def learn(self,
total_timesteps,
callback=None,
log_interval=100,
tb_log_name="PPO1",
reset_num_timesteps=True):
new_tb_log = self._init_num_timesteps(reset_num_timesteps)
callback = self._init_callback(callback)
with SetVerbosity(self.verbose), TensorboardWriter(self.graph, self.tensorboard_log, tb_log_name, new_tb_log) \
as writer:
self._setup_learn()
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the PPO1 model must be " \
"an instance of common.policies.ActorCriticPolicy."
with self.sess.as_default():
self.adam.sync()
callback.on_training_start(locals(), globals())
# Prepare for rollouts
seg_gen = traj_segment_generator(self.policy_pi,
self.env,
self.timesteps_per_actorbatch,
callback=callback)
episodes_so_far = 0
timesteps_so_far = 0
iters_so_far = 0
t_start = time.time()
# rolling buffer for episode lengths
len_buffer = deque(maxlen=100)
# rolling buffer for episode rewards
reward_buffer = deque(maxlen=100)
while True:
if timesteps_so_far >= total_timesteps:
break
if self.schedule == 'constant':
cur_lrmult = 1.0
elif self.schedule == 'linear':
cur_lrmult = max(
1.0 - float(timesteps_so_far) / total_timesteps, 0)
else:
raise NotImplementedError
logger.log("********** Iteration %i ************" %
iters_so_far)
seg = seg_gen.__next__()
# Stop training early (triggered by the callback)
if not seg.get('continue_training', True): # pytype: disable=attribute-error
break
add_vtarg_and_adv(seg, self.gamma, self.lam)
# ob, ac, atarg, ret, td1ret = map(np.concatenate, (obs, acs, atargs, rets, td1rets))
observations, actions = seg["observations"], seg["actions"]
atarg, tdlamret = seg["adv"], seg["tdlamret"]
# true_rew is the reward without discount
if writer is not None:
total_episode_reward_logger(
self.episode_reward, seg["true_rewards"].reshape(
(self.n_envs, -1)), seg["dones"].reshape(
(self.n_envs, -1)), writer,
self.num_timesteps)
# predicted value function before udpate
vpredbefore = seg["vpred"]
# standardized advantage function estimate
atarg = (atarg - atarg.mean()) / atarg.std()
dataset = Dataset(dict(ob=observations,
ac=actions,
atarg=atarg,
vtarg=tdlamret),
shuffle=not self.policy.recurrent)
optim_batchsize = self.optim_batchsize or observations.shape[
0]
# set old parameter values to new parameter values
self.assign_old_eq_new(sess=self.sess)
logger.log("Optimizing...")
logger.log(fmt_row(13, self.loss_names))
# Here we do a bunch of optimization epochs over the data
for k in range(self.optim_epochs):
# list of tuples, each of which gives the loss for a minibatch
losses = []
for i, batch in enumerate(
dataset.iterate_once(optim_batchsize)):
steps = (
self.num_timesteps + k * optim_batchsize +
int(i *
(optim_batchsize / len(dataset.data_map))))
if writer is not None:
# run loss backprop with summary, but once every 10 runs save the metadata
# (memory, compute time, ...)
if self.full_tensorboard_log and (1 +
k) % 10 == 0:
run_options = tf.compat.v1.RunOptions(
trace_level=tf.compat.v1.RunOptions.
FULL_TRACE)
run_metadata = tf.compat.v1.RunMetadata()
summary, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess,
options=run_options,
run_metadata=run_metadata)
writer.add_run_metadata(
run_metadata, 'step%d' % steps)
else:
summary, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
writer.add_summary(summary, steps)
else:
_, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
self.adam.update(grad,
self.optim_stepsize * cur_lrmult)
losses.append(newlosses)
logger.log(fmt_row(13, np.mean(losses, axis=0)))
logger.log("Evaluating losses...")
losses = []
for batch in dataset.iterate_once(optim_batchsize):
newlosses = self.compute_losses(batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
losses.append(newlosses)
mean_losses, _, _ = mpi_moments(losses, axis=0)
logger.log(fmt_row(13, mean_losses))
for (loss_val, name) in zipsame(mean_losses,
self.loss_names):
logger.record_tabular("loss_" + name, loss_val)
logger.record_tabular(
"ev_tdlam_before",
explained_variance(vpredbefore, tdlamret))
# local values
lrlocal = (seg["ep_lens"], seg["ep_rets"])
# list of tuples
listoflrpairs = MPI.COMM_WORLD.allgather(lrlocal)
lens, rews = map(flatten_lists, zip(*listoflrpairs))
len_buffer.extend(lens)
reward_buffer.extend(rews)
if len(len_buffer) > 0:
logger.record_tabular("EpLenMean", np.mean(len_buffer))
logger.record_tabular("EpRewMean",
np.mean(reward_buffer))
logger.record_tabular("EpThisIter", len(lens))
episodes_so_far += len(lens)
current_it_timesteps = MPI.COMM_WORLD.allreduce(
seg["total_timestep"])
timesteps_so_far += current_it_timesteps
self.num_timesteps += current_it_timesteps
iters_so_far += 1
logger.record_tabular("EpisodesSoFar", episodes_so_far)
logger.record_tabular("TimestepsSoFar", self.num_timesteps)
logger.record_tabular("TimeElapsed", time.time() - t_start)
if self.verbose >= 1 and MPI.COMM_WORLD.Get_rank() == 0:
logger.dump_tabular()
callback.on_training_end()
return self
def learn(
env,
policy_func,
*,
timesteps_per_batch, # timesteps per actor per update
clip_param,
entcoeff, # clipping parameter epsilon, entropy coeff
optim_epochs,
optim_stepsize,
optim_batchsize, # optimization hypers
gamma,
lam, # advantage estimation
max_timesteps=0,
max_episodes=0,
max_iters=0,
max_seconds=0, # time constraint
callback=None, # you can do anything in the callback, since it takes locals(), globals()
adam_epsilon=1e-5,
schedule='constant', # annealing for stepsize parameters (epsilon and adam)
num_options=2,
app='',
saves=False,
wsaves=False,
epoch=-1,
seed=1,
dc=0):
optim_batchsize_ideal = optim_batchsize
np.random.seed(seed)
tf.set_random_seed(seed)
# env._seed(seed)
gamename = env.spec.id[:-3].lower()
gamename += 'seed' + str(seed)
gamename += app
dirname = '{}_{}opts_saves/'.format(gamename, num_options)
if wsaves:
first = True
if not os.path.exists(dirname):
os.makedirs(dirname)
first = False
# while os.path.exists(dirname) and first:
# dirname += '0'
files = ['pposgd_simple.py', 'mlp_policy.py', 'run_main.py']
for i in range(len(files)):
src = os.path.expanduser('~/baselines/baselines/ppo1/') + files[i]
dest = os.path.expanduser('~/baselines/baselines/ppo1/') + dirname
shutil.copy2(src, dest)
# ----------------------------------------
ob_space = env.observation_space
ac_space = env.action_space
pi = policy_func("pi", ob_space,
ac_space) # Construct network for new policy
oldpi = policy_func("oldpi", ob_space, ac_space) # Network for old policy
atarg = tf.placeholder(
dtype=tf.float32,
shape=[None]) # Target advantage function (if applicable)
ret = tf.placeholder(dtype=tf.float32, shape=[None]) # Empirical return
# option = tf.placeholder(dtype=tf.int32, shape=[None])
lrmult = tf.placeholder(
name='lrmult', dtype=tf.float32,
shape=[]) # learning rate multiplier, updated with schedule
clip_param = clip_param * lrmult # Annealed cliping parameter epislon
# pdb.set_trace()
ob = U.get_placeholder_cached(name="ob")
option = U.get_placeholder_cached(name="option")
term_adv = U.get_placeholder(name='term_adv',
dtype=tf.float32,
shape=[None])
ac = pi.pdtype.sample_placeholder([None])
kloldnew = oldpi.pd.kl(pi.pd)
ent = pi.pd.entropy()
meankl = tf.reduce_mean(kloldnew)
meanent = tf.reduce_mean(ent)
pol_entpen = (-entcoeff) * meanent
ratio = tf.exp(pi.pd.logp(ac) - oldpi.pd.logp(ac)) # pnew / pold
surr1 = ratio * atarg # surrogate from conservative policy iteration
surr2 = tf.clip_by_value(ratio, 1.0 - clip_param,
1.0 + clip_param) * atarg #
pol_surr = -tf.reduce_mean(tf.minimum(
surr1, surr2)) # PPO's pessimistic surrogate (L^CLIP)
vf_loss = tf.reduce_mean(tf.square(pi.vpred - ret))
total_loss = pol_surr + pol_entpen + vf_loss
losses = [pol_surr, pol_entpen, vf_loss, meankl, meanent]
loss_names = ["pol_surr", "pol_entpen", "vf_loss", "kl", "ent"]
term_loss = pi.tpred * term_adv
log_pi = tf.log(tf.clip_by_value(pi.op_pi, 1e-20, 1.0))
entropy = -tf.reduce_sum(pi.op_pi * log_pi, reduction_indices=1)
op_loss = -tf.reduce_sum(log_pi[0][option[0]] * atarg + entropy * 0.1)
total_loss += op_loss
var_list = pi.get_trainable_variables()
term_list = var_list[6:8]
lossandgrad = U.function([ob, ac, atarg, ret, lrmult, option, term_adv],
losses + [U.flatgrad(total_loss, var_list)])
termloss = U.function([ob, option, term_adv],
[U.flatgrad(term_loss, var_list)
]) # Since we will use a different step size.
adam = MpiAdam(var_list, epsilon=adam_epsilon)
assign_old_eq_new = U.function(
[], [],
updates=[
tf.assign(oldv, newv)
for (oldv,
newv) in zipsame(oldpi.get_variables(), pi.get_variables())
])
compute_losses = U.function([ob, ac, atarg, ret, lrmult, option], losses)
U.initialize()
adam.sync()
saver = tf.train.Saver(max_to_keep=10000)
results = []
if saves:
results = open(
gamename + '_' + str(num_options) + 'opts_' + '_results.csv', 'w')
out = 'epoch,avg_reward'
for opt in range(num_options):
out += ',option {} dur'.format(opt)
for opt in range(num_options):
out += ',option {} std'.format(opt)
for opt in range(num_options):
out += ',option {} term'.format(opt)
for opt in range(num_options):
out += ',option {} adv'.format(opt)
out += '\n'
results.write(out)
# results.write('epoch,avg_reward,option 1 dur, option 2 dur, option 1 term, option 2 term\n')
results.flush()
if epoch >= 0:
dirname = '{}_{}opts_saves/'.format(gamename, num_options)
print("Loading weights from iteration: " + str(epoch))
filename = dirname + '{}_epoch_{}.ckpt'.format(gamename, epoch)
saver.restore(U.get_session(), filename)
episodes_so_far = 0
timesteps_so_far = 0
global iters_so_far
iters_so_far = 0
tstart = time.time()
lenbuffer = deque(maxlen=100) # rolling buffer for episode lengths
rewbuffer = deque(maxlen=100) # rolling buffer for episode rewards
assert sum(
[max_iters > 0, max_timesteps > 0, max_episodes > 0,
max_seconds > 0]) == 1, "Only one time constraint permitted"
seg_gen = traj_segment_generator(pi,
env,
timesteps_per_batch,
stochastic=True,
num_options=num_options,
saves=saves,
results=results,
rewbuffer=rewbuffer,
dc=dc)
datas = [0 for _ in range(num_options)]
while True:
if callback: callback(locals(), globals())
if max_timesteps and timesteps_so_far >= max_timesteps:
break
elif max_episodes and episodes_so_far >= max_episodes:
break
elif max_iters and iters_so_far >= max_iters:
break
elif max_seconds and time.time() - tstart >= max_seconds:
break
if schedule == 'constant':
cur_lrmult = 1.0
elif schedule == 'linear':
cur_lrmult = max(1.0 - float(timesteps_so_far) / max_timesteps, 0)
else:
raise NotImplementedError
logger.log("********** Iteration %i ************" % iters_so_far)
seg = seg_gen.__next__()
add_vtarg_and_adv(seg, gamma, lam)
opt_d = []
for i in range(num_options):
dur = np.mean(
seg['opt_dur'][i]) if len(seg['opt_dur'][i]) > 0 else 0.
opt_d.append(dur)
std = []
for i in range(num_options):
logstd = np.mean(
seg['logstds'][i]) if len(seg['logstds'][i]) > 0 else 0.
std.append(np.exp(logstd))
print("mean opt dur:", opt_d)
print("mean op pol:", np.mean(np.array(seg['optpol_p']), axis=0))
print("mean term p:", np.mean(np.array(seg['term_p']), axis=0))
print("mean value val:", np.mean(np.array(seg['value_val']), axis=0))
ob, ac, opts, atarg, tdlamret = seg["ob"], seg["ac"], seg["opts"], seg[
"adv"], seg["tdlamret"]
vpredbefore = seg["vpred"] # predicted value function before udpate
atarg = (atarg - atarg.mean()
) / atarg.std() # standardized advantage function estimate
if hasattr(pi, "ob_rms"):
pi.ob_rms.update(ob) # update running mean/std for policy
assign_old_eq_new() # set old parameter values to new parameter values
if iters_so_far % 5 == 0 and wsaves:
print("weights are saved...")
filename = dirname + '{}_epoch_{}.ckpt'.format(
gamename, iters_so_far)
save_path = saver.save(U.get_session(), filename)
min_batch = 160
t_advs = [[] for _ in range(num_options)]
for opt in range(num_options):
indices = np.where(opts == opt)[0]
print("batch size:", indices.size)
opt_d[opt] = indices.size
if not indices.size:
t_advs[opt].append(0.)
continue
# This part is only necessasry when we use options.
# We proceed to these verifications in order not to discard any collected trajectories.
if datas[opt] != 0:
if (indices.size < min_batch and datas[opt].n > min_batch):
datas[opt] = Dataset(dict(ob=ob[indices],
ac=ac[indices],
atarg=atarg[indices],
vtarg=tdlamret[indices]),
shuffle=not pi.recurrent)
t_advs[opt].append(0.)
continue
elif indices.size + datas[opt].n < min_batch:
# pdb.set_trace()
oldmap = datas[opt].data_map
cat_ob = np.concatenate((oldmap['ob'], ob[indices]))
cat_ac = np.concatenate((oldmap['ac'], ac[indices]))
cat_atarg = np.concatenate(
(oldmap['atarg'], atarg[indices]))
cat_vtarg = np.concatenate(
(oldmap['vtarg'], tdlamret[indices]))
datas[opt] = Dataset(dict(ob=cat_ob,
ac=cat_ac,
atarg=cat_atarg,
vtarg=cat_vtarg),
shuffle=not pi.recurrent)
t_advs[opt].append(0.)
continue
elif (indices.size + datas[opt].n > min_batch and datas[opt].n
< min_batch) or (indices.size > min_batch
and datas[opt].n < min_batch):
oldmap = datas[opt].data_map
cat_ob = np.concatenate((oldmap['ob'], ob[indices]))
cat_ac = np.concatenate((oldmap['ac'], ac[indices]))
cat_atarg = np.concatenate(
(oldmap['atarg'], atarg[indices]))
cat_vtarg = np.concatenate(
(oldmap['vtarg'], tdlamret[indices]))
datas[opt] = d = Dataset(dict(ob=cat_ob,
ac=cat_ac,
atarg=cat_atarg,
vtarg=cat_vtarg),
shuffle=not pi.recurrent)
if (indices.size > min_batch and datas[opt].n > min_batch):
datas[opt] = d = Dataset(dict(ob=ob[indices],
ac=ac[indices],
atarg=atarg[indices],
vtarg=tdlamret[indices]),
shuffle=not pi.recurrent)
elif datas[opt] == 0:
datas[opt] = d = Dataset(dict(ob=ob[indices],
ac=ac[indices],
atarg=atarg[indices],
vtarg=tdlamret[indices]),
shuffle=not pi.recurrent)
optim_batchsize = optim_batchsize or ob.shape[0]
optim_epochs = np.clip(
np.int(10 * (indices.size /
(timesteps_per_batch / num_options))), 10,
10) if num_options > 1 else optim_epochs
print("optim epochs:", optim_epochs)
logger.log("Optimizing...")
# Here we do a bunch of optimization epochs over the data
for _ in range(optim_epochs):
losses = [
] # list of tuples, each of which gives the loss for a minibatch
for batch in d.iterate_once(optim_batchsize):
tadv, nodc_adv = pi.get_term_adv(batch["ob"], [opt])
tadv = tadv if num_options > 1 else np.zeros_like(tadv)
t_advs[opt].append(nodc_adv)
*newlosses, grads = lossandgrad(batch["ob"], batch["ac"],
batch["atarg"],
batch["vtarg"], cur_lrmult,
[opt], tadv)
termg = termloss(batch["ob"], [opt], tadv)
adam.update(termg[0], 5e-7 * cur_lrmult)
adam.update(grads, optim_stepsize * cur_lrmult)
losses.append(newlosses)
lrlocal = (seg["ep_lens"], seg["ep_rets"]) # local values
listoflrpairs = MPI.COMM_WORLD.allgather(lrlocal) # list of tuples
lens, rews = map(flatten_lists, zip(*listoflrpairs))
lenbuffer.extend(lens)
rewbuffer.extend(rews)
logger.record_tabular("EpLenMean", np.mean(lenbuffer))
logger.record_tabular("EpRewMean", np.mean(rewbuffer))
logger.record_tabular("EpThisIter", len(lens))
episodes_so_far += len(lens)
timesteps_so_far += sum(lens)
iters_so_far += 1
logger.record_tabular("EpisodesSoFar", episodes_so_far)
logger.record_tabular("TimestepsSoFar", timesteps_so_far)
logger.record_tabular("TimeElapsed", time.time() - tstart)
if MPI.COMM_WORLD.Get_rank() == 0:
logger.dump_tabular()
if saves:
out = "{},{}"
for _ in range(num_options):
out += ",{},{},{},{}"
out += "\n"
info = [iters_so_far, np.mean(rewbuffer)]
for i in range(num_options):
info.append(opt_d[i])
for i in range(num_options):
info.append(std[i])
for i in range(num_options):
info.append(np.mean(np.array(seg['term_p']), axis=0)[i])
for i in range(num_options):
info.append(np.mean(t_advs[i]))
results.write(out.format(*info))
results.flush()
def learn(self,
total_timesteps,
callback=None,
seed=None,
log_interval=100):
with SetVerbosity(self.verbose):
self._setup_learn(seed)
with self.sess.as_default():
self.adam.sync()
# Prepare for rollouts
seg_gen = traj_segment_generator(self.policy_pi, self.env,
self.timesteps_per_actorbatch)
episodes_so_far = 0
timesteps_so_far = 0
iters_so_far = 0
t_start = time.time()
# rolling buffer for episode lengths
lenbuffer = deque(maxlen=100)
# rolling buffer for episode rewards
rewbuffer = deque(maxlen=100)
while True:
if callback:
callback(locals(), globals())
if total_timesteps and timesteps_so_far >= total_timesteps:
break
if self.schedule == 'constant':
cur_lrmult = 1.0
elif self.schedule == 'linear':
cur_lrmult = max(
1.0 - float(timesteps_so_far) / total_timesteps, 0)
else:
raise NotImplementedError
logger.log("********** Iteration %i ************" %
iters_so_far)
seg = seg_gen.__next__()
add_vtarg_and_adv(seg, self.gamma, self.lam)
# ob, ac, atarg, ret, td1ret = map(np.concatenate, (obs, acs, atargs, rets, td1rets))
obs_ph, action_ph, atarg, tdlamret = seg["ob"], seg[
"ac"], seg["adv"], seg["tdlamret"]
# predicted value function before udpate
vpredbefore = seg["vpred"]
# standardized advantage function estimate
atarg = (atarg - atarg.mean()) / atarg.std()
dataset = Dataset(
dict(ob=obs_ph,
ac=action_ph,
atarg=atarg,
vtarg=tdlamret),
shuffle=not issubclass(self.policy, LstmPolicy))
optim_batchsize = self.optim_batchsize or obs_ph.shape[0]
# set old parameter values to new parameter values
self.assign_old_eq_new(sess=self.sess)
logger.log("Optimizing...")
logger.log(fmt_row(13, self.loss_names))
# Here we do a bunch of optimization epochs over the data
for _ in range(self.optim_epochs):
# list of tuples, each of which gives the loss for a minibatch
losses = []
for batch in dataset.iterate_once(optim_batchsize):
*newlosses, grad = self.lossandgrad(batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
self.adam.update(grad,
self.optim_stepsize * cur_lrmult)
losses.append(newlosses)
logger.log(fmt_row(13, np.mean(losses, axis=0)))
logger.log("Evaluating losses...")
losses = []
for batch in dataset.iterate_once(optim_batchsize):
newlosses = self.compute_losses(batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
losses.append(newlosses)
mean_losses, _, _ = mpi_moments(losses, axis=0)
logger.log(fmt_row(13, mean_losses))
for (loss_val, name) in zipsame(mean_losses,
self.loss_names):
logger.record_tabular("loss_" + name, loss_val)
logger.record_tabular(
"ev_tdlam_before",
explained_variance(vpredbefore, tdlamret))
# local values
lrlocal = (seg["ep_lens"], seg["ep_rets"])
# list of tuples
listoflrpairs = MPI.COMM_WORLD.allgather(lrlocal)
lens, rews = map(flatten_lists, zip(*listoflrpairs))
lenbuffer.extend(lens)
rewbuffer.extend(rews)
logger.record_tabular("EpLenMean", np.mean(lenbuffer))
logger.record_tabular("EpRewMean", np.mean(rewbuffer))
logger.record_tabular("EpThisIter", len(lens))
episodes_so_far += len(lens)
timesteps_so_far += seg["total_timestep"]
iters_so_far += 1
logger.record_tabular("EpisodesSoFar", episodes_so_far)
logger.record_tabular("TimestepsSoFar", timesteps_so_far)
logger.record_tabular("TimeElapsed", time.time() - t_start)
if self.verbose >= 1 and MPI.COMM_WORLD.Get_rank() == 0:
logger.dump_tabular()
return self
def learn(self,
total_timesteps,
callback=None,
seed=None,
log_interval=100,
tb_log_name="PPO1",
reset_num_timesteps=True):
new_tb_log = self._init_num_timesteps(reset_num_timesteps)
with SetVerbosity(self.verbose), TensorboardWriter(self.graph, self.tensorboard_log, tb_log_name, new_tb_log) \
as writer:
self._setup_learn(seed)
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the PPO1 model must be " \
"an instance of common.policies.ActorCriticPolicy({}).".format(self.policy)
with self.sess.as_default():
self.adam.sync()
trajectory_dic = None
# Prepare for rollouts
seg_gen = traj_segment_generator(self.policy_pi, self.env,
self.timesteps_per_actorbatch)
episodes_so_far = 0
timesteps_so_far = 0
iters_so_far = 0
t_start = time.time()
# rolling buffer for episode lengths
lenbuffer = deque(maxlen=100)
# rolling buffer for episode rewards
rewbuffer = deque(maxlen=100)
self.episode_reward = np.zeros((self.n_envs, ))
if self.save_trajectory:
hidden_list = []
obs_list = []
act_list = []
rwds_list = []
dones_list = []
while True:
if callback is not None:
# Only stop training if return value is False, not when it is None. This is for backwards
# compatibility with callbacks that have no return statement.
if callback(locals(), globals()) is False:
break
if total_timesteps and timesteps_so_far >= total_timesteps:
break
if self.schedule == 'constant':
cur_lrmult = 1.0
elif self.schedule == 'linear':
cur_lrmult = max(
1.0 - float(timesteps_so_far) / total_timesteps, 0)
else:
raise NotImplementedError
# logger.log("********** Iteration %i ************" % iters_so_far)
logger.log("********** Iteration %i %i************" %
(iters_so_far, self.n_envs))
seg = seg_gen.__next__()
add_vtarg_and_adv(seg, self.gamma, self.lam)
# ob, ac, atarg, ret, td1ret = map(np.concatenate, (obs, acs, atargs, rets, td1rets))
obs_ph, hiddens_ph, action_ph, atarg, tdlamret = seg[
"ob"], seg["hiddens"], seg["ac"], seg["adv"], seg[
"tdlamret"]
# print(">>>hiddens_ph:",len(hiddens_ph))
if self.save_trajectory:
rwds_ph, dones_ph = seg["rew"], seg["dones"]
obs_list.append(obs_ph.copy())
hidden_list.append(hiddens_ph.copy())
act_list.append(action_ph.copy())
rwds_list.append(rwds_ph.copy())
dones_list.append(dones_ph.copy())
# true_rew is the reward without discount
if writer is not None:
self.episode_reward = total_episode_reward_logger(
self.episode_reward, seg["true_rew"].reshape(
(self.n_envs, -1)), seg["dones"].reshape(
(self.n_envs, -1)), writer,
self.num_timesteps)
# predicted value function before udpate
vpredbefore = seg["vpred"]
# standardized advantage function estimate
atarg = (atarg - atarg.mean()) / atarg.std()
dataset = Dataset(dict(ob=obs_ph,
ac=action_ph,
atarg=atarg,
vtarg=tdlamret),
shuffle=not self.policy.recurrent)
optim_batchsize = self.optim_batchsize or obs_ph.shape[0]
# set old parameter values to new parameter values
self.assign_old_eq_new(sess=self.sess)
logger.log("Optimizing...")
logger.log(fmt_row(13, self.loss_names))
# Here we do a bunch of optimization epochs over the data
for k in range(self.optim_epochs):
# list of tuples, each of which gives the loss for a minibatch
losses = []
for i, batch in enumerate(
dataset.iterate_once(optim_batchsize)):
steps = (
self.num_timesteps + k * optim_batchsize +
int(i *
(optim_batchsize / len(dataset.data_map))))
if writer is not None:
# run loss backprop with summary, but once every 10 runs save the metadata
# (memory, compute time, ...)
if self.full_tensorboard_log and (1 +
k) % 10 == 0:
run_options = tf.RunOptions(
trace_level=tf.RunOptions.FULL_TRACE)
run_metadata = tf.RunMetadata()
summary, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess,
options=run_options,
run_metadata=run_metadata)
writer.add_run_metadata(
run_metadata, 'step%d' % steps)
else:
summary, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
writer.add_summary(summary, steps)
else:
_, grad, *newlosses = self.lossandgrad(
batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
self.adam.update(grad,
self.optim_stepsize * cur_lrmult)
losses.append(newlosses)
logger.log(fmt_row(13, np.mean(losses, axis=0)))
logger.log("Evaluating losses...")
losses = []
for batch in dataset.iterate_once(optim_batchsize):
newlosses = self.compute_losses(batch["ob"],
batch["ob"],
batch["ac"],
batch["atarg"],
batch["vtarg"],
cur_lrmult,
sess=self.sess)
losses.append(newlosses)
mean_losses, _, _ = mpi_moments(losses, axis=0)
logger.log(fmt_row(13, mean_losses))
for (loss_val, name) in zipsame(mean_losses,
self.loss_names):
logger.record_tabular("loss_" + name, loss_val)
logger.record_tabular(
"ev_tdlam_before",
explained_variance(vpredbefore, tdlamret))
# local values
lrlocal = (seg["ep_lens"], seg["ep_rets"])
# list of tuples
listoflrpairs = MPI.COMM_WORLD.allgather(lrlocal)
lens, rews = map(flatten_lists, zip(*listoflrpairs))
lenbuffer.extend(lens)
rewbuffer.extend(rews)
if len(lenbuffer) > 0:
logger.record_tabular("EpLenMean", np.mean(lenbuffer))
logger.record_tabular("EpRewMean", np.mean(rewbuffer))
logger.record_tabular("EpThisIter", len(lens))
episodes_so_far += len(lens)
current_it_timesteps = MPI.COMM_WORLD.allreduce(
seg["total_timestep"])
timesteps_so_far += current_it_timesteps
self.num_timesteps += current_it_timesteps
iters_so_far += 1
logger.record_tabular("EpisodesSoFar", episodes_so_far)
logger.record_tabular("TimestepsSoFar", self.num_timesteps)
logger.record_tabular("TimeElapsed", time.time() - t_start)
if self.verbose >= 1 and MPI.COMM_WORLD.Get_rank() == 0:
logger.dump_tabular()
if self.save_trajectory:
length = np.vstack(obs_list).shape[0]
print("Save trajectory...(length:{})".format(length))
trajectory_dic = {
"all_obvs": np.vstack(obs_list).reshape(length, -1),
"all_hiddens":
np.vstack(hidden_list).reshape(length, -1),
"all_acts": np.vstack(act_list).reshape(length, -1),
"all_rwds": np.vstack(rwds_list).reshape(length, -1),
"all_dones": np.vstack(dones_list).reshape(length, -1)
}
# with open('../saved/{}-trajectory.pkl'.format(str(self.__class__).split("'")[-2].split(".")[-1]), 'wb+') as f:
# pkl.dump(trajectory_dic, f, protocol=2)
return self, trajectory_dic
def run(self, num_steps, data_dir, policy_record=None):
local_steps = int(num_steps / self.comm.Get_size())
steps = 0
# TODO: Add alpha annealing over num_steps
while True:
# sync weights
self.b_agent_attack.sync_weights()
self.b_agent_evade.sync_weights()
self.b_agent_transit.sync_weights()
self.m_agent.sync_weights()
# create placeholders to store experience that we gather
training_state = {
"meta": [],
"attack": [],
"evade": [],
"transit": []
}
training_action = {
"meta": [],
"attack": [],
"evade": [],
"transit": []
}
training_reward = {
"meta": [],
"attack": [],
"evade": [],
"transit": []
}
training_next_state = {
"meta": [],
"attack": [],
"evade": [],
"transit": []
}
training_done = {
"meta": [],
"attack": [],
"evade": [],
"transit": []
}
training_reward_sum_combined = 0 # keep track of combined reward over all episodes between training
state = self.env.reset()
reward_sum = {}
done = False
while not done:
complete_action, distribution, beh_actions, label = self.m_agent.get_action(
state)
next_state, reward, done, info = self.env.step(
complete_action, dst=distribution, label=label)
# Aggregate reward throughout the episode
if not reward_sum:
reward_sum = reward
else:
reward_sum = {
k: reward_sum[k] + reward[k]
for (k, v) in reward.items()
}
training_reward_sum_combined += reward["combined"]
training_state["meta"].append(state)
training_action["meta"].append(distribution)
training_reward["meta"].append(reward["combined"])
training_next_state["meta"].append(next_state)
training_done["meta"].append(done)
for idx, label in enumerate(['attack', 'evade', 'transit']):
training_state[label].append(state)
training_action[label].append(beh_actions[idx])
training_reward[label].append(reward[label])
training_next_state[label].append(next_state)
training_done[label].append(done)
state = next_state
# #now we have batches of data: compute the values and advantages
# training_value = {"meta": None, "attack": None, "evade": None, "transit": None}
# training_advantages = {"meta": None, "attack": None, "evade": None, "transit": None}
# log tensorboard
{logger.logkv(k, v) for (k, v) in reward_sum.items()}
logger.dumpkvs()
# vcompute advantages and values
models = [
self.b_agent_attack, self.b_agent_evade, self.b_agent_transit,
self.m_agent
]
for model in models:
network = model.label
states = training_state[network]
actions = training_action[network]
reward = training_reward[network]
next_states = training_next_state[network]
done = training_done[network]
# Convert done bools to ints and invert
done_int = np.invert(done).astype(np.int)
# Generalized advantage estimation (gets advantages to train on and value estimates)
target, advantages = GAE(states,
actions,
reward,
next_states,
done_int,
model.sample_value,
T=128,
y=0.99,
lam=0.95,
use_Q=False)
# train this model
dataset = Dataset(dict(ob=np.asarray(states),
ac=np.asarray(actions),
atarg=np.asarray(advantages),
vtarg=np.asarray(target)),
shuffle=True)
for k in range(4):
for i, batch in enumerate(dataset.iterate_once(
len(states))):
model.train(batch["ob"], batch["ac"], batch["vtarg"],
batch["atarg"], 1.0)
print('FINISHED TRAINING EPISODE')