def __init__(self,
observation_spaces,
action_spaces,
shared=False,
hyperparameters=None,
name=None):
name = 'policy_group' if name is None else name
self.hyperparameters = hyperparameters if hyperparameters else {}
self.shared = next(iter(observation_spaces.keys())) if shared else None
if shared:
shared_obs_space = observation_spaces[self.shared]
shared_act_space = action_spaces[self.shared]
shared_policy = Policy(shared_obs_space,
shared_act_space,
name='shared_policy')
policies = {}
for pname, (obs_space,
act_space) in zip_map(observation_spaces,
action_spaces):
assert shared_obs_space == obs_space
assert shared_act_space == act_space
policies[pname] = shared_policy
else:
policies = {
name: Policy(obs_space, act_space, name=name)
for name, (
obs_space,
act_space) in zip_map(observation_spaces, action_spaces)
}
super().__init__(policies, shared=self.shared, name=name)
def _build(self, observations):
'''
Build the agents in the group.
:param observations: (dict) A dictionary of tensors that maps names to
observations.
:return: (PolicyGroupFunc) A namedtuple containing maps of actions,
target actions, update functions.
'''
if self.shared:
names, observations = list(zip(*list(observations.items())))
length = len(observations)
observations = tf.concat(observations, 0)
policy = self.group[self.shared](observations)
policies = {name: policy for name in names}
actions = tf.split(policy.predict, length)
target_actions = tf.split(policy.predict_target, length)
entropy = tf.split(policy.entropy, length)
noisy_target = tf.split(policy.noisy_target, length)
actions = {name: action for name, action in zip(names, actions)}
target_actions = {
name: action
for name, action in zip(names, target_actions)
}
entropy = {name: ent for name, ent in zip(names, entropy)}
noisy_target = {
name: target
for name, target in zip(names, noisy_target)
}
update = policy.update_target
else:
policies = {
name: policy(obs)
for name, (policy, obs) in zip_map(self.group, observations)
}
actions = {}
target_actions = {}
entropy = {}
noisy_target = {}
update = []
policies = {
name: policy(obs)
for name, (policy, obs) in zip_map(self.group, observations)
}
for name, policy in policies.items():
actions[name] = policy.predict
target_actions[name] = policy.predict_target
entropy[name] = policy.entropy
noisy_target[name] = policy.noisy_target
update.append(policy.update_target)
update = tf.group(*update)
return PolicyGroupFunc(policies, actions, target_actions, update,
entropy, noisy_target)
def test_convert_spaces_to_placeholders():
'''Test convert_spaces_to_placeholders function.'''
spaces = {str(i): Box(0, 1, shape=(4, )) for i in range(10)}
placeholders = utils.convert_spaces_to_placeholders(spaces, False)
assert spaces.keys() == placeholders.keys()
for _, (space, placeholder) in utils.zip_map(spaces, placeholders):
assert list(space.shape) == placeholder.shape.as_list()
def compute_qvalue(self, observations, actions, rewards, dones, gamma):
'''Compute the Q value.'''
target = self.critic_group(observations, actions).target_values
return {
name: tf.stop_gradient(R + gamma * (1. - D) * Q)
for name, (Q, R, D) in zip_map(target, rewards, dones)
}
def __init__(self, observation_spaces, action_spaces, shared=False,
hyperparameters=None, name=None):
name = 'critic_group' if name is None else name
self.hyperparameters = hyperparameters if hyperparameters else {}
self.shared = next(iter(observation_spaces.keys())) if shared else None
if shared:
obs_space = observation_spaces[self.shared]
act_space = action_spaces[self.shared]
shared_critic = Critic(obs_space, act_space, name='shared_critic')
critics = {}
for key, (obs, act) in zip_map(observation_spaces, action_spaces):
assert obs_space == obs
assert act_space == act
critics[key] = shared_critic
else:
critics = {key: Critic(obs, act, name=key)
for key, (obs, act) in
zip_map(observation_spaces, action_spaces)}
super().__init__(critics, shared=self.shared, name=name)
def _encode_sample(self, idxes):
obses_t = defaultdict(list)
actions = defaultdict(list)
rewards = defaultdict(list)
obses_tp1 = defaultdict(list)
dones = defaultdict(list)
for i in idxes:
data = self._storage[i]
obs_t, action, reward, obs_tp1, done = data
for key, (obs_t, action, reward, obs_tp1, done) in zip_map(*data):
obses_t[key].append(obs_t)
actions[key].append(action)
rewards[key].append(reward)
obses_tp1[key].append(obs_tp1)
dones[key].append(done)
return obses_t, actions, rewards, obses_tp1, dones
def create_optimizers(self, values):
'''Create optimizers from the group.'''
losses = {}
opts = {}
learning_rate = self.hyperparameters.get('learning_rate', 1e-4)
if self.shared:
policy = self.group[self.shared]
values = values[self.shared]
opts, loss = policy.create_optimizer(values,
learning_rate=learning_rate)
losses = {name: loss for name in self.group}
else:
for name, (policy, value) in zip_map(self.group, values):
opts[name], losses[name] = policy.create_optimizer(
value, learning_rate=learning_rate)
opts = tf.group(*list(opts.values()))
return opts, losses
def _build(self, observation):
'''
Build the networks needed for the MADDPG.
:param obs: (tensorflow.Tensor) Tensor of observations.
:return: (MaddpgFunc) A tuple of functions used for evaluating
and training.
'''
if self.normalize.get('observation'):
observation = {
key: norm(obs, False)
for key, (obs, norm) in zip_map(observation,
self.normalize['observation'])
}
policies = self.policy_group(observation)
predict = policies.actions
return ComaFunc(None, None, None, None, predict, None, None, None)
def _build(self, observations, actions):
'''
Build the agents in the group.
'''
if self.shared:
observations = sorted(list(observations.items()),
key=lambda x: x[0])
actions = sorted(list(actions.items()),
key=lambda x: x[0])
names, observations = list(zip(*observations))
_, actions = list(zip(*actions))
length = len(observations)
observations = tf.concat(observations, 0)
actions = tf.concat(actions, 0)
critic = self.group[self.shared](observations, actions)
critics = {name: critic for name in names}
values = tf.split(critic.predict, length)
target_values = tf.split(critic.predict_target, length)
values = {name: value for name, value in zip(names, values)}
target_values = {name: value
for name, value in zip(names, target_values)}
#update = {name: policy.update_target for name in self.group}
update = critic.update_target
else:
critics = {name: critic(obs, act) for name, (critic, obs, act) in
zip_map(self.group, observations, actions)}
values = {}
target_values = {}
update = []
for name, critic in critics.items():
values[name] = critic.predict
target_values[name] = critic.predict_target
update.append(critic.update_target)
update = tf.group(*update)
return CriticGroupFunc(critics, values, target_values, update)
def test_map_zip_all_equal():
'''Test map_zip function.'''
mappings = [{i: i for i in range(10)} for j in range(10)]
for ke_y, values in utils.zip_map(*mappings):
assert len(set(values)) == 1
def test_map_zip_all_descending():
'''Test map_zip function.'''
mappings = [{i: i for i in range(10 - j)} for j in range(10)]
with pytest.raises(KeyError):
for _, values in utils.zip_map(*mappings):
assert len(set(values)) == 1
def test_map_zip_all_ascending():
'''Test map_zip function.'''
mappings = [{i: i for i in range(10 + j)} for j in range(10)]
for _, values in utils.zip_map(*mappings):
assert len(set(values)) == 1
def main(batch_size=1):
multi_env = MultiOptLRs(data_set='mnist', max_batches=100,
batch_size=128, max_history=25)
agents = Maddpg(multi_env.observation_space,
multi_env.action_space,
shared_policy=True, shared_critic=True)
print_tqdm('Starting...')
exp_replay = {name: ReplayBuffer(1e6)
for name in multi_env.action_space.spaces}
global_step = 0
last_info = defaultdict(lambda: None)
for _ in trange(60000):
total_reward = 0
states_last = states = multi_env.reset()
done = False
all_actions = []
while not done:
actions = agents.predict(states)
actions = {key: np.squeeze(act) for key, act in actions.items()}
states, reward, done, info = multi_env.step(actions)
if done:
last_info = info
#print(np.any(np.isnan(list(actions.values()))))
total_reward += reward
rewards = {key: reward for key in states}
dones = {key: done for key in states}
all_results = states_last, actions, rewards, states, dones
all_results = {
name: values for name, values in zip_map(*all_results)
}
for key, (replay, results) in zip_map(exp_replay, all_results):
replay.add(*results)
if global_step > batch_size and global_step % 100 == 0:
states_feed = {}
actions_feed = {}
rewards_feed = {}
states_n_feed = {}
dones_feed = {}
idxs = {}
for key, replay in exp_replay.items():
#idx, mem, _ = replay.sample(1024)
#idxs[key] = idx
#stat, actio, rewar, stat_n, don = mem
stat, actio, rewar, stat_n, don = replay.sample(batch_size)
states_feed[key] = stat
actions_feed[key] = actio
rewards_feed[key] = rewar
states_n_feed[key] = stat_n
dones_feed[key] = don
loss_before = agents.compute_loss(states_feed, actions_feed,
rewards_feed, states_n_feed,
dones_feed)
losses = agents.train_step(states_feed, actions_feed,
rewards_feed, states_n_feed,
dones_feed)
losses = agents.compute_loss(states_feed, actions_feed,
rewards_feed, states_n_feed,
dones_feed)
agents.update_targets()
actor_loss_before = np.mean(
list(loss_before['actor'].values()))
critic_loss_before = np.mean(
list(loss_before['critic'].values()))
actor_loss = np.mean(list(losses['actor'].values()))
critic_loss = np.mean(list(losses['critic'].values()))
all_actions = [list(act.values()) for act in all_actions]
print_tqdm('*'*80)
print_tqdm('Training:')
print_tqdm('Total Reward:', total_reward)
print_tqdm('Stats:', last_info['episode'])
print_tqdm('Grads Sum:', last_info['grads_sum'])
print_tqdm('Action Mean:', last_info['actions_mean'])
print_tqdm('Action Std:', last_info['actions_std'])
print_tqdm('Network Loss:', last_info['loss'])
print_tqdm('Network Accu:', last_info['accuracy'])
print_tqdm('Actor Loss Before:', actor_loss_before)
print_tqdm('Critic Loss Before:', critic_loss_before)
print_tqdm('Actor Loss:', actor_loss)
print_tqdm('Critic Loss:', critic_loss)
print_tqdm('*'*80)
states_last = states
global_step += 1
all_actions.append(actions)
agents.save('optimizer/model.ckpt')
def _build(self,
observation,
actions,
rewards,
observation_n,
dones,
gamma=0.95):
'''
Build the networks needed for the MADDPG.
:param obs: (tensorflow.Tensor) Tensor of observations.
:param rewards: (tensorflow.Tensor) Tensor of rewards.
:param dones: (tensorflow.Tensor) Tensor of boolean like values that
denote whether an episode completed
such that if the ith done in dones
is 1 then the ith step was the last
step.
:param gamma: (float) The gamma value to use.
:return: (MaddpgFunc) A tuple of functions used for evaluating
and training.
'''
if self.normalize.get('observation'):
observation = {
key: norm(obs, False)
for key, (obs, norm) in zip_map(observation,
self.normalize['observation'])
}
observation_n = {
key: norm(obs, False)
for key, (obs, norm) in zip_map(observation_n,
self.normalize['observation'])
}
if self.normalize.get('reward'):
rewards = {
key: norm(rew, False)
for key, (rew,
norm) in zip_map(rewards, self.normalize['reward'])
}
obs_n_concat = U.concat_map(observation_n)
obs_n_concat = {name: obs_n_concat for name in observation}
global_critics = self.global_critic_group
worst_qactions = self.worst_policy_group(observation_n).actions
worst_qactions = U.concat_map(worst_qactions)
worst_qactions = {name: worst_qactions for name in observation}
worst_qvalues = global_critics(obs_n_concat,
worst_qactions).target_values
best_qactions = self.best_policy_group(observation_n).actions
best_qactions = U.concat_map(best_qactions)
best_qactions = {name: best_qactions for name in observation}
best_qvalues = self.compute_global_qvalue(obs_n_concat, best_qactions,
rewards, dones, gamma)
all_actions = U.concat_map(actions)
all_actions = {name: all_actions for name in self.action_spaces}
obs_concat = U.concat_map(observation)
obs_concat = {name: obs_concat for name in observation}
global_values = global_critics(obs_concat, all_actions).values
global_opts = global_critics.create_optimizers(global_values,
best_qvalues)
personal_reward = {
name: tf.stop_gradient(gval - wval)
for name, (gval, wval) in zip_map(global_values, worst_qvalues)
}
personal_critics = self.personal_critic_group
personal_values = personal_critics(obs_concat, all_actions).values
personal_qvalue = self.compute_personal_qvalue(obs_n_concat,
best_qactions,
personal_reward, dones,
gamma)
personal_critic = personal_critics.create_optimizers(
personal_values, personal_qvalue)
predict = self.best_policy_group(observation).actions
all_actions = U.concat_map(predict)
all_actions = {name: all_actions for name in self.action_spaces}
target_vals = personal_critics(obs_concat, all_actions).target_values
worst_predict = self.worst_policy_group(observation).actions
worst_predict = U.concat_map(worst_predict)
worst_predict = {name: worst_predict for name in self.action_spaces}
worst_vals = personal_critics(obs_concat, worst_predict).target_values
worst_vals = {name: -v for name, v in worst_vals.items()}
best_policy = self.best_policy_group.create_optimizers(target_vals)
worst_policy = self.worst_policy_group.create_optimizers(worst_vals)
critic_opts = [global_opts[0], personal_critic[0]]
critic_losses = [global_opts[1], personal_critic[1]]
#po_opts = [best_policy[0], worst_policy[0]]
#po_losses = [best_policy[1], worst_policy[1]]
po_opts = [best_policy[0], worst_policy[0]]
po_losses = [best_policy[1], worst_policy[1]]
critic_opts = tf.group(critic_opts)
critic_losses = {
name: tf.reduce_mean(tf.stack(losses, -1), -1)
for name, losses in zip_map(*critic_losses)
}
update_critic = tf.group([
global_critics.update_targets(5e-3),
self.personal_critic_group.update_targets(5e-3)
])
po_opts = tf.group(po_opts)
po_losses = {
name: tf.math.reduce_std(tf.stack(losses, -1), -1)
for name, losses in zip_map(*po_losses)
}
update_policy = tf.group([
self.worst_policy_group.update_targets(5e-3),
self.best_policy_group.update_targets(5e-3)
])
return ComaFunc(po_opts, critic_opts, po_losses, critic_losses,
predict, target_vals, update_policy, update_critic)
def _build(self,
observation,
actions,
rewards,
observation_n,
dones,
gamma=0.95):
'''
Build the networks needed for the MADDPG.
:param obs: (tensorflow.Tensor) Tensor of observations.
:param rewards: (tensorflow.Tensor) Tensor of rewards.
:param dones: (tensorflow.Tensor) Tensor of boolean like values that
denote whether an episode completed
such that if the ith done in dones
is 1 then the ith step was the last
step.
:param gamma: (float) The gamma value to use.
:return: (MaddpgFunc) A tuple of functions used for evaluating
and training.
'''
if self.normalize.get('observation'):
observation = {
key: norm(obs, False)
for key, (obs, norm) in zip_map(observation,
self.normalize['observation'])
}
observation_n = {
key: norm(obs, False)
for key, (obs, norm) in zip_map(observation_n,
self.normalize['observation'])
}
if self.normalize.get('reward'):
rewards = {
key: norm(rew, False)
for key, (rew,
norm) in zip_map(rewards, self.normalize['reward'])
}
obs_n_concat = U.concat_map(observation_n)
obs_n_concat = {name: obs_n_concat for name in observation}
qactions = self.policy_group(observation_n).target_actions
qactions = U.concat_map(qactions)
qactions = {name: qactions for name in observation}
# qvalues = self.compute_qvalue(observation_n, qactions, rewards,
# dones, gamma)
qvalues = self.compute_qvalue(obs_n_concat, qactions, rewards, dones,
gamma)
actions = U.concat_map(actions)
actions = {name: actions for name in self.action_spaces}
obs_concat = U.concat_map(observation)
obs_concat = {name: obs_concat for name in observation}
#values = self.critic_group(observation, actions).values
values = self.critic_group(obs_concat, actions).values
#cr_opts, cr_losses = self.get_critic_optimizer(values, qvalue)
critic_opts, critic_losses = self.critic_group.create_optimizers(
values, qvalues)
predict = self.policy_group(observation).actions
actions = U.concat_map(predict)
actions = {name: actions for name in self.action_spaces}
#target_vals = self.critic_group(observation, actions).target_values
target_vals = self.critic_group(obs_concat, actions).target_values
po_opts, po_losses = self.get_policy_optimizer(target_vals)
update_critic = self.critic_group.update_targets(5e-3)
return MaddpgFunc(po_opts, critic_opts, po_losses, critic_losses,
predict, target_vals,
self.policy_group.update_targets(5e-3),
update_critic)
