def main(desired_iterations, save_path):
# Define a log file to use with tensorboard
# Not that we currently make use of tensorboard at all
LOG_DIR = tempfile.mkdtemp()
print "Tensorboard Log: " + LOG_DIR + '\n'
# The directory to save the animations to
SAVE_DIR = save_path
# Define the simulation
sim = Planning(get_noodle_environment())
# Tensorflow!
tf.reset_default_graph()
session = tf.InteractiveSession()
journalist = tf.train.SummaryWriter(LOG_DIR)
brain = MLP([
sim.observation_size,
], [200, 200, sim.num_actions], [tf.tanh, tf.tanh, tf.identity])
optimizer = tf.train.RMSPropOptimizer(learning_rate=0.001, decay=0.9)
# DiscreteDeepQ object
current_controller = DiscreteDeepQ(sim.observation_size,
sim.num_actions,
brain,
optimizer,
session,
random_action_probability=0.2,
discount_rate=0.9,
exploration_period=1000,
max_experience=10000,
store_every_nth=1,
train_every_nth=1,
summary_writer=journalist)
# Initialize the session
session.run(tf.initialize_all_variables())
session.run(current_controller.target_network_update)
# journalist.add_graph(session.graph)
# Run the simulation and let the robot learn
num_simulations = 0
iterations_needed = []
total_rewards = []
try:
for game_idx in range(desired_iterations + 1):
current_random_prob = current_controller.random_action_probability
update_random_prob = game_idx != 0 and game_idx % 200 == 0
if update_random_prob and 0.01 < current_random_prob <= 0.1:
current_controller.random_action_probability = current_random_prob - 0.01
elif update_random_prob and 0.1 < current_random_prob:
current_controller.random_action_probability = current_random_prob - 0.1
game = Planning(get_noodle_environment())
game_iterations = 0
observation = game.observe()
while not game.is_over():
action = current_controller.action(observation)
reward = game.collect_reward(action)
new_observation = game.observe()
current_controller.store(observation, action, reward,
new_observation)
current_controller.training_step()
observation = new_observation
game_iterations += 1
total_rewards.append(sum(game.collected_rewards))
iterations_needed.append(game_iterations)
rewards = []
if game_idx % 50 == 0:
print "\rGame %d:\nIterations before end: %d." % (
game_idx, game_iterations)
if game.collected_rewards[-1] == 10:
print "Hit target!"
print "Total Rewards: %s\n" % (sum(game.collected_rewards))
if SAVE_DIR is not None:
game.save_path(SAVE_DIR, game_idx)
except KeyboardInterrupt:
print "Interrupted"
# Plot the iterations and reward
plt.figure(figsize=(12, 8))
plt.plot(total_rewards, label='Reward')
# plt.plot(iterations_needed, label='Iterations')
plt.legend()
plt.show()
journalist.add_graph(session.graph_def)
# In[10]:
performances = []
try:
for game_idx in range(2000):
game = DiscreteHill()
game_iterations = 0
observation = game.observe()
while game_iterations < 50 and not game.is_over():
action = current_controller.action(observation)
reward = game.collect_reward(action)
game.perform_action(action)
new_observation = game.observe()
current_controller.store(observation, action, reward, new_observation)
current_controller.training_step()
observation = new_observation
game_iterations += 1
performance = float(game_iterations - (game.shortest_path)) / game.shortest_path
performances.append(performance)
if game_idx % 100 == 0:
print "\rGame %d: iterations before success %d." % (game_idx, game_iterations),
print "Pos: %s, Target: %s" % (game.position, game.target),
except KeyboardInterrupt:
print "Interrupted"
performances = []
dt = 0.02
try:
for game_idx in range(10000):
game = Quadrotor()
game_iterations = 0
observation = game.observe()
x0 = copy.deepcopy(observation)
rewards = []
cost0 = game.cost()
path = [copy.deepcopy(observation)]
while game_iterations < 100 and not game.is_over():
action = current_controller.action(observation)
game.perform_action(action)
game.step(dt)
cost1 = game.cost()
reward = cost0 - cost1 - 2
# reward = -reward
rewards.append(reward)
new_observation = game.observe()
current_controller.store(observation, action, reward,
new_observation)
current_controller.training_step()
observation = new_observation
cost0 = cost1
# In[330]:
performances = []
try:
for game_idx in range(2000):
game = DiscreteHill()
game_iterations = 0
observation = game.observe()
prev_frames = [(observation, -1)] * (n_prev_frames - 1)
memory = np.concatenate([np.concatenate([observation, np.array([-1])])] * (n_prev_frames - 1) + [observation])
while game_iterations < 50 and not game.is_over():
action = current_controller.action(memory)
if n_prev_frames > 1:
prev_frames = prev_frames[1:] + [(observation, action)]
reward = game.collect_reward(action)
game.perform_action(action)
observation = game.observe()
new_memory = np.concatenate([np.concatenate([a, np.array([b])]) for (a, b) in prev_frames] + [observation])
current_controller.store(memory, action, reward, new_memory)
current_controller.training_step()
memory = new_memory
game_iterations += 1
cost = abs(game.target[0]) + abs(game.target[1])
performances.append((game_iterations - cost) / float(cost))
if game_idx % 100 == 0:
print "\rGame %d: iterations before success %d." % (game_idx, game_iterations),
print "Pos: %s, Target: %s" % (game.position, game.target),
class MLDaemon:
"""MLDaemon of ASCAR
All public members are thread-safe.
:type controller: DiscreteDeepQ
:type opt: dict
:type conf: dict
:type session: tf.Session
"""
controller = None # Tensorflow controller for MLP
session = None # Tensorflow session
debugging_level = 0 # debug level for log
disable_training = False # training default is enable
enable_tuning = False # tuning default is set to disable
stop_requested = False # stop training and action deciding
stopped = True # stop daemon
opt = None # option configuration for deep learning
conf = None # all configurations
delay_between_actions = 1 # seconds between actions
exploration_period = 5000 # exploration interval in one period
start_random_rate = 0.5 # random rate for selecting samples
checkpoint_time = 1800 # time of saving each checkpoint
last_observation = None # last observation used in training process
last_action = None # last set of parameter configurations
last_step = None # last set of parameter step size
new_action = None # new action that will be broadcast to storage system
save_path = None # save path of model and log file
cumulative_reward = 0 # cumulative rewards that Deep Q learning get at the end
test_number_of_steps_after_restore = 0 # number of test steps after restore tensorflow model
memcache_last_rowid = 0 # lastest row of memcache
def __init__(self, conf: dict = None, opt: dict = None):
tf.disable_v2_behavior() # disable tensorflow version 2
# get debugging level from config file
if 'mldaemon_debugging_level' in conf['log']:
self.debugging_level = conf['log']['mldaemon_debugging_level']
# assign configuration and option
self.opt = opt
self.conf = conf
# get directory for saving model and log_dir
self.save_path = os.path.dirname(conf['replaydb']['dbfile'])
self.disable_training = self.opt[
'disable_training'] # get disable_training option from config file
self.minibatch_size = self.opt[
'minibatch_size'] # mini batch size for training in one observation (Size of PIs in one row of pi db)
self.ticks_per_observation = self.opt[
'ticks_per_observation'] # Number of Ticks (depends of tick_len) per 1 observation
self.observation_size = len(list(self.conf['node']['client_id'].values())) * \
len(self.conf['ceph-param']) * self.ticks_per_observation
# setup tuning system configuration (Description is at the beginning)
if 'delay_between_actions' in opt:
self.delay_between_actions = opt['delay_between_actions']
if 'exploration_period' in opt:
self.exploration_period = opt['exploration_period']
if 'start_random_rate' in opt:
self.start_random_rate = opt['start_random_rate']
if 'checkpoint_time' in opt:
self.checkpoint_time = opt['checkpoint_time']
self.enable_tuning = self.opt['enable_tuning']
# Initialize database and retrieve data from database
self.db = ReplayDB(self.opt, self.conf)
self.db.refresh_memcache()
# Store default action
default = []
default_step = []
for param in self.conf['ceph-param']:
val = list(param.values())[0]
default.append(val['default'])
default_step.append(val['step'])
self.last_action = default
self.last_step = default_step
# make temp file for storing tensorflow log
self.LOG_DIR = tempfile.mkdtemp()
logger.info(
f"LOG_DIR is locate at {self.LOG_DIR}. To enable Tensorboard run 'tensorboard --logdir [LOG_DIR]'"
)
def start(self):
"""Start MLDaemon
This function create tensorflow controller and running the tuning by iteratively
training and choose action.
"""
if self.debugging_level >= 1:
import cProfile
import io
import pstats
pr = cProfile.Profile()
pr.enable()
logger.info(f"Connected to database {self.conf['replaydb']['dbfile']}")
# set stopped to False, so daemon can run
self.stopped = False
logger.info('Starting MLDaemon...')
try:
# TensorFlow business - it is always good to reset a graph before creating a new controller.
ops.reset_default_graph()
# ? shall we use InteractiveSession()?
self.session = tf.Session() # tf.InteractiveSession()
# This little guy will let us run tensorboard
# tensorboard --logdir [LOG_DIR]
journalist = tf.summary.FileWriter(self.LOG_DIR)
# Brain maps from observation to Q values for different actions.
# Here it is a done using a multi layer perceptron with 2 hidden
# layers
hidden_layer_size = max(int(self.observation_size * 1.2), 200)
logger.info('Observation size {0}, hidden layer size {1}'.format(
self.observation_size, hidden_layer_size))
brain = MLP([
self.observation_size,
], [hidden_layer_size, hidden_layer_size, self.opt['num_actions']],
[tf.tanh, tf.tanh, tf.identity])
# The optimizer to use. Here we use RMSProp as recommended
# by the publication
optimizer = tf.train.RMSPropOptimizer(learning_rate=0.001,
decay=0.9)
# DiscreteDeepQ object
self.controller = DiscreteDeepQ(
(self.observation_size, ),
self.opt['num_actions'],
brain,
optimizer,
self.session,
discount_rate=0.99,
start_random_rate=self.start_random_rate,
exploration_period=self.exploration_period,
random_action_probability=self.
opt['random_action_probability'],
train_every_nth=1,
summary_writer=journalist,
k_action=int(self.opt['k_val']))
self.session.run(tf.initialize_all_variables())
self.session.run(self.controller.target_network_update)
#checks if there is a model to be loaded before updating the graph
if os.path.isfile(os.path.join(self.save_path, 'model')):
self.controller.restore(self.save_path)
logger.info('Loaded saved model from ' + self.save_path)
else:
logger.info('No saved model found')
self.test_number_of_steps_after_restore = self.controller.actions_executed_so_far
# graph was not available when journalist was created
journalist.add_graph(self.session.graph)
last_action_second = 0 # last action timestep
last_training_step_duration = 0 # last training duration
last_checkpoint_time = time.time() # last checkpoint
while not self.stop_requested:
begin_time = time.time() # set begin time to current time
# Run training step
logger.info('Start training step...')
minibatch_size, prediction_error = self._do_training_step()
if minibatch_size > 0:
# Check checkpoint time for every self.checkpoint_time
logger.info(
f'Time before checkpoint: {self.checkpoint_time - (time.time() - last_checkpoint_time)}'
)
if time.time(
) - last_checkpoint_time > self.checkpoint_time:
# save controller checkpoint
cp_path = os.path.join(
self.save_path,
'checkpoint_' + time.strftime('%Y-%m-%d_%H-%M-%S'))
os.mkdir(cp_path)
self.controller.save(cp_path)
# update checkpoint time
last_checkpoint_time = time.time()
logger.info('Checkpoint saved in ' + cp_path)
# update last training duration
last_training_step_duration = time.time() - begin_time
logger.info(
'Finished {step}th training step in {time} seconds '
'using {mb} samples with prediction error {error}.'.
format(step=self.controller.iteration,
time=last_training_step_duration,
mb=minibatch_size,
error=prediction_error))
else:
logger.info('Not enough data for training yet.')
# Check if it is time for tuning
# (check if duration since last action passed compare to time left before next actions)
if time.time() - (
last_action_second + 0.5
) >= self.delay_between_actions - last_training_step_duration:
if self.enable_tuning:
logger.debug('Start tuning step...')
try:
# Update memcache for next traininf interval
self.db.refresh_memcache()
except:
pass
# get sleep time either 0 or what is left until next action is start
sleep_time = max(
0, self.delay_between_actions -
(time.time() - (last_action_second + 0.5)))
if sleep_time > 0.05:
# Do garbage cleaning up before long sleeping
gc.collect()
sleep_time = max(
0, self.delay_between_actions -
(time.time() - (last_action_second + 0.5)))
if sleep_time > 0.0001:
logger.debug(f'Sleeping {sleep_time} seconds')
# Welp, basically sleep
time.sleep(sleep_time)
# Do action step
ts = int(time.time())
self._do_action_step(ts)
# Update action to current time
last_action_second = ts
else:
logger.debug('Tuning disabled.')
# Check for new data every 200 steps to reduce checking overhead
if self.controller.number_of_times_train_called % 200 == 0:
try:
self.db.refresh_memcache()
pass
except:
pass
# We always print out the reward to the log for analysis
logger.info(f'Cumulative reward: {self.cumulative_reward}')
# Clean log at the end for next run
flush_log()
finally:
# set stopped to True, so daemon can properly stop
self.stopped = True
# controller.save should not work here as the controller is still NoneType
# self.controller.save(self.save_path)
logger.info('MLDaemon stopped.')
if self.debugging_level >= 1:
pr.disable()
s = io.StringIO()
sortby = 'cumulative'
ps = pstats.Stats(pr, stream=s).sort_stats(sortby)
ps.print_stats()
print(s.getvalue())
@staticmethod
def store(*unused):
pass
def _do_training_step(self) -> (int, float):
"""Do a training step
This function is NOT thread-safe and can only be called within the worker thread.
Raises:
RuntimeError: Training is set to disable
Returns:
(int, float): size of the mini batch, prediction error
"""
if not self.disable_training:
# Get training batch from memcache in replay database
mini_batch = self.get_minibatch()
if mini_batch:
logger.info(f'Retrieve batch size: {len(mini_batch)}')
return len(mini_batch), self.controller.training_step(
mini_batch)
else:
return 0, None
else:
raise RuntimeError('Training is disabled')
def _do_action_step(self, ts):
""" Do an action step
This function is NOT thread-safe and can only be called within the worker thread.
Raises:
RuntimeError: Tuning is disable, so no action will be perform
"""
if not self.enable_tuning:
raise RuntimeError('Tuning is disabled')
try:
# get new observation
new_observation = self.observe()
# collect reward
reward = self.collect_reward()
except BaseException as e:
logger.info('{0}. Skipped taking action.'.format(str(e)))
traceback.print_exc()
return
# Store last transition. This is only needed for the discrete hill test case.
if self.last_observation is not None:
# TODO: Implement store function (CAPES haven't implement this function yet)
self.store(self.last_observation, self.last_action, reward,
new_observation)
pass
# get action from new observation
self.new_action = self.controller.action(new_observation)
# Perform action
self.perform_action(self.new_action, ts)
# Update last observation to current one
self.last_observation = new_observation
def get_minibatch(self):
"""Get mini batch for training
This function is NOT thread-safe and can only be called within the worker thread.
It calls ReplayDB to retrieve mini batch
Returns:
list: mini batch containing timestep, action, reward of the action, observation of
a current timestep, and next observation
"""
# We need at least ticks_per_observation+1 ticks for one sample
if len(self.db.memcache) < self.ticks_per_observation + 1:
return None
result = [] # mini batch that will be return in the end
required_samples = self.minibatch_size # samples per batch
while True:
# remaining size in memcache subtracted by ticks per observation
total_sample_size = len(
self.db.memcache) - self.ticks_per_observation
# If possible sample size is not enough
if total_sample_size <= len(result):
return result
# get required sample size with regards to number of sample left in memcache
required_samples = min(total_sample_size, required_samples)
# The last idx has to be excluded so it won't be added to bad_idx set (last idx
# is not yet decided on action)
# pick sample index at random from tick_per_observation -1 ticks to last ticks
# with size of remaining required sample
# Random a sample idx with required_sample size
sample_idx = random.sample(
range(self.ticks_per_observation - 1,
len(self.db.memcache) - 1),
required_samples - len(result))
for i in sample_idx:
try:
# get observation and next observation from sample index
observ = self.get_observation_by_cache_idx(i)
observ_next = self.get_next_observation_by_cache_idx(i)
# calculate reward from observation of current step and next step
nomalize_total_lat = self.inverse_norm_latency(self._calc_total_latency(observ_next)) - \
self.inverse_norm_latency(self._calc_total_latency(observ))
reward = (self._calc_total_throughput(observ_next) -
self._calc_total_throughput(observ)
) + nomalize_total_lat
# The final ts is only used in test cases
# append data into result as tuple
ts = self.db.memcache[i][0]
action = self.db.memcache[i][1]
# Prevent getting observation without action append to training batch
if (action != [-1]) and (
action != [None] * len(self.conf['ceph-param'])):
result.append(
(observ, action, reward, observ_next, ts))
if len(result) == required_samples:
logger.debug(
f'Retrieved mini batach with data: {result}')
return result
except NotEnoughDataError:
logger.info(f'NotEnoughDataError for memcache idx {i}')
def inverse_norm_latency(self, x):
""" Normalize inverse of latency value
Normalize of inverse latency value to have the same range of
value as bandwith
Returns:
float: a normalize inverse of latency value
"""
if (self.opt['min_latency'] > 0):
inv_min_lat = 1 / self.opt['min_latency']
else:
inv_min_lat = 0
if (self.opt['max_latency'] > 0):
inv_max_lat = 1 / self.opt['max_latency']
else:
inv_max_lat = 0
if (x > 0):
inv_lat = 1 / x
else:
inv_lat = 0
return (inv_lat - inv_min_lat) * (self.opt['max_bandwidth'] -
self.opt['min_bandwidth']) / (
inv_max_lat - inv_min_lat)
def observe(self) -> np.ndarray:
""" Return lastest observation vector using memcache.
Get observation vector using memcache
Raises:
NotEnoughDataError: ticks in memcache is not enough
NotEnoughDataError: cannot get observation from
self.get_observation_by_cache_idx(idx)
Returns:
np.ndarray: Observation at index idx
"""
err_msg = 'No valid observation in the past two seconds'
# If ticks in memcache is not enough
if len(self.db.memcache) < self.ticks_per_observation:
raise NotEnoughDataError(err_msg)
# Loop from last ticks (last memcache index) to at least third last ticks or ticks_per_observation tick
for idx in range(
len(self.db.memcache) - 1,
max(len(self.db.memcache) - 3, self.ticks_per_observation - 1),
-1):
try:
# Return lastest possible observation
return self.get_observation_by_cache_idx(idx)
except NotEnoughDataError:
pass
# No observation found, so raise with err_msg
raise NotEnoughDataError(err_msg)
def collect_reward(self):
""" Reward is the sum of read throughput + write throughput of clients
Return reward for the last observation
Returns:
float: reward from current total thoughput and previous total throughput
"""
observ, prev_observ = self.db.get_last_n_observation(2)
nomalize_total_lat = self.inverse_norm_latency(self._calc_total_latency(observ)) - \
self.inverse_norm_latency(self._calc_total_latency(prev_observ))
return (self._calc_total_throughput(observ) -
self._calc_total_throughput(prev_observ)) + nomalize_total_lat
def get_observation_by_cache_idx(self, idx: int) -> np.ndarray:
""" Get observation from index
Args:
idx (int): observation index
Raises:
NotEnoughDataError: Index is greater than tick_per_observation
NotEnoughDataError: Index does not belong to the same observation
NotEnoughDataError: Missing entry exceed the missing_entry_tolerance
Returns:
np.ndarray: observation data of the index
"""
# Check if idx is out of range
assert 0 <= idx < len(self.db.memcache)
# Check if index is consider in the observation
if idx < self.ticks_per_observation - 1:
raise NotEnoughDataError
# Return None if the time is not continuous
idx_start = idx - self.ticks_per_observation + 1
# Create result nd.array for storing data from memcache
# With client_len, number of tick per observation, data per client
result = np.zeros(
(len(self.db.client_list), self.ticks_per_observation,
len(self.conf['ceph-param'])),
dtype=float)
missing_entry = 0
# Loop each index until reach idx
for i in range(idx_start, idx + 1):
# Loop each client
for client_id_idx in range(len(self.db.client_list)):
# Check for missing entry
if self.db.memcache[i][2][client_id_idx] is None:
missing_entry += 1 # Add missing entry
# Check for tolerance
if missing_entry > self.db.missing_entry_tolerance:
raise NotEnoughDataError('Too many missing entries')
else:
# Add PIs data at i to result list
result[client_id_idx, i -
idx_start] = self.db.memcache[i][2][client_id_idx]
# return result vector
return result.reshape((self.observation_size, ))
def get_next_observation_by_cache_idx(self, idx: int) -> np.ndarray:
"""Get next observation from idx
Args:
idx (int): observation index
Raises:
NotEnoughDataError: index is last tick in memcache
NotEnoughDataError: next tick is not equal to ts at idx + tick_len
Returns:
np.ndarray: next observation
"""
# Check if idx is out of range
assert 0 <= idx < len(self.db.memcache)
# if index is the last tick
if idx == len(self.db.memcache) - 1:
raise NotEnoughDataError
# # Check if next tick is continuous
# if self.db.memcache[idx][0] + self.opt['tick_len'] != self.db.memcache[idx + 1][0]:
# logger.info('or sth here')
# raise NotEnoughDataError
# Check observation at next tick
return self.get_observation_by_cache_idx(idx + 1)
def _calc_total_throughput(self, observ: np.ndarray) -> float:
""" Calculate total throughput of an observation
Only the throughput of last tick in the observation are included in the reward.
Args:
observ (np.ndarray): observation
Returns:
float: total throughput
"""
# Get number of client
if 'client_id' in self.conf['node']:
client_num = len(self.conf['node']['client_id'])
else:
client_num = 1
# reshape also checks the shape of observ
observ = np.reshape(observ, (client_num, self.ticks_per_observation,
len(self.conf['ceph-param'])))
result = 0.0 # throughput result
# Loop through each client
for client_idx in range(client_num):
# Loop through each server (Should start from 0)
for osc in range(len(self.conf['node']['server_addr'])):
# Get read_bytes, write_bytes indicies
read_ix = osc * (self.opt['pi_per_client_obd']) + 0
write_ix = osc * (self.opt['pi_per_client_obd']) + 1
# Get read_bytes, writes_bytes from observation
read_bytes = observ[client_idx, self.ticks_per_observation - 1,
read_ix]
write_bytes = observ[client_idx,
self.ticks_per_observation - 1, write_ix]
# sanity check: our machine can't be faster than 300 MB/s
assert 0 <= read_bytes <= 300 * 1024 * 1024
assert 0 <= write_bytes <= 300 * 1024 * 1024
result += read_bytes + write_bytes
return result
def _calc_total_latency(self, observ: np.ndarray) -> float:
""" Calculate latency of an observation
Only the lantency of last tick in the observation are included in the reward.
Args:
observ (np.ndarray): observation
Returns:
float: total throughput
"""
# Get number of client
if 'client_id' in self.conf['node']:
client_num = len(self.conf['node']['client_id'])
else:
client_num = 1
# reshape also checks the shape of observ
observ = np.reshape(observ, (client_num, self.ticks_per_observation,
len(self.conf['ceph-param'])))
result = 0.0 # throughput result
# Loop through each client
for client_idx in range(client_num):
# Loop through each server
for osc in range(len(self.conf['node']['server_addr'])):
# Get latency read and write indicies
latency_r_ix = osc * (self.opt['pi_per_client_obd']) + 2
latency_w_ix = osc * (self.opt['pi_per_client_obd']) + 3
# Get latency read and write from observation
latency_r = observ[client_idx, self.ticks_per_observation - 1,
latency_r_ix]
latency_w = observ[client_idx, self.ticks_per_observation - 1,
latency_w_ix]
result += latency_r + latency_w
return result
def perform_action(self, actions, ts):
"""Send the new action to IntfDaemon
Args:
action: An action predicted by discrete_deepq
"""
# logger.info(f'{action}')
# assert action.shape == tuple([1,4])
# assert 0 <= action_id < self.opt['num_actions']
action_opt = {
0: self._increase_p_s,
1: self._increase_p_decrease_s,
2: self._increase_p_dna,
3: self._decrease_p_increase_s,
4: self._decrease_p_s,
5: self._decrease_p_dna
}
for action_id in actions:
if action_id > 0:
param_id = (action_id - 1) // 6
logger.info(f"This is {param_id}")
logger.info(f"This is {self.conf['ceph-param'][param_id]}")
param_valu = list(
self.conf['ceph-param'][param_id].values())[0]
param_type = param_valu['type']
min_val = param_valu['min']
max_val = param_valu['max']
step_change = self.opt['stepsize_change']
if (param_type == "str"):
# TODO: Handle string type parameter
continue
else:
action_opt[action_id % 6](param_id, min_val, max_val,
step_change)
self.db.connect_db()
for t in (ts - self.delay_between_actions, ts):
try:
logger.info(f'insert action at: {t}')
self.db.insert_action(t, self.last_action)
except sqlite3.IntegrityError as e:
pass
self.db.conn.close()
# # Broadcast action must begin with action_id, which will be saved by
# # IntfDaemon to the DB.
ControllerInft.broadcastAction(self.last_action, ts, self.conf,
self.opt)
def _increase_p_s(self, param_id, min_val, max_val, step_change):
next_step_size = self.last_step[param_id] + step_change
if self.last_action[param_id] + next_step_size > max_val:
# invalid move
pass
else:
# Do increase step size and parameter value
self.last_step[param_id] += step_change
self.last_action[param_id] += self.last_step[param_id]
def _increase_p_decrease_s(self, param_id, min_val, max_val, step_change):
next_step_size = self.last_step[param_id] - step_change
if self.last_action[param_id] + next_step_size > max_val:
# invalid move
pass
else:
# Do increase step size and decrease parameter value
self.last_step[param_id] -= step_change
self.last_action[param_id] += self.last_step[param_id]
def _increase_p_dna(self, param_id, min_val, max_val, step_change):
if self.last_action[param_id] + self.last_step[param_id] > max_val:
# invalid move
pass
else:
# Do increase parameter value
self.last_action[param_id] += self.last_step[param_id]
def _decrease_p_increase_s(self, param_id, min_val, max_val, step_change):
next_step_size = self.last_step[param_id] + step_change
if self.last_action[param_id] - next_step_size < min_val:
# invalid move
pass
else:
# Do decrease step size and increase parameter value
self.last_step[param_id] += step_change
self.last_action[param_id] -= self.last_step[param_id]
def _decrease_p_s(self, param_id, min_val, max_val, step_change):
next_step_size = self.last_step[param_id] - step_change
if self.last_action[param_id] - next_step_size < min_val:
# invalid move
pass
else:
# Do decrease step size and parameter value
self.last_step[param_id] -= step_change
self.last_action[param_id] -= self.last_step[param_id]
def _decrease_p_dna(self, param_id, min_val, max_val, step_change):
if self.last_action[param_id] - self.last_step[param_id] < min_val:
# invalid move
pass
else:
# Do decrease parameter value
self.last_action[param_id] -= self.last_step[param_id]
performances = []
try:
for game_idx in range(2000):
game = DiscreteHill()
game_iterations = 0
observation = game.observe()
prev_frames = [(observation, -1)] * (n_prev_frames - 1)
memory = np.concatenate(
[np.concatenate([observation, np.array([-1])])] *
(n_prev_frames - 1) + [observation])
while game_iterations < 50 and not game.is_over():
action = current_controller.action(memory)
if n_prev_frames > 1:
prev_frames = prev_frames[1:] + [(observation, action)]
reward = game.collect_reward(action)
game.perform_action(action)
observation = game.observe()
new_memory = np.concatenate(
[np.concatenate([a, np.array([b])])
for (a, b) in prev_frames] + [observation])
current_controller.store(memory, action, reward, new_memory)
current_controller.training_step()
memory = new_memory
game_iterations += 1
cost = abs(game.target[0]) + abs(game.target[1])
performances.append((game_iterations - cost) / float(cost))
if game_idx % 100 == 0: