng: we use total_rollout_bucket to represents the whole set of rollout models, now rollout_bukcet dynamically resize according to portforlio, for SA
self.rollout_bucket = self.total_rollout_bucket
#self.rollout_bucket = self.manager.list()
#print("rollout_bucker needs to be updated, main.py line 239 ")
for _ in range(len(self.portfolio)):
if ALGO == 'SAC':
self.rollout_bucket.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1))
else:
self.rollout_bucket.append(
Actor(args.state_dim, args.action_dim, -1, ALGO))
# Initialize shared data bucket
self.data_bucket = self.replay_buffer.tuples
############## MULTIPROCESSING TOOLS ###################
# Evolutionary population Rollout workers
self.evo_task_pipes = [Pipe() for _ in range(args.pop_size)]
self.evo_result_pipes = [Pipe() for _ in range(args.pop_size)]
self.evo_workers = [
Process(target=rollout_worker,
args=(id, 0, self.evo_task_pipes[id][1],
self.evo_result_pipes[id][0], False,
self.data_bucket, self.pop, ENV_NAME, None, ALGO,
self.trainers)) for id in range(args.pop_size)
]
for worker in self.evo_workers:
worker.start()
self.evo_flag = [True for _ in range(args.pop_size)]
# Learner rollout workers
self.task_pipes = [Pipe() for _ in range(args.rollout_size)]
self.result_pipes = [Pipe() for _ in range(args.rollout_size)]
self.workers = [
Process(target=rollout_worker,
args=(id, 1, self.task_pipes[id][1],
self.result_pipes[id][0], True, self.data_bucket,
self.rollout_bucket, ENV_NAME, args.noise_std, ALGO,
self.trainers)) for id in range(args.rollout_size)
]
for worker in self.workers:
worker.start()
self.roll_flag = [True for _ in range(args.rollout_size)]
# Test bucket
self.test_bucket = self.manager.list()
if ALGO == 'SAC':
self.test_bucket.append(
GaussianPolicy(args.state_dim, args.action_dim,
args.hidden_size, -1))
else:
self.test_bucket.append(
Actor(args.state_dim, args.action_dim, -1, ALGO))
# 5 Test workers
self.test_task_pipes = [Pipe() for _ in range(TEST_SIZE)]
self.test_result_pipes = [Pipe() for _ in range(TEST_SIZE)]
self.test_workers = [
Process(target=rollout_worker,
args=(id, 2, self.test_task_pipes[id][1],
self.test_result_pipes[id][0], False, None,
self.test_bucket, ENV_NAME, args.noise_std, ALGO,
self.trainers)) for id in range(TEST_SIZE)
]
for worker in self.test_workers:
worker.start()
self.test_flag = False
# Meta-learning controller (Resource Distribution)
self.allocation = [
] #Allocation controls the resource allocation across learners
for i in range(args.rollout_size):
self.allocation.append(
i % len(self.portfolio)) #Start uniformly (equal resources)
# self.learner_stats = [{'fitnesses': [], 'ep_lens': [], 'value': 0.0, 'visit_count':0} for _ in range(len(self.portfolio))] #Track node statistsitic (each node is a learner), to compute UCB scores
# Trackers
self.best_score = -np.inf
self.gen_frames = 0
self.total_frames = 0
self.best_shaped_score = None
self.test_score = None
self.test_std = None
# trainer contains the blue_dqn to be trained, and the red model used for belief update, red_actor is the actual red agent trained against
# id is the actual red agent id
def _update_SA_temperature(self):
self.T = max(self.T * self.decay_rate, self.T_min)
def _get_accept_rate(self):
if RANDOM_WALK:
return 1.0
else:
if self.metrics[-1] > self.metrics[-2]:
return 1.0
else:
return np.exp((self.metrics[-1] - self.metrics[-2]) / self.T)
def _mutate(self):
while True:
mutate_algo_index = random.choice(range(3))
if self._try_mutate(mutate_algo_index):
return
def _try_mutate(self,
algo_index): # 0 for add, 1 for delete, 2 for exchange
return self.mutate_algos[algo_index].try_mutate()
def simulated_annealing(self, metric): #take in the current metric
self.metrics.append(metric)
if self.last_portfolio: #has last_portfolio
accept_rate = self._get_accept_rate() #based on self.metrics[-2:]
self._update_SA_temperature()
if np.random.random() > accept_rate: #reject
self.portfolio = self.last_portfolio
self.complement_portfolio = self.last_complement_portfolio
self.last_portfolio = copy.copy(
self.portfolio) #maintain a shallow copy as
self.last_complement_portfolio = copy.copy(self.complement_portfolio)
self._mutate() #perturb the portfolio
# update rollout_bucket size, only the first len(self.portfolio) rollout_buckets are visible
self.update_rollout_bucket()
# update allocation, to be compatible with the current portfolio
self.update_allocation()
def update_rollout_bucket(self):
self.rollout_bucket = self.total_rollout_bucket[:len(self.portfolio)]
def train_blue_dqn(
self,
trainers,
env_name,
gen,
ALGO='dis',
pomdp_adv=False
): #in this method, rollout and training are done together, opponent sampled from the population
NUM_EPISODE = 100 #train 100 episodes for the blue to converge to the new best response to red
EPS_START = max(1.0 * 0.5**(gen - 10),
0.15) if gen >= 10 else 1.0 #initial epsilon
EPS_END = 0.05
EPS_DECAY = 0.995
if ALGO == 'dis': # make env with blue and red policy agent inside,
assert trainers is not None
dis_env = make_self_play_env(
seed=np.random.choice(np.array(range(len(self.pop)))),
return_policy_agent=False,
trainers=trainers
)[0] # trainer if not None, first is the shared DQN agent, second is the best red policy
env = EnvironmentWrapper(
env_name, ALGO, dis_env,
0) # the "0" is the index for training blue agent
elif ALGO == 'TD3_tennis':
no_graphics = not RENDER
tennis_env = make_tennis_env.TennisEnvFactory(
seed=np.random.choice(np.array(range(len(self.pop)))),
no_graphics=no_graphics,
pid=-1).getEnv()[0]
env = EnvironmentWrapper('Tennis', ALGO, tennis_env, 0)
else:
env = EnvironmentWrapper(env_name, ALGO)
blue_dqn = trainers[0]
average_reward = 0
eps = EPS_START
average_red_reward = 0
red_count = 0
average_actual_blue_reward = 0
blue_count = 0
for it in range(NUM_EPISODE):
if not pomdp_adv: #if pomdp_adv, make sure that TD3_actor is never used
id = np.random.choice(np.array(range(len(self.pop))))
red_actor = self.pop[id]
env.set_TD3_actor(red_actor)
fitness = 0.0
#here fitness if simplely reward
total_frame = 0
state = env.reset()
env.randomize_neu_adv()
if pomdp_adv:
env.try_set_pomdp_adv(
) #try to set if opponent to pomdp adv if opponent is adversary, else do nothing
render_flag = (np.random.random() < 0.05)
while True: # unless done
action = blue_dqn.act(state, eps=eps)
# action = utils.to_numpy(action)
next_state, reward, done, info = env.step(
copy.deepcopy(action), use_actual_reward=DRQN
) #after calling env.step, evaluator initialized later does not work
#should be something wrong with the internal red model?
blue_dqn.step(state, action, reward, next_state, done)
if render_flag and self.args.render:
env.render()
# next_state = utils.to_tensor(np.array(next_state)).unsqueeze(0)
state = next_state
fitness += reward
total_frame += 1
# DONE FLAG IS Received
if done:
average_red_reward += env.get_red_reward(
) if env.get_red_reward() is not None else 0
average_actual_blue_reward += env.get_blue_actual_reward(
) if env.get_blue_actual_reward() is not None else 0
red_count += 1 if env.get_red_reward() is not None else 0
blue_count += 1 if env.get_blue_actual_reward(
) is not None else 0
if render_flag: env.env.close()
break
average_reward += fitness
eps = max(EPS_END, EPS_DECAY * eps)
if gen >= 10 and gen % 5 == 0:
blue_dqn.save_net('./pytorch_models/train_blue_dqn_step_' +
str(gen) + '.pth')
average_reward /= NUM_EPISODE
if red_count != 0:
average_red_reward /= red_count
if blue_count != 0:
average_actual_blue_reward /= blue_count
return average_reward, average_red_reward, average_actual_blue_reward
def evaluate_training_fixed_blue(
self): #this evaluate against the training opponent (red pop)
self.evaluator.pomdp_adv = False
return self.evaluator.evaluate_fixed_agents(self.trainers[0],
self.trainers[1], self.pop)
def train(self, gen, frame_tracker):
"""Main training loop to do rollouts, neureoevolution, and policy gradients
Parameters:
gen (int): Current epoch of training
Returns:
None
"""
################ START ROLLOUTS ##############
# Start Evolution rollouts
if not ISOLATE_PG:
for id, actor in enumerate(self.pop):
if self.evo_flag[id]:
self.evo_task_pipes[id][0].send((id, gen))
self.evo_flag[id] = False
# Sync all learners actor to cpu (rollout) actor
# (update rollout parameter using the learner parameter, such that rollout worker is up to date)
for i, learner in enumerate(self.portfolio): #number of learner
learner.algo.actor.cpu()
utils.hard_update(
self.rollout_bucket[i], learner.algo.actor
) #rollout bucket is now synchronized with learner to perform rollout for learner actors
if torch.cuda.is_available(): learner.algo.actor.cuda()
# Start Learner rollouts
for rollout_id, learner_id in enumerate(
self.allocation): #number of rollout_size
if self.roll_flag[rollout_id]:
self.task_pipes[rollout_id][0].send(
(learner_id, gen)
) #allocation record the id of the learner that bucket should run, so rollout_id is the id of rollout_bucket
self.roll_flag[rollout_id] = False
# Start Test rollouts
if gen % 5 == 0:
self.test_flag = True
for pipe in self.test_task_pipes:
pipe[0].send((0, gen))
############# UPDATE PARAMS USING GRADIENT DESCENT ##########
# main training loop
if self.replay_buffer.__len__(
) > self.args.batch_size * 10: ###BURN IN PERIOD
self.replay_buffer.tensorify(
) # Tensorify the buffer for fast sampling
# Spin up threads for each learner
threads = [
threading.Thread(
target=learner.update_parameters,
args=(self.replay_buffer, self.args.buffer_gpu,
self.args.batch_size,
int(self.gen_frames * self.args.gradperstep)))
for learner in self.portfolio
] #macheng: do we want to train all the learners?
# Start threads
for thread in threads:
thread.start()
# Join threads
for thread in threads:
thread.join()
# Now update average_policy
#self.average_policy.cuda()
if ALGO == 'dis':
self.average_policy.update(
) #update the average_policy parameter with supervised learning
self.gen_frames = 0
#########Visualize Learner Critic Function#################
# if self.replay_buffer.__len__() % 2500 == 0:
# visualize_critic(self.portfolio[2], make_self_play_env(trainers=[[],[]])[0], 50) #arguments: Learner, env, N_GRID
########## SOFT -JOIN ROLLOUTS FOR EVO POPULATION ############
if not ISOLATE_PG:
all_fitness = []
all_net_ids = []
all_eplens = []
while True:
for i in range(self.args.pop_size):
if self.evo_result_pipes[i][1].poll():
entry = self.evo_result_pipes[i][1].recv()
all_fitness.append(entry[1])
all_net_ids.append(entry[0])
all_eplens.append(entry[2])
self.gen_frames += entry[2]
self.total_frames += entry[2]
self.evo_flag[i] = True
# Soft-join (50%)
if len(all_fitness
) / self.args.pop_size >= self.args.asynch_frac:
break
########## HARD -JOIN ROLLOUTS FOR LEARNER ROLLOUTS ############
for i in range(self.args.rollout_size):
entry = self.result_pipes[i][1].recv()
learner_id = entry[0]
fitness = entry[1]
num_frames = entry[2]
self.portfolio[learner_id].update_stats(fitness, num_frames)
self.gen_frames += num_frames
self.total_frames += num_frames
if fitness > self.best_score: self.best_score = fitness
self.roll_flag[i] = True
# Referesh buffer (housekeeping tasks - pruning to keep under capacity)
self.replay_buffer.referesh()
######################### END OF PARALLEL ROLLOUTS ################
############ PROCESS MAX FITNESS #############
# ms:best policy is always up to date
# so here the best learner is saved
if not ISOLATE_PG:
champ_index = all_net_ids[all_fitness.index(max(all_fitness))]
utils.hard_update(self.test_bucket[0], self.pop[champ_index])
if max(all_fitness) > self.best_score:
self.best_score = max(all_fitness)
utils.hard_update(self.best_policy, self.pop[champ_index])
if SAVE:
torch.save(
self.pop[champ_index].state_dict(),
self.args.aux_folder + ENV_NAME + '_best' + SAVETAG)
print("Best policy saved with score",
'%.2f' % max(all_fitness))
else: #Run PG in isolation
utils.hard_update(self.test_bucket[0], self.rollout_bucket[0])
###### TEST SCORE ######
if self.test_flag:
self.test_flag = False
test_scores = []
for pipe in self.test_result_pipes: #Collect all results
entry = pipe[1].recv()
test_scores.append(entry[1])
test_scores = np.array(test_scores)
test_mean = np.mean(test_scores)
test_std = (np.std(test_scores))
# Update score to trackers
frame_tracker.update([test_mean], self.total_frames)
else:
test_mean, test_std = None, None
# NeuroEvolution's probabilistic selection and recombination step
# ms: this epoch() method implements neuro-evolution
if not ISOLATE_PG: #seems pop_size and rollout_size must be 10, otherwise this will produce error
if gen % 5 == 0:
self.evolver.epoch(
gen, self.genealogy, self.pop, all_net_ids, all_fitness,
self.rollout_bucket
) #this method also copies learner to evoler
else:
self.evolver.epoch(gen, self.genealogy, self.pop, all_net_ids,
all_fitness, [])
# META LEARNING - RESET ALLOCATION USING UCB
if gen % 1 == 0:
self.update_allocation()
# Metrics
if not ISOLATE_PG:
champ_len = all_eplens[all_fitness.index(max(all_fitness))]
champ_wwid = int(self.pop[champ_index].wwid.item())
max_fit = max(all_fitness)
else:
champ_len = num_frames
champ_wwid = int(self.rollout_bucket[0].wwid.item())
all_fitness = [fitness]
max_fit = fitness
all_eplens = [num_frames]
return max_fit, champ_len, all_fitness, all_eplens, test_mean, test_std, champ_wwid
def update_allocation(self):
self.allocation = ucb(len(self.allocation), self.portfolio,
self.args.ucb_coefficient)
def sim_and_eval_POMDP(self):
self.evaluator = Evaluator(
self, 5, self.trainers,
pomdp_adv=True) # evaluator must be created before train_dqn
for gen in range(1000000):
print('gen=', gen)
blue_score, red_score, actual_blue_score = agent.train_blue_dqn(
agent.trainers, ENV_NAME, gen, ALGO='dis', pomdp_adv=True)
print('Env', ENV_NAME, 'Gen', gen,
", Training average: Blue agent score: ", blue_score,
" Red score: ", red_score, " Actual blue score: ",
actual_blue_score)
blue_score, red_score, actual_blue_score = self.evaluator.evaluate(
)
print("Evaluation result: Blue agent score: ", blue_score,
" Red score: ", red_score, " Actual blue score: ",
actual_blue_score)
class DDQN_Trainer:
"""Main CERL class containing all methods for CERL
Parameters:
args (object): Parameter class with all the parameters
"""
def __init__(self, args, model_constructor, env_constructor):
self.args = args
#MP TOOLS
self.manager = Manager()
#Algo
self.algo = DDQN(args, model_constructor, args.gamma)
#Save best policy
self.best_policy = model_constructor.make_model('DDQN')
#Init BUFFER
self.replay_buffer = Buffer(args.buffer_size)
self.data_bucket = self.replay_buffer.tuples
#Initialize Rollout Bucket
self.rollout_bucket = self.manager.list()
self.rollout_bucket.append(model_constructor.make_model('DDQN'))
############## MULTIPROCESSING TOOLS ###################
#Learner rollout workers
self.task_pipes = [Pipe() for _ in range(args.rollout_size)]
self.result_pipes = [Pipe() for _ in range(args.rollout_size)]
self.workers = [
Process(target=rollout_worker,
args=(id, 'pg', self.task_pipes[id][1],
self.result_pipes[id][0], self.data_bucket,
self.rollout_bucket, env_constructor))
for id in range(args.rollout_size)
]
for worker in self.workers:
worker.start()
self.roll_flag = [True for _ in range(args.rollout_size)]
#Test bucket
self.test_bucket = self.manager.list()
self.test_bucket.append(model_constructor.make_model('DDQN'))
#5 Test workers
self.test_task_pipes = [
Pipe() for _ in range(env_constructor.dummy_env.test_size)
]
self.test_result_pipes = [
Pipe() for _ in range(env_constructor.dummy_env.test_size)
]
self.test_workers = [
Process(target=rollout_worker,
args=(id, 'test', self.test_task_pipes[id][1],
self.test_result_pipes[id][0], None,
self.test_bucket, env_constructor))
for id in range(env_constructor.dummy_env.test_size)
]
for worker in self.test_workers:
worker.start()
self.test_flag = False
#Trackers
self.best_score = 0.0
self.gen_frames = 0
self.total_frames = 0
self.test_score = None
self.test_std = None
self.test_trace = []
self.rollout_fits_trace = []
self.ep_len = 0
self.r1_reward = 0
self.num_footsteps = 0
def forward_epoch(self, epoch, tracker):
"""Main training loop to do rollouts, neureoevolution, and policy gradients
Parameters:
gen (int): Current epoch of training
Returns:
None
"""
################ START ROLLOUTS ##############
#Sync all learners actor to cpu (rollout) actor
self.algo.actor.cpu()
utils.hard_update(self.rollout_bucket[0], self.algo.actor)
utils.hard_update(self.test_bucket[0], self.algo.actor)
self.algo.actor.cuda()
# Start Learner rollouts
for rollout_id in range(self.args.rollout_size):
if self.roll_flag[rollout_id]:
self.task_pipes[rollout_id][0].send(0)
self.roll_flag[rollout_id] = False
#Start Test rollouts
if epoch % 1 == 0:
self.test_flag = True
for pipe in self.test_task_pipes:
pipe[0].send(0)
############# UPDATE PARAMS USING GRADIENT DESCENT ##########
if self.replay_buffer.__len__(
) > self.args.learning_start: ###BURN IN PERIOD
self.replay_buffer.tensorify(
) # Tensorify the buffer for fast sampling
for _ in range(self.gen_frames):
s, ns, a, r, done = self.replay_buffer.sample(
self.args.batch_size)
if torch.cuda.is_available():
s = s.cuda()
ns = ns.cuda()
a = a.cuda()
r = r.cuda()
done = done.cuda()
r = r * self.args.reward_scaling
self.algo.update_parameters(s, ns, a, r, done)
self.gen_frames = 0
########## HARD -JOIN ROLLOUTS FOR LEARNER ROLLOUTS ############
if self.args.rollout_size > 0:
for i in range(self.args.rollout_size):
entry = self.result_pipes[i][1].recv()
learner_id = entry[0]
fitness = entry[1]
num_frames = entry[2]
self.rollout_fits_trace.append(fitness)
self.gen_frames += num_frames
self.total_frames += num_frames
self.roll_flag[i] = True
#Referesh buffer (housekeeping tasks - pruning to keep under capacity)
self.replay_buffer.referesh()
######################### END OF PARALLEL ROLLOUTS ################
###### TEST SCORE ######
if self.test_flag:
self.test_flag = False
test_scores = []
eplens = []
r1_reward = []
num_footsteps = []
for pipe in self.test_result_pipes: #Collect all results
entry = pipe[1].recv()
test_scores.append(entry[1])
eplens.append(entry[3])
r1_reward.append(entry[4])
num_footsteps.append(entry[5])
test_scores = np.array(test_scores)
test_mean = np.mean(test_scores)
test_std = (np.std(test_scores))
self.test_trace.append(test_mean)
self.num_footsteps = np.mean(np.array(num_footsteps))
self.ep_len = np.mean(np.array(eplens))
self.r1_reward = np.mean(np.array(r1_reward))
tracker.update([test_mean, self.r1_reward], self.total_frames)
else:
test_mean, test_std = None, None
return test_mean, test_std
def train(self, frame_limit):
# Define Tracker class to track scores
test_tracker = utils.Tracker(
self.args.savefolder,
['score_' + self.args.savetag, 'r1_' + self.args.savetag],
'.csv') # Tracker class to log progress
time_start = time.time()
for gen in range(1, 1000000000): # Infinite generations
# Train one iteration
test_mean, test_std = self.forward_epoch(gen, test_tracker)
print('Gen/Frames', gen, '/', self.total_frames, 'max_ever:',
'%.2f' % self.best_score, ' Avg:',
'%.2f' % test_tracker.all_tracker[0][1], ' Frames/sec:',
'%.2f' % (self.total_frames / (time.time() - time_start)),
' Test/RolloutScore', '%.2f' % self.test_trace[-1],
'%.2f' % self.rollout_fits_trace[-1], 'Ep_len',
'%.2f' % self.ep_len, '#Footsteps',
'%.2f' % self.num_footsteps, 'R1_Reward',
'%.2f' % self.r1_reward, 'savetag', self.args.savetag)
if gen % 5 == 0:
print()
print('Entropy',
utils.pprint(math.exp(self.algo.entropy['mean'])),
'Next_Entropy',
utils.pprint(math.exp(self.algo.next_entropy['mean'])),
'Q_Loss', utils.pprint(self.algo.critic_loss['mean']),
'Q', utils.pprint(self.algo.policy_q['mean']), 'Next_Q',
utils.pprint(self.algo.next_q['mean']))
print()
if self.total_frames > frame_limit:
break
class Agent:
"""Learner object encapsulating a local learner
Parameters:
algo_name (str): Algorithm Identifier
state_dim (int): State size
action_dim (int): Action size
actor_lr (float): Actor learning rate
critic_lr (float): Critic learning rate
gamma (float): DIscount rate
tau (float): Target network sync generate
init_w (bool): Use kaimling normal to initialize?
**td3args (**kwargs): arguments for TD3 algo
"""
def __init__(self, args, id):
self.args = args
self.id = id
###Initalize neuroevolution module###
self.evolver = SSNE(self.args)
########Initialize population
self.manager = Manager()
self.popn = self.manager.list()
for _ in range(args.popn_size):
if args.ps == 'trunk':
self.popn.append(
MultiHeadActor(args.state_dim, args.action_dim,
args.hidden_size, args.config.num_agents))
else:
if args.algo_name == 'TD3':
self.popn.append(
Actor(args.state_dim,
args.action_dim,
args.hidden_size,
policy_type='DeterministicPolicy'))
else:
self.popn.append(
Actor(args.state_dim,
args.action_dim,
args.hidden_size,
policy_type='GaussianPolicy'))
self.popn[-1].eval()
#### INITIALIZE PG ALGO #####
if args.ps == 'trunk':
if self.args.is_matd3 or args.is_maddpg:
algo_name = 'TD3' if self.args.is_matd3 else 'DDPG'
self.algo = MATD3(id, algo_name, args.state_dim,
args.action_dim, args.hidden_size,
args.actor_lr, args.critic_lr, args.gamma,
args.tau, args.savetag, args.aux_save,
args.actualize, args.use_gpu,
args.config.num_agents, args.init_w)
else:
self.algo = MultiTD3(id, args.algo_name, args.state_dim,
args.action_dim, args.hidden_size,
args.actor_lr, args.critic_lr, args.gamma,
args.tau, args.savetag, args.aux_save,
args.actualize, args.use_gpu,
args.config.num_agents, args.init_w)
else:
if args.algo_name == 'TD3':
self.algo = TD3(id, args.algo_name, args.state_dim,
args.action_dim, args.hidden_size,
args.actor_lr, args.critic_lr, args.gamma,
args.tau, args.savetag, args.aux_save,
args.actualize, args.use_gpu, args.init_w)
else:
self.algo = SAC(id, args.state_dim, args.action_dim,
args.hidden_size, args.gamma, args.critic_lr,
args.actor_lr, args.tau, args.alpha,
args.target_update_interval, args.savetag,
args.aux_save, args.actualize, args.use_gpu)
#### Rollout Actor is a template used for MP #####
self.rollout_actor = self.manager.list()
if args.ps == 'trunk':
self.rollout_actor.append(
MultiHeadActor(args.state_dim, args.action_dim,
args.hidden_size, args.config.num_agents))
else:
if args.algo_name == 'TD3':
self.rollout_actor.append(
Actor(args.state_dim,
args.action_dim,
args.hidden_size,
policy_type='DeterministicPolicy'))
else:
self.rollout_actor.append(
Actor(args.state_dim,
args.action_dim,
args.hidden_size,
policy_type='GaussianPolicy'))
#Initalize buffer
if args.ps == 'trunk':
self.buffer = [
Buffer(args.buffer_size,
buffer_gpu=False,
filter_c=args.filter_c)
for _ in range(args.config.num_agents)
]
else:
self.buffer = Buffer(args.buffer_size,
buffer_gpu=False,
filter_c=args.filter_c)
#Agent metrics
self.fitnesses = [[] for _ in range(args.popn_size)]
###Best Policy HOF####
self.champ_ind = 0
def update_parameters(self):
td3args = {
'policy_noise': 0.2,
'policy_noise_clip': 0.5,
'policy_ups_freq': 2,
'action_low': -1.0,
'action_high': 1.0
}
if self.args.ps == 'trunk':
for agent_id, buffer in enumerate(self.buffer):
if self.args.is_matd3 or self.args.is_maddpg:
buffer = self.buffer[0] #Hardcoded Hack for MADDPG
buffer.referesh()
if buffer.__len__() < 10 * self.args.batch_size:
buffer.pg_frames = 0
return ###BURN_IN_PERIOD
buffer.tensorify()
for _ in range(int(self.args.gradperstep * buffer.pg_frames)):
s, ns, a, r, done, global_reward = buffer.sample(
self.args.batch_size,
pr_rew=self.args.priority_rate,
pr_global=self.args.priority_rate)
r *= self.args.reward_scaling
if self.args.use_gpu:
s = s.cuda()
ns = ns.cuda()
a = a.cuda()
r = r.cuda()
done = done.cuda()
global_reward = global_reward.cuda()
self.algo.update_parameters(s, ns, a, r, done,
global_reward, agent_id, 1,
**td3args)
buffer.pg_frames = 0
else:
self.buffer.referesh()
if self.buffer.__len__() < 10 * self.args.batch_size:
return ###BURN_IN_PERIOD
self.buffer.tensorify()
for _ in range(int(self.args.gradperstep * self.buffer.pg_frames)):
s, ns, a, r, done, global_reward = self.buffer.sample(
self.args.batch_size,
pr_rew=self.args.priority_rate,
pr_global=self.args.priority_rate)
r *= self.args.reward_scaling
if self.args.use_gpu:
s = s.cuda()
ns = ns.cuda()
a = a.cuda()
r = r.cuda()
done = done.cuda()
global_reward = global_reward.cuda()
self.algo.update_parameters(s, ns, a, r, done, global_reward,
1, **td3args)
self.buffer.pg_frames = 0 #Reset new frame counter to 0
def evolve(self):
## One gen of evolution ###
if self.args.popn_size > 1: #If not no-evo
if self.args.scheme == 'multipoint':
#Make sure that the buffer has been refereshed and tensorified
buffer_pointer = self.buffer[
0] if self.args.ps == 'trunk' else self.buffer
if buffer_pointer.__len__() < 1000: buffer_pointer.tensorify()
if random.random() < 0.01: buffer_pointer.tensorify()
#Get sample of states from the buffer
if buffer_pointer.__len__() < 1000:
sample_size = buffer_pointer.__len__()
else:
sample_size = 1000
if sample_size == 1000 and len(buffer_pointer.sT) < 1000:
buffer_pointer.tensorify()
states, _, _, _, _, _ = buffer_pointer.sample(sample_size,
pr_rew=0.0,
pr_global=0.0)
states = states.cpu()
elif self.args.scheme == 'standard':
states = None
else:
sys.exit('Unknown Evo Scheme')
#Net indices of nets that got evaluated this generation (meant for asynchronous evolution workloads)
net_inds = [i for i in range(len(self.popn))
] #Hack for a synchronous run
#Evolve
if self.args.rollout_size > 0:
self.champ_ind = self.evolver.evolve(self.popn, net_inds,
self.fitnesses,
[self.rollout_actor[0]],
states)
else:
self.champ_ind = self.evolver.evolve(self.popn, net_inds,
self.fitnesses, [],
states)
#Reset fitness metrics
self.fitnesses = [[] for _ in range(self.args.popn_size)]
def update_rollout_actor(self):
for actor in self.rollout_actor:
self.algo.policy.cpu()
mod.hard_update(actor, self.algo.policy)
if self.args.use_gpu: self.algo.policy.cuda()
class Evaluator(object):
def __init__(
self,
CERL_agent,
num_workers,
trainers,
pomdp_adv=False
): #trainers first is the blue agent and second is the red model
self.num_workers = num_workers
self.trainers = trainers
self.pomdp_adv = pomdp_adv
self.args = CERL_agent.args
self.drqn = CERL_agent.args.drqn #denote if blue uses drqn
if self.pomdp_adv:
self.trainers = [trainers[0],
None] #make sure the red model is never used
self.buffer_gpu = CERL_agent.args.buffer_gpu
self.batch_size = CERL_agent.args.batch_size
self.algo = CERL_agent.args.algo
self.state_dim = CERL_agent.args.state_dim
self.action_dim = CERL_agent.args.action_dim
self.buffer = Buffer(BUFFER_SIZE,
self.buffer_gpu) #initialize own replay buffer
self.data_bucket = self.buffer.tuples
self.evo_task_pipes = [Pipe() for _ in range(self.num_workers)]
self.evo_result_pipes = [Pipe() for _ in range(self.num_workers)]
self.actual_red_worker = Actor(
CERL_agent.args.state_dim, CERL_agent.args.action_dim, -1,
'dis') #this model is shared accross the workers
self.actual_red_worker.share_memory()
self.td3args = {
'policy_noise': 0.2,
'policy_noise_clip': 0.5,
'policy_ups_freq': 2,
'action_low': CERL_agent.args.action_low,
'action_high': CERL_agent.args.action_high,
'cerl_args': self.args
}
self.renew_learner(
) #now we are not using new learner for each iteration
self.rollout_bucket = [
self.actual_red_worker for i in range(num_workers)
]
self.workers = [
Process(target=rollout_worker,
args=(id, 3, self.evo_task_pipes[id][1],
self.evo_result_pipes[id][0], False,
self.data_bucket, self.rollout_bucket, 'dummy_name',
None, 'dis', self.trainers, False, self.pomdp_adv))
for id in range(num_workers)
]
for worker in self.workers:
worker.start()
self.evo_flag = [True for _ in range(self.num_workers)]
#def initialize(self, actor_in): #use the given actor parameter to initialize the red actor
# utils.hard_update(self.actual_red_actor, actor_in)
def renew_learner(
self
): #create a new learning agent, with randomized initial parameter
self.learner = Learner(-1,
self.algo,
self.state_dim,
self.action_dim,
actor_lr=5e-5,
critic_lr=1e-3,
gamma=0.99,
tau=5e-3,
init_w=True,
**self.td3args)
self.actual_red_actor = self.learner.algo.actor
def collect_trajectory(self):
utils.hard_update(self.actual_red_worker,
self.actual_red_actor) #first snyc the actor
#launch rollout_workers
for id, actor in enumerate(self.rollout_bucket):
if self.evo_flag[id]:
self.evo_task_pipes[id][0].send(
(id, 0)) #second argument in send is dummy
self.evo_flag[id] = False
#wait for the rollout to complete and record fitness
all_fitness = []
for i in range(self.num_workers):
entry = self.evo_result_pipes[i][1].recv()
all_fitness.append(entry[1])
self.evo_flag[i] = True
self.buffer.referesh() #update replay buffer
return all_fitness
def train_red(
self, training_iterations
): #alternate between collect_trajectory and parameter update
while self.buffer.__len__() < self.batch_size * 10: ###BURN IN PERIOD
self.collect_trajectory()
for i in range(training_iterations):
self.collect_trajectory()
self.buffer.tensorify() # Tensorify the buffer for fast sampling
self.learner.update_parameters(self.buffer, self.buffer_gpu,
self.batch_size, 2) #2 update steps
def evaluate(
self
): #evaluate the quality of blue agent policy, by training a red against it, after evaluation, erase the reply buffer and renew learner
self.train_red(TRAIN_ITERATION)
self.clear_buffer()
#self.renew_learner()
return self.evaluate_fixed_agents(
self.trainers[0], self.trainers[1],
[self.actual_red_actor
]) #calculate the mean and std of the evaluation metric
def evaluate_fixed_agents(
self,
blue_dqn,
red_model,
red_actor_list,
num_iterations=25
): #evaluate the performance given agents, use random neutral and red agent
if self.algo == 'dis': # make env with blue and red policy agent inside,
dis_env = make_self_play_env(
seed=0,
return_policy_agent=False,
trainers=[blue_dqn, red_model]
)[0] # trainer if not None, first is the shared DQN agent, second is the best red policy
env = EnvironmentWrapper(
'', self.algo, dis_env,
0) # the "0" is the index for training blue agent
elif self.algo == 'TD3_tennis':
tennis_env = make_tennis_env.TennisEnvFactory(
seed=np.random.choice(np.array(range(len(self.pop)))),
no_graphics=True,
pid=-1).getEnv()[0]
env = EnvironmentWrapper('Tennis', self.algo, tennis_env, 0)
else:
raise Exception("only work for 'dis' envir?")
average_reward = 0
eps = 0
average_red_reward = 0
red_count = 0
average_actual_blue_reward = 0
blue_count = 0
belief_and_true_type_list = []
assert len(red_actor_list
) is not None, "make sure to input a list of possible red"
for it in range(num_iterations):
belief_and_true_type = []
if not self.pomdp_adv: # if pomdp_adv, make sure that TD3_actor is never used
red_actor = random.choice(red_actor_list)
env.set_TD3_actor(red_actor)
fitness = 0.0
# here fitness if simplely reward
state = env.reset()
belief_and_true_type.append(env.belief_and_true_type())
env.randomize_neu_adv()
if self.pomdp_adv:
env.try_set_pomdp_adv(
) # try to set if opponent to pomdp adv if opponent is adversary, else do nothing
render_flag = (np.random.random() < 0.05)
while True: # unless done
action = blue_dqn.act(state, eps=eps)
next_state, reward, done, info = env.step(
copy.deepcopy(action), use_actual_reward=self.drqn)
belief_and_true_type.append(env.belief_and_true_type())
if render_flag and self.args.render:
env.render()
state = next_state
fitness += reward
if done:
average_red_reward += env.get_red_reward(
) if env.get_red_reward() is not None else 0
average_actual_blue_reward += env.get_blue_actual_reward(
) if env.get_blue_actual_reward() is not None else 0
red_count += 1 if env.get_red_reward() is not None else 0
blue_count += 1 if env.get_blue_actual_reward(
) is not None else 0
if render_flag: env.env.close()
break
belief_and_true_type_list.append(belief_and_true_type)
average_reward += fitness
average_reward /= num_iterations
if red_count != 0:
average_red_reward /= red_count
if blue_count != 0:
average_actual_blue_reward /= blue_count
return average_reward, average_red_reward, average_actual_blue_reward, belief_and_true_type_list
def clear_buffer(self):
self.buffer.clear_buffer_data() #reinitialize replay buffer
def kill_processes(self):
for id, actor in enumerate(self.rollout_bucket):
self.evo_task_pipes[id][0].send(
('TERMINATE', 0)) #second argument in send is dummy
def __del__(self):
self.kill_processes()
