def run():
'''
'''
RENDER_TO_SCREEN = True
# Setting up the environment
env = Environment(wrap=False,
grid_size=GRID_SIZE,
rate=80,
max_time=100,
tail=False,
food_count=1,
obstacle_count=0,
multiplier_count=0,
map_path=None,
action_space=5) #sets up the environment
if RENDER_TO_SCREEN:
env.prerender()
Q = Qmatrix(2, env) # 0 - zeros, 1 - random, 2 - textfile
# Minimise the overfitting during testing
epsilon = 0.005
# Testing for a certain amount of episodes
for episode in range(10):
state, info = env.reset()
done = False #if epsidoe is in the range of 10 it resets the environment unfo
while not done:
if RENDER_TO_SCREEN:
env.render()
if np.random.rand() <= epsilon:
action = env.sample_action(
) #if a random numpy is less than or = to epsilon then it does an action
else:
action = np.argmax(Q[env.state_index(
state)]) #else it does a different action
new_state, reward, done, info = env.step(action)
# Q[env.state_index(state), action] += alpha * (reward + gamma * np.max(Q[env.state_index(new_state)]) - Q[env.state_index(state), action])
state = new_state #gives state the value of new_state
if episode % 1 == 0:
print("Episode:", episode, "\tScore:", info["score"], "\tTime:",
info["time"]) #prints out episode, score and time
def run2():
# Testing
print("Running the Linear Function Q-Learning Model from tf.Saver()")
# Decide whether or not to render to the screen or not
RENDER_TO_SCREEN = True
# True - Load model from modelpath_load; False - Initialise random weights
USE_SAVED_MODEL_FILE = True
# First we need our environment form Environment_for_DQN.py
# has to have a grid_size of 10 for this current NN
env = Environment(wrap = WRAP,
grid_size = GRID_SIZE,
rate = 100,
max_time = 20,
tail = TAIL,
action_space = 4)
if RENDER_TO_SCREEN:
env.prerender()
# Hyper-parameters
alpha = 0.01 # Learning rate, i.e. which fraction of the Q values should be updated
gamma = 0.99 # Discount factor, i.e. to which extent the algorithm considers possible future rewards
epsilon = 0.1 # Probability to choose random action instead of best action
# Create NN model
with tf.name_scope('Model'):
Q_values = createModel(x)
# Error / Loss function
# Not sure why its reduce_mean, it reduces the [1,4] tensor to a scalar of the mean value
with tf.name_scope('Error'):
# e1 = tf.subtract(y, Q_values)
# e2 = tf.square(e1)
# error = tf.reduce_mean(e2, axis=1)
error = tf.reduce_max(tf.square(Q_values - y), axis=1)
# error = tf.square(tf.subtract(y, Q_values))
# Gradient descent optimizer - minimizes error/loss function
with tf.name_scope('Optimizer'):
optimizer = tf.train.GradientDescentOptimizer(alpha).minimize(error)
# optimizer = tf.train.AdamOptimizer(alpha).minimize(error)
# The next states action-value [1,4] tensor, reduced to a scalar of the max value
with tf.name_scope('Max_y_prime'):
y_prime_max = tf.reduce_max(y, axis=1)
# Action at time t, the index of the max value in the action-value tensor (Made a global variable)
with tf.name_scope('Max_action'):
action_t = tf.argmax(y, axis=1)
avg_time = 0
avg_score = 0
avg_error = 0
print_episode = 100
total_episodes = 10000
# Saving model capabilities
saver = tf.train.Saver()
# Initialising all variables (weights and biases)
model = tf.global_variables_initializer()
# Tensorboard capabilties
# writer = tf.summary.FileWriter(LOGDIR)
# Session can start running
with tf.Session() as sess:
# Restore the model, to keep training
if USE_SAVED_MODEL_FILE:
saver.restore(sess, MODEL_PATH_LOAD)
# Different model restore method
# new_saver = tf.train.import_meta_graph('my-model.meta')
# new_saver.restore(sess, tf.train.latest_checkpoint('./'))
print("Model restored.")
sess.run(model)
# Testing my DQN model with random values
for episode in range(total_episodes):
state, info = env.reset()
done = False
while not done:
if RENDER_TO_SCREEN:
env.render()
# One Hot representation of the current state
state_vector = env.state_vector()
# Retrieve the Q values from the NN in vector form
Q_vector = sess.run(Q_values, feed_dict={x: state_vector})
# print("Qvector",Q_vector) # DEBUGGING
# Deciding which action to take
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
# "action" is the max value of the Q values (output vector of NN)
action = sess.run(action_t, feed_dict={y: Q_vector})
# Update environment with by performing action
new_state, reward, done, info = env.step(action)
state = new_state
if reward == 100:
print("reached food")
# Gathering our now current states action-value vector
# new_state_vector = env.state_vector()
# y_prime = sess.run(Q_values, feed_dict={x: new_state_vector})
# Equation for training
# maxq = sess.run(y_prime_max, feed_dict={y:y_prime})
# Q_vector[:,action] = reward + (gamma * maxq)
_, e = sess.run([optimizer, error], feed_dict={x: state_vector, y: Q_vector})
# _ = sess.run(optimizer, feed_dict={x: state_vector, y: Q_vector})
# e = sess.run(error,feed_dict={x:state_vector, y:Q_vector})
# sess.run(optimizer)
# DEBUGGING
# print("action:",action)
# print("y_prime:", y_prime)
# print("max q value:", maxq)
# print("new Q_vector:", Q_vector)
# print("error tensor:", e)
if done:
avg_time += info["time"]
avg_score += info["score"]
avg_error += e
if episode % print_episode == 0 and episode != 0:
# print("Episode:", episode, " Score:", info["score"])
print("Episode:", episode,
"\ttime:", avg_time/print_episode,
"\tscore:", avg_score/print_episode,
"\tError", avg_error/print_episode)
# print("error tensor:", e)
avg_time = 0
avg_score = 0
avg_error = 0
def run():
# Testing
print("\n ----- Running the Linear Function Q-Learning Model ----- \n")
# Decide whether or not to render to the screen or not
RENDER_TO_SCREEN = True
# First we need our environment form Environment_for_DQN.py
# has to have a grid_size of 10 for this current NN
env = Environment(wrap = WRAP,
grid_size = GRID_SIZE,
rate = 100,
max_time = 100,
tail = TAIL,
action_space = 4)
if RENDER_TO_SCREEN:
env.prerender()
epsilon = 0.01 # Probability to choose random action instead of best action
# Create NN model
Q_values, output_layer, hidden_1_layer = recreateModel(x)
action_t = tf.argmax(y, axis=1)
avg_time = 0
avg_score = 0
got_food = 0
print_episode = 10
total_episodes = 100
# Initialising all variables (weights and biases)
model = tf.global_variables_initializer()
# Session can start running
with tf.Session() as sess:
sess.run(model)
# Testing my DQN model with random values
for episode in range(total_episodes):
state, info = env.reset()
done = False
while not done:
if RENDER_TO_SCREEN:
env.render()
# One Hot representation of the current state
state_vector = env.state_vector()
# Retrieve the Q values from the NN in vector form
Q_vector = sess.run(Q_values, feed_dict={x: state_vector})
# print(Q_vector) # DEBUGGING
# Deciding one which action to take
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
# action is the max value of the Q values (output vector of NN)
action = sess.run(action_t, feed_dict={y:Q_vector})
# action = sess.run(tf.argmax(Q_vector, axis=1))
# action = np.argmax(Q[env.state_index(state)])
# Update environment with by performing action
new_state, reward, done, info = env.step(action)
# Q[env.state_index(state), action] += alpha * (reward + gamma * np.max(Q[env.state_index(new_state)]) - Q[env.state_index(state), action])
state = new_state
if reward == 100:
got_food += 1
if done:
avg_time += info["time"]
avg_score += info["score"]
if episode % print_episode == 0 and episode != 0:
# print("Episode:", episode, " Score:", info["score"])
print("Episode:", episode, " time:", avg_time/print_episode, " score:", avg_score/print_episode, " Got food", got_food, "times")
avg_time = 0
avg_score = 0
def trainDeepModel(load = False):
print("\n ---- Training the Deep Neural Network ----- \n")
# Decide whether or not to render to the screen or not
RENDER_TO_SCREEN = False
# True - Load model from modelpath_load; False - Initialise random weights
USE_SAVED_MODEL_FILE = False
# First we need our environment form Environment_for_DQN.py
# has to have a grid_size of 10 for this current NN
env = Environment(wrap = WRAP,
grid_size = GRID_SIZE,
rate = 80,
max_time = 100,
tail = TAIL,
action_space = 4)
if RENDER_TO_SCREEN:
env.prerender()
# Hyper-parameters
alpha = 0.01 # Learning rate, i.e. which fraction of the Q values should be updated
gamma = 0.99 # Discount factor, i.e. to which extent the algorithm considers possible future rewards
epsilon = 0.1 # Probability to choose random action instead of best action
epsilon_function = True
epsilon_start = 0.5
epsilon_end = 0.05
epsilon_percentage = 0.5 # in decimal
alpha_function = False
alpha_start = 0.01
alpha_end = 0.003
alpha_percentage = 0.9 # in decimal
# Create NN model
with tf.name_scope('Model'):
Q_values, hidden_1_layer, hidden_2_layer, output_layer = createDeepModel(x, load_variables = load)
# Error / Loss function
# reduce_max -> it reduces the [1,4] tensor to a scalar of the max value
with tf.name_scope('Error'):
# test
error = tf.losses.mean_squared_error(labels=Q_values, predictions=y)
# error = tf.reduce_max(tf.sqrt(tf.square(tf.subtract(Q_values, y))), axis=1) # Doesn't work!
# error = tf.reduce_max(tf.square(tf.subtract(Q_values, y)), axis=1)
# error = tf.reduce_max(tf.square(Q_values - y), axis=1)
tf.summary.scalar('error', tf.squeeze(error))
# Gradient descent optimizer - minimizes error/loss function
with tf.name_scope('Optimizer'):
optimizer = tf.train.GradientDescentOptimizer(alpha).minimize(error)
# optimizer = tf.train.AdamOptimizer(alpha).minimize(error)
# The next states action-value [1,4] tensor, reduced to a scalar of the max value
with tf.name_scope('Max_y_prime'):
y_prime_max = tf.reduce_max(y, axis=1)
# Action at time t, the index of the max value in the action-value tensor (Made a global variable)
with tf.name_scope('Max_action'):
action_t = tf.argmax(y, axis=1)
avg_time = 0
avg_score = 0
avg_error = 0
# error plot
# errors = []
print_episode = 1000
total_episodes = 100000
# Saving model capabilities
saver = tf.train.Saver()
# Initialising all variables (weights and biases)
init = tf.global_variables_initializer()
# Adds a summary graph of the error over time
merged_summary = tf.summary.merge_all()
# Tensorboard capabilties
writer = tf.summary.FileWriter(LOGDIR)
# Session can start running
with tf.Session() as sess:
# Restore the model, to keep training
if USE_SAVED_MODEL_FILE:
saver.restore(sess, MODEL_PATH_LOAD)
print("Model restored.")
# Initialize global variables
sess.run(init)
# Tensorboard graph
writer.add_graph(sess.graph)
# Testing my DQN model with random values
for episode in range(total_episodes):
state, info = env.reset()
done = False
# Linear function for alpha
if alpha_function:
alpha = (-alpha_start / (alpha_percentage*total_episodes)) * episode + (alpha_start+alpha_end)
if alpha < alpha_end:
alpha = alpha_end
# Linear function for epsilon
if epsilon_function:
epsilon = (-epsilon_start / (epsilon_percentage*total_episodes)) * episode + (epsilon_start+epsilon_end)
if epsilon < epsilon_end:
epsilon = epsilon_end
while not done:
if RENDER_TO_SCREEN:
env.render()
# One Hot representation of the current state
state_vector = env.state_vector()
# Retrieve the Q values from the NN in vector form
Q_vector = sess.run(Q_values, feed_dict={x: state_vector})
# print("Qvector", Q_vector) # DEBUGGING
# Deciding one which action to take
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
# "action" is the max value of the Q values (output vector of NN)
action = sess.run(action_t, feed_dict={y: Q_vector})
# Update environment with by performing action
new_state, reward, done, info = env.step(action)
state = new_state
# if final state of the episode
if done:
Q_vector[:,action] = reward
# print("Reward:", reward)
else:
# Gathering the now current state's action-value vector
new_state_vector = env.state_vector()
y_prime = sess.run(Q_values, feed_dict={x: new_state_vector})
# Equation for training
maxq = sess.run(y_prime_max, feed_dict={y: y_prime})
# RL Equation
Q_vector[:,action] = reward + (gamma * maxq)
_, e = sess.run([optimizer, error], feed_dict={x: state_vector, y: Q_vector})
# _ = sess.run(optimizer, feed_dict={x: state_vector, y: Q_vector})
# e = sess.run(error,feed_dict={x:state_vector, y:Q_vector})
# sess.run(optimizer)
# DEBUGGING
# print("action:", action)
# print("y_prime:", y_prime)
# print("max q value:", maxq)
# print("new Q_vector:", Q_vector)
# print("error tensor:", e)
# add to the error list, to show the plot at the end of training - RAM OVERLOAD!!!
# errors.append(e)
if done:
avg_time += info["time"]
avg_score += info["score"]
avg_error += e
if (episode % print_episode == 0 and episode != 0) or (episode == total_episodes-1):
print("Ep:", episode,
"\tavg t:", avg_time/print_episode,
"\tavg score:", avg_score/print_episode,
"\tErr", round(avg_error/print_episode,3),
"\tepsilon", round(epsilon,2))
avg_time = 0
avg_score = 0
avg_error = 0
# Save the model's weights and biases to text files
w1 = np.array(sess.run(hidden_1_layer['weights']))
b1 = np.array(sess.run(hidden_1_layer['biases']))
w2 = np.array(sess.run(hidden_2_layer['weights']))
b2 = np.array(sess.run(hidden_2_layer['biases']))
w3 = np.array(sess.run(output_layer['weights']))
b3 = np.array(sess.run(output_layer['biases']))
np.savetxt(W1_textfile_path_save, w1.astype(np.float), fmt='%f', delimiter = " ")
np.savetxt(B1_textfile_path_save, b1.astype(np.float), fmt='%f', delimiter = " ")
np.savetxt(W2_textfile_path_save, w2.astype(np.float), fmt='%f', delimiter = " ")
np.savetxt(B2_textfile_path_save, b2.astype(np.float), fmt='%f', delimiter = " ")
np.savetxt(W3_textfile_path_save, w3.astype(np.float), fmt='%f', delimiter = " ")
np.savetxt(B3_textfile_path_save, b3.astype(np.float), fmt='%f', delimiter = " ")
s = sess.run(merged_summary, feed_dict={x: state_vector, y: Q_vector})
writer.add_summary(s, episode)
save_path = saver.save(sess, MODEL_PATH_SAVE)
print("Model saved in path: %s" % save_path)
def runDeepModel():
# Testing
print("\n ---- Running the Deep Neural Network ----- \n")
# Decide whether or not to render to the screen or not
RENDER_TO_SCREEN = True
# True - Load model from modelpath_load; False - Initialise random weights
USE_SAVED_MODEL_FILE = False
# First we need our environment form Environment_for_DQN.py
# has to have a grid_size of 10 for this current NN
env = Environment(wrap = WRAP,
grid_size = GRID_SIZE,
rate = 50,
max_time = 100,
tail = TAIL,
action_space = 4)
if RENDER_TO_SCREEN:
env.prerender()
# Hyper-parameters
alpha = 0.01 # Learning rate, i.e. which fraction of the Q values should be updated
gamma = 0.99 # Discount factor, i.e. to which extent the algorithm considers possible future rewards
epsilon = 0.01 # Probability to choose random action instead of best action
# Create NN model
with tf.name_scope('Model'):
Q_values, hidden_1_layer, hidden_2_layer, output_layer = createDeepModel(x, load_variables = True)
# Error / Loss function
# Not sure why its reduce_mean, it reduces the [1,4] tensor to a scalar of the mean value
with tf.name_scope('Error'):
# e1 = tf.subtract(y, Q_values)
# e2 = tf.square(e1)
# error = tf.reduce_mean(e2, axis=1)
# test
error = tf.losses.mean_squared_error(labels=Q_values, predictions=y)
# error = tf.reduce_max(tf.sqrt(tf.square(tf.subtract(Q_values, y))), axis=1)
# error = tf.reduce_max(tf.square(tf.subtract(Q_values, y)), axis=1)
# error = tf.reduce_max(tf.square(Q_values - y), axis=1)
# Gradient descent optimizer - minimizes error/loss function
with tf.name_scope('Optimizer'):
optimizer = tf.train.GradientDescentOptimizer(alpha).minimize(error)
# optimizer = tf.train.AdamOptimizer(alpha).minimize(error)
# The next states action-value [1,4] tensor, reduced to a scalar of the max value
with tf.name_scope('Max_y_prime'):
y_prime_max = tf.reduce_max(y, axis=1)
# Action at time t, the index of the max value in the action-value tensor (Made a global variable)
with tf.name_scope('Max_action'):
action_t = tf.argmax(y, axis=1)
avg_time = 0
avg_score = 0
avg_error = 0
print_episode = 10
total_episodes = 100
# Saving model capabilities
saver = tf.train.Saver()
# Initialising all variables (weights and biases)
model = tf.global_variables_initializer()
# Session can start running
with tf.Session() as sess:
# Restore the model, to keep training
if USE_SAVED_MODEL_FILE:
saver.restore(sess, MODEL_PATH_LOAD)
print("Model restored.")
sess.run(model)
# Testing my DQN model with random values
for episode in range(total_episodes):
state, info = env.reset()
done = False
while not done:
if RENDER_TO_SCREEN:
env.render()
# One Hot representation of the current state
state_vector = env.state_vector()
# Retrieve the Q values from the NN in vector form
Q_vector = sess.run(Q_values, feed_dict={x: state_vector})
# print("Qvector",Q_vector) # DEBUGGING
# Deciding one which action to take
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
# "action" is the max value of the Q values (output vector of NN)
action = sess.run(action_t, feed_dict={y: Q_vector})
# Update environment with by performing action
new_state, reward, done, info = env.step(action)
state = new_state
if done:
avg_time += info["time"]
avg_score += info["score"]
if episode % print_episode == 0 and episode != 0:
print("Ep:", episode, " avg t:", avg_time/print_episode, " avg score:", avg_score/print_episode)
avg_time = 0
avg_score = 0
def train():
'''
Starts a function called Train
'''
RENDER_TO_SCREEN = False
# RENDER_TO_SCREEN = True
# Setting up the environment
env = Environment(wrap=False,
grid_size=GRID_SIZE,
rate=80,
max_time=100,
tail=False,
food_count=1,
obstacle_count=0,
multiplier_count=0,
map_path=None,
action_space=5)
'''
Sets the state of environemnt to equal the above grid size given, sets the speed the snake moves, the max time it runs for, if there is a tail or not, the amount of food spawned, the amount of obstacles spaned, if there is a specific path to be taken.
'''
if RENDER_TO_SCREEN:
env.prerender()
Q = Qmatrix(1, env) # 0 - zeros, 1 - random, 2 - textfile
alpha = 0.15 # Learning rate, i.e. which fraction of the Q values should be updated
gamma = 0.99 # Discount factor, i.e. to which extent the algorithm considers possible future rewards
epsilon = 0.1 # Probability to choose random action instead of best action
'''
Sets variables with values because of reasons stated above
'''
epsilon_function = True
epsilon_start = 0.8
epsilon_end = 0.05
epsilon_percentage = 0.6 # in decimal
avg_time = 0
avg_score = 0
print_episode = 1000
total_episodes = 10000
'''
Sets values to variables
'''
for episode in range(
total_episodes
): # Takes an episode and if it is in range of the total episodes it proceeds
# Reset the environment
state, info = env.reset() # Resets environment state
done = False
# Epsilon linear function
if epsilon_function:
epsilon = (
-(epsilon_start - epsilon_end) /
(epsilon_percentage * total_episodes)
) * episode + (
epsilon_start
) # minuses ep_start from ep_end dived by ep_percentage times by total_episodes then timesed by epsidoe the added to ep_start
if epsilon < epsilon_end:
epsilon = epsilon_end
#checks to see if ep is less than ep_end and if it is it makes ep = to ep_end
while not done:
# If cancelled, Q lookup table is still saved
try:
if RENDER_TO_SCREEN:
env.render()
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
action = np.argmax(Q[env.state_index(state)])
#checks if new random no. is less than or = to ep, else it does a new action.
new_state, reward, done, info = env.step(action)
# print(state)
Q[env.state_index(state), action] += alpha * (
reward + gamma * np.max(Q[env.state_index(new_state)]) -
Q[env.state_index(state), action])
state = new_state #assigns new value to state
if done:
avg_time += info["time"]
avg_score += info[
"score"] # adds time nd score to the score counter and prints it out
except KeyboardInterrupt as e:
# Test to see if I can write the Q file during runtime
np.savetxt(Q_textfile_path_save,
Q.astype(np.float),
fmt='%f',
delimiter=" ")
print("Saved Q matrix to text file")
raise e
#try and except work togther, this ecept is anyresponse that doesnt fall into the try section.
if (episode % print_episode == 0 and episode != 0) or (
episode == total_episodes - 1
): #tests to see if ep mod print_ep = 0 or if ep == total_ep-1, then if it does it proceeds
print("Episode:", episode,
"\tavg t: {0:.3f}".format(avg_time / print_episode),
"\tavg score: {0:.3f}".format(avg_score / print_episode),
"\tepsilon {0:.3f}".format(
epsilon)) #prints out episodes, score, time
np.savetxt(Q_textfile_path_save,
Q.astype(np.float),
fmt='%f',
delimiter=" ")
avg_time = 0
avg_score = 0 #resets time and score to 0
# This doesn't need to be here
# np.savetxt(Q_textfile_path_save, Q.astype(np.float), fmt='%f', delimiter = " ")
print("Simulation finished. \nSaved Q matrix to text file at:",
Q_textfile_path_save)
def trainDeepModel(load=False):
# Used to see how long model takes to train - model needs to be optimized!
start_time = time.time()
print("\n ---- Training the Deep Neural Network ----- \n")
# Decide whether or not to render to the screen or not
RENDER_TO_SCREEN = True
# True - Load model from modelpath_load; False - Initialise random weights
USE_SAVED_MODEL_FILE = False
# First we need our environment form Environment_for_DQN.py
# has to have a grid_size of 10 for this current NN
env = Environment(wrap=WRAP,
grid_size=GRID_SIZE,
rate=0,
max_time=300,
tail=TAIL,
food_count=FOOD_COUNT,
obstacle_count=OBSTACLE_COUNT,
action_space=3)
if RENDER_TO_SCREEN:
env.prerender()
# Hyper-parameters
alpha = 0.001 # Learning rate, i.e. which fraction of the Q values should be updated
gamma = 0.99 # Discount factor, i.e. to which extent the algorithm considers possible future rewards
epsilon = 0.1 # Probability to choose random action instead of best action
epsilon_function = True
epsilon_start = 0.1
epsilon_end = 0.05
epsilon_percentage = 0.5 # in decimal
alpha_function = False
alpha_start = 0.01
alpha_end = 0.003
alpha_percentage = 0.9 # in decimal
# Trajectory
tau = []
# Create NN model
with tf.name_scope('Model'):
Q_values, weights, biases = createDeepModel(x, load_variables=load)
# Error / Loss function
# reduce_max -> it reduces the [1,4] tensor to a scalar of the max value
with tf.name_scope('Error'):
# test
error = tf.losses.mean_squared_error(labels=Q_values, predictions=y)
# error = tf.reduce_max(tf.square(tf.subtract(Q_values, y)), axis=1)
# error = tf.reduce_max(tf.square(Q_values - y), axis=1)
tf.summary.scalar('error', tf.squeeze(error))
# Gradient descent optimizer - minimizes error/loss function
with tf.name_scope('Optimizer'):
optimizer = tf.train.GradientDescentOptimizer(alpha).minimize(error)
# optimizer = tf.train.AdamOptimizer(alpha).minimize(error)
# The next states action-value [1,4] tensor, reduced to a scalar of the max value
with tf.name_scope('Max_y_prime'):
y_prime_max = tf.reduce_max(y, axis=1)
# Action at time t, the index of the max value in the action-value tensor (Made a global variable)
with tf.name_scope('Max_action'):
action_t = tf.argmax(y, axis=1)
avg_time = 0
avg_score = 0
avg_error = 0
# error plot
# errors = []
print_episode = 1000
total_episodes = 100000
# Saving model capabilities
saver = tf.train.Saver()
# Initialising all variables (weights and biases)
init = tf.global_variables_initializer()
# Adds a summary graph of the error over time
merged_summary = tf.summary.merge_all()
# Tensorboard capabilties
writer = tf.summary.FileWriter(LOGDIR)
# Session can start running
with tf.Session() as sess:
# Restore the model, to keep training
if USE_SAVED_MODEL_FILE:
saver.restore(sess, MODEL_PATH_LOAD)
print("Model restored.")
# Initialize global variables
sess.run(init)
# Tensorboard graph
writer.add_graph(sess.graph)
print("\nProgram took {0:.4f} seconds to initialise\n".format(
time.time() - start_time))
start_time = time.time()
# Testing my DQN model with random values
for episode in range(total_episodes):
state, info = env.reset()
done = False
# Linear function for alpha
if alpha_function:
alpha = (-alpha_start /
(alpha_percentage * total_episodes)) * episode + (
alpha_start + alpha_end)
if alpha < alpha_end:
alpha = alpha_end
# Linear function for epsilon
if epsilon_function:
epsilon = (-(epsilon_start - epsilon_end) /
(epsilon_percentage * total_episodes)) * episode + (
epsilon_start)
if epsilon < epsilon_end:
epsilon = epsilon_end
while not done:
if RENDER_TO_SCREEN:
env.render()
# One Hot representation of the current state
state_vector = env.pixels()
# Retrieve the Q values from the NN in vector form
Q_vector = sess.run(Q_values, feed_dict={x: state_vector})
# print("Qvector", Q_vector) # DEBUGGING
# Deciding one which action to take
if np.random.rand() <= epsilon:
action = env.sample_action()
else:
# "action" is the max value of the Q values (output vector of NN)
action = sess.run(action_t, feed_dict={y: Q_vector})
# Update environment with by performing action
new_state, reward, done, info = env.step(action)
# Update trajectory (Update replay memory)
if len(tau) < REPLAY_MEMORY:
tau.append(
Traj(state_vector, action, reward, env.pixels(), done))
# print(tau[i].new_state)
# i=i+1
else:
tau.pop(0)
tau.append(
Traj(state_vector, action, reward, env.pixels(), done))
state = new_state
# Choose a random step from the replay memory
random_tau = random.randint(0, len(tau) - 1)
# Get the Q vector of the training step
Q_vector = sess.run(Q_values,
feed_dict={x: tau[random_tau].state})
'''
Training using replay memory
'''
# if terminating state of episode
if tau[random_tau].done:
# Set the chosen action's current value to the reward value
Q_vector[:,
tau[random_tau].action] = tau[random_tau].reward
else:
# Gets the Q vector of the new state
y_prime = sess.run(
Q_values, feed_dict={x: tau[random_tau].new_state})
# Getting the best action value
maxq = sess.run(y_prime_max, feed_dict={y: y_prime})
# RL DQN Training Equation
Q_vector[:, tau[random_tau].
action] = tau[random_tau].reward + (gamma * maxq)
_, e = sess.run([optimizer, error],
feed_dict={
x: tau[random_tau].state,
y: Q_vector
})
'''
Standard training with learning after every step
# if final state of the episode
if done:
Q_vector[:,action] = reward
# print("Reward:", reward)
else:
# Gathering the now current state's action-value vector
new_state_vector = env.local_state_vector_3D()
y_prime = sess.run(Q_values, feed_dict={x: new_state_vector})
# Equation for training
maxq = sess.run(y_prime_max, feed_dict={y: y_prime})
# RL Equation
Q_vector[:,action] = reward + (gamma * maxq)
_, e = sess.run([optimizer, error], feed_dict={x: state_vector, y: Q_vector})
# _ = sess.run(optimizer, feed_dict={x: state_vector, y: Q_vector})
# e = sess.run(error,feed_dict={x:state_vector, y:Q_vector})
# sess.run(optimizer)
'''
# DEBUGGING
# print("action:", action)
# print("y_prime:", y_prime)
# print("max q value:", maxq)
# print("new Q_vector:", Q_vector)
# print("error tensor:", e)
# add to the error list, to show the plot at the end of training - RAM OVERLOAD!!!
# errors.append(e)
if done:
avg_time += info["time"]
avg_score += info["score"]
avg_error += e
if (episode % print_episode == 0
and episode != 0) or (episode == total_episodes - 1):
current_time = time.time() - start_time
print(
"Ep:",
episode,
"\tavg t: {0:.3f}".format(avg_time / print_episode),
"\tavg score: {0:.3f}".format(avg_score / print_episode),
"\tErr {0:.3f}".format(avg_error / print_episode),
"\tepsilon {0:.3f}".format(epsilon),
#"\ttime {0:.0f}:{1:.0f}".format(current_time/60, current_time%60),
end="")
if current_time % 60 < 10:
if math.floor((current_time / 60) % 60) < 10:
print("\ttime {0:.0f}:0{1:.0f}:0{2:.0f}".format(
math.floor((current_time / 60) / 60),
math.floor((current_time / 60) % 60),
current_time % 60))
else:
print("\ttime {0:.0f}:{1:.0f}:0{2:.0f}".format(
math.floor((current_time / 60) / 60),
math.floor((current_time / 60) % 60),
current_time % 60))
else:
if math.floor((current_time / 60) % 60) < 10:
print("\ttime {0:.0f}:0{1:.0f}:{2:.0f}".format(
math.floor((current_time / 60) / 60),
math.floor((current_time / 60) % 60),
current_time % 60))
else:
print("\ttime {0:.0f}:{1:.0f}:{2:.0f}".format(
math.floor((current_time / 60) / 60),
math.floor((current_time / 60) % 60),
current_time % 60))
avg_time = 0
avg_score = 0
avg_error = 0
# Save the model's weights and biases to .npy files (can't save 4D array to text file)
W_conv1 = np.array(sess.run(weights['W_conv1']))
W_conv2 = np.array(sess.run(weights['W_conv2']))
W_fc = np.array(sess.run(weights['W_fc']))
W_out = np.array(sess.run(weights['W_out']))
b_conv1 = np.array(sess.run(biases['b_conv1']))
b_conv2 = np.array(sess.run(biases['b_conv2']))
b_fc = np.array(sess.run(biases['b_fc']))
b_out = np.array(sess.run(biases['b_out']))
np.save(W_conv1_textfile_path_save, W_conv1.astype(np.float32))
np.save(W_conv2_textfile_path_save, W_conv2.astype(np.float32))
np.save(W_fc_textfile_path_save, W_fc.astype(np.float32))
np.save(W_out_textfile_path_save, W_out.astype(np.float32))
np.save(b_conv1_textfile_path_save, b_conv1.astype(np.float32))
np.save(b_conv2_textfile_path_save, b_conv2.astype(np.float32))
np.save(b_fc_textfile_path_save, b_fc.astype(np.float32))
np.save(b_out_textfile_path_save, b_out.astype(np.float32))
s = sess.run(merged_summary,
feed_dict={
x: state_vector,
y: Q_vector
})
writer.add_summary(s, episode)
save_path = saver.save(sess, MODEL_PATH_SAVE)
print("Model saved in path: %s" % save_path)
lastAction = 0
while not done:
action = brain.chooseAction(observation)
observation_, reward, done, info = env.step(action)
observation_ = env.state_vector_3D()
score += reward
brain.storeTransition(observation, action, reward, observation_)
observation = observation_
if TRAIN: loss = brain.learn(batch_size)
lastAction = action
if RENDER: env.render()
avg_score += info["score"]
if TRAIN: avg_loss += loss.item()
if i%100 == 0 and not i==0 or i == numGames-1:
print("Game", i,
"\tepsilon: %.4f" %brain.EPSILON,
"\tavg score", avg_score/100,
"avg loss:", avg_loss/100)
brain.save_model("./Models/Torch2/my_model{}.pth".format(i))
avg_loss = 0
avg_score = 0
scores.append(score)