def build_targetTrain_DQN(make_obs_ph,
make_target_ph,
q_func,
num_actions,
optimizer,
scope="deepq",
reuse=None):
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
target_input = U.ensure_tf_input(make_target_ph("target"))
# get variables
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
# q values for all actions
q_t_raw = q_func(obs_t_input.get(),
num_actions,
scope="q_func",
reuse=True)
# calculate error
td_error = q_t_raw - tf.stop_gradient(target_input.get())
errors = U.huber_loss(td_error)
optimize_expr = optimizer.minimize(errors, var_list=q_func_vars)
targetTrain = U.function(inputs=[obs_t_input, target_input],
outputs=[td_error],
updates=[optimize_expr])
return targetTrain
def build_targetTrain(make_actionDeic_ph,
make_target_ph,
make_weight_ph,
q_func,
num_states,
num_cascade,
optimizer,
scope="deepq",
qscope="q_func",
grad_norm_clipping=None,
reuse=None):
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_actionDeic_ph("action_t_deic"))
target_input = U.ensure_tf_input(make_target_ph("target"))
importance_weights_ph = U.ensure_tf_input(make_weight_ph("target"))
# get variables
q_func_vars = U.scope_vars(U.absolute_scope_name(qscope))
# q values for all actions
# q_t_raw = q_func(obs_t_input.get(), num_states*num_cascade, scope=qscope, reuse=True)
# targetTiled = tf.reshape(target_input.get(), shape=(-1,num_cascade*num_states))
# q_t_raw = q_func(obs_t_input.get(), num_states, scope=qscope, reuse=True)
# targetTiled = tf.reshape(target_input.get(), shape=(-1,num_states))
q_t_raw = q_func(obs_t_input.get(), 1, scope=qscope, reuse=True)
targetTiled = tf.reshape(target_input.get(), shape=(-1,1))
# calculate error
td_error = q_t_raw - tf.stop_gradient(targetTiled)
errors = importance_weights_ph.get() * U.huber_loss(td_error)
# compute optimization op (potentially with gradient clipping)
if grad_norm_clipping is not None:
optimize_expr = U.minimize_and_clip(optimizer,
errors,
var_list=q_func_vars,
clip_val=grad_norm_clipping)
else:
optimize_expr = optimizer.minimize(errors, var_list=q_func_vars)
# optimize_expr = optimizer.minimize(errors, var_list=q_func_vars)
targetTrain = U.function(
inputs=[
obs_t_input,
target_input,
importance_weights_ph
],
outputs=[td_error, obs_t_input.get(), target_input.get()],
updates=[optimize_expr]
)
return targetTrain
def build_update_target(scope="deepq",
qscope="q_func",
qscopeTarget="q_func_target"):
with tf.variable_scope(scope, reuse=True):
q_func_vars = U.scope_vars(U.absolute_scope_name(qscope))
target_q_func_vars = U.scope_vars(U.absolute_scope_name(qscopeTarget))
# update_target_fn will be called periodically to copy Q network to target Q network
update_target_expr = []
for var, var_target in zip(
sorted(q_func_vars, key=lambda v: v.name),
sorted(target_q_func_vars, key=lambda v: v.name)):
update_target_expr.append(var_target.assign(var))
update_target_expr = tf.group(*update_target_expr)
update_target = U.function([], [], updates=[update_target_expr])
return update_target
def build_train_cascaded(make_obs_ph,
make_target_ph,
q_func,
num_cascade,
num_actions,
optimizer,
grad_norm_clipping=None,
double_q=True,
scope="deepq",
reuse=None):
getq_f = build_getq(make_obs_ph,
q_func,
num_actions,
num_cascade,
scope=scope,
reuse=reuse)
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
target_input = U.ensure_tf_input(make_target_ph("target"))
# get variables
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
# q values for all actions
q_t_raw = q_func(obs_t_input.get(),
num_actions * num_cascade,
scope="q_func",
reuse=True)
q_t = tf.reshape(q_t_raw, shape=(-1, num_cascade, num_actions))
# calculate error
td_error = q_t - tf.stop_gradient(target_input.get())
errors = U.huber_loss(td_error)
optimize_expr = optimizer.minimize(errors, var_list=q_func_vars)
targetTrain = U.function(
inputs=[obs_t_input, target_input],
outputs=[td_error, obs_t_input.get(),
target_input.get()],
updates=[optimize_expr])
return getq_f, targetTrain
def build_train_cascaded(make_obs_ph,
make_target_ph,
make_actions_ph,
q_func,
num_cascade,
num_actions,
batch_size,
num_deictic_patches,
optimizer,
gamma=1.0,
grad_norm_clipping=None,
double_q=True,
scope="deepq",
reuse=None):
getq_f = build_getq(make_obs_ph,
q_func,
num_actions * num_cascade,
scope=scope,
scope_q_func="q_func",
reuse=reuse)
# getq_f_target = build_getq(make_obs_ph, q_func, num_actions * num_cascade, scope=scope, scope_q_func="target_q_func", reuse=reuse)
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
actions_input = U.ensure_tf_input(make_actions_ph("actions"))
target_input = U.ensure_tf_input(make_target_ph("target"))
# get variables
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
target_q_func_vars = U.scope_vars(
U.absolute_scope_name("target_q_func"))
# q values for all actions
q_t_raw = q_func(obs_t_input.get(),
num_actions * num_cascade,
scope="q_func",
reuse=True) # reuse parameters from act
q_t = tf.reshape(
q_t_raw,
[batch_size * num_deictic_patches, num_cascade, num_actions])
# q values for selected actions
actionsTiled = tf.one_hot(actions_input.get(), num_actions)
q_t_action_select = tf.reduce_sum(q_t * actionsTiled, 2)
# calculate error
td_error = q_t_action_select - tf.stop_gradient(target_input.get())
errors = U.huber_loss(td_error)
# compute optimization op (potentially with gradient clipping)
if grad_norm_clipping is not None:
optimize_expr = U.minimize_and_clip(optimizer,
errors,
var_list=q_func_vars,
clip_val=grad_norm_clipping)
else:
optimize_expr = optimizer.minimize(errors, var_list=q_func_vars)
# # update_target_fn will be called periodically to copy Q network to target Q network
# update_target_expr = []
# for var, var_target in zip(sorted(q_func_vars, key=lambda v: v.name),
# sorted(target_q_func_vars, key=lambda v: v.name)):
# update_target_expr.append(var_target.assign(var))
# update_target_expr = tf.group(*update_target_expr)
# Create callable functions
targetTrain = U.function(
inputs=[obs_t_input, actions_input, target_input],
outputs=[td_error, q_t_action_select,
target_input.get()],
updates=[optimize_expr])
# update_target = U.function([], [], updates=[update_target_expr])
# return getq_f, getq_f_target, targetTrain, update_target
return getq_f, targetTrain
def build_train_deictic_min_streamlined(make_obs_ph,
q_func,
num_actions,
batch_size,
num_deictic_patches,
max_num_groups,
optimizer,
gamma=1.0,
grad_norm_clipping=None,
double_q=True,
scope="deepq",
reuse=None):
# act_f = build_act(make_obs_ph, q_func, num_actions, scope=scope, reuse=reuse)
getq_f = build_getq(make_obs_ph,
q_func,
num_actions,
scope=scope,
reuse=reuse)
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
act_t_ph = tf.placeholder(tf.int32, [None], name="action")
obs_tp1_input = U.ensure_tf_input(make_obs_ph("obs_tp1"))
rew_t_ph = tf.placeholder(tf.float32, [None], name="reward")
group_matching_ph = tf.placeholder(tf.int32, [None],
name="group_matching")
done_mask_ph = tf.placeholder(tf.float32, [None], name="done_mask")
# Creating this placeholder to enable a tabular version of this code
q_tp1_ph = tf.placeholder(tf.float32, [None, 4], name="q_tp1")
# q network evaluation
q_t = q_func(obs_t_input.get(),
num_actions,
scope="q_func",
reuse=True) # reuse parameters from act
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
# target q network evalution
# q_tp1 = q_func(obs_tp1_input.get(), num_actions, scope="target_q_func")
q_tp1 = q_tp1_ph
target_q_func_vars = U.scope_vars(
U.absolute_scope_name("target_q_func"))
# compute estimate of best possible value starting from state at t + 1
if double_q:
q_tp1_using_online_net = q_func(obs_tp1_input.get(),
num_actions,
scope="q_func",
reuse=True)
q_tp1_best_using_online_net = tf.arg_max(q_tp1_using_online_net, 1)
q_tp1_best = tf.reduce_sum(
q_tp1 * tf.one_hot(q_tp1_best_using_online_net, num_actions),
1)
else:
q_tp1_maxa = tf.reduce_max(q_tp1, 1)
# Calculate target = max_{a,d} Q(d,a). Size should be: Bx1
q_tp1_maxa_reshape = tf.reshape(q_tp1_maxa,
[batch_size, num_deictic_patches])
q_tp1_target = tf.reduce_max(q_tp1_maxa_reshape, 1)
q_tp1_target = rew_t_ph + gamma * q_tp1_target
q_tp1_target = (1.0 - done_mask_ph) * q_tp1_target
# Calculate desc_2_state. Encodes which descriptors contained in each state.
# Dimensions should be: B x max_num_groups
group_matching_3dtensor = tf.reshape(group_matching_ph,
[batch_size, num_deictic_patches])
groups_onehot = tf.one_hot(group_matching_3dtensor,
max_num_groups,
axis=-1)
desc_2_state = tf.reduce_max(groups_onehot, 1)
# Calculate target_min_per_D
max_target = tf.reduce_max(q_tp1_target)
q_tp1_target_tiled = tf.tile(tf.reshape(q_tp1_target, [batch_size, 1]),
[1, max_num_groups])
target_min_per_D_expanded = desc_2_state * q_tp1_target_tiled + (
1 - desc_2_state) * max_target
target_min_per_D = tf.reduce_min(target_min_per_D_expanded, 0)
# Project target_min_per_D onto q_t
D_2_DI = tf.one_hot(group_matching_ph, max_num_groups)
# Both the next two lines produce the same results
targets = tf.squeeze(
tf.matmul(D_2_DI, tf.reshape(target_min_per_D,
[max_num_groups, 1])))
# targets2 = tf.reduce_sum(D_2_DI * tf.tile(tf.reshape(target_min_per_D,[1,max_num_groups]),[batch_size*num_deictic_patches,1]),1)
# tf.tile(tf.reshape(target_min_per_D,[max_num_groups,1]),[1,np.shape(q_t)[0]])
# # expand target to BxD(I')
# q_tp1_target_under_tiled = tf.tile(tf.reshape(q_tp1_target_under,[batch_size,1]),[1,num_deictic_patches])
# q_tp1_target = tf.reshape(q_tp1_target_under_tiled,[batch_size*num_deictic_patches,1])
# # Calculate min over groups
# groups_onehot = tf.one_hot(group_matching_ph,max_num_groups+1)
# q_tp1_target_tiled = tf.tile(q_tp1_target,[1,max_num_groups+1])
# max_target = tf.reduce_max(q_tp1_target)
# groups_target_tiled = groups_onehot*q_tp1_target_tiled + (1-groups_onehot)*max_target
# groups_target = tf.reduce_min(groups_target_tiled,0)[:-1]
# groups_target_reduced = groups_target[0:tf.minimum(tf.shape(group_actions_ph)[0],tf.shape(groups_target)[0])]
# q scores for actions which we know were selected in the given state.
q_t_selected = tf.reduce_sum(q_t * tf.one_hot(act_t_ph, num_actions),
1)
# compute the error (potentially clipped)
# td_error = q_group_selected - tf.stop_gradient(groups_target_reduced)
td_error = q_t_selected - tf.stop_gradient(targets)
errors = U.huber_loss(td_error)
weighted_error = errors
# compute optimization op (potentially with gradient clipping)
if grad_norm_clipping is not None:
optimize_expr = U.minimize_and_clip(optimizer,
weighted_error,
var_list=q_func_vars,
clip_val=grad_norm_clipping)
else:
optimize_expr = optimizer.minimize(weighted_error,
var_list=q_func_vars)
# update_target_fn will be called periodically to copy Q network to target Q network
update_target_expr = []
for var, var_target in zip(
sorted(q_func_vars, key=lambda v: v.name),
sorted(target_q_func_vars, key=lambda v: v.name)):
update_target_expr.append(var_target.assign(var))
update_target_expr = tf.group(*update_target_expr)
# Create callable functions
train = U.function(inputs=[
obs_t_input, act_t_ph, rew_t_ph, obs_tp1_input, group_matching_ph,
done_mask_ph
],
outputs=[targets],
updates=[optimize_expr])
# Create callable functions
trainWOUpdate = U.function(inputs=[
obs_t_input, act_t_ph, rew_t_ph, obs_tp1_input, group_matching_ph,
done_mask_ph, q_tp1_ph
],
outputs=[
q_tp1_target, desc_2_state,
target_min_per_D, D_2_DI, targets
])
update_target = U.function([], [], updates=[update_target_expr])
# q_values = U.function([obs_t_input], q_t)
# return getq_f, train, trainWOUpdate, update_target, {'q_values': q_values}
return getq_f, train, trainWOUpdate, update_target
def build_train(make_obs_ph,
q_func,
num_actions,
optimizer,
grad_norm_clipping=None,
gamma=1.0,
double_q=True,
scope="deepq",
reuse=None):
"""Creates the train function:
Parameters
----------
make_obs_ph: str -> tf.placeholder or TfInput
a function that takes a name and creates a placeholder of input with that name
q_func: (tf.Variable, int, str, bool) -> tf.Variable
the model that takes the following inputs:
observation_in: object
the output of observation placeholder
num_actions: int
number of actions
scope: str
reuse: bool
should be passed to outer variable scope
and returns a tensor of shape (batch_size, num_actions) with values of every action.
num_actions: int
number of actions
reuse: bool
whether or not to reuse the graph variables
optimizer: tf.train.Optimizer
optimizer to use for the Q-learning objective.
grad_norm_clipping: float or None
clip gradient norms to this value. If None no clipping is performed.
gamma: float
discount rate.
double_q: bool
if true will use Double Q Learning (https://arxiv.org/abs/1509.06461).
In general it is a good idea to keep it enabled.
scope: str or VariableScope
optional scope for variable_scope.
reuse: bool or None
whether or not the variables should be reused. To be able to reuse the scope must be given.
Returns
-------
act: (tf.Variable, bool, float) -> tf.Variable
function to select and action given observation.
` See the top of the file for details.
train: (object, np.array, np.array, object, np.array, np.array) -> np.array
optimize the error in Bellman's equation.
` See the top of the file for details.
update_target: () -> ()
copy the parameters from optimized Q function to the target Q function.
` See the top of the file for details.
debug: {str: function}
a bunch of functions to print debug data like q_values.
"""
act_f = build_act(make_obs_ph,
q_func,
num_actions,
scope=scope,
reuse=reuse)
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
act_t_ph = tf.placeholder(tf.int32, [None], name="action")
rew_t_ph = tf.placeholder(tf.float32, [None], name="reward")
obs_tp1_input = U.ensure_tf_input(make_obs_ph("obs_tp1"))
done_mask_ph = tf.placeholder(tf.float32, [None], name="done")
importance_weights_ph = tf.placeholder(tf.float32, [None],
name="weight")
# q network evaluation
q_t = q_func(obs_t_input.get(),
num_actions,
scope="q_func",
reuse=True) # reuse parameters from act
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
# target q network evalution
q_tp1 = q_func(obs_tp1_input.get(), num_actions, scope="target_q_func")
target_q_func_vars = U.scope_vars(
U.absolute_scope_name("target_q_func"))
# q scores for actions which we know were selected in the given state.
q_t_selected = tf.reduce_sum(q_t * tf.one_hot(act_t_ph, num_actions),
1)
# compute estimate of best possible value starting from state at t + 1
if double_q:
q_tp1_using_online_net = q_func(obs_tp1_input.get(),
num_actions,
scope="q_func",
reuse=True)
q_tp1_best_using_online_net = tf.arg_max(q_tp1_using_online_net, 1)
q_tp1_best = tf.reduce_sum(
q_tp1 * tf.one_hot(q_tp1_best_using_online_net, num_actions),
1)
else:
q_tp1_best = tf.reduce_max(q_tp1, 1)
q_tp1_best_masked = (1.0 - done_mask_ph) * q_tp1_best
# compute RHS of bellman equation
q_t_selected_target = rew_t_ph + gamma * q_tp1_best_masked
# compute the error (potentially clipped)
td_error = q_t_selected - tf.stop_gradient(q_t_selected_target)
errors = U.huber_loss(td_error)
weighted_error = tf.reduce_mean(importance_weights_ph * errors)
# compute optimization op (potentially with gradient clipping)
if grad_norm_clipping is not None:
optimize_expr = U.minimize_and_clip(optimizer,
weighted_error,
var_list=q_func_vars,
clip_val=grad_norm_clipping)
else:
optimize_expr = optimizer.minimize(weighted_error,
var_list=q_func_vars)
# update_target_fn will be called periodically to copy Q network to target Q network
update_target_expr = []
for var, var_target in zip(
sorted(q_func_vars, key=lambda v: v.name),
sorted(target_q_func_vars, key=lambda v: v.name)):
update_target_expr.append(var_target.assign(var))
update_target_expr = tf.group(*update_target_expr)
# Create callable functions
train = U.function(inputs=[
obs_t_input, act_t_ph, rew_t_ph, obs_tp1_input, done_mask_ph,
importance_weights_ph
],
outputs=td_error,
updates=[optimize_expr])
update_target = U.function([], [], updates=[update_target_expr])
q_values = U.function([obs_t_input], q_t)
return act_f, train, update_target, {'q_values': q_values}
def build_train_deictic(make_obs_ph,
q_func,
num_actions,
optimizer,
grad_norm_clipping=None,
gamma=1.0,
double_q=True,
scope="deepq",
reuse=None):
# act_f = build_act(make_obs_ph, q_func, num_actions, scope=scope, reuse=reuse)
getq_f = build_getq(make_obs_ph,
q_func,
num_actions,
scope=scope,
reuse=reuse)
with tf.variable_scope(scope, reuse=reuse):
# set up placeholders
obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
act_t_ph = tf.placeholder(tf.int32, [None], name="action")
rew_t_ph = tf.placeholder(tf.float32, [None], name="reward")
obs_tp1_input = U.ensure_tf_input(make_obs_ph("obs_tp1"))
done_mask_ph = tf.placeholder(tf.float32, [None], name="done")
importance_weights_ph = tf.placeholder(tf.float32, [None],
name="weight")
# q network evaluation
q_t = q_func(obs_t_input.get(),
num_actions,
scope="q_func",
reuse=True) # reuse parameters from act
q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
# target q network evalution
q_tp1 = q_func(obs_tp1_input.get(), num_actions, scope="target_q_func")
target_q_func_vars = U.scope_vars(
U.absolute_scope_name("target_q_func"))
# q scores for actions which we know were selected in the given state.
q_t_selected = tf.reduce_sum(q_t * tf.one_hot(act_t_ph, num_actions),
1)
# compute estimate of best possible value starting from state at t + 1
if double_q:
q_tp1_using_online_net = q_func(obs_tp1_input.get(),
num_actions,
scope="q_func",
reuse=True)
q_tp1_best_using_online_net = tf.arg_max(q_tp1_using_online_net, 1)
q_tp1_best = tf.reduce_sum(
q_tp1 * tf.one_hot(q_tp1_best_using_online_net, num_actions),
1)
else:
q_tp1_best = tf.reduce_max(q_tp1, 1)
q_tp1_best = tf.reshape(q_tp1_best, [32, 25])
q_tp1_best_reduced = tf.reduce_max(q_tp1_best, 1)
# compute RHS of bellman equation
q_t_selected_target = rew_t_ph + gamma * q_tp1_best_reduced
q_t_selected_target_masked = (1.0 - done_mask_ph) * q_t_selected_target
q_t_selected_target_tiled = tf.tile(
tf.reshape(q_t_selected_target_masked, [32, 1]), [1, 25])
q_t_selected_target_expanded = tf.reshape(q_t_selected_target_tiled, [
800,
])
# compute the error (potentially clipped)
td_error = q_t_selected - tf.stop_gradient(
q_t_selected_target_expanded)
errors = U.huber_loss(td_error)
weighted_error = tf.reduce_mean(importance_weights_ph * errors)
# compute optimization op (potentially with gradient clipping)
if grad_norm_clipping is not None:
optimize_expr = U.minimize_and_clip(optimizer,
weighted_error,
var_list=q_func_vars,
clip_val=grad_norm_clipping)
else:
optimize_expr = optimizer.minimize(weighted_error,
var_list=q_func_vars)
# update_target_fn will be called periodically to copy Q network to target Q network
update_target_expr = []
for var, var_target in zip(
sorted(q_func_vars, key=lambda v: v.name),
sorted(target_q_func_vars, key=lambda v: v.name)):
update_target_expr.append(var_target.assign(var))
update_target_expr = tf.group(*update_target_expr)
# Create callable functions
train = U.function(inputs=[
obs_t_input, act_t_ph, rew_t_ph, obs_tp1_input, done_mask_ph,
importance_weights_ph
],
outputs=td_error,
updates=[optimize_expr])
# Create callable functions
trainWOUpdate = U.function(
inputs=[
obs_t_input, act_t_ph, rew_t_ph, obs_tp1_input, done_mask_ph,
importance_weights_ph
],
outputs=[q_t_selected_target_expanded, errors, td_error])
update_target = U.function([], [], updates=[update_target_expr])
q_values = U.function([obs_t_input], q_t)
# return act_f, train, update_target, {'q_values': q_values}
# return getq_f, train, trainWOUpdate, update_target, {'q_values': q_values}
# return getq_f, train, trainWOUpdate, {'q_values': q_values}
return getq_f, train, trainWOUpdate, update_target, {
'q_values': q_values
}