def train(N, T, delta, env):
"""
param N: number of trajectories to sample in each time step
param T: number of iterations to train the model
param delta: trust region size
param env: the environment for the policy to learn
return:
theta: the trained model parameters
avg_episodes_rewards: list of average rewards for each time step
"""
theta = np.random.rand(C.extracted_feature_size, 1)
episode_rewards = [] #record the reward during the training process
for iteration_index in range(0, T):
#first, I sample the grads and the rewards
trajectories_grads, trajectories_rewards = sample(theta, env, N)
total_reward = 0
for trajectory_index in range(0, len(trajectories_rewards)):
current_reward = trajectories_rewards[trajectory_index]
total_reward += np.sum(current_reward)
total_reward = total_reward / len(trajectories_rewards)
print('total reward is', total_reward, 'and this is training epoch',
iteration_index)
episode_rewards.append(total_reward)
#gradient of the value function
value_function_gradient = utils.compute_value_gradient(
trajectories_grads, trajectories_rewards)
#fisher matrix
fisher_matrix = utils.compute_fisher_matrix(trajectories_grads)
#step size
step_size = utils.compute_eta(delta, fisher_matrix,
value_function_gradient)
#update theta
theta += step_size * np.linalg.inv(
fisher_matrix) @ value_function_gradient
#save the learned parameter theta
learned_parameter_theta = {}
learned_parameter_theta['learned_parameter_theta'] = theta
cwd = os.getcwd()
#cwd = os.path.join(cwd, 'data_folder')
parameter_file = 'learned_parameter_theta.json'
cwd = os.path.join(cwd, parameter_file)
with open(cwd, 'w') as statusFile:
statusFile.write(jsonpickle.encode(learned_parameter_theta))
return theta, episode_rewards
def train(N, T, delta):
"""
:param N: number of trajectories to sample in each time step
:param T: number of iterations to train the model
:param delta: trust region size
:return:
theta: the trained model parameters
avg_episodes_rewards: list of average rewards for each time step
"""
theta = np.random.rand(200, 1)
env = simple_continuous_buy_sell_spy.simple_continuous_buy_sell_spy()
episode_rewards = []
for iteration_index in range(0, T):
#first, I sample the grads and the rewards
trajectories_grads, trajectories_reward = sample(theta, env, N)
total_reward = 0
for trajectory_index in range(0, len(trajectories_reward)):
current_reward = trajectories_reward[trajectory_index]
total_reward += np.sum(current_reward)
total_reward = total_reward / len(trajectories_reward)
print('total_reward.append(', total_reward, ')')
episode_rewards.append(total_reward)
#gradient of the value function
value_function_gradient = utils.compute_value_gradient(
trajectories_grads, trajectories_reward)
#fisher matrix
fisher_matrix = utils.compute_fisher_matrix(trajectories_grads)
#step size
step_size = utils.compute_eta(delta, fisher_matrix,
value_function_gradient)
#update theta
update_theta = step_size * np.linalg.inv(
fisher_matrix) @ value_function_gradient
if np.isfinite(update_theta).all() == True:
theta += update_theta
else:
theta
return theta, episode_rewards
def train(N, T, delta):
"""
:param N: number of trajectories to sample in each time step
:param T: number of iterations to train the model
:param delta: trust region size
:return:
theta: the trained model parameters
avg_episodes_rewards: list of average rewards for each time step
"""
theta = np.random.rand(100, 1)
env = gym.make('CartPole-v0')
env.seed(12345)
episode_rewards = []
for iteration_index in range(0, T):
#first, I sample the grads and the rewards
trajectories_grads, trajectories_reward = sample(theta, env, N)
total_reward = 0
for trajectory_index in range(0, len(trajectories_reward)):
current_reward = trajectories_reward[trajectory_index]
total_reward += np.sum(current_reward)
total_reward = total_reward / len(trajectories_reward)
print('total reward is', total_reward)
episode_rewards.append(total_reward)
#gradient of the value function
value_function_gradient = utils.compute_value_gradient(
trajectories_grads, trajectories_reward)
#fisher matrix
fisher_matrix = utils.compute_fisher_matrix(trajectories_grads)
#step size
step_size = utils.compute_eta(delta, fisher_matrix,
value_function_gradient)
#update theta
theta += step_size * np.linalg.inv(
fisher_matrix) @ value_function_gradient
return theta, episode_rewards
soln_fisher = tests_info[i]['fisher']
fisher = utils.compute_fisher_matrix(total_grads)
err = np.linalg.norm(soln_fisher - fisher)
print('test {} for compute_fisher_matrix - error = {}'.format(i, err))
""" ------------- testing compute_value_gradient ----------------"""
print('-' * 10 + ' testing compute_value_gradient ' + '-' * 10)
for i in test_cases:
total_grads = tests_info[i]['total_grads']
total_rewards = tests_info[i]['total_rewards']
soln_v_grad = tests_info[i]['v_grad']
#print('the solution grad is',soln_v_grad.tolist())
v_grad = utils.compute_value_gradient(total_grads, total_rewards)
#print('the computed grad is',v_grad.tolist())
err = np.linalg.norm(soln_v_grad - v_grad)
print('test {} for compute_value_gradient - error = {}'.format(i, err))
""" ------------- testing compute_value_gradient ----------------"""
print('-' * 10 + ' testing compute_value_gradient ' + '-' * 10)
for i in test_cases:
fisher = tests_info[i]['fisher']
delta = 1e-2
v_grad = tests_info[i]['v_grad']
soln_eta = tests_info[i]['eta']
eta = utils.compute_eta(delta, fisher, v_grad)
def train(N, T, delta, env):
"""
param N: number of trajectories to sample in each time step
param T: number of iterations to train the model
param delta: trust region size
param env: the environment for the policy to learn
return:
theta: the trained model parameters
avg_episodes_rewards: list of average rewards for each time step
"""
theta = np.random.rand(C.extracted_feature_size, 1)
#cov matrix for the exploration part of sampling
variance = torch.full(size=(C.output_dim, ),
fill_value=C.variance_for_exploration)
cov_matrix = torch.diag(variance)
#inv_cov_matrix for computing log grad of action distribution
inv_cov_matrix_diag = np.ones(
C.output_dim) * (1.0 / C.variance_for_exploration)
inv_cov_matrix = np.diag(inv_cov_matrix_diag)
replay_buffer = []
replay_buffer_rewards = []
optimization_history_list = []
for iteration_index in range(0, T):
#first, I sample the grads and the rewards
replay_buffer, replay_buffer_rewards, current_batch_reward = sample(
theta, env, N, replay_buffer, replay_buffer_rewards, cov_matrix)
#record the optimization process
optimization_history_list.append(current_batch_reward)
optimization_history = {}
optimization_history['objective_history'] = optimization_history_list
cwd = os.getcwd()
#cwd = os.path.join(cwd, 'data_folder')
parameter_file = 'optimization_history.json'
cwd = os.path.join(cwd, parameter_file)
with open(cwd, 'w') as statusFile:
statusFile.write(jsonpickle.encode(optimization_history))
print('this is training epoch', iteration_index)
print('the current reward is', current_batch_reward)
for _ in range(0, C.max_offline_training):
#sample experience from the replay buffer for training
# new_replay_buffer_rewards = []
# for entry in replay_buffer_rewards:
# new_replay_buffer_rewards.append(np.log(entry*-1)*-1) #because the reward is negative here
# sample_probability = (np.exp(new_replay_buffer_rewards))/np.sum(np.exp(new_replay_buffer_rewards)) #apply softmax to the total_reward list
sampled_off_line_data = []
for sample_counter in range(0, C.batch_size):
#sampled_index = np.random.choice(np.arange(0, len(replay_buffer)), p=sample_probability.tolist())
sampled_index = random.randint(0, len(replay_buffer) - 1)
sampled_off_line_data.append(replay_buffer[sampled_index])
#update model
#gradient of the value function
value_function_gradient, grads_for_fisher_matrix = utils.compute_value_gradient(
sampled_off_line_data, theta, cov_matrix, inv_cov_matrix)
#fisher matrix
fisher_matrix = utils.compute_fisher_matrix(
grads_for_fisher_matrix)
#step size
step_size = utils.compute_eta(delta, fisher_matrix,
value_function_gradient)
#update theta
theta += step_size * np.linalg.inv(
fisher_matrix) @ value_function_gradient
#save the learned parameter theta
learned_parameter_theta = {}
learned_parameter_theta['learned_parameter_theta'] = theta
cwd = os.getcwd()
#cwd = os.path.join(cwd, 'data_folder')
parameter_file = 'learned_parameter_theta.json'
cwd = os.path.join(cwd, parameter_file)
with open(cwd, 'w') as statusFile:
statusFile.write(jsonpickle.encode(learned_parameter_theta))
return theta