def __init__(self,
task,
exploration_mu=0,
exploration_theta=0.15,
exploration_sigma=0.2,
buffer_size=100000,
batch_size=64,
gamma=0.99,
tau=0.01,
actor_learning_rate=0.001,
critic_learning_rate=0.001):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=actor_learning_rate)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=actor_learning_rate)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size,
learning_rate=critic_learning_rate)
self.critic_target = Critic(self.state_size,
self.action_size,
learning_rate=critic_learning_rate)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = exploration_mu
self.exploration_theta = exploration_theta
self.exploration_sigma = exploration_sigma
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = buffer_size
self.batch_size = batch_size
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = gamma
self.tau = tau
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size)
self.critic_target = Critic(self.state_size,
self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.005
self.noise = OUNoise(self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
# Discount factor
self.gamma = 0.99
# For soft update of target parameters
self.tau = 0.15
self.best_score = -np.inf
self.score = 0
def __init__(self, task):
# Task (environment) information
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
self.action_range = self.action_high - self.action_low
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
# self.last_state = None
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
self.score = 0
self.total_reward = None
self.count = 0
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size, self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size, self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# The reference for the values below can be seen in the DDPG paper
# "Continuous control with deep reinforcement learning"
# 7. EXPERIMENT DETAILS
#
# This
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.001 # for soft update of target parameters
# Tracking
self.score = -np.inf
self.best_score = -np.inf
class MyAgent():
def __init__(self, task):
# Task (environment) information
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
self.action_range = self.action_high - self.action_low
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
# self.last_state = None
self.best_score = -np.inf
self.score = None
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.score = self.total_reward / float(
self.count) if self.count else 0.0
if self.score > self.best_score:
self.best_score = self.score
self.last_state = state
self.total_reward = 0.0
self.count = 0
return state
def step(self, action, reward, next_state, done):
# Save experience / reward
self.memory.add(self.last_state, action, reward, next_state, done)
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
if self.total_reward:
self.total_reward += reward
else:
self.total_reward = reward
def act(self, state):
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action +
self.noise.sample()) # add some noise for exploration
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# Learn by random policy search, using a reward-based score
# self.score = self.total_reward / float(self.count) if self.count else 0.0
# self.score += reward
# if self.best_score > self.score:
# self.best_score = self.score
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.array([e.action for e in experiences
if e is not None]).astype(np.float32).reshape(
-1, self.action_size)
rewards = np.array([e.reward for e in experiences if e is not None
]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences
if e is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack(
[e.next_state for e in experiences if e is not None])
# Get predicted next-state actions and Q values from target models
# Q_targets_next = critic_target(next_state, actor_target(next_state))
actions_next = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, actions_next])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train actor model (local)
action_gradients = np.reshape(
self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
self.actor_local.train_fn([states, action_gradients,
1]) # custom training function
# Soft-update target models
self.soft_update(self.critic_local.model, self.critic_target.model)
self.soft_update(self.actor_local.model, self.actor_target.model)
def soft_update(self, local_model, target_model):
"""Soft update model parameters."""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(
target_weights
), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
class Agent():
"""RL agent that learns using DDPG"""
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size)
self.critic_target = Critic(self.state_size,
self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.005
self.noise = OUNoise(self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
# Discount factor
self.gamma = 0.99
# For soft update of target parameters
self.tau = 0.15
self.best_score = -np.inf
self.score = 0
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.score = 0
return state
def step(self, action, reward, next_state, done):
# Save experience / reward to memory
self.memory.add(self.last_state,
action,
reward,
next_state,
done)
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
# Sample from the experiences saved in memory
experiences = self.memory.sample()
# Learn from the sampled experiences
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
self.score += reward
if done:
if self.score > self.best_score:
self.best_score = self.score
def act(self, state):
"""
Returns actions for given state(s) as per current policy
"""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
# Add some noise for exploration
return list(action + self.noise.sample())
def learn(self, experiences):
"""
Update policy and value parameters using given batch of experience tuples
Args:
experiences: List of tuples of (state, action, reward, next_state, done)
"""
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.array([e.action for e in experiences if e is not None]).astype(np.float32).reshape(-1, self.action_size)
rewards = np.array([e.reward for e in experiences if e is not None]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences if e is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack([e.next_state for e in experiences if e is not None])
# Get predicted next-state actions from actor_target model
actions_next = self.actor_target.model.predict_on_batch(next_states)
# Get predicted next Q_values from critic_target model
Q_targets_next = self.critic_target.model.predict_on_batch([next_states, actions_next])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train actor model (local)
action_gradients = np.reshape(self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
self.actor_local.train_fn([states, action_gradients, 1]) # custom training function
#Soft-update target models
self.soft_update(self.critic_local.model,
self.critic_target.model)
self.soft_update(self.actor_local.model,
self.actor_target.model)
def soft_update(self, local_model, target_model):
"""
Notice that after training over a batch of experiences, we could just copy our newly learned weights (from the local model) to the target model. However, individual batches can introduce a lot of variance into the process, so it's better to perform a soft update, controlled by the parameter tau.
Soft update model parameters
Args:
local_model: Local copy of the model
target_model: Target copy of the model
"""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(target_weights), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 - self.tau) * target_weights
target_model.set_weights(new_weights)
