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 = 0.01
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 0.99
self.tau = 0.1 # for soft update of target parameters 0.01
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
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)
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
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)
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
self.gamma = 0.99
self.tau = 0.001
def __init__(self,
task,
buffer_size=100000,
batch_size=64,
gamma=0.99,
tau=0.01):
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=1e-3)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=1e-3)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size,
learning_rate=1e-4)
self.critic_target = Critic(self.state_size,
self.action_size,
learning_rate=1e-4)
# 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.noise = OUNoise(size=self.action_size)
# Replay memory
self.buffer_size = buffer_size
self.batch_size = batch_size # 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = gamma # 0.99 discount factor
self.tau = tau # 0.01 for soft update of target parameters
# 初始化
self.last_state = None
self.total_reward = 0.0
# Score tracker and learning parameters
self.score = 0
self.best_score = -np.inf
self.count = 0
def __init__(self, task, sess, stats):
self.sess = sess
self.task = task
self.stats = stats
tau = 0.01
learning_rate = 2e-4
self.critic_local = QNetwork(sess,
task,
stats,
name='critic_local',
hidden_units=64,
dropout_rate=0.2)
self.critic_target = QNetwork(sess,
task,
stats,
name='critic_target',
hidden_units=64,
dropout_rate=0.2)
self.actor_local = Policy(sess,
task,
stats,
name='actor_local',
hidden_units=32,
dropout_rate=0.2)
self.actor_target = Policy(sess,
task,
stats,
name='actor_target',
hidden_units=32,
dropout_rate=0.2)
soft_copy_critic_ops = self._create_soft_copy_op('critic_local',
'critic_target',
tau=tau)
soft_copy_actor_ops = self._create_soft_copy_op('actor_local',
'actor_target',
tau=tau)
self._soft_copy_ops = []
self._soft_copy_ops.extend(soft_copy_critic_ops)
self._soft_copy_ops.extend(soft_copy_actor_ops)
self.gamma = 0.99 # reward discount rate
# Exploration noise process
exploration_mu = 0
exploration_theta = 0.15
exploration_sigma = 0.15
self.noise = OUNoise(task.action_size, exploration_mu,
exploration_theta, exploration_sigma)
# Replay memory
self.batch_size = 256
self.memory = ReplayBuffer(buffer_size=10000, decay_steps=1000)
self.sess.run(tf.global_variables_initializer())
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
# AE: Although OUNoise gives me a convenient set of randomness for each of the rotors, I still need
# AE: to make a decision myself on how to apply the randomness and how to manage its magnitude
# AE: (i.e. my eplore vs exploit strategy). These variables will do that.
self.explore_start = 1.0 # AE: exploration probability at start
self.explore_stop = 0.001 # AE: minimum exploration probability
self.decay_rate = 0.003 # AE: exponential decay rate for exploration prob
self.magnitude_coeff = 0.1 # AE: a coefficient to limit randomness
# 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 # AE: additive to the noise. mu * theta will be directly added
self.exploration_theta = 0.15 # AE: old noise will be multiplied by this
self.exploration_sigma = 0.2 # AE: new noise will be multiplied by this
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
# AE: The learning rate. How much we trust the new values compared to the old ones.
self.tau = 0.0001 # for soft update of target parameters
# AE: current reward in learning procedure (for statistics)
self.score = -np.inf
# Episode variables
self.reset_episode()
def __init__(self, task, seed=None, render=False):
self.env = task.env
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())
self.total_reward = 0
self.steps = 0
self.action_repeat = 3
self.render = render
# Score tracker and learning parameters
self.score = -np.inf
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
#counter
self.count = 0
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(1, self.exploration_mu, self.exploration_theta,
self.exploration_sigma)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
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 = 0.2
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
# from plicy search
self.action_range = self.action_high - self.action_low
self.w = np.random.normal(
size=(self.state_size, self.action_size), # weights for simple linear policy: state_space x action_space
scale=(self.action_range / (2 * self.state_size))) # start producing actions in a decent range
# Score tracker and learning parameters
self.score = -np.inf
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
#counter
self.count = 0
def __init__(self, task, seed=None, render=False):
self.env = task.env
self.total_reward = 0
self.steps = 0
self.action_repeat = 3
self.render = render
# Score tracker and learning parameters
self.score = -np.inf
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
#counter
self.count = 0
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(1, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
def __init__(self, task):
"""Initialize DDPG Agent instance."""
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_high = task.action_high
self.action_low = task.action_low
# Initializing local and target Actor Models
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
# Initializing local and target Critic Models
# 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.actor_target.model.set_weights(
self.actor_local.model.get_weights())
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
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
# Additional Parameters
self.best_score = -np.inf
self.total_reward = 0.0
self.count = 0
self.score = 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())
# 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
# ======================== Custom amednments : Score tracker and learning parameters ========================
self.best_score = -np.inf
self.score = 0
self.total_reward = 0.0
self.count = 0
self.best_position = np.zeros(3)
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
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.001
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size)
self.gamma = 0.99
self.tau = 0.1
self.learning_rate = 0.0005
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=self.learning_rate)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=self.learning_rate)
self.critic_local = Critic(self.state_size,
self.action_size,
learning_rate=self.learning_rate)
self.critic_target = Critic(self.state_size,
self.action_size,
learning_rate=self.learning_rate)
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 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 model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
#Initialize target model params with local params
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
#Initialize 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 Initialization
self.buffer_size, self.batch_size = 2000000, 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
#Initialize algorithm parameters
self.gamma, self.tau = 0.95, 0.001
#Initialize scores
self.score, self.best_score = -np.inf, -np.inf
def run_test_episode(agent : DDPG, task : Task, file_output):
print('\nRunning test episode ...')
labels = ['time', 'x', 'y', 'z', 'phi', 'theta', 'psi', 'x_velocity',
'y_velocity', 'z_velocity', 'phi_velocity', 'theta_velocity',
'psi_velocity', 'rotor_speed1', 'rotor_speed2', 'rotor_speed3', 'rotor_speed4' ,'reward']
results = {x : [] for x in labels}
aux_noise = copy.copy(agent.noise)
agent.noise = OUNoise(agent.action_size, 0.0, 0.0, 0.0)
state = agent.reset_episode() # start a new episode
rewards_lists = defaultdict(list)
print('state', state)
print('state.shape', state.shape)
# Run the simulation, and save the results.
with open(file_output, 'w') as csvfile:
writer = csv.writer(csvfile)
writer.writerow(labels)
while True:
rotor_speed = agent.act(state)
rotor_speeds = np.array([rotor_speed ] *4)
# rotor_speeds = [405]*4
# rotor_speeds = [500, 490, 500, 500]
next_state, reward, done, new_rewards = task.step(rotor_speeds)
for key, value in new_rewards.items():
rewards_lists[key].append(value)
to_write = [task.sim.time] + list(task.sim.pose) + list(task.sim.v) + list(task.sim.angular_v) + list \
(rotor_speeds) + [reward]
for ii in range(len(labels)):
results[labels[ii]].append(to_write[ii])
writer.writerow(to_write)
state = next_state
if done:
break
# Restore noise
agent.noise = copy.copy(aux_noise)
print('Finished test episode!\n')
return results, rewards_lists
def __init__(self, task):
"""Initialize DDPG Agent instance."""
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_high = task.action_high
self.action_low = task.action_low
# Initializing local and target Actor Models
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
# Initializing local and target Critic Models
# 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.actor_target.model.set_weights(self.actor_local.model.get_weights())
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
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
# Additional Parameters
self.best_score = -np.inf
self.total_reward = 0.0
self.count = 0
self.score = 0
def __init__(self, action_size):
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15 # same direction
self.exploration_sigma = 0.001 # random noise
self.noise = OUNoise(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)
#self.memory = Memory(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.1 # for soft update of target parameters
class Agent():
"""Reinforcement Learning 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 # same direction
self.exploration_sigma = 0.001 # random noise
#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 = 0.1 # for soft update of target parameters
# Compute the ongoing top score
self.top_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
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
# stats
self.score += reward
if done:
if self.score > self.top_score:
self.top_score = self.score
def act(self, states):
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(states, [-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."""
# 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 RLA():
""" Reinfocement learning agent"""
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 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 model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
#Initialize target model params with local params
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
#Initialize 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 Initialization
self.buffer_size, self.batch_size = 2000000, 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
#Initialize algorithm parameters
self.gamma, self.tau = 0.95, 0.001
#Initialize scores
self.score, self.best_score = -np.inf, -np.inf
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):
self.memory.add(self.last_state, action, reward, next_state, done)
#Learn from samples in memory if they are greater than batch size
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences)
#Preserve state as last_state
self.last_state = next_state
#Update score with reward from this step
self.score += reward
if done:
#Preserve best score
if self.score > self.best_score:
self.best_score = self.score
def act(self, state):
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action + self.noise.sample())
def learn(self, experiences):
#Convert experiences seperate arrays
states = np.vstack([exp.state for exp in experiences if exp is not None])
actions = np.array([exp.action for exp in experiences if exp is not None]).astype(np.float32).reshape(-1, self.action_size)
rewards = np.array([exp.reward for exp in experiences if exp is not None]).astype(np.float32).reshape(-1, 1)
dones = np.array([exp.done for exp in experiences if exp is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack([exp.next_state for exp in experiences if exp is not None])
#predict next_state actions and Q values from target model...
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])
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states,actions], y=Q_targets)
#Train local actor model
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])
#Update target models
self.update(self.critic_local.model, self.critic_target.model)
self.update(self.actor_local.model, self.actor_target.model)
def update(self, local_model, target_model):
"""Update model parameters"""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
new_weights = self.tau * local_weights + (1 - self.tau) * target_weights
target_model.set_weights(new_weights)
def __init__(self,
task,
mu=0.02,
theta=0.16,
sigma=0.21,
buffer=500000,
batch=64,
gamma=0.98,
tau=0.02,
learning=0.001,
dropout=0.2):
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,
dropout)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high, learning,
dropout)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size, learning,
dropout)
self.critic_target = Critic(self.state_size, self.action_size,
learning, dropout)
# 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 = mu
self.exploration_theta = theta
self.exploration_sigma = sigma
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = buffer
self.batch_size = batch
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = gamma # discount factor
self.tau = tau # for soft update of target parameters
# Score tracker and learning parameters
# self.best_w = None
self.score = 0
self.best_score = -np.inf
self.noise_scale = 0.1
# Episode variables
self.reset_episode()
class Agent():
def __init__(self, task, sess, stats):
self.sess = sess
self.task = task
self.stats = stats
tau = 0.01
learning_rate = 2e-4
self.critic_local = QNetwork(sess,
task,
stats,
name='critic_local',
hidden_units=64,
dropout_rate=0.2)
self.critic_target = QNetwork(sess,
task,
stats,
name='critic_target',
hidden_units=64,
dropout_rate=0.2)
self.actor_local = Policy(sess,
task,
stats,
name='actor_local',
hidden_units=32,
dropout_rate=0.2)
self.actor_target = Policy(sess,
task,
stats,
name='actor_target',
hidden_units=32,
dropout_rate=0.2)
soft_copy_critic_ops = self._create_soft_copy_op('critic_local',
'critic_target',
tau=tau)
soft_copy_actor_ops = self._create_soft_copy_op('actor_local',
'actor_target',
tau=tau)
self._soft_copy_ops = []
self._soft_copy_ops.extend(soft_copy_critic_ops)
self._soft_copy_ops.extend(soft_copy_actor_ops)
self.gamma = 0.99 # reward discount rate
# Exploration noise process
exploration_mu = 0
exploration_theta = 0.15
exploration_sigma = 0.15
self.noise = OUNoise(task.action_size, exploration_mu,
exploration_theta, exploration_sigma)
# Replay memory
self.batch_size = 256
self.memory = ReplayBuffer(buffer_size=10000, decay_steps=1000)
self.sess.run(tf.global_variables_initializer())
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.memory.decay_a()
return state
def step(self, action, reward, next_state, done):
# Save experience
self._save_experience(self.last_state, action, reward, next_state,
done)
# Learn, if enough samples are available in memory
self.learn()
# Roll over last state and action
self.last_state = next_state
def act(self, state, explore=False):
"""Returns actions for given state(s) as per current policy."""
actor = self.actor_local if explore else self.actor_target
action = actor.act([state], explore)[0]
assert not np.any(np.isnan(action))
if explore:
action = action + self.noise.sample()
action = np.maximum(action, self.task.action_low)
action = np.minimum(action, self.task.action_high)
assert not np.any(np.isnan(action))
assert np.all(action >= self.task.action_low
), "expected less than {:7.3f}, but was {}".format(
task.action_low, action)
assert np.all(action <= self.task.action_high)
return action
def learn(self):
"""Update policy and value parameters using given batch of experience tuples."""
if len(self.memory) < self.batch_size:
return
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
experiences, experience_indexes = self.memory.sample(self.batch_size)
action_size = self.task.action_size
states = np.vstack([e.state for e in experiences])
actions = np.array([e.action for e in experiences
]).astype(np.float32).reshape(-1, action_size)
rewards = np.array([e.reward for e in experiences
]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences
]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack([e.next_state for e in experiences])
# Get predicted next-state actions, Q and V values
actions_next = self.actor_target.act(next_states)
Q_targets_next, V_targets_next = self.critic_target.get_q_and_v(
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)
V_targets = rewards + self.gamma * V_targets_next * (1 - dones)
td_errs = self.critic_local.learn(states, actions, Q_targets,
V_targets)
self.memory.update_td_err(experience_indexes, td_errs)
self.memory.scrape_stats(self.stats)
# Train actor model
actions = self.actor_target.act(states)
action_gradients = self.critic_target.get_action_gradients(
states, actions)
self.actor_local.learn(states, action_gradients)
self._soft_copy()
def _save_experience(self, state, action, reward, next_state, done):
"""Adds experience into ReplayBuffer. As a side effect, also learns q network on this sample."""
# Get predicted next-state actions and Q values
actions_next = self.actor_local.act([next_state])
Q_targets_next, _ = self.critic_local.get_q_and_v([next_state],
actions_next)
Q_target_next = Q_targets_next[0]
Q_target = reward + self.gamma * Q_target_next * (1 - done)
td_err = self.critic_local.get_td_err([state], [action], [Q_target])
self.memory.add(Experience(state, action, reward, next_state, done),
td_err)
def _soft_copy(self):
self.sess.run(self._soft_copy_ops)
def _create_soft_copy_op(self, scope_src, scope_dst, tau=0.01):
var_src = tf.trainable_variables(scope=scope_src)
var_dst = tf.trainable_variables(scope=scope_dst)
copy_ops = []
for src, dst in zip(var_src, var_dst):
mixed = tau * src + (1.0 - tau) * dst
copy_op = tf.assign(dst, mixed)
copy_ops.append(copy_op)
return copy_ops
class DDPG_Land():
def __init__(self, task, seed=None, render=False):
self.env = task.env
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())
self.total_reward = 0
self.steps = 0
self.action_repeat = 3
self.render = render
# Score tracker and learning parameters
self.score = -np.inf
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
#counter
self.count = 0
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(1, self.exploration_mu, self.exploration_theta,
self.exploration_sigma)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
def act(self, s):
# # print('act')
# # a = lunder.heuristic(self.env, s)
# # 1. Testing.
# # 2. Demonstration rollout.
# angle_targ = s[0]*0.5 + s[2]*1.0 # angle should point towards center (s[0] is horizontal coordinate, s[2] hor speed)
# if angle_targ > 0.4: angle_targ = 0.4 # more than 0.4 radians (22 degrees) is bad
# if angle_targ < -0.4: angle_targ = -0.4
# hover_targ = 0.55*np.abs(s[0]) # target y should be proporional to horizontal offset
# # PID controller: s[4] angle, s[5] angularSpeed
# angle_todo = (angle_targ - s[4])*0.5 - (s[5])*1.0
# #print("angle_targ=%0.2f, angle_todo=%0.2f" % (angle_targ, angle_todo))
# # PID controller: s[1] vertical coordinate s[3] vertical speed
# hover_todo = (hover_targ - s[1])*0.5 - (s[3])*0.5
# #print("hover_targ=%0.2f, hover_todo=%0.2f" % (hover_targ, hover_todo))
# if s[6] or s[7]: # legs have contact
# angle_todo = 0
# hover_todo = -(s[3])*0.5 # override to reduce fall speed, that's all we need after contact
# if self.env.continuous:
# a = np.array( [hover_todo*20 - 1, -angle_todo*20] )
# a = np.clip(a, -1, +1)
# else:
# a = 0
# if hover_todo > np.abs(angle_todo) and hover_todo > 0.05: a = 2
# elif angle_todo < -0.05: a = 3
# elif angle_todo > +0.05: a = 1
# # return a
# state = s
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(s, [-1, 24])
action = self.actor_local.model.predict(state)[0]
return list(action + self.noise.sample())
def step(self, action, reward, next_state, done):
# print ("step")
# ob, reward, done, info = self.env.step(action)
# print(ob)
# next_state = ob
# Save experience / reward
reward = np.clip(reward, a_min=-100, a_max=100)
self.memory.add(self.last_state, action, reward, next_state, done)
self.count += 1
self.total_reward += reward
# 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
#from the tutorial SRC
self.score += reward
if done:
# self.score = np.clip(self.score,a_min=-100,a_max=100)
if self.score > self.best_score:
self.best_score = self.score
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)
# #from the tutorial SRC
# self.score += reward
# if done:
# if self.score > self.best_score:
# self.best_score = self.score
# # return ob, reward, done
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# 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)
# # from policy search
# # Learn by random policy search, using a reward-based score
# # 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.best_w = self.w
# # self.noise_scale = max(0.5 * self.noise_scale, 0.01)
# # else:
# # self.w = self.best_w
# # self.noise_scale = min(2.0 * self.noise_scale, 3.2)
# # self.w = self.w + self.noise_scale * np.random.normal(size=self.w.shape) # equal noise in all directions
def reset(self):
self.steps = 0
self.total_reward = 0
self.count = 0
self.score = 0
# self.best_score = 0
"""Reset the sim to start a new episode."""
ob = self.env.reset()
state = np.concatenate([ob] * self.action_repeat)
self.last_state = state
return state
class AE_DDPG_Agent():
"""Reinforcement Learning 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
# AE: Although OUNoise gives me a convenient set of randomness for each of the rotors, I still need
# AE: to make a decision myself on how to apply the randomness and how to manage its magnitude
# AE: (i.e. my eplore vs exploit strategy). These variables will do that.
self.explore_start = 1.0 # AE: exploration probability at start
self.explore_stop = 0.001 # AE: minimum exploration probability
self.decay_rate = 0.003 # AE: exponential decay rate for exploration prob
self.magnitude_coeff = 0.1 # AE: a coefficient to limit randomness
# 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 # AE: additive to the noise. mu * theta will be directly added
self.exploration_theta = 0.15 # AE: old noise will be multiplied by this
self.exploration_sigma = 0.2 # AE: new noise will be multiplied by this
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
# AE: The learning rate. How much we trust the new values compared to the old ones.
self.tau = 0.0001 # for soft update of target parameters
# AE: current reward in learning procedure (for statistics)
self.score = -np.inf
# Episode variables
self.reset_episode()
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.best_score = -np.inf
self.score = -np.inf
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
self.total_reward += reward
self.count += 1
# AE: Score (average reward in this episode so far) and best score for statistics
self.score = self.total_reward / float(self.count)
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])
# AE: directly sampling approximated value from learned action-value function.
action = self.actor_local.model.predict(state)[0]
# AE: and adding some noise to that for unpredictability.
# AE: The magnitude of noise has to drop over time.
explore_p = self.explore_stop + (self.explore_start -
self.explore_stop) * np.exp(
-self.decay_rate * self.count)
#self.noise.update_mu(explore_p)
noise_sample = self.magnitude_coeff * explore_p * self.noise.sample()
#noise_sample = explore_p * np.random.randn(self.action_size)
#print("Noi=", s)
return list(
action +
noise_sample * self.action_size) # add some noise for exploration
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# 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"
# AE: Updating NN weights directly in the passed model (actor or critic).
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
class DDPG():
"""Reinforcement Learning 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 = 0.2
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
# from plicy search
self.action_range = self.action_high - self.action_low
self.w = np.random.normal(
size=(self.state_size, self.action_size), # weights for simple linear policy: state_space x action_space
scale=(self.action_range / (2 * self.state_size))) # start producing actions in a decent range
# Score tracker and learning parameters
self.score = -np.inf
self.best_w = None
self.best_score = -np.inf
self.noise_scale = 0.1
#counter
self.count = 0
def reset_episode(self):
self.noise.reset()
self.count = 0
self.total_reward = 0.0
self.score = 0
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
# Save experience / reward
self.memory.add(self.last_state, action, reward, next_state, done)
self.count += 1
self.total_reward += reward
# 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
#from the tutorial SRC
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]
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."""
# 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)
# from policy search
# Learn by random policy search, using a reward-based score
# 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.best_w = self.w
# self.noise_scale = max(0.5 * self.noise_scale, 0.01)
# else:
# self.w = self.best_w
# self.noise_scale = min(2.0 * self.noise_scale, 3.2)
# self.w = self.w + self.noise_scale * np.random.normal(size=self.w.shape) # equal noise in all directions
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 DDPG_Agent:
"""Reinforcement learning agent that learns through DDPG."""
def __init__(self, task):
"""Initialize DDPG Agent instance."""
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_high = task.action_high
self.action_low = task.action_low
# Initializing local and target Actor Models
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
# Initializing local and target Critic Models
# 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.actor_target.model.set_weights(
self.actor_local.model.get_weights())
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
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
# Additional Parameters
self.best_score = -np.inf
self.total_reward = 0.0
self.count = 0
self.score = 0
def reset_episode(self):
"""Reset episode to initial state."""
self.total_reward = 0.0
self.count = 0
self.noise.reset()
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
"""Take a step."""
self.total_reward += reward
self.count += 1
# Save experience/reward
self.memory.memorize(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)
def act(self, state):
"""Returns actions for state(s) according to given policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
# Add some noise to action for exploration and return
return list(action + self.noise.sample())
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience
tuples."""
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
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.vstack([e.action for e in experiences
if e is not None]).astype(np.float32).reshape(
-1, self.action_size)
rewards = np.vstack([e.reward for e in experiences if e is not None
]).astype(np.float32).reshape(-1, 1)
dones = np.vstack([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))
next_actions = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, next_actions])
# 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)
# [states, actions, 0] 0 is for No learning Phase
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])
# 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 DDPG_Agent:
"""Reinforcement learning agent that learns through DDPG."""
def __init__(self, task):
"""Initialize DDPG Agent instance."""
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_high = task.action_high
self.action_low = task.action_low
# Initializing local and target Actor Models
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_high, self.action_low)
# Initializing local and target Critic Models
# 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.actor_target.model.set_weights(self.actor_local.model.get_weights())
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
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
# Additional Parameters
self.best_score = -np.inf
self.total_reward = 0.0
self.count = 0
self.score = 0
def reset_episode(self):
"""Reset episode to initial state."""
self.total_reward = 0.0
self.count = 0
self.noise.reset()
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
"""Take a step."""
self.total_reward += reward
self.count += 1
# Save experience/reward
self.memory.memorize(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)
def act(self, state):
"""Returns actions for state(s) according to given policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
# Add some noise to action for exploration and return
return list(action + self.noise.sample())
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience
tuples."""
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
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.vstack(
[e.action for e in experiences if e is not None]).astype(
np.float32).reshape(-1, self.action_size)
rewards = np.vstack(
[e.reward for e in experiences if e is not None]).astype(
np.float32).reshape(-1, 1)
dones = np.vstack(
[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))
next_actions = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, next_actions])
# 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)
# [states, actions, 0] 0 is for No learning Phase
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])
# 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 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
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.001
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size)
self.gamma = 0.99
self.tau = 0.1
self.learning_rate = 0.0005
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=self.learning_rate)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=self.learning_rate)
self.critic_local = Critic(self.state_size,
self.action_size,
learning_rate=self.learning_rate)
self.critic_target = Critic(self.state_size,
self.action_size,
learning_rate=self.learning_rate)
def reset_episode(self):
self.total_reward = 0.0
self.count = 0
self.noise.reset()
self.last_state = self.task.reset()
return self.last_state
def act(self, state):
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action + self.noise.sample())
def step(self, action, reward, next_state, done):
self.memory.add(self.last_state, action, reward, next_state, done)
self.total_reward += reward
self.count += 1
if self.memory.size() > self.batch_size:
experiences = self.memory.sample(self.batch_size)
self.learn(experiences)
self.last_state = next_state
def learn(self, experiences):
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])
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])
q_targets = rewards + (self.gamma * q_targets_next * (1 - dones))
self.critic_local.model.train_on_batch(x=[states, actions],
y=q_targets)
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])
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):
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)
