def train_one(carrOpt):
nonlocal oldTrajs
classOpt = Adam(
np.random.randn(classifier.n_params) * 1.,
lr=0.5,
memory=0.9,
)
if carrOpt == None:
carrOpt = Adam(
np.random.randn(curCarr.n_params),
lr=0.10,
memory=0.5,
)
curScore = 0.
curAccuracy = 0.
for i in range(250):
classifier.load_params(classOpt.get_value())
curCarr.load_params(carrOpt.get_value())
oldTrajIdx = np.random.choice(len(oldTrajs), size=50)
trajs = [oldTrajs[i] for i in oldTrajIdx]
trajs += world.trajectories(curCarr, 50)
trajsForClass = [tag_traj(traj, [1, 0]) for traj in trajs[:50]]
trajsForClass += [tag_traj(traj, [0, 1]) for traj in trajs[50:]]
plot_tagged_trajs(trajsForClass)
accTrajs = accuracy(trajsForClass, model=classifier)
print_reward(accTrajs,
max_value=1.0,
episode=np.mean,
label="Cla reward: ")
curAccuracy = np.mean(get_rewards(accTrajs, episode=np.mean))
if curAccuracy > 1. - i / 500:
break
grad = policy_gradient(trajsForClass, policy=classifier)
classOpt.apply_gradient(grad)
trajs2 = learn_from_classifier(classifier, trajs[50:], 1)
print_reward(trajs2,
max_value=1.0,
episode=np.max,
label="Car reward: ")
curScore = np.mean(get_rewards(trajs2, episode=np.max))
trajs2 = replace_rewards(trajs2, episode=np.max)
trajs2 = normalize(trajs2)
grad2 = policy_gradient(trajs2, policy=curCarr)
carrOpt.apply_gradient(grad2)
if i % 10 == 0:
print("%d episodes in." % i)
oldTrajs += world.trajectories(curCarr, 800)
world.render(curCarr)
if curScore > 0.11:
return carrOpt
else:
return None
def curiosity(world):
world = ActionNoise(world, stddev=0.2)
memory = Cache(max_size=100)
log_dir = "__oracle"
if not os.path.exists(log_dir):
os.mkdir(log_dir)
agent = build_agent()
agent_opt = Adams(np.random.randn(agent.n_params), lr=0.00015, memory=0.5)
oracle = build_oracle()
oracle_opt = Adam(np.random.randn(oracle.n_params) * 0.1,
lr=0.05,
memory=0.95)
for episode in range(1000):
agent.load_params(agent_opt.get_value())
oracle.load_params(oracle_opt.get_value())
agent_trajs = world.trajectories(agent, 4)
for_oracle = [[(np.asarray([o1, o2, o3]).flatten(), a1, r1)
for (o1, a1, r1), (o2, a2,
r2), (o3, a3,
r3) in zip(t, t[1:], t[2:])]
for t in agent_trajs]
memory.add_trajectories(for_oracle)
predictions = retrace(for_oracle, model=oracle)
save_plot(log_dir + "/%04d.png" % (episode + 1), agent_trajs,
predictions)
np.save(log_dir + "/%04d.npy" % (episode + 1), agent_opt.get_value())
curiosity_trajs = [[
(o1, a1, np.log(np.mean(np.square((o2 - o1) - delta_p))))
for (o1, a1, r1), (o2, a2, r2), delta_p in zip(t, t[10:], p)
] for t, p in zip(agent_trajs, predictions)]
#curiosity_trajs = replace_rewards(curiosity_trajs,
# episode=lambda rs: np.max(rs))
print_reward(curiosity_trajs, max_value=5000.0)
print_reward(agent_trajs, max_value=90.0, episode=np.sum)
curiosity_trajs = discount(curiosity_trajs, horizon=500)
curiosity_trajs = normalize(curiosity_trajs)
agent_trajs = discount(agent_trajs, horizon=500)
agent_trajs = normalize(agent_trajs)
agent_trajs = [traj[:-10] for traj in agent_trajs]
agent_weight = 0.5 # + 0.4*(0.5 * (1 - np.cos(np.pi * episode / 20)))
curiosity_weight = 1. - agent_weight
comb_trajs = combine_rewards([curiosity_trajs, agent_trajs],
[curiosity_weight, agent_weight])
grad = policy_gradient(comb_trajs, policy=agent)
agent_opt.apply_gradient(grad)
oracle_trajs = [[(o1, (o2 - o1)[:2], 1.0)
for (o1, a1, r1), (o2, a2, r2) in zip(t, t[10:])]
for t in memory.trajectories(None, 4)]
grad = policy_gradient(oracle_trajs, policy=oracle)
oracle_opt.apply_gradient(grad)
def run():
model = Input(4)
model = Affine(model, 128)
model = LReLU(model)
model = Affine(model, 2)
model = Softmax(model)
world = StochasticPolicy(Gym(make_env, max_steps=500))
opt = Adam(np.random.randn(model.n_params) * 0.1, lr=0.01)
for _ in range(50):
model.load_params(opt.get_value())
trajs = world.trajectories(model, 16)
print_reward(trajs, max_value=5000)
trajs = discount(trajs, horizon=500)
trajs = normalize(trajs)
grad = policy_gradient(trajs, policy=model)
opt.apply_gradient(grad)
while True:
world.render(model)
def train(model):
world = Mnist()
opt = Adam(np.random.randn(model.n_params), lr=0.1)
for i in range(600):
model.load_params(opt.get_value() +
np.random.randn(model.n_params) * 0.01)
trajs = world.trajectories(None, 256)
grad = policy_gradient(trajs, policy=model)
opt.apply_gradient(grad)
if i % 20 == 19:
print("%4d) " % (i + 1), flush=True, end="")
trajs = world.trajectories(None, 2000)
trajs = accuracy(trajs, model=model, percent=True)
print_reward(trajs, max_value=100, label="Train accuracy:")
return opt.get_value()
def train_one():
gaussOpt = Adam(
[0., 0.],
lr=0.010,
memory=0.5,
)
classOpt = Adam(np.random.randn(classifier.n_params) * 0.1,
lr=0.5,
memory=0.99)
gaussCenterer = Constant(2)
gausses.append(gaussCenterer)
curAccuracy = 0.
while curAccuracy < 0.98:
classifier.load_params(classOpt.get_value())
gaussCenterer.load_params(gaussOpt.get_value())
trajs = [[(gauss_observation(gausses[:-1]), [1, 0], 1.)]
for _ in range(500)]
trajs += [[(gauss_observation(gausses[-1:]), [0, 1], 1.)]
for _ in range(500)]
accTrajs = accuracy(trajs, model=classifier)
print_reward(accTrajs, max_value=1.0)
accs = [traj[0][2] for traj in accTrajs]
curAccuracy = np.mean(accs)
grad = policy_gradient(trajs, policy=classifier)
classOpt.apply_gradient(grad)
trajs2 = learn_from_classifier(classifier, trajs[500:], 1)
trajs2 = normalize(trajs2)
grad2 = policy_gradient(trajs2, policy=gaussCenterer)
gaussOpt.apply_gradient(grad2)
plt.clf()
plt.grid()
plt.gcf().axes[0].set_ylim([-1, 1])
plt.gcf().axes[0].set_xlim([-1, 1])
x, y = zip(*[o for ((o, _, _), ) in trajs[:500]])
plt.scatter(x, y, color="blue")
x, y = zip(*[o for ((o, _, _), ) in trajs[500:]])
plt.scatter(x, y, color="red")
plt.pause(0.01)
def train_one(carrOpt):
if carrOpt == None:
carrOpt = Adam(
np.random.randn(curCarr.n_params),
lr=0.10,
memory=0.5,
)
nextBreak = 5
for i in range(250):
curCarr.load_params(carrOpt.get_value())
realTrajs, curiosityTrajs = world.trajectories(curCarr, 50)
curScore = np.mean(get_rewards(realTrajs, episode=np.sum)) / 90.
print_reward(realTrajs,
max_value=90.0,
episode=np.sum,
label="Real reward: ")
print_reward(curiosityTrajs,
max_value=1.0,
episode=np.max,
label="Curiosity reward: ")
curCuriosity = np.mean(get_rewards(curiosityTrajs, episode=np.max))
if curCuriosity > 0.98:
if nextBreak == 0:
break
else:
nextBreak -= 1
else:
nextBreak = np.min([nextBreak + 1, 5])
realTrajs = replace_rewards(realTrajs, episode=np.sum)
realTrajs = normalize(realTrajs)
curiosityTrajs = replace_rewards(curiosityTrajs, episode=np.max)
#this is stupid, we should care more(?) if the costs are to high
realWeight = 0.001 + np.max([np.min([curScore, 0.2]), 0.
]) * 0.998 / 0.2
curiosityWeight = 1. - realWeight
print('RWeight: %f, CWeight: %f' % (realWeight, curiosityWeight))
trajs = combine_rewards([realTrajs, curiosityTrajs],
[realWeight, curiosityWeight])
trajs = normalize(trajs)
grad = policy_gradient(trajs, policy=curCarr)
carrOpt.apply_gradient(grad)
if i % 10 == 0:
print("%d episodes in." % i)
world.remember_agent(curCarr)
world.render(curCarr)
if curScore > 0.01:
return carrOpt
else:
return None
def train(world, model):
opt = Adam(np.random.randn(model.n_params), lr=0.3, memory=0.9)
for _ in range(20):
model.load_params(opt.get_value())
trajs = world.trajectories(None, 100)
grad = policy_gradient(trajs, policy=model)
opt.apply_gradient(grad)
trajs = cross_entropy(trajs, model=model)
print_reward(trajs,
episode=np.mean,
label="Surprise/byte:",
max_value=8.0)
def curiosity(world):
world = ActionNoise(world, stddev=0.1)
memory = Cache(max_size=100)
log_dir = "__oracle"
if not os.path.exists(log_dir):
os.mkdir(log_dir)
agent = build_agent()
agent_opt = Adams(np.random.randn(agent.n_params), lr=0.00015, memory=0.5)
oracle = build_oracle()
oracle_opt = Adam(np.random.randn(oracle.n_params) * 0.1,
lr=0.05,
memory=0.95)
for episode in range(1000):
agent.load_params(agent_opt.get_value())
oracle.load_params(oracle_opt.get_value())
agent_trajs = world.trajectories(agent, 4)
memory.add_trajectories(agent_trajs)
predictions = retrace(agent_trajs, model=oracle)
save_plot(log_dir + "/%04d.png" % (episode + 1), agent_trajs,
predictions)
np.save(log_dir + "/%04d.npy" % (episode + 1), agent_opt.get_value())
agent_trajs = [[
(o1, a1, np.log(np.mean(np.square((o2 - o1) - delta_p))))
for (o1, a1, r1), (o2, a2, r2), delta_p in zip(t, t[10:], p)
] for t, p in zip(agent_trajs, predictions)]
agent_trajs = replace_rewards(agent_trajs,
episode=lambda rs: np.max(rs) / len(rs))
print_reward(agent_trajs, max_value=10.0)
agent_trajs = normalize(agent_trajs)
grad = policy_gradient(agent_trajs, policy=agent)
agent_opt.apply_gradient(grad)
oracle_trajs = [[(o1, o2 - o1, 1.0)
for (o1, a1, r1), (o2, a2, r2) in zip(t, t[10:])]
for t in memory.trajectories(None, 4)]
grad = policy_gradient(oracle_trajs, policy=oracle)
oracle_opt.apply_gradient(grad)