class Agent():
"""Interacts with and learns from the environment."""
def __init__(self, state_size, action_size, random_seed):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
random_seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.random_seed = random_seed
self.seed = random.seed(random_seed)
np.random.seed(random_seed)
# Actor Network (w/ Target Network)
self.actor_local = ActorNet(self.state_size, self.action_size, random.random()).to(device)
self.actor_target = ActorNet(self.state_size, self.action_size, random.random()).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(), lr=LR_ACTOR)
def act(self, states, add_noise=True, noise_strength=1.0):
"""Returns actions for given state as per current policy."""
states = torch.from_numpy(states).float().to(device)
self.actor_local.eval()
with torch.no_grad():
actions = self.actor_local(states).cpu().data.numpy()
self.actor_local.train()
if add_noise:
noise = np.random.randn(*actions.shape) * NOISE * noise_strength
actions += noise
return np.clip(actions, -1, 1)
def __init__(self,
state_size,
action_size,
device,
seed,
LR=5e-4,
gamma=0.95,
entropy_weight=0.02,
actor_network_max_grad_norm=5,
critic_network_max_grad_norm=5,
nstepqlearning_size=5,
gae_lambda=1.0):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
LR (float): learning rate
GAMMA (float): factor used to discount future values
entropy_weight (float): weight of the entropy value using with the entropy_loss
actor_network_max_grad_norm (float): threshold value used in gradient clipping in the actor model
critic_network_max_grad_norm (float): threshold value used in gradient clipping in the critic model
nstepqlearning_size (int): the number of steps used for the N-step bootstrapping algorithm
gae_lambda (float): lambda used in GAE algorithm to use as discount factor in getting a mixture of every available estimated N-step bootstrapping results (from 1-5).
"""
self.state_size = state_size
self.action_size = action_size
self.entropy_weight = entropy_weight
random.seed(seed)
self.gamma = gamma
self.actor_network_max_grad_norm = actor_network_max_grad_norm
self.critic_network_max_grad_norm = critic_network_max_grad_norm
self.nstepqlearning_size = nstepqlearning_size
self.gae_lambda = gae_lambda
self.device = device
print("----Dumping agent hyperparameters---- ")
print("LR: ", LR)
print("gamma: ", gamma)
print("actor_network_max_grad_norm: ",
self.actor_network_max_grad_norm)
print("critic_network_max_grad_norm: ",
self.critic_network_max_grad_norm)
print("nstepqlearning_size: ", self.nstepqlearning_size)
print("gae_lambda: ", self.gae_lambda)
print("entropy_weight: ", self.entropy_weight)
print("------------------------------------- ")
self.actor_net = ActorNet(state_size, action_size, device,
seed).to(self.device) # Theta
self.critic_net = CriticNet(state_size, action_size,
seed).to(self.device) # Thetav
self.actor_optimizer = optim.RMSprop(self.actor_net.parameters(),
lr=LR)
self.critic_optimizer = optim.RMSprop(self.critic_net.parameters(),
lr=LR)
def __init__(self, state_size, action_size, fc1_units, fc2_units, seed,
gamma, lr_actor, lr_critic, tau, buffer_size, batch_size,
weight_decay):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
fc1_units (int): number of nodes in layer 1 of neural network
fc2_units (int): number of nodes in layer 2 of neural network
seed (int): seed
gamma (float): discount parameter
lr_actor (float): learning rate for Actor
lr_critic (float): leanring rate for Critic
tau (float): interpolation parameter
buffer_size (int): size of memory buffer
batch_size (int): number of experiences to sample during learning
weight_decay (int): weight decay parameter
"""
self.state_size = state_size
self.action_size = action_size
self.gamma = gamma
self.lr_actor = lr_actor
self.lr_critic = lr_critic
self.tau = tau
self.batch_size = batch_size
# Neural Netowrk Params
self.actor_target = ActorNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.actor_local = ActorNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(),
lr=self.lr_actor)
self.critic_target = CriticNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.critic_local = CriticNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.critic_optimizer = optim.Adam(self.actor_local.parameters(),
lr=self.lr_critic)
# Noise process
self.noise = OUNoise(action_size, seed)
# Memory buffer
self.memory = ReplayBuffer(action_size, buffer_size, batch_size, seed)
def __init__(self, state_size, action_size, random_seed):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
random_seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.random_seed = random_seed
self.seed = random.seed(random_seed)
np.random.seed(random_seed)
# Actor Network (w/ Target Network)
self.actor_local = ActorNet(self.state_size, self.action_size, random.random()).to(device)
self.actor_target = ActorNet(self.state_size, self.action_size, random.random()).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(), lr=LR_ACTOR)
def __init__(self, state_size, action_size, num_agents, seed):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.num_agents = num_agents #2
self.seed = random.seed(seed)
# Actor Network
self.actor_local = ActorNet(state_size, action_size, seed).to(device)
self.actor_target = ActorNet(state_size, action_size, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(),
lr=LR_ACTOR)
# Critic Network
self.critic_local = CriticNet(state_size, action_size, seed).to(device)
self.critic_target = CriticNet(state_size, action_size,
seed).to(device)
self.critic_optimizer = optim.Adam(self.critic_local.parameters(),
lr=LR_CRITIC)
# Q-Network
#self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
#self.qnetwork_target = QNetwork(state_size, action_size, seed).to(device)
#self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Noise process (Instead of epsilon in DQN) - taken from example
self.noise = G_Noise((num_agents, action_size),
seed,
sigma=NOISE_SIGMA)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
def train(train_env_id: str,
eval_env_id: str,
logdir: str,
cfg: ExperimentConfig,
save_path: str,
pretrain_path: Optional[str] = None) -> DDPGAgent:
pretrain = torch.load(os.path.join(pretrain_path)) \
if pretrain_path is not None \
else None
env = set_env_metadata(train_env_id, cfg)
train_env = make_vec_env(train_env_id,
num_envs=cfg.episodes_per_cycle,
no_timeout=True,
seed=cfg.seed)
eval_env = make_vec_env(eval_env_id,
num_envs=cfg.num_eval_envs,
no_timeout=True,
seed=cfg.seed + 100)
replay = HERReplayBuffer(cfg=cfg)
tf_logger = TensorboardLogger(logdir)
actor = ActorNet(obs_dim=cfg.obs_dim,
goal_dim=cfg.goal_dim,
action_dim=cfg.action_dim,
action_range=cfg.action_range,
zero_last=(pretrain_path is not None))
critic = CriticNet(obs_dim=cfg.obs_dim,
goal_dim=cfg.goal_dim,
action_dim=cfg.action_dim,
action_range=cfg.action_range)
normalizer = Normalizer(cfg.obs_dim+cfg.goal_dim) \
if pretrain is None \
else pretrain.normalizer
agent = DDPGAgent(cfg=cfg,
actor=actor,
critic=critic,
normalizer=normalizer,
reward_fn=env.compute_reward,
pretrain=getattr(pretrain, 'actor', None))
engine = DDPGEngine(cfg=cfg,
agent=agent,
train_env=train_env,
eval_env=eval_env,
replay=replay,
tf_logger=tf_logger)
engine.train()
env.close()
train_env.close()
eval_env.close()
torch.save(agent, os.path.join(save_path))
return agent
def __init__(self, state_size, action_size, seed):
"""
Initializes a DDPG Agent.
params:
- state_size (int) : dimension of each state.
- action_size (int) : dimension of each action.
- seed (int) : random seed.
"""
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(seed)
self.eps = EPSILON_START
# Setup Actor Network
self.actor_net = ActorNet(self.state_size, self.action_size, seed).to(device)
self.target_actor_net = ActorNet(self.state_size, self.action_size, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_net.parameters(), lr=LR_ACTOR)
# Setup Critic Network
self.critic_net = CriticNet(self.state_size, self.action_size, seed).to(device)
self.target_critc_net = CriticNet(self.state_size, self.action_size, seed).to(device)
self.critic_optimizer = optim.Adam(self.critic_net.parameters(), lr=LR_CRITIC)
# noise process
self.noise = OUNoise(self.action_size, seed)
# create replay buffer
self.buffer = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# timestep counter
self.tstep = 0
def __init__(self,
env,
batch_size,
replay_capacity,
episodes_before_train,
device='cpu'):
self.env = env
self.n_agents = env.n
self.memory = memory.ReplayMemory(replay_capacity)
self.actors = [
ActorNet(env.observation_space[i].shape[0], env.action_space[i].n)
for i in range(self.n_agents)
]
self.critics = [
CriticNet(env.observation_space[i].shape[0], env.n)
for i in range(self.n_agents)
]
self.critic_optimizers = [
Adam(x.parameters(), lr=0.01) for x in self.critics
]
self.actor_optimizers = [
Adam(x.parameters(), lr=0.01) for x in self.actors
]
self.actor_targets = deepcopy(self.actors)
self.critic_targets = deepcopy(self.critics)
self.device = device
self.episodes_before_train = episodes_before_train
self.batch_size = batch_size
self.GAMMA = 0.95
self.epsilon = 0.3
for x in self.actors:
x.to(device)
for x in self.critics:
x.to(device)
for x in self.actor_targets:
x.to(device)
for x in self.critic_targets:
x.to(device)
class A2C_Agent():
"""Interacts with and learns from the environment."""
def __init__(self,
state_size,
action_size,
device,
seed,
LR=5e-4,
gamma=0.95,
entropy_weight=0.02,
actor_network_max_grad_norm=5,
critic_network_max_grad_norm=5,
nstepqlearning_size=5,
gae_lambda=1.0):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
LR (float): learning rate
GAMMA (float): factor used to discount future values
entropy_weight (float): weight of the entropy value using with the entropy_loss
actor_network_max_grad_norm (float): threshold value used in gradient clipping in the actor model
critic_network_max_grad_norm (float): threshold value used in gradient clipping in the critic model
nstepqlearning_size (int): the number of steps used for the N-step bootstrapping algorithm
gae_lambda (float): lambda used in GAE algorithm to use as discount factor in getting a mixture of every available estimated N-step bootstrapping results (from 1-5).
"""
self.state_size = state_size
self.action_size = action_size
self.entropy_weight = entropy_weight
random.seed(seed)
self.gamma = gamma
self.actor_network_max_grad_norm = actor_network_max_grad_norm
self.critic_network_max_grad_norm = critic_network_max_grad_norm
self.nstepqlearning_size = nstepqlearning_size
self.gae_lambda = gae_lambda
self.device = device
print("----Dumping agent hyperparameters---- ")
print("LR: ", LR)
print("gamma: ", gamma)
print("actor_network_max_grad_norm: ",
self.actor_network_max_grad_norm)
print("critic_network_max_grad_norm: ",
self.critic_network_max_grad_norm)
print("nstepqlearning_size: ", self.nstepqlearning_size)
print("gae_lambda: ", self.gae_lambda)
print("entropy_weight: ", self.entropy_weight)
print("------------------------------------- ")
self.actor_net = ActorNet(state_size, action_size, device,
seed).to(self.device) # Theta
self.critic_net = CriticNet(state_size, action_size,
seed).to(self.device) # Thetav
self.actor_optimizer = optim.RMSprop(self.actor_net.parameters(),
lr=LR)
self.critic_optimizer = optim.RMSprop(self.critic_net.parameters(),
lr=LR)
def tensor(self, x):
if isinstance(x, torch.Tensor):
return x
x = np.asarray(x, dtype=np.float32)
x = torch.from_numpy(x).to(self.device)
return x
def act(self, state):
"""Returns actions for given state as per current policy.
Params
======
state (array_like): current state
"""
state = torch.from_numpy(state).float().unsqueeze(0).to(self.device)
self.actor_net.eval()
self.critic_net.eval()
(actor_values, log_prob, entropy) = self.actor_net(state)
critic_values = self.critic_net(state)
self.actor_net.train()
self.critic_net.train()
return actor_values, log_prob, entropy, critic_values
def train_one_episode(self, env, brain_name):
env_info = env.reset(
train_mode=True)[brain_name] # reset the environment
num_agents = len(env_info.agents)
states = env_info.vector_observations # get the current state (for each agent)
episode_terminated = False
scores = np.zeros(num_agents) # initialize the score (for each agent)
while episode_terminated == False:
l_states = []
l_actions = []
l_rewards = [] #np.zeros(( nstepqlearning_size, num_agents ))
l_masks = []
l_next_states = []
l_values = []
l_log_probs = []
l_entropy = []
nstep_memory_size = self.nstepqlearning_size
for i in range(self.nstepqlearning_size):
# Get a(t) according to actor policy
(actions, log_prob, entropy, values) = self.act(states)
actions = np.clip(
actions, -1, 1
) # Put all actions between -1 and 1. ( The last activation of the Actor is tanh, which puts the out values in this range,
# but later we are sampling it which can produce values outside of this range)
# Perform a(t) in all environments
env_info = env.step(actions)[
brain_name] # send all actions to tne environment
# get s(t+1), r(t) and wasLastAction(t)
next_states = env_info.vector_observations # get next state (for each agent)
rewards = env_info.rewards # get reward (for each agent)
dones = env_info.local_done # see if episode finished
masks = 1 - np.asarray(dones, np.int)
l_states.append(states)
l_actions.append(actions)
l_rewards.append(rewards)
l_masks.append(masks)
l_next_states.append(next_states)
l_values.append(values)
l_log_probs.append(log_prob)
l_entropy.append(entropy)
# update score
scores += env_info.rewards # update the score (for each agent)
states = next_states # roll over states to next time step
if np.any(dones): # exit loop if episode terminated
nstep_memory_size = i + 1
episode_terminated = True
break
# get one prediction for the last estimated Q value
(_, _, _, values) = self.act(states)
l_values.append(values) # Add to the list, GAE will use it
advantages = self.tensor(torch.zeros((num_agents))).to(self.device)
returns = values.reshape((num_agents, )).to(
self.device
) # last estimated Value ( of s(t+nstep_memory_size) )
l_advantages = [None] * nstep_memory_size
l_rets = [None] * nstep_memory_size
l_masks = torch.tensor(np.array(l_masks)).to(self.device)
l_rewards = torch.tensor(np.array(l_rewards)).to(self.device)
for i in reversed(range(nstep_memory_size)):
returns = l_rewards[i] + self.gamma * l_masks[i] * returns
# Normal advantage calculation.
#advantages = returns - l_values[i].detach().reshape((num_agents, ))
# GAE
td_error = l_rewards[i] + self.gamma * l_masks[i] * l_values[
i + 1] - l_values[i]
advantages = advantages * self.gae_lambda * self.gamma * l_masks[
i] + td_error
# GAE end
l_advantages[i] = advantages.detach()
l_rets[i] = returns.detach()
# bring log_probs list to Tensor with shape [ num_agents,nstepqlearning_size ]
logprobs = torch.cat(l_log_probs).squeeze()
logprobs = logprobs.reshape(
(nstep_memory_size * num_agents)).to(self.device)
ents = torch.cat(l_entropy).squeeze()
advantages_tensor = torch.cat(
l_advantages, dim=0).squeeze().detach().to(self.device)
policy_loss = -(logprobs * advantages_tensor).mean()
# entropy: currently it's constant but I left it here, to make it possible to use different distribution parameters during the training process
entropy_loss = ents.mean()
# ==== train Critic ====
self.critic_optimizer.zero_grad()
l_rets = torch.cat(l_rets,
dim=0).squeeze().detach().to(self.device)
l_values = torch.cat(l_values[:nstep_memory_size],
dim=0).squeeze().to(self.device)
v = 0.5 * (l_rets - l_values)
value_loss = v.pow(2).mean()
value_loss.backward()
torch.nn.utils.clip_grad_norm_(self.critic_net.parameters(),
self.critic_network_max_grad_norm)
self.critic_optimizer.step()
# ==== train Actor ====
self.actor_optimizer.zero_grad()
# Add entropy term to the loss function to encourage having evenly distributed actions
(policy_loss - self.entropy_weight * entropy_loss).backward()
torch.nn.utils.clip_grad_norm_(self.actor_net.parameters(),
self.actor_network_max_grad_norm)
self.actor_optimizer.step()
return scores
class Agents(): # based on DQN
"""Interacts with and learns from the environment."""
def __init__(self, state_size, action_size,num_agents, seed):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.num_agents = num_agents
self.seed = random.seed(seed)
# Actor Network
self.actor_local = ActorNet(state_size, action_size, seed).to(device)
self.actor_target = ActorNet(state_size, action_size, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(), lr=LR_ACTOR)
# Critic Network
self.critic_local = CriticNet(state_size, action_size, seed).to(device)
self.critic_target = CriticNet(state_size, action_size, seed).to(device)
self.critic_optimizer = optim.Adam(self.critic_local.parameters(), lr=LR_CRITIC)
# Q-Network
#self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
#self.qnetwork_target = QNetwork(state_size, action_size, seed).to(device)
#self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Noise process (Instead of epsilon in DQN) - taken from example
self.noise = G_Noise((num_agents, action_size), seed,sigma=NOISE_SIGMA)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
def step(self, state, action, reward, next_state, done,debugFlag=False):
# Save experience in replay memory (For N agents)
for i in range(self.num_agents):
self.memory.add(state[i,:], action[i,:], reward[i], next_state[i,:], done[i])
# Learn every UPDATE_EVERY time steps.
self.t_step = (self.t_step + 1) % UPDATE_EVERY
if self.t_step == 0:
# If enough samples are available in memory, get random subset and learn
if len(self.memory) > BATCH_SIZE:
experiences = self.memory.sample()
self.learn(experiences, GAMMA,debugF = debugFlag)
def act(self, state, noiseFlag=True):
"""Returns actions for given state as per current policy.
Params
======
state (array_like): current state
eps (float): epsilon, for epsilon-greedy action selection
"""
states = torch.from_numpy(state).float().to(device)
actions = np.zeros((self.num_agents, self.action_size))
self.actor_local.eval()
with torch.no_grad():
for i in range(self.num_agents):
actions[i, :] = self.actor_local(states[i,:]).cpu().numpy()
self.actor_local.train()
if noiseFlag:
actions += self.noise.sample()
return np.clip(actions, -1, 1)
# Epsilon-greedy action selection
#if random.random() > eps:
# return np.argmax(action_values.cpu().data.numpy())
#else:
# return random.choice(np.arange(self.action_size))
def learn(self, experiences, gamma,debugF=False):
"""Update value parameters using given batch of experience tuples.
Params
======
experiences (Tuple[torch.Variable]): tuple of (s, a, r, s', done) tuples
gamma (float): discount factor
Actor should learn the best argmax_a(Q(s,a)
Critic should learn to expect the Q(s,a) where a is the chosen action by the actor
"""
states, actions, rewards, next_states, dones = experiences
#### CRITIC LEARN ####
# calc a_next and Q(s,a)_next
action_next = self.actor_target(next_states)
Q_targets_next = self.critic_target(next_states, action_next)
# calc estimated Q(s,a) (one-step boot straping)
Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
#calc Q(s,a) from critic local (expected)
Q_local = self.critic_local(states,actions.float())
critic_loss = F.mse_loss(Q_local, Q_targets)
# Minimize the loss
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
#### ACTOR LEARN ####
actions_predict = self.actor_local(states)
actor_loss = -self.critic_local(states,actions_predict).mean() ## we expected low value when actions are good, and minus for the learning direction
# Minimize the loss
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
# ------------------- update target network ------------------- #
self.soft_update(self.critic_local, self.critic_target, TAU)
self.soft_update(self.actor_local, self.actor_target, TAU)
'''
# Get max predicted Q values (for next states) from target model
act_next_local = self.qnetwork_local(next_states).detach().max(1)[1].unsqueeze(1)
Q_targets_next = self.qnetwork_target(next_states).detach().gather(1, act_next_local)
#Q_targets_next = self.qnetwork_target(next_states).detach().max(1)[0].unsqueeze(1)
if debugF:
#self.qnetwork_target.eval()
#tmp = self.qnetwork_local(next_states).detach().max(1)[1].unsqueeze(1)
#self.qnetwork_target.train()
print(Q_targets_next)
# Compute Q targets for current states
Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
# Get expected Q values from local model
Q_expected = self.qnetwork_local(states).gather(1, actions)
# Compute loss
loss = F.mse_loss(Q_expected, Q_targets)
# Minimize the loss
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# ------------------- update target network ------------------- #
self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
'''
def soft_update(self, local_model, target_model, tau):
"""Soft update model parameters.
θ_target = τ*θ_local + (1 - τ)*θ_target
Params
======
local_model (PyTorch model): weights will be copied from
target_model (PyTorch model): weights will be copied to
tau (float): interpolation parameter
"""
for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
target_param.data.copy_(tau*local_param.data + (1.0-tau)*target_param.data)
class Agent():
"""Interacts with and learns from the environment."""
def __init__(self, state_size, action_size, fc1_units, fc2_units, seed,
gamma, lr_actor, lr_critic, tau, buffer_size, batch_size,
weight_decay):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
fc1_units (int): number of nodes in layer 1 of neural network
fc2_units (int): number of nodes in layer 2 of neural network
seed (int): seed
gamma (float): discount parameter
lr_actor (float): learning rate for Actor
lr_critic (float): leanring rate for Critic
tau (float): interpolation parameter
buffer_size (int): size of memory buffer
batch_size (int): number of experiences to sample during learning
weight_decay (int): weight decay parameter
"""
self.state_size = state_size
self.action_size = action_size
self.gamma = gamma
self.lr_actor = lr_actor
self.lr_critic = lr_critic
self.tau = tau
self.batch_size = batch_size
# Neural Netowrk Params
self.actor_target = ActorNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.actor_local = ActorNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(),
lr=self.lr_actor)
self.critic_target = CriticNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.critic_local = CriticNet(state_size, action_size, fc1_units,
fc2_units, seed).to(device)
self.critic_optimizer = optim.Adam(self.actor_local.parameters(),
lr=self.lr_critic)
# Noise process
self.noise = OUNoise(action_size, seed)
# Memory buffer
self.memory = ReplayBuffer(action_size, buffer_size, batch_size, seed)
def step(self, states, actions, rewards, next_states, dones):
# Save experience in replay memory
for state, action, reward, next_state, done in zip(
states, actions, rewards, next_states, dones):
self.memory.add(state, action, reward, next_state, done)
# Learn if there are enough samples for a batch
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences, self.gamma)
def act(self, state, add_noise=True):
state = torch.from_numpy(state).float().to(device)
self.actor_local.eval()
with torch.no_grad():
action = self.actor_local(state)
self.actor_local.train()
if add_noise:
action += torch.as_tensor(self.noise.sample()).float().to(device)
return torch.clamp(action, -1, 1).cpu().data.numpy().tolist()
def reset(self):
self.noise.reset()
def learn(self, experiences, gamma):
states, actions, rewards, next_states, dones = experiences
### UPDATE CRITIC ###
# Get predicted Q values (for next states) from target model
actions_next = self.actor_target(next_states)
Q_targets_next = self.critic_target(next_states, actions_next)
# Compute Q targets for current states
Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
# Compute loss (critic)
Q_expected = self.critic_local(states, actions.float())
critic_loss = F.mse_loss(Q_expected, Q_targets)
# Minimise the loss (critic)
self.critic_optimizer.zero_grad()
critic_loss.backward()
# Use grad clipping to prevent exploding gradients
torch.nn.utils.clip_grad_norm_(self.critic_local.parameters(), 1)
self.critic_optimizer.step()
### UPDATE ACTOR ###
# Compute loss (actor)
actions_pred = self.actor_local(states)
actor_loss = self.critic_local(states, actions_pred).mean()
# Minimise the loss (actor)
self.actor_optimizer.zero_grad()
actor_loss.backward()
# Use grad clipping to prevent exploding gradients
torch.nn.utils.clip_grad_norm_(self.actor_local.parameters(), 1)
self.actor_optimizer.step()
self.soft_update(self.actor_local, self.actor_target, self.tau)
self.soft_update(self.critic_local, self.critic_target, self.tau)
def soft_update(self, local_model, target_model, tau):
for target_param, local_param in zip(target_model.parameters(),
local_model.parameters()):
target_param.data.copy_(tau * local_param.data +
(1.0 - tau) * target_param.data)
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
env_name = "BipedalWalkerHardcore-v3"
env = gym.make(env_name).unwrapped
model_dir = "models/"
model_fn = "20201124-080538-checkpoint-4000.pth"
results_dir = "./results/"
if not os.path.exists(results_dir):
os.mkdir(results_dir)
cs_cnn = [16, 32, 64, 64]
agent = ActorNet(cs_cnn,
size=STATE_SPACE_SIZE,
c_in=HISTORY_LENGTH,
c_out=ACTION_SPACE_SIZE[0]).to(
device) # input is the state
st = torch.load('/'.join([model_dir, model_fn]),
map_location=device)['actor']
agent.load_state_dict(st)
for param in agent.parameters():
param.requires_grad_(False)
agent.eval()
state = FrameHistory(HISTORY_LENGTH)
episode_rewards = []
# run episodes
for i in range(N_EPISODES):
episode_reward = run_episode(env, agent, state, rendering=RENDER)
timestamp = time.strftime("%Y%m%d-%H%M%S")
model_fn = timestamp + "-checkpoint"
log_dir = "./logs/"
log_fn = timestamp + "-log.txt"
tensorboard_dir = "./runs/"
if not os.path.exists(tensorboard_dir):
os.mkdir(tensorboard_dir)
if not os.path.exists(model_dir):
os.mkdir(model_dir)
if not os.path.exists(log_dir):
os.mkdir(log_dir)
cs_cnn = [16, 32, 64, 64]
cs_fcn = [256, 64]
actor = ActorNet(cs_cnn, size=STATE_SPACE_SIZE, c_in=HISTORY_LENGTH, c_out=ACTION_SPACE_SIZE[0]).to(device) # input is the state
critic = CriticNet(cs_cnn, cs_fcn, size_action=ACTION_SPACE_SIZE, size_state=(HISTORY_LENGTH, *STATE_SPACE_SIZE)).to(device) # input is the concatenation of state and action
actor_target = ActorNet(cs_cnn, size=STATE_SPACE_SIZE, c_in=HISTORY_LENGTH, c_out=ACTION_SPACE_SIZE[0]).to(device) # input is the state
critic_target = CriticNet(cs_cnn, cs_fcn, size_action=ACTION_SPACE_SIZE, size_state=(HISTORY_LENGTH, *STATE_SPACE_SIZE)).to(device) # input is the concatenation of state and action
# actor_target.load_state_dict(actor.state_dict())
# critic_target.load_state_dict(critic.state_dict())
# for param in actor_target.parameters(): param.requires_grad_(False)
# for param in critic_target.parameters(): param.requires_grad_(False)
# actor_target.eval()
# critic_target.eval()
for param in actor_target.parameters(): param.requires_grad_(False)
for param in critic_target.parameters(): param.requires_grad_(False)
hard_update(actor_target, actor)
hard_update(critic_target, critic)
class DDPGAgent:
""" A DDPG Agent which interacts and learns from the environment. """
def __init__(self, state_size, action_size, seed):
"""
Initializes a DDPG Agent.
params:
- state_size (int) : dimension of each state.
- action_size (int) : dimension of each action.
- seed (int) : random seed.
"""
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(seed)
self.eps = EPSILON_START
# Setup Actor Network
self.actor_net = ActorNet(self.state_size, self.action_size, seed).to(device)
self.target_actor_net = ActorNet(self.state_size, self.action_size, seed).to(device)
self.actor_optimizer = optim.Adam(self.actor_net.parameters(), lr=LR_ACTOR)
# Setup Critic Network
self.critic_net = CriticNet(self.state_size, self.action_size, seed).to(device)
self.target_critc_net = CriticNet(self.state_size, self.action_size, seed).to(device)
self.critic_optimizer = optim.Adam(self.critic_net.parameters(), lr=LR_CRITIC)
# noise process
self.noise = OUNoise(self.action_size, seed)
# create replay buffer
self.buffer = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# timestep counter
self.tstep = 0
def step(self, states, actions, rewards, next_states, dones):
# iterate through 20 agents
for state, action, reward, next_state, done in zip(states, actions, rewards, next_states, dones):
# save experiences in replay buffer
self.buffer.push(state, action, reward, next_state, done)
# Learn every C timesteps
self.tstep = (self.tstep+1) % LEARN_EVERY
if self.tstep == 0:
# check if enough samples are available in buffer
if len(self.buffer) > BATCH_SIZE:
# Learn for a few iterations
for _ in range(LEARN_FOR):
experiences = self.buffer.sample()
self.learn(experiences, GAMMA)
def learn(self, experiences, gamma):
"""
Updates policy and value params using given batch of experience tuples.
Q_targets = r + gamma * critic_target(next_state, actor_target(next_state))
where:
actor_target(state) = action
critic_target(state, action) = Qvalue
params:
- experiences (Tuple([torch.Tensor])) : tuple of (s, a, r, s', done).
- gamma (float) : discount factor.
"""
# unpack experiences
s, a, r, ns, d = experiences
#################### Update Critic ####################
# get predicted next state actions from target models
next_actions = self.target_actor_net(ns)
# get predicted next state and Q values from target models
next_Q_targets = self.target_critc_net(ns, next_actions)
# Compute Q targets for current states
Q_targets = r + (gamma * next_Q_targets * (1 - d))
# Compute critic loss
Q_expected = self.critic_net(s, a)
critic_loss = F.mse_loss(Q_expected, Q_targets)
# minimize loss
self.critic_optimizer.zero_grad()
critic_loss.backward()
# Gradient clipping
torch.nn.utils.clip_grad_norm(self.critic_net.parameters(), 1.0)
self.critic_optimizer.step()
#######################################################
#################### Update Actor ####################
# compute actor loss
predicted_actions = self.actor_net(s)
actor_loss = - self.critic_net(s, predicted_actions).mean()
# minimize loss
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
#######################################################
#################### Update Target Networks ####################
self.soft_update(self.critic_net, self.target_critc_net, TAU)
self.soft_update(self.actor_net, self.target_actor_net, TAU)
# decay epsilon
if self.eps > EPSILON_END:
self.eps *= EPSILON_DECAY
self.noise.reset()
else:
self.eps = EPSILON_END
def soft_update(self, local, target, tau):
"""
Performs a soft update for the parameters.
theta_target = tau * theta_local + (1 - tau) * theta_target
params:
- TAU (float) : interpolation parameter.
"""
for target_param, local_param in zip(target.parameters(), local.parameters()):
target_param.data.copy_(tau * local_param.data + (1 - tau) * target_param.data)
def reset(self):
""" This function resets the noise. """
self.noise.reset()
def act(self, state, add_noise=True):
"""
Returns actions for a given state as per current policy.
params:
- state (array like) : current state.
- add_noise (boolean) : flag for adding noise.
"""
state = torch.from_numpy(state).float().to(device)
# set actor to eval mode
self.actor_net.eval()
with torch.no_grad():
# get action values
act_vals = self.actor_net(state).cpu().data.numpy()
# turn back to train mode
self.actor_net.train()
# add noise
if add_noise:
act_vals += self.noise.sample()*self.eps
return np.clip(act_vals, -1, 1)