def build_model(self):
l2_regularization_kernel = 1e-5
# Input Layer
input = layers.Input(shape=(self.state_size,), name='input_states')
# Hidden Layers
model = layers.Dense(units=300, kernel_regularizer=regularizers.l2(l2_regularization_kernel))(input)
model = layers.BatchNormalization()(model)
model = layers.LeakyReLU(1e-2)(model)
model = layers.Dense(units=400, kernel_regularizer=regularizers.l2(l2_regularization_kernel))(model)
model = layers.BatchNormalization()(model)
model = layers.LeakyReLU(1e-2)(model)
model = layers.Dense(units=200, kernel_regularizer=regularizers.l2(l2_regularization_kernel))(model)
model = layers.BatchNormalization()(model)
model = layers.LeakyReLU(1e-2)(model)
# Our output layer - a fully connected layer
output = layers.Dense(units=self.action_size, activation='tanh', kernel_regularizer=regularizers.l2(l2_regularization_kernel),
kernel_initializer=initializers.RandomUniform(minval=-3e-3, maxval=3e-3), name='output_actions')(model)
# Keras model
self.model = models.Model(inputs=input, outputs=output)
# Define loss and optimizer
action_gradients = layers.Input(shape=(self.action_size,))
loss = K.mean(-action_gradients * output)
optimizer = optimizers.Adam(lr=1e-4)
update_operation = optimizer.get_updates(params=self.model.trainable_weights, loss=loss)
self.train_fn = K.function(inputs=[self.model.input, action_gradients, K.learning_phase()],
outputs=[], updates=update_operation)
def build_model(self):
l2_kernel_regularization = 1e-5
# Define input layers
input_states = layers.Input(shape=(self.state_size, ),
name='input_states')
input_actions = layers.Input(shape=(self.action_size, ),
name='input_actions')
# Hidden layers for states
model_states = layers.Dense(
units=32,
kernel_regularizer=regularizers.l2(l2_kernel_regularization))(
input_states)
model_states = layers.BatchNormalization()(model_states)
model_states = layers.LeakyReLU(1e-2)(model_states)
model_states = layers.Dense(
units=64,
kernel_regularizer=regularizers.l2(l2_kernel_regularization))(
model_states)
model_states = layers.BatchNormalization()(model_states)
model_states = layers.LeakyReLU(1e-2)(model_states)
# Hidden layers for actions
model_actions = layers.Dense(
units=64,
kernel_regularizer=regularizers.l2(l2_kernel_regularization))(
input_actions)
model_actions = layers.BatchNormalization()(model_actions)
model_actions = layers.LeakyReLU(1e-2)(model_actions)
# Both models merge here
model = layers.add([model_states, model_actions])
# Fully connected and batch normalization
model = layers.Dense(units=32,
kernel_regularizer=regularizers.l2(
l2_kernel_regularization))(model)
model = layers.BatchNormalization()(model)
model = layers.LeakyReLU(1e-2)(model)
# Q values / output layer
Q_values = layers.Dense(
units=1,
activation=None,
kernel_regularizer=regularizers.l2(l2_kernel_regularization),
kernel_initializer=initializers.RandomUniform(minval=-5e-3,
maxval=5e-3),
name='output_Q_values')(model)
# Keras wrap the model
self.model = models.Model(inputs=[input_states, input_actions],
outputs=Q_values)
optimizer = optimizers.Adam(lr=1e-2)
self.model.compile(optimizer=optimizer, loss='mse')
action_gradients = K.gradients(Q_values, input_actions)
self.get_action_gradients = K.function(
inputs=[*self.model.input, K.learning_phase()],
outputs=action_gradients)
def build_model(self):
"""Build an actor (policy) network that maps states -> actions."""
# Define input layer (states)
states = layers.Input(shape=(self.state_size, ), name='states')
'''# Add hidden layers
net = layers.Dense(units=32, activation='relu')(states)
net = layers.Dense(units=64, activation='relu')(net)
net = layers.Dense(units=32, activation='relu')(net)
# Try different layer sizes, activations, add batch normalization, regularizers, etc.
# Add final output layer with sigmoid activation
raw_actions = layers.Dense(units=self.action_size, activation='sigmoid',
name='raw_actions')(net)
'''
###################################
# Add hidden layers
net = layers.Dense(units=400,
kernel_regularizer=regularizers.l2(1e-6))(states)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
net = layers.Dense(units=300,
kernel_regularizer=regularizers.l2(1e-6))(net)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
# Add final output layer with sigmoid activation
raw_actions = layers.Dense(
units=self.action_size,
activation='sigmoid',
name='raw_actions',
kernel_initializer=initializers.RandomUniform(minval=-0.003,
maxval=0.003))(net)
#######################################
# Scale [0, 1] output for each action dimension to proper range
actions = layers.Lambda(lambda x:
(x * self.action_range) + self.action_low,
name='actions')(raw_actions)
# Create Keras model
self.model = models.Model(inputs=states, outputs=actions)
# Define loss function using action value (Q value) gradients
action_gradients = layers.Input(shape=(self.action_size, ))
loss = K.mean(-action_gradients * actions)
# Incorporate any additional losses here (e.g. from regularizers)
# Define optimizer and training function
optimizer = optimizers.Adam(lr=1e-6)
updates_op = optimizer.get_updates(params=self.model.trainable_weights,
loss=loss)
self.train_fn = K.function(
inputs=[self.model.input, action_gradients,
K.learning_phase()],
outputs=[],
updates=updates_op)
def res_block(inputs, size):
kernel_l2_reg = 1e-3
net = layers.Dense(size,
activation=None,
kernel_regularizer=regularizers.l2(kernel_l2_reg),
kernel_initializer=initializers.RandomUniform(
minval=-5e-3, maxval=5e-3))(inputs)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
net = layers.Dense(size,
activation=None,
kernel_regularizer=regularizers.l2(kernel_l2_reg),
kernel_initializer=initializers.RandomUniform(
minval=-5e-3, maxval=5e-3))(net)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
net = layers.add([inputs, net])
return net
def build_model(self):
"""Build a critic (value) network that maps (state, action) pairs -> Q-values."""
# Define input layers
states = layers.Input(shape=(self.state_size, ), name='states')
actions = layers.Input(shape=(self.action_size, ), name='actions')
# Add hidden layer(s) for state pathway
net_states = layers.Dense(
units=300, kernel_regularizer=regularizers.l2(0.00001))(states)
net_states = layers.BatchNormalization()(net_states)
net_states = layers.LeakyReLU(0.01)(net_states)
net_states = layers.Dense(
units=400, kernel_regularizer=regularizers.l2(0.00001))(net_states)
net_states = layers.BatchNormalization()(net_states)
net_states = layers.LeakyReLU(0.01)(net_states)
# Add hidden layer(s) for action pathway
net_actions = layers.Dense(
units=400, kernel_regularizer=regularizers.l2(0.00001))(actions)
net_actions = layers.BatchNormalization()(net_actions)
net_actions = layers.LeakyReLU(0.01)(net_actions)
# Try different layer sizes, activations, add batch normalization, regularizers, etc.
# Combine state and action pathways
net = layers.Add()([net_states, net_actions])
net = layers.Activation('relu')(net)
# Add more layers to the combined network if needed
net = layers.Dense(units=256,
kernel_regularizer=regularizers.l2(0.00001))(net)
net = layers.BatchNormalization()(net)
net = layers.Activation(activation='relu')(net)
# Add final output layer to prduce action values (Q values)
Q_values = layers.Dense(units=1,
activation=None,
name='q_values',
kernel_initializer=initializers.RandomUniform(
minval=-3e-4, maxval=3e-4))(net)
# Create Keras model
self.model = models.Model(inputs=[states, actions], outputs=Q_values)
# Define optimizer and compile model for training with built-in loss function
optimizer = optimizers.Adam()
self.model.compile(optimizer=optimizer, loss='mse')
# Compute action gradients (derivative of Q values w.r.t. to actions)
action_gradients = K.gradients(Q_values, actions)
# Define an additional function to fetch action gradients (to be used by actor model)
self.get_action_gradients = K.function(
inputs=[*self.model.input, K.learning_phase()],
outputs=action_gradients)
def build_model(self):
"""Build an actor (policy) network that maps states -> actions."""
# Define input layer (states)
states = layers.Input(shape=(self.state_size, ), name='states')
#--------- copy from DDPG quadcopter -----------
net = layers.Dense(units=400)(states)
# net = layers.BatchNormalization()(net)
net = layers.Activation("relu")(net)
net = layers.Dense(units=200)(net)
# net = layers.BatchNormalization()(net)
net = layers.Activation("relu")(net)
actions = layers.Dense(units=self.action_size,
activation='softmax',
name='actions',
kernel_initializer=initializers.RandomUniform(
minval=-1, maxval=1))(net)
# actions = layers.Dense(units=self.action_size, activation='sigmoid', name='actions',
# kernel_initializer=initializers.RandomUniform(minval=-0.001, maxval=0.001))(net)
# Add hidden layers
# net = layers.Dense(units=16,activation=activations.sigmoid)(states)
# net = layers.BatchNormalization()(net)
# net = layers.Dense(units=16,activation=activations.sigmoid)(net)
# net = layers.BatchNormalization()(net)
# net = layers.Dense(units=128,activation=activations.relu)(net)
# net = layers.BatchNormalization()(net)
# Add final output layer with sigmoid activation
# actions = layers.Dense(units=self.action_size, activation='linear', # sigmoid
# name='raw_actions' )(net)
# Scale [0, 1] output for each action dimension to proper range
# actions = layers.Lambda(lambda x: (x * self.action_range) + self.action_low,
# name='actions')(raw_actions)
# Create Keras model
self.model = models.Model(inputs=states, outputs=actions)
action_gradients = layers.Input(shape=(self.action_size, ))
loss = K.mean(-action_gradients * actions)
# Define optimizer and training function
optimizer = optimizers.Adam(lr=.0001)
updates_op = optimizer.get_updates(params=self.model.trainable_weights,
loss=loss)
self.train_fn = K.function(
inputs=[self.model.input, action_gradients,
K.learning_phase()],
outputs=[],
updates=updates_op)
def build_model(self):
# Define input layers
input_states = layers.Input(shape=(self.state_size, ),
name='input_states')
input_actions = layers.Input(shape=(self.action_size, ),
name='input_actions')
#---------- copy from DDPG quadcopter ---------
# Add hidden layer(s) for state pathway
net_states = layers.Dense(units=400)(input_states)
# net_states = layers.BatchNormalization()(net_states)
net_states = layers.Activation("relu")(net_states)
net_states = layers.Dense(units=300)(net_states)
net_states = layers.Activation("relu")(net_states)
# Add hidden layer(s) for action pathway
net_actions = layers.Dense(units=300)(input_actions)
net_actions = layers.Activation("relu")(net_actions)
# net_actions = layers.Dense(units=250,kernel_regularizer=regularizers.l2(1e-7))(net_actions)
# net_actions = layers.BatchNormalization()(net_actions)
# net_actions = layers.Activation("relu")(net_actions)
# Combine state and action pathways
net = layers.Add()([net_states, net_actions])
net = layers.Activation('relu')(net)
net = layers.Dense(units=200,
kernel_initializer=initializers.RandomUniform(
minval=-0.5, maxval=0.5))(net)
net = layers.Activation('relu')(net)
# Add final output layer to prduce action values (Q values)
Q_values = layers.Dense(units=1, name='q_values')(net)
# ---------------- Hidden layers for states ----------------
# model_states = layers.Dense(units=32, activation=activations.sigmoid)(input_states)
# # model_states = layers.BatchNormalization()(model_states)
# model_states = layers.Dense(units=16, activation=activations.sigmoid)(model_states)
# # model_states = layers.BatchNormalization()(model_states)
# # model_states = layers.Dense(units=64)(model_states)
# # model_states = layers.BatchNormalization()(model_states)
# # ---------------- Hidden layers for actions ----------------
# model_actions = layers.Dense(units=16, activation=activations.sigmoid)(input_actions)
# # model_actions = layers.BatchNormalization()(model_actions)
# model_actions = layers.Dense(units=16, activation=activations.sigmoid)(model_actions)
# # model_actions = layers.BatchNormalization()(model_actions)
# # Both models merge here
# model = layers.add([model_states, model_actions])
# # Fully connected and batch normalization
# model = layers.Dense(units=8, activation=activations.sigmoid)(model)
# # model = layers.BatchNormalization()(model)
# # model = layers.Dense(units=64, activation=activations.relu)(model)
# # model = layers.BatchNormalization()(model)
# # Q values / output layer
# Q_values = layers.Dense(units=1, name='Q_s_a')(model)
# # model = layers.BatchNormalization()(model)
# Keras wrap the model
self.model = models.Model(inputs=[input_states, input_actions],
outputs=Q_values)
optimizer = optimizers.Adam(lr=0.0001)
self.model.compile(optimizer=optimizer, loss='mse')
action_gradients = K.gradients(Q_values, input_actions)
self.get_action_gradients = K.function(
inputs=[*self.model.input, K.learning_phase()],
outputs=action_gradients)
def build_model(self):
kernel_l2_reg = 1e-5
# Dense Options
# units = 200,
# activation='relu',
# activation = None,
# activity_regularizer=regularizers.l2(0.01),
# kernel_regularizer=regularizers.l2(kernel_l2_reg),
# bias_initializer=initializers.Constant(1e-2),
# use_bias = True
# use_bias=False
"""Build a critic (value) network that maps (state, action) pairs -> Q-values."""
# Define input layers
states = layers.Input(shape=(self.state_size, ), name='states')
actions = layers.Input(shape=(self.action_size, ), name='actions')
# size_repeat = 30
# state_size = size_repeat*self.state_size
# action_size = size_repeat*self.action_size
# block_size = size_repeat*self.state_size + size_repeat*self.action_size
# print("Critic block size = {}".format(block_size))
#
# net_states = layers.concatenate(size_repeat * [states])
# net_states = layers.BatchNormalization()(net_states)
# net_states = layers.Dropout(0.2)(net_states)
#
# net_actions = layers.concatenate(size_repeat * [actions])
# net_actions = layers.BatchNormalization()(net_actions)
# net_actions = layers.Dropout(0.2)(net_actions)
#
# # State pathway
# for _ in range(3):
# net_states = res_block(net_states, state_size)
#
# # Action pathway
# for _ in range(2):
# net_actions = res_block(net_actions, action_size)
#
# # Merge state and action pathways
# net = layers.concatenate([net_states, net_actions])
#
# # Final blocks
# for _ in range(3):
# net = res_block(net, block_size)
# Add hidden layer(s) for state pathway
net_states = layers.Dense(
units=300,
kernel_regularizer=regularizers.l2(kernel_l2_reg))(states)
net_states = layers.BatchNormalization()(net_states)
net_states = layers.LeakyReLU(1e-2)(net_states)
net_states = layers.Dense(
units=400,
kernel_regularizer=regularizers.l2(kernel_l2_reg))(net_states)
net_states = layers.BatchNormalization()(net_states)
net_states = layers.LeakyReLU(1e-2)(net_states)
# Add hidden layer(s) for action pathway
net_actions = layers.Dense(
units=400,
kernel_regularizer=regularizers.l2(kernel_l2_reg))(actions)
net_actions = layers.BatchNormalization()(net_actions)
net_actions = layers.LeakyReLU(1e-2)(net_actions)
# Merge state and action pathways
net = layers.add([net_states, net_actions])
net = layers.Dense(
units=200, kernel_regularizer=regularizers.l2(kernel_l2_reg))(net)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
# Add final output layer to prduce action values (Q values)
Q_values = layers.Dense(
units=1,
activation=None,
kernel_regularizer=regularizers.l2(kernel_l2_reg),
kernel_initializer=initializers.RandomUniform(minval=-5e-3,
maxval=5e-3),
# bias_initializer=initializers.RandomUniform(minval=-3e-3, maxval=3e-3),
name='q_values')(net)
# Create Keras model
self.model = models.Model(inputs=[states, actions], outputs=Q_values)
# Define optimizer and compile model for training with built-in loss function
optimizer = optimizers.Adam(lr=1e-2)
self.model.compile(optimizer=optimizer, loss='mse')
# Compute action gradients (derivative of Q values w.r.t. to actions)
action_gradients = K.gradients(Q_values, actions)
# Define an additional function to fetch action gradients (to be used by actor model)
self.get_action_gradients = K.function(
inputs=[*self.model.input, K.learning_phase()],
outputs=action_gradients)
def build_model(self):
kernel_l2_reg = 1e-5
"""Build an actor (policy) network that maps states -> actions."""
# Define input layer (states)
states = layers.Input(shape=(self.state_size, ), name='states')
# size_repeat = 30
# block_size = size_repeat*self.state_size
# print("Actor block size = {}".format(block_size))
#
# net = layers.concatenate([states]*size_repeat)
# # net = layers.Dense(block_size,
# # # kernel_initializer=initializers.RandomNormal(mean=1.0, stddev=0.1),
# # # bias_initializer=initializers.RandomNormal(mean=0.0, stddev=0.01),
# # activation=None,
# # use_bias=False)(states)
# net = layers.BatchNormalization()(net)
# net = layers.Dropout(0.2)(net)
# # net = layers.LeakyReLU(1e-2)(net)
#
# for _ in range(5):
# net = res_block(net, block_size)
# Add hidden layers
net = layers.Dense(
units=300,
kernel_regularizer=regularizers.l2(kernel_l2_reg))(states)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
net = layers.Dense(
units=400, kernel_regularizer=regularizers.l2(kernel_l2_reg))(net)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
net = layers.Dense(
units=200, kernel_regularizer=regularizers.l2(kernel_l2_reg))(net)
net = layers.BatchNormalization()(net)
net = layers.LeakyReLU(1e-2)(net)
# Try different layer sizes, activations, add batch normalization, regularizers, etc.
# # Add final output layer with sigmoid activation
# raw_actions = layers.Dense(units=self.action_size,
# activation='sigmoid',
# # kernel_regularizer=regularizers.l2(kernel_l2_reg),
# kernel_initializer=initializers.RandomUniform(minval=-3e-3, maxval=3e-3),
# # bias_initializer=initializers.RandomUniform(minval=-3e-3, maxval=3e-3),
# name='raw_actions')(net)
#
# # Scale [0, 1] output for each action dimension to proper range
# actions = layers.Lambda(lambda x: (x * self.action_range) + self.action_low, name='actions')(raw_actions)
actions = layers.Dense(
units=self.action_size,
activation='tanh',
kernel_regularizer=regularizers.l2(kernel_l2_reg),
kernel_initializer=initializers.RandomUniform(minval=-3e-3,
maxval=3e-3),
name='actions')(net)
# Create Keras model
self.model = models.Model(inputs=states, outputs=actions)
# Define loss function using action value (Q value) gradients
action_gradients = layers.Input(shape=(self.action_size, ))
loss = K.mean(-action_gradients * actions)
# Incorporate any additional losses here (e.g. from regularizers)
# Define optimizer and training function
optimizer = optimizers.Adam(lr=1e-4)
updates_op = optimizer.get_updates(params=self.model.trainable_weights,
loss=loss)
self.train_fn = K.function(
inputs=[self.model.input, action_gradients,
K.learning_phase()],
outputs=[],
updates=updates_op)