def main():
parser = argparse.ArgumentParser()
parser.add_argument('--model',
type=str,
required=True,
help='Model directory path.')
parser.add_argument('--out',
type=str,
required=True,
help='ONNX file output path.')
parser.add_argument('--gpu', type=int, default=0, help='GPU id.')
args = parser.parse_args()
# Predefined parameters.
n_actions = 4 # env.action_space.n
replay_start_size = 5 * 10**4
# Load the model.
q_func = links.Sequence(links.NatureDQNHead(), L.Linear(512, n_actions),
DiscreteActionValue)
opt = chainer.optimizers.RMSpropGraves(lr=2.5e-4,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon=1.0,
end_epsilon=0.1,
decay_steps=10**6,
random_action_func=lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = agents.DQN
agent = Agent(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=replay_start_size,
target_update_interval=10**4,
clip_delta=True,
update_interval=4,
batch_accumulator='sum',
phi=phi)
agent.load(args.model)
# Extract core links from the model and export these links as an ONNX format.
onnx_compat_model = convert_to_compatible_model(agent)
x = cp.array(np.zeros((1, 4, 84, 84), dtype=np.float32))
onnx_chainer.export(onnx_compat_model,
x,
input_names='input',
output_names='action',
return_named_inout=True,
filename=args.out)
def set_explorer(env):
# Possible parameters:
# Initial (and max) value of epsilon at the start of the experimentation.
start_epsilon = 1.0
# Minimum value of epsilon
end_epsilon = 0.1
# Constant epsilon
cons_epsilon = 0.001
# how many steps it takes for epsilon to decay
final_exploration_steps = 10**5
# Options for exploration (more explorers at site-packages/chainerrl/explorers/)
# Option 1: Constant
constant_epsilon_explorer = explorers.ConstantEpsilonGreedy(
epsilon=cons_epsilon, random_action_func=env.action_space.sample)
# Option 2: Linear decay
decay_epsilon_explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon,
end_epsilon,
final_exploration_steps,
random_action_func=str(env.action_space.sample))
return constant_epsilon_explorer
def create_agent(env):
q_func = QFunction(env.grid_size ** 2, 4)
start_epsilon = 1.
end_epsilon = 0.8
decay_steps = 20000
explorer = explorers.LinearDecayEpsilonGreedy(start_epsilon, end_epsilon, decay_steps, env.random_action)
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10 ** 3
steps = 50000
replay_start_size = 20
update_interval = 10
betasteps = (steps - replay_start_size) // update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity)
phi = lambda x: x.astype(np.float32, copy=False)
agent = DQN.DQN(q_func, opt, rbuf, gamma=0.99,
explorer=explorer, replay_start_size=replay_start_size,
phi=phi, minibatch_size=minibatch_size)
return agent
def dqn_q_values_and_neuronal_net(self, args, action_space, obs_size,
obs_space):
"""
learning process
"""
if isinstance(action_space, spaces.Box):
action_size = action_space.low.size
# Use NAF to apply DQN to continuous action spaces
q_func = q_functions.FCQuadraticStateQFunction(
obs_size,
action_size,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers,
action_space=action_space)
# Use the Ornstein-Uhlenbeck process for exploration
ou_sigma = (action_space.high - action_space.low) * 0.2
explorer = explorers.AdditiveOU(sigma=ou_sigma)
else:
n_actions = action_space.n
# print("n_actions: ", n_actions)
q_func = q_functions.FCStateQFunctionWithDiscreteAction(
obs_size,
n_actions,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
# print("q_func ", q_func)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon,
args.final_exploration_steps, action_space.sample)
# print("explorer: ", explorer)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func, sigma_scale=args.noisy_net_sigma)
# Turn off explorer
explorer = explorers.Greedy()
# print("obs_space.low : ", obs_space.shape)
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(obs_space.low, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10**5
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
return q_func, opt, rbuf, explorer
def _test_load_iqn(self, gpu):
q_func = agents.iqn.ImplicitQuantileQFunction(
psi=links.Sequence(
L.Convolution2D(None, 32, 8, stride=4),
F.relu,
L.Convolution2D(None, 64, 4, stride=2),
F.relu,
L.Convolution2D(None, 64, 3, stride=1),
F.relu,
functools.partial(F.reshape, shape=(-1, 3136)),
),
phi=links.Sequence(
agents.iqn.CosineBasisLinear(64, 3136),
F.relu,
),
f=links.Sequence(
L.Linear(None, 512),
F.relu,
L.Linear(None, 4),
),
)
opt = chainer.optimizers.Adam(5e-5, eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(100)
explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon=1.0,
end_epsilon=0.1,
decay_steps=10**6,
random_action_func=lambda: np.random.randint(4))
agent = agents.IQN(
q_func,
opt,
rbuf,
gpu=gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=50,
target_update_interval=10**4,
update_interval=4,
batch_accumulator='mean',
phi=lambda x: x,
quantile_thresholds_N=64,
quantile_thresholds_N_prime=64,
quantile_thresholds_K=32,
)
model, exists = download_model("IQN",
"BreakoutNoFrameskip-v4",
model_type=self.pretrained_type)
agent.load(model)
if os.environ.get('CHAINERRL_ASSERT_DOWNLOADED_MODEL_IS_CACHED'):
assert exists
def create_agent(env):
state_size = env.state_size
action_size = env.action_size
q_func = QFunction(state_size, action_size)
start_epsilon = 1
end_epsilon = 0.3
decay_steps = 10
explorer = explorers.LinearDecayEpsilonGreedy(start_epsilon,
end_epsilon, decay_steps,
env.random_action)
opt = optimizers.Adam()
opt.setup(q_func)
# rbuf_capacity = 5 * 10 ** 3
minibatch_size = 8
# steps = 1000
replay_start_size = 20
update_interval = 5
# betasteps = (steps - replay_start_size) // update_interval
# rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity, betasteps=betasteps)
rbuf = prioritized.PrioritizedReplayBuffer()
phi = lambda x: x.astype(np.float32, copy=False)
# agent = double_dqn.DoubleDQN(q_func,
# opt,
# rbuf,
# gamma=0.99,
# explorer=explorer,
# replay_start_size=replay_start_size,
# target_update_interval=10, # target q网络多久和q网络同步
# update_interval=update_interval,
# phi=phi,
# minibatch_size=minibatch_size,
# gpu=args.gpu, # 设置是否使用gpu
# episodic_update_len=16)
# 自己的DDQN
agent = MyDoubleDQN(
q_func,
opt,
rbuf,
gamma=0.99,
explorer=explorer,
replay_start_size=replay_start_size,
target_update_interval=10, # target q网络多久和q网络同步
update_interval=update_interval,
phi=phi,
minibatch_size=minibatch_size,
gpu=args.gpu, # 设置是否使用gpu
episodic_update_len=16)
return agent
def create_value_based_learner(cfg_name):
"""
Creates a learner that can be used with value based algorithms from chainerrl.
:param cfg_name: type str, the name of the config
:return: chainerrl agent specified in config
"""
vb_config = Config(cfg_name)
network = getattr(models, vb_config.get_str('BASIC', 'network'))(
**vb_config.get_section('NETWORK'))
q_func = q_functions.SingleModelStateQFunctionWithDiscreteAction(model=network)
opt = getattr(optimizers, vb_config.get_str('BASIC', 'optimizer'))(
**vb_config.get_section('OPTIMIZER'))
opt.setup(q_func)
opt.add_hook(
optimizer.GradientClipping(threshold=vb_config.get_float('BASIC', 'grad_clip')))
rep_buf = replay_buffer.PrioritizedEpisodicReplayBuffer(
capacity=vb_config.get_int('MEMORY_BUFFER', 'episodic_buffer_size'),
wait_priority_after_sampling=vb_config.get_bool('MEMORY_BUFFER',
'wait_priority_after_sampling'))
explorer = explorers.LinearDecayEpsilonGreedy(
random_action_func=lambda: np.random.random_integers(0, vb_config.get_int('NETWORK',
'output_dim') - 1),
**vb_config.get_section('EXPLORER'))
try:
learner = getattr(agents, vb_config.get_str('BASIC', 'learner'))(q_function=q_func,
optimizer=opt,
replay_buffer=rep_buf,
phi=lambda x: x,
explorer=explorer,
**vb_config.get_section(
'ALGORITHM'))
if vb_config.get_str('BASIC', 'load_path'):
learner.load(os.path.join(get_results_path(), vb_config.get_str('BASIC', 'load_path')))
except AttributeError as e:
logger.log(msg='Cannot find model {} in chainerrl.agents'.format(
vb_config.get_str('BASIC', 'learner')),
level=logging.ERROR)
raise e
logger.log(msg='Created learner {}'.format(learner.__class__.__name__),
level=logging.INFO)
logger.log(msg='Model parameters {}'.format(
' '.join([name + ':' + str(value) for name, value in
vb_config.get_section('EXPERIMENT').items()])), level=logging.INFO)
logger.log(msg='Explorer parameters {}'.format(
' '.join([name + ':' + str(value) for name, value in
vb_config.get_section('EXPLORER').items()])), level=logging.INFO)
return learner
def make_agent(process_idx):
# Random epsilon assignment described in the original paper
rand = random.random()
if rand < 0.4:
epsilon_target = 0.1
elif rand < 0.7:
epsilon_target = 0.01
else:
epsilon_target = 0.5
explorer = explorers.LinearDecayEpsilonGreedy(
1, epsilon_target, args.final_exploration_frames,
action_space.sample)
# Suppress the explorer logger
explorer.logger.setLevel(logging.INFO)
return nsq.NSQ(q_func, opt, t_max=5, gamma=0.99,
i_target=40000,
explorer=explorer, phi=dqn_phi)
def create_agent(env):
state_size = env.state_size
action_size = env.action_size
q_func = QFunction(state_size, action_size)
start_epsilon = 1.
end_epsilon = 0.3
decay_steps = feature_max_count * MAX_EPISODE / 2
explorer = explorers.LinearDecayEpsilonGreedy(start_epsilon, end_epsilon,
decay_steps,
env.random_action)
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10**3
minibatch_size = 16
steps = 1000
replay_start_size = 20
update_interval = 10
betasteps = (steps - replay_start_size) // update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
phi = lambda x: x.astype(np.float32, copy=False)
agent = DDQN.DoubleDQN(
q_func,
opt,
rbuf,
gamma=0.99,
explorer=explorer,
replay_start_size=replay_start_size,
target_update_interval=10, # target q网络多久和q网络同步
update_interval=update_interval,
phi=phi,
minibatch_size=minibatch_size,
target_update_method='hard',
soft_update_tau=1e-2,
episodic_update=False,
gpu=args.gpu, # 设置是否使用gpu
episodic_update_len=16)
return agent
def __init__(self, modelpath, n_actions=4, n_stack_frames=4):
# Predefined parameters.
replay_start_size = 5 * 10**4
# Load the model.
q_func = links.Sequence(links.NatureDQNHead(),
L.Linear(512, n_actions), DiscreteActionValue)
opt = chainer.optimizers.RMSpropGraves(lr=2.5e-4,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon=1.0,
end_epsilon=0.1,
decay_steps=10**6,
random_action_func=lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = agents.DQN
self._agent = Agent(q_func,
opt,
rbuf,
gpu=-1,
gamma=0.99,
explorer=explorer,
replay_start_size=replay_start_size,
target_update_interval=10**4,
clip_delta=True,
update_interval=4,
batch_accumulator='sum',
phi=phi)
self._agent.load(modelpath)
self._state = deque([], maxlen=n_stack_frames)
self._action = 0
def _test_load_dqn(self, gpu):
q_func = links.Sequence(links.NatureDQNHead(), L.Linear(512, 4),
DiscreteActionValue)
opt = optimizers.RMSpropGraves(lr=2.5e-4,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(100)
explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon=1.0,
end_epsilon=0.1,
decay_steps=10**6,
random_action_func=lambda: np.random.randint(4))
agent = agents.DQN(q_func,
opt,
rbuf,
gpu=gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=50,
target_update_interval=10**4,
clip_delta=True,
update_interval=4,
batch_accumulator='sum',
phi=lambda x: x)
model, exists = download_model("DQN",
"BreakoutNoFrameskip-v4",
model_type=self.pretrained_type)
agent.load(model)
if os.environ.get('CHAINERRL_ASSERT_DOWNLOADED_MODEL_IS_CACHED'):
assert exists
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env', type=str, default='BreakoutNoFrameskip-v4')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--final-exploration-frames', type=int, default=10**6)
parser.add_argument('--final-epsilon', type=float, default=0.01)
parser.add_argument('--eval-epsilon', type=float, default=0.001)
parser.add_argument('--noisy-net-sigma', type=float, default=None)
parser.add_argument('--arch',
type=str,
default='doubledqn',
choices=['nature', 'nips', 'dueling', 'doubledqn'])
parser.add_argument('--steps', type=int, default=5 * 10**7)
parser.add_argument(
'--max-frames',
type=int,
default=30 * 60 * 60, # 30 minutes with 60 fps
help='Maximum number of frames for each episode.')
parser.add_argument('--replay-start-size', type=int, default=5 * 10**4)
parser.add_argument('--target-update-interval',
type=int,
default=3 * 10**4)
parser.add_argument('--eval-interval', type=int, default=10**5)
parser.add_argument('--update-interval', type=int, default=4)
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--no-clip-delta',
dest='clip_delta',
action='store_false')
parser.set_defaults(clip_delta=True)
parser.add_argument('--agent',
type=str,
default='DoubleDQN',
choices=['DQN', 'DoubleDQN', 'PAL'])
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
parser.add_argument('--lr',
type=float,
default=2.5e-4,
help='Learning rate')
parser.add_argument('--prioritized',
action='store_true',
default=False,
help='Use prioritized experience replay.')
parser.add_argument('--num-envs', type=int, default=1)
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for different subprocesses.
# If seed=0 and processes=4, subprocess seeds are [0, 1, 2, 3].
# If seed=1 and processes=4, subprocess seeds are [4, 5, 6, 7].
process_seeds = np.arange(args.num_envs) + args.seed * args.num_envs
assert process_seeds.max() < 2**32
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(idx, test):
# Use different random seeds for train and test envs
process_seed = int(process_seeds[idx])
env_seed = 2**32 - 1 - process_seed if test else process_seed
env = atari_wrappers.wrap_deepmind(
atari_wrappers.make_atari(args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test,
frame_stack=False,
)
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
env.seed(env_seed)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
def make_batch_env(test):
vec_env = chainerrl.envs.MultiprocessVectorEnv([
functools.partial(make_env, idx, test)
for idx, env in enumerate(range(args.num_envs))
])
vec_env = chainerrl.wrappers.VectorFrameStack(vec_env, 4)
return vec_env
sample_env = make_env(0, test=False)
n_actions = sample_env.action_space.n
q_func = parse_arch(args.arch, n_actions)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func)
# Turn off explorer
explorer = explorers.Greedy()
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as the Nature paper's
opt = optimizers.RMSpropGraves(lr=args.lr,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
# Select a replay buffer to use
if args.prioritized:
# Anneal beta from beta0 to 1 throughout training
betasteps = args.steps / args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(10**6,
alpha=0.6,
beta0=0.4,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = parse_agent(args.agent)
agent = Agent(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
clip_delta=args.clip_delta,
update_interval=args.update_interval,
batch_accumulator='sum',
phi=phi)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(
env=make_batch_env(test=True),
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_batch_with_evaluation(
agent=agent,
env=make_batch_env(test=False),
eval_env=make_batch_env(test=True),
steps=args.steps,
eval_n_steps=None,
eval_n_episodes=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=False,
log_interval=1000,
)
def main(args):
import logging
logging.basicConfig(level=logging.INFO, filename='log')
if(type(args) is list):
args=make_args(args)
if not os.path.exists(args.outdir):
os.makedirs(args.outdir)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu,))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2 ** 31 - 1 - args.seed
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(
atari_wrappers.make_atari(args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir,
mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
q_func = chainerrl.agents.iqn.ImplicitQuantileQFunction(
psi=chainerrl.links.Sequence(
L.Convolution2D(None, 32, 8, stride=4),
F.relu,
L.Convolution2D(None, 64, 4, stride=2),
F.relu,
L.Convolution2D(None, 64, 3, stride=1),
F.relu,
functools.partial(F.reshape, shape=(-1, 3136)),
),
phi=chainerrl.links.Sequence(
chainerrl.agents.iqn.CosineBasisLinear(64, 3136),
F.relu,
),
f=chainerrl.links.Sequence(
L.Linear(None, 512),
F.relu,
L.Linear(None, n_actions),
),
)
# Draw the computational graph and save it in the output directory.
fake_obss = np.zeros((4, 84, 84), dtype=np.float32)[None]
fake_taus = np.zeros(32, dtype=np.float32)[None]
chainerrl.misc.draw_computational_graph(
[q_func(fake_obss)(fake_taus)],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as https://arxiv.org/abs/1710.10044
opt = chainer.optimizers.Adam(5e-5, eps=1e-2 / args.batch_size)
opt.setup(q_func)
if args.prioritized:
betasteps = args.steps / args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(
10 ** 6, alpha=0.5, beta0=0.4, betasteps=betasteps,
num_steps=args.num_step_return)
else:
rbuf = replay_buffer.ReplayBuffer(
10 ** 6,
num_steps=args.num_step_return)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon,
args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = parse_agent(args.agent)
agent = Agent(
q_func, opt, rbuf, gpu=args.gpu, gamma=0.99,
explorer=explorer, replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator=args.batch_accumulator,
phi=phi,
quantile_thresholds_N=args.quantile_thresholds_N,
quantile_thresholds_N_prime=args.quantile_thresholds_N_prime,
quantile_thresholds_K=args.quantile_thresholds_K,
)
if args.load_agent:
agent.load(args.load_agent)
if (args.mode=='train'):
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
checkpoint_freq=args.checkpoint_frequency,
step_offset=args.step_offset,
eval_n_steps=args.eval_n_steps,
eval_n_episodes=None,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=True,
eval_env=eval_env,
log_type=args.log_type
)
dir_of_best_network = os.path.join(args.outdir, "best")
agent.load(dir_of_best_network)
# run 200 evaluation episodes, each capped at 30 mins of play
stats = experiments.evaluator.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.n_best_episodes,
max_episode_len=args.max_frames / 4,
logger=None)
with open(os.path.join(args.outdir, 'bestscores.json'), 'w') as f:
# temporary hack to handle python 2/3 support issues.
# json dumps does not support non-string literal dict keys
json_stats = json.dumps(stats)
print(str(json_stats), file=f)
print("The results of the best scoring network:")
for stat in stats:
print(str(stat) + ":" + str(stats[stat]))
elif (args.mode=='check'):
return tools.make_video.check(env=env,agent=agent,save_mp4=args.save_mp4)
elif (args.mode=='growth'):
return tools.make_video.growth(env=env,agent=agent,outdir=args.outdir,max_num=args.max_frames,save_mp4=args.save_mp4)
def main():
import logging
logging.basicConfig(level=logging.DEBUG)
parser = argparse.ArgumentParser()
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--env', type=str, default='Pendulum-v0')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 32)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--final-exploration-steps', type=int, default=10**4)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--noisy-net-sigma', type=float, default=None)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--steps', type=int, default=10**5)
parser.add_argument('--prioritized-replay', action='store_true')
parser.add_argument('--replay-start-size', type=int, default=1000)
parser.add_argument('--target-update-interval', type=int, default=10**2)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--soft-update-tau', type=float, default=1e-2)
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=100)
parser.add_argument('--eval-interval', type=int, default=10**4)
parser.add_argument('--n-hidden-channels', type=int, default=100)
parser.add_argument('--n-hidden-layers', type=int, default=2)
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--minibatch-size', type=int, default=None)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--monitor', action='store_true')
parser.add_argument('--reward-scale-factor', type=float, default=1e-3)
args = parser.parse_args()
# Set a random seed used in ChainerRL
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
args.outdir = experiments.prepare_output_dir(args,
args.outdir,
argv=sys.argv)
print('Output files are saved in {}'.format(args.outdir))
def clip_action_filter(a):
return np.clip(a, action_space.low, action_space.high)
def make_env(test):
env = gym.make(args.env)
# Use different random seeds for train and test envs
env_seed = 2**32 - 1 - args.seed if test else args.seed
env.seed(env_seed)
# Cast observations to float32 because our model uses float32
env = chainerrl.wrappers.CastObservationToFloat32(env)
if args.monitor:
env = chainerrl.wrappers.Monitor(env, args.outdir)
if isinstance(env.action_space, spaces.Box):
misc.env_modifiers.make_action_filtered(env, clip_action_filter)
if not test:
# Scale rewards (and thus returns) to a reasonable range so that
# training is easier
env = chainerrl.wrappers.ScaleReward(env, args.reward_scale_factor)
if ((args.render_eval and test) or (args.render_train and not test)):
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
timestep_limit = env.spec.tags.get(
'wrapper_config.TimeLimit.max_episode_steps')
obs_space = env.observation_space
obs_size = obs_space.low.size
action_space = env.action_space
if isinstance(action_space, spaces.Box):
action_size = action_space.low.size
# Use NAF to apply DQN to continuous action spaces
q_func = q_functions.FCQuadraticStateQFunction(
obs_size,
action_size,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers,
action_space=action_space)
# Use the Ornstein-Uhlenbeck process for exploration
ou_sigma = (action_space.high - action_space.low) * 0.2
explorer = explorers.AdditiveOU(sigma=ou_sigma)
else:
n_actions = action_space.n
q_func = q_functions.FCStateQFunctionWithDiscreteAction(
obs_size,
n_actions,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon, args.final_exploration_steps,
action_space.sample)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func, sigma_scale=args.noisy_net_sigma)
# Turn off explorer
explorer = explorers.Greedy()
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(obs_space.low, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10**5
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
agent = DQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=args.gamma,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
)
if args.load:
agent.load(args.load)
eval_env = make_env(test=True)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_steps=None,
eval_n_episodes=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_env=eval_env,
train_max_episode_len=timestep_limit)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env',
type=str,
default='BreakoutNoFrameskip-v4',
help='OpenAI Atari domain to perform algorithm on.')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu',
type=int,
default=0,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--final-exploration-frames',
type=int,
default=10**6,
help='Timesteps after which we stop ' +
'annealing exploration rate')
parser.add_argument('--final-epsilon',
type=float,
default=0.1,
help='Final value of epsilon during training.')
parser.add_argument('--eval-epsilon',
type=float,
default=0.05,
help='Exploration epsilon used during eval episodes.')
parser.add_argument('--noisy-net-sigma', type=float, default=None)
parser.add_argument('--arch',
type=str,
default='doubledqn',
choices=['nature', 'nips', 'dueling', 'doubledqn'],
help='Network architecture to use.')
parser.add_argument('--steps',
type=int,
default=5 * 10**7,
help='Total number of timesteps to train the agent.')
parser.add_argument(
'--max-frames',
type=int,
default=30 * 60 * 60, # 30 minutes with 60 fps
help='Maximum number of frames for each episode.')
parser.add_argument('--replay-start-size',
type=int,
default=5 * 10**4,
help='Minimum replay buffer size before ' +
'performing gradient updates.')
parser.add_argument('--target-update-interval',
type=int,
default=1 * 10**4,
help='Frequency (in timesteps) at which ' +
'the target network is updated.')
parser.add_argument('--eval-interval',
type=int,
default=10**5,
help='Frequency (in timesteps) of evaluation phase.')
parser.add_argument('--update-interval',
type=int,
default=4,
help='Frequency (in timesteps) of network updates.')
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--no-clip-delta',
dest='clip_delta',
action='store_false')
parser.set_defaults(clip_delta=True)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
parser.add_argument('--lr',
type=float,
default=2.5e-4,
help='Learning rate.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(atari_wrappers.make_atari(
args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
q_func = links.Sequence(links.NatureDQNHead(), L.Linear(512, n_actions),
DiscreteActionValue)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func)
# Turn off explorer
explorer = explorers.Greedy()
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as the Nature paper's
opt = optimizers.RMSpropGraves(lr=args.lr,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = agents.DQN
agent = Agent(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
clip_delta=args.clip_delta,
update_interval=args.update_interval,
batch_accumulator='sum',
phi=phi)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_runs=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_episodes=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=False,
eval_env=eval_env,
)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--outdir', type=str, default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed', type=int, default=123,
help='Random seed [0, 2 ** 32)')
parser.add_argument('--gpu', type=int, default=-1)
parser.add_argument('--final-exploration-steps',
type=int, default=10 ** 4)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--noisy-net-sigma', type=float, default=None)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--steps', type=int, default=50000)
parser.add_argument('--prioritized-replay', action='store_true', default=False)
parser.add_argument('--episodic-replay', action='store_true', default=False)
parser.add_argument('--replay-start-size', type=int, default=1000)
parser.add_argument('--target-update-interval', type=int, default=10 ** 2)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--soft-update-tau', type=float, default=1e-2)
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=50)
parser.add_argument('--eval-interval', type=int, default=10 ** 3)
parser.add_argument('--n-hidden-channels', type=int, default=512)
parser.add_argument('--n-hidden-layers', type=int, default=2)
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--minibatch-size', type=int, default=None)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--monitor', action='store_true', default=True)
parser.add_argument('--reward-scale-factor', type=float, default=1e-3)
args = parser.parse_args()
# Set a random seed used in ChainerRL
misc.set_random_seed(args.seed)
args.outdir = experiments.prepare_output_dir(
args, args.outdir, argv=sys.argv)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
ENV_NAME = 'malware-test-v0' if test else 'malware-v0'
env = gym.make(ENV_NAME)
# Use different random seeds for train and test envs
env_seed = 2 ** 32 - 1 - args.seed if test else args.seed
env.seed(env_seed)
if args.monitor:
env = gym.wrappers.Monitor(env, args.outdir)
# if not test:
# misc.env_modifiers.make_reward_filtered(
# env, lambda x: x * args.reward_scale_factor)
if ((args.render_eval and test) or
(args.render_train and not test)):
misc.env_modifiers.make_rendered(env)
return env
env = make_env(test=False)
timestep_limit = 80
obs_space = env.observation_space
obs_size = obs_space.shape[0]
action_space = env.action_space
n_actions = action_space.n
q_func = q_functions.FCStateQFunctionWithDiscreteAction(
obs_size, n_actions,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
if args.gpu >= 0:
q_func.to_gpu(args.gpu)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon, args.final_exploration_steps,
action_space.sample)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func)
# Turn off explorer
explorer = explorers.Greedy()
# Draw the computational graph and save it in the output directory.
if args.gpu < 0:
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(obs_space, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10 ** 5
if args.episodic_replay:
if args.minibatch_size is None:
args.minibatch_size = 4
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedEpisodicReplayBuffer(
rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.EpisodicReplayBuffer(rbuf_capacity)
else:
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(
rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
def phi(obs):
return obs.astype(np.float32)
agent = DoubleDQN(q_func, opt, rbuf, gamma=args.gamma,
explorer=explorer, replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
phi=phi, minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
episodic_update=args.episodic_replay, episodic_update_len=16)
if args.load:
agent.load(args.load)
eval_env = make_env(test=True)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_runs=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
q_hook = PlotHook('Average Q Value')
loss_hook = PlotHook('Average Loss', plot_index=1)
experiments.train_agent_with_evaluation(
agent=agent, env=env, steps=args.steps,
eval_n_runs=args.eval_n_runs, eval_interval=args.eval_interval,
outdir=args.outdir, eval_env=eval_env,
max_episode_len=timestep_limit,
step_hooks=[q_hook, loss_hook],
successful_score=7
)
def create_ddqn_agent(env, args):
obs_size = env.observation_space.shape[0]
action_space = env.action_space
n_actions = action_space.n
# q_func = q_functions.FCStateQFunctionWithDiscreteAction(
# obs_size, n_actions,
# n_hidden_channels=args.n_hidden_channels,
# n_hidden_layers=args.n_hidden_layers)
q_func = QFunction(obs_size, n_actions)
if args.gpu:
q_func.to_gpu(args.gpu)
# Draw the computational graph and save it in the output directory.
if not args.test and not args.gpu:
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(env.observation_space, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon, args.final_exploration_steps,
action_space.sample)
# explorer = explorers.Boltzmann()
# explorer = explorers.ConstantEpsilonGreedy(
# epsilon=0.3, random_action_func=env.action_space.sample)
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10 ** 3
if args.episodic_replay:
if args.minibatch_size is None:
args.minibatch_size = 4
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) // args.update_interval
rbuf = replay_buffer.PrioritizedEpisodicReplayBuffer(rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.EpisodicReplayBuffer(rbuf_capacity)
else:
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) // args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
# Chainer only accepts numpy.float32 by default, make sure
# a converter as a feature extractor function phi.
phi = lambda x: x.astype(np.float32, copy=False)
agent = chainerrl.agents.DoubleDQN(q_func, opt, rbuf, gamma=args.gamma,
explorer=explorer, replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
phi=phi, minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
episodic_update=args.episodic_replay,
episodic_update_len=16)
return agent
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env', type=str, default='BreakoutNoFrameskip-v4')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--final-exploration-frames', type=int, default=10**6)
parser.add_argument('--final-epsilon', type=float, default=0.01)
parser.add_argument('--eval-epsilon', type=float, default=0.001)
parser.add_argument('--steps', type=int, default=5 * 10**7)
parser.add_argument(
'--max-frames',
type=int,
default=30 * 60 * 60, # 30 minutes with 60 fps
help='Maximum number of frames for each episode.')
parser.add_argument('--replay-start-size', type=int, default=5 * 10**4)
parser.add_argument('--target-update-interval', type=int, default=10**4)
parser.add_argument('--eval-interval', type=int, default=250000)
parser.add_argument('--eval-n-steps', type=int, default=125000)
parser.add_argument('--update-interval', type=int, default=4)
parser.add_argument('--batch-size', type=int, default=32)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
parser.add_argument('--batch-accumulator',
type=str,
default='mean',
choices=['mean', 'sum'])
parser.add_argument('--quantile-thresholds-N', type=int, default=64)
parser.add_argument('--quantile-thresholds-N-prime', type=int, default=64)
parser.add_argument('--quantile-thresholds-K', type=int, default=32)
parser.add_argument('--n-best-episodes', type=int, default=200)
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(atari_wrappers.make_atari(
args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
q_func = chainerrl.agents.iqn.ImplicitQuantileQFunction(
psi=chainerrl.links.Sequence(
L.Convolution2D(None, 32, 8, stride=4),
F.relu,
L.Convolution2D(None, 64, 4, stride=2),
F.relu,
L.Convolution2D(None, 64, 3, stride=1),
F.relu,
functools.partial(F.reshape, shape=(-1, 3136)),
),
phi=chainerrl.links.Sequence(
chainerrl.agents.iqn.CosineBasisLinear(64, 3136),
F.relu,
),
f=chainerrl.links.Sequence(
L.Linear(None, 512),
F.relu,
L.Linear(None, n_actions),
),
)
# Draw the computational graph and save it in the output directory.
fake_obss = np.zeros((4, 84, 84), dtype=np.float32)[None]
fake_taus = np.zeros(32, dtype=np.float32)[None]
chainerrl.misc.draw_computational_graph([q_func(fake_obss)(fake_taus)],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as https://arxiv.org/abs/1710.10044
opt = chainer.optimizers.Adam(5e-5, eps=1e-2 / args.batch_size)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
agent = chainerrl.agents.IQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator=args.batch_accumulator,
phi=phi,
quantile_thresholds_N=args.quantile_thresholds_N,
quantile_thresholds_N_prime=args.quantile_thresholds_N_prime,
quantile_thresholds_K=args.quantile_thresholds_K,
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_steps=args.eval_n_steps,
n_episodes=None,
)
print('n_steps: {} mean: {} median: {} stdev {}'.format(
args.eval_n_steps, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_steps=args.eval_n_steps,
eval_n_episodes=None,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=True,
eval_env=eval_env,
)
dir_of_best_network = os.path.join(args.outdir, "best")
agent.load(dir_of_best_network)
# run 200 evaluation episodes, each capped at 30 mins of play
stats = experiments.evaluator.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.n_best_episodes,
max_episode_len=args.max_frames / 4,
logger=None)
with open(os.path.join(args.outdir, 'bestscores.json'), 'w') as f:
# temporary hack to handle python 2/3 support issues.
# json dumps does not support non-string literal dict keys
json_stats = json.dumps(stats)
print(str(json_stats), file=f)
print("The results of the best scoring network:")
for stat in stats:
print(str(stat) + ":" + str(stats[stat]))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--out_dir', type=str, default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed', type=int, default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--final-exploration-frames',
type=int, default=10 ** 5,
help='Timesteps after which we stop ' +
'annealing exploration rate')
parser.add_argument('--final-epsilon', type=float, default=0.1,
help='Final value of epsilon during training.')
parser.add_argument('--eval-epsilon', type=float, default=0.05,
help='Exploration epsilon used during eval episodes.')
parser.add_argument('--steps', type=int, default=10 ** 6,
help='Total number of timesteps to train the agent.')
parser.add_argument('--max-episode-len', type=int,
default=30 * 60 * 60 // 4, # 30 minutes with 60/4 fps
help='Maximum number of timesteps for each episode.')
parser.add_argument('--replay-start-size', type=int, default=1000,
help='Minimum replay buffer size before ' +
'performing gradient updates.')
parser.add_argument('--target-update-interval',
type=int, default=1 * 10 ** 4,
help='Frequency (in timesteps) at which ' +
'the target network is updated.')
parser.add_argument('--eval-interval', type=int, default=10 ** 5,
help='Frequency (in timesteps) of evaluation phase.')
parser.add_argument('--update-interval', type=int, default=4,
help='Frequency (in timesteps) of network updates.')
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--logging-level', type=int, default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--lr', type=float, default=2.5e-4,
help='Learning rate.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu,))
if not os.path.exists(args.out_dir):
os.makedirs(args.out_dir)
experiments.set_log_base_dir(args.out_dir)
print('Output files are saved in {}'.format(args.out_dir))
env = make_env(env_seed=args.seed)
n_actions = env.action_space.n
q_func = links.Sequence(
links.NatureDQNHead(n_input_channels=3),
L.Linear(512, n_actions),
DiscreteActionValue
)
# Use the same hyper parameters as the Nature paper's
opt = optimizers.RMSpropGraves(
lr=args.lr, alpha=0.95, momentum=0.0, eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10 ** 6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon,
args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
x = x.transpose(2, 0, 1)
return np.asarray(x, dtype=np.float32) / 255
agent = agents.DQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator='sum',
phi=phi
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(
env=env,
agent=agent,
n_runs=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.out_dir,
save_best_so_far_agent=False,
max_episode_len=args.max_episode_len,
eval_env=env,
)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env', type=str, default='BreakoutNoFrameskip-v4')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--use-sdl', action='store_true', default=False)
parser.add_argument('--final-exploration-frames', type=int, default=10**6)
parser.add_argument('--final-epsilon', type=float, default=0.1)
parser.add_argument('--eval-epsilon', type=float, default=0.05)
parser.add_argument('--steps', type=int, default=10**7)
parser.add_argument(
'--max-frames',
type=int,
default=30 * 60 * 60, # 30 minutes with 60 fps
help='Maximum number of frames for each episode.')
parser.add_argument('--replay-start-size', type=int, default=5 * 10**4)
parser.add_argument('--target-update-interval', type=int, default=10**4)
parser.add_argument('--eval-interval', type=int, default=10**5)
parser.add_argument('--update-interval', type=int, default=4)
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--batch-size', type=int, default=32)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(atari_wrappers.make_atari(
args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
n_atoms = 51
v_max = 10
v_min = -10
q_func = chainerrl.links.Sequence(
chainerrl.links.NatureDQNHead(),
chainerrl.q_functions.DistributionalFCStateQFunctionWithDiscreteAction(
None,
n_actions,
n_atoms,
v_min,
v_max,
n_hidden_channels=0,
n_hidden_layers=0),
)
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as https://arxiv.org/abs/1707.06887
opt = chainer.optimizers.Adam(2.5e-4, eps=1e-2 / args.batch_size)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
agent = chainerrl.agents.CategoricalDQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator='mean',
phi=phi,
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_steps=None,
eval_n_episodes=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=False,
eval_env=eval_env,
)
def main():
import logging
logging.basicConfig(level=logging.DEBUG)
parser = argparse.ArgumentParser()
parser.add_argument('--outdir', type=str, default='dqn_out')
parser.add_argument('--env', type=str, default='Pendulum-v0')
parser.add_argument('--seed', type=int, default=None)
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--final-exploration-steps', type=int, default=10**4)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--steps', type=int, default=10**5)
parser.add_argument('--prioritized-replay', action='store_true')
parser.add_argument('--episodic-replay', action='store_true')
parser.add_argument('--replay-start-size', type=int, default=1000)
parser.add_argument('--target-update-interval', type=int, default=10**2)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--soft-update-tau', type=float, default=1e-2)
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=100)
parser.add_argument('--eval-interval', type=int, default=10**4)
parser.add_argument('--n-hidden-channels', type=int, default=100)
parser.add_argument('--n-hidden-layers', type=int, default=2)
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--minibatch-size', type=int, default=None)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--monitor', action='store_true')
parser.add_argument('--reward-scale-factor', type=float, default=1e-3)
args = parser.parse_args()
args.outdir = experiments.prepare_output_dir(args,
args.outdir,
argv=sys.argv)
print('Output files are saved in {}'.format(args.outdir))
if args.seed is not None:
misc.set_random_seed(args.seed)
def clip_action_filter(a):
return np.clip(a, action_space.low, action_space.high)
def make_env(for_eval):
env = gym.make(args.env)
if args.monitor:
env = gym.wrappers.Monitor(env, args.outdir)
if isinstance(env.action_space, spaces.Box):
misc.env_modifiers.make_action_filtered(env, clip_action_filter)
if not for_eval:
misc.env_modifiers.make_reward_filtered(
env, lambda x: x * args.reward_scale_factor)
if ((args.render_eval and for_eval)
or (args.render_train and not for_eval)):
misc.env_modifiers.make_rendered(env)
return env
env = make_env(for_eval=False)
timestep_limit = env.spec.tags.get(
'wrapper_config.TimeLimit.max_episode_steps')
obs_space = env.observation_space
obs_size = obs_space.low.size
action_space = env.action_space
if isinstance(action_space, spaces.Box):
action_size = action_space.low.size
# Use NAF to apply DQN to continuous action spaces
q_func = q_functions.FCQuadraticStateQFunction(
obs_size,
action_size,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers,
action_space=action_space)
# Use the Ornstein-Uhlenbeck process for exploration
ou_sigma = (action_space.high - action_space.low) * 0.2
explorer = explorers.AdditiveOU(sigma=ou_sigma)
else:
n_actions = action_space.n
q_func = q_functions.FCStateQFunctionWithDiscreteAction(
obs_size,
n_actions,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon, args.final_exploration_steps,
action_space.sample)
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(obs_space.low, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
opt = optimizers.Adam()
opt.setup(q_func)
rbuf_capacity = 5 * 10**5
if args.episodic_replay:
if args.minibatch_size is None:
args.minibatch_size = 4
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedEpisodicReplayBuffer(
rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.EpisodicReplayBuffer(rbuf_capacity)
else:
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
def phi(obs):
return obs.astype(np.float32)
agent = DQN(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=args.gamma,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
phi=phi,
minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
episodic_update=args.episodic_replay,
episodic_update_len=16)
if args.load:
agent.load(args.load)
eval_env = make_env(for_eval=True)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_runs=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_env=eval_env,
max_episode_len=timestep_limit)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('rom', type=str)
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--use-sdl', action='store_true', default=False)
parser.add_argument('--final-exploration-frames', type=int, default=10**6)
parser.add_argument('--final-epsilon', type=float, default=0.1)
parser.add_argument('--eval-epsilon', type=float, default=0.05)
parser.add_argument('--steps', type=int, default=10**7)
parser.add_argument('--replay-start-size', type=int, default=5 * 10**4)
parser.add_argument('--target-update-interval', type=int, default=10**4)
parser.add_argument('--eval-interval', type=int, default=10**5)
parser.add_argument('--update-interval', type=int, default=4)
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--batch-size', type=int, default=32)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
# In training, life loss is considered as terminal states
env = ale.ALE(args.rom, use_sdl=args.use_sdl, seed=train_seed)
misc.env_modifiers.make_reward_clipped(env, -1, 1)
# In testing, an episode is terminated when all lives are lost
eval_env = ale.ALE(args.rom,
use_sdl=args.use_sdl,
treat_life_lost_as_terminal=False,
seed=test_seed)
n_actions = env.number_of_actions
n_atoms = 51
v_max = 10
v_min = -10
q_func = chainerrl.links.Sequence(
chainerrl.links.NatureDQNHead(),
chainerrl.q_functions.DistributionalFCStateQFunctionWithDiscreteAction(
None,
n_actions,
n_atoms,
v_min,
v_max,
n_hidden_channels=0,
n_hidden_layers=0),
)
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as https://arxiv.org/abs/1707.06887
opt = chainer.optimizers.Adam(2.5e-4, eps=1e-2 / args.batch_size)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
agent = chainerrl.agents.CategoricalDQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator='mean',
phi=dqn_phi,
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_runs=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
# In testing DQN, randomly select 5% of actions
eval_explorer = explorers.ConstantEpsilonGreedy(
args.eval_epsilon, lambda: np.random.randint(n_actions))
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_explorer=eval_explorer,
save_best_so_far_agent=False,
eval_env=eval_env)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env', type=str, default='BreakoutNoFrameskip-v4')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--use-sdl', action='store_true', default=False)
parser.add_argument('--final-exploration-frames', type=int, default=10**6)
parser.add_argument('--final-epsilon', type=float, default=0.1)
parser.add_argument('--eval-epsilon', type=float, default=0.05)
parser.add_argument('--arch',
type=str,
default='nature',
choices=['nature', 'nips', 'dueling'])
parser.add_argument('--steps', type=int, default=10**7)
parser.add_argument(
'--max-episode-len',
type=int,
default=5 * 60 * 60 // 4, # 5 minutes with 60/4 fps
help='Maximum number of steps for each episode.')
parser.add_argument('--replay-start-size', type=int, default=5 * 10**4)
parser.add_argument('--target-update-interval', type=int, default=10**4)
parser.add_argument('--eval-interval', type=int, default=10**5)
parser.add_argument('--update-interval', type=int, default=4)
parser.add_argument('--activation', type=str, default='relu')
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--no-clip-delta',
dest='clip_delta',
action='store_false')
parser.set_defaults(clip_delta=True)
parser.add_argument('--agent',
type=str,
default='DQN',
choices=['DQN', 'DoubleDQN', 'PAL'])
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(atari_wrappers.make_atari(args.env),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
misc.env_modifiers.make_rendered(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
activation = parse_activation(args.activation)
q_func = parse_arch(args.arch, n_actions, activation)
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyper parameters as the Nature paper's
opt = optimizers.RMSpropGraves(lr=2.5e-4,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = parse_agent(args.agent)
agent = Agent(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
clip_delta=args.clip_delta,
update_interval=args.update_interval,
batch_accumulator='sum',
phi=phi)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_runs=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
# In testing DQN, randomly select 5% of actions
eval_explorer = explorers.ConstantEpsilonGreedy(
args.eval_epsilon, lambda: np.random.randint(n_actions))
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_explorer=eval_explorer,
save_best_so_far_agent=False,
max_episode_len=args.max_episode_len,
eval_env=eval_env,
)
def main():
"""Parses arguments and runs the example
"""
parser = argparse.ArgumentParser()
parser.add_argument(
'--env',
type=str,
default='MineRLTreechop-v0',
choices=[
'MineRLTreechop-v0',
'MineRLNavigate-v0',
'MineRLNavigateDense-v0',
'MineRLNavigateExtreme-v0',
'MineRLNavigateExtremeDense-v0',
'MineRLObtainIronPickaxe-v0',
'MineRLObtainIronPickaxeDense-v0',
'MineRLObtainDiamond-v0',
'MineRLObtainDiamondDense-v0',
'MineRLNavigateDenseFixed-v0' # for debug use
],
help='MineRL environment identifier')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu',
type=int,
default=-1,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--final-exploration-frames',
type=int,
default=10**6,
help='Timesteps after which we stop ' +
'annealing exploration rate')
parser.add_argument('--final-epsilon',
type=float,
default=0.01,
help='Final value of epsilon during training.')
parser.add_argument('--eval-epsilon',
type=float,
default=0.001,
help='Exploration epsilon used during eval episodes.')
parser.add_argument('--replay-start-size',
type=int,
default=1000,
help='Minimum replay buffer size before ' +
'performing gradient updates.')
parser.add_argument('--target-update-interval',
type=int,
default=10**4,
help='Frequency (in timesteps) at which ' +
'the target network is updated.')
parser.add_argument('--update-interval',
type=int,
default=4,
help='Frequency (in timesteps) of network updates.')
parser.add_argument('--eval-n-runs', type=int, default=10)
parser.add_argument('--no-clip-delta',
dest='clip_delta',
action='store_false')
parser.add_argument('--error-max', type=float, default=1.0)
parser.add_argument('--num-step-return', type=int, default=10)
parser.set_defaults(clip_delta=True)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--logging-filename', type=str, default=None)
parser.add_argument(
'--monitor',
action='store_true',
default=False,
help=
'Monitor env. Videos and additional information are saved as output files when evaluation'
)
# parser.add_argument('--render', action='store_true', default=False,
# help='Render env states in a GUI window.')
parser.add_argument('--optimizer',
type=str,
default='rmsprop',
choices=['rmsprop', 'adam'])
parser.add_argument('--lr',
type=float,
default=2.5e-4,
help='Learning rate')
parser.add_argument(
"--replay-buffer-size",
type=int,
default=10**6,
help="Size of replay buffer (Excluding demonstrations)")
parser.add_argument("--minibatch-size", type=int, default=32)
parser.add_argument('--batch-accumulator', type=str, default="sum")
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument("--save-demo-trajectories",
action="store_true",
default=False)
# DQfD specific parameters for loading and pretraining.
parser.add_argument('--n-experts', type=int, default=10)
parser.add_argument('--expert-demo-path', type=str, default=None)
parser.add_argument('--n-pretrain-steps', type=int, default=750000)
parser.add_argument('--demo-supervised-margin', type=float, default=0.8)
parser.add_argument('--loss-coeff-l2', type=float, default=1e-5)
parser.add_argument('--loss-coeff-nstep', type=float, default=1.0)
parser.add_argument('--loss-coeff-supervised', type=float, default=1.0)
parser.add_argument('--bonus-priority-agent', type=float, default=0.001)
parser.add_argument('--bonus-priority-demo', type=float, default=1.0)
# Action branching architecture
parser.add_argument('--gradient-clipping',
action='store_true',
default=False)
parser.add_argument('--gradient-rescaling',
action='store_true',
default=False)
# NoisyNet parameters
parser.add_argument('--use-noisy-net',
type=str,
default=None,
choices=['before-pretraining', 'after-pretraining'])
parser.add_argument('--noisy-net-sigma', type=float, default=0.5)
# Parameters for state/action handling
parser.add_argument('--frame-stack',
type=int,
default=None,
help='Number of frames stacked (None for disable).')
parser.add_argument('--frame-skip',
type=int,
default=None,
help='Number of frames skipped (None for disable).')
parser.add_argument('--camera-atomic-actions', type=int, default=10)
parser.add_argument('--max-range-of-camera', type=float, default=10.)
parser.add_argument('--use-full-observation',
action='store_true',
default=False)
args = parser.parse_args()
assert args.expert_demo_path is not None, "DQfD needs collected \
expert demonstrations"
import logging
if args.logging_filename is not None:
logging.basicConfig(filename=args.logging_filename,
filemode='w',
level=args.logging_level)
else:
logging.basicConfig(level=args.logging_level)
logger = logging.getLogger(__name__)
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
chainerrl.misc.set_random_seed(args.seed, gpus=(args.gpu, ))
args.outdir = experiments.prepare_output_dir(args, args.outdir)
logger.info('Output files are saved in {}'.format(args.outdir))
if args.env == 'MineRLTreechop-v0':
branch_sizes = [
9, 16, args.camera_atomic_actions, args.camera_atomic_actions
]
elif args.env in [
'MineRLNavigate-v0', 'MineRLNavigateDense-v0',
'MineRLNavigateExtreme-v0', 'MineRLNavigateExtremeDense-v0'
]:
branch_sizes = [
9, 16, args.camera_atomic_actions, args.camera_atomic_actions, 2
]
elif args.env in [
'MineRLObtainIronPickaxe-v0', 'MineRLObtainIronPickaxeDense-v0',
'MineRLObtainDiamond-v0', 'MineRLObtainDiamondDense-v0'
]:
branch_sizes = [
9, 16, args.camera_atomic_actions, args.camera_atomic_actions, 32
]
else:
raise Exception("Unknown environment")
def make_env(env, test):
# wrap env: observation...
# NOTE: wrapping order matters!
if args.use_full_observation:
env = FullObservationSpaceWrapper(env)
elif args.env.startswith('MineRLNavigate'):
env = PoVWithCompassAngleWrapper(env)
else:
env = ObtainPoVWrapper(env)
if test and args.monitor:
env = gym.wrappers.Monitor(
env,
os.path.join(args.outdir, 'monitor'),
mode='evaluation' if test else 'training',
video_callable=lambda episode_id: True)
if args.frame_skip is not None:
env = FrameSkip(env, skip=args.frame_skip)
# convert hwc -> chw as Chainer requires
env = MoveAxisWrapper(env,
source=-1,
destination=0,
use_tuple=args.use_full_observation)
#env = ScaledFloatFrame(env)
if args.frame_stack is not None:
env = FrameStack(env,
args.frame_stack,
channel_order='chw',
use_tuple=args.use_full_observation)
# wrap env: action...
env = BranchedActionWrapper(env, branch_sizes,
args.camera_atomic_actions,
args.max_range_of_camera)
if test:
env = BranchedRandomizedAction(env, branch_sizes,
args.eval_epsilon)
env_seed = test_seed if test else train_seed
env.seed(int(env_seed))
return env
core_env = gym.make(args.env)
env = make_env(core_env, test=False)
eval_env = make_env(core_env, test=True)
# Q function
if args.env.startswith('MineRLNavigate'):
if args.use_full_observation:
base_channels = 3 # RGB
else:
base_channels = 4 # RGB + compass
elif args.env.startswith('MineRLObtain'):
base_channels = 3 # RGB
else:
base_channels = 3 # RGB
if args.frame_stack is None:
n_input_channels = base_channels
else:
n_input_channels = base_channels * args.frame_stack
q_func = CNNBranchingQFunction(branch_sizes,
n_input_channels=n_input_channels,
gradient_rescaling=args.gradient_rescaling,
use_tuple=args.use_full_observation)
def phi(x):
# observation -> NN input
if args.use_full_observation:
pov = np.asarray(x[0], dtype=np.float32)
others = np.asarray(x[1], dtype=np.float32)
return (pov / 255, others)
else:
return np.asarray(x, dtype=np.float32) / 255
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.array([np.random.randint(n) for n in branch_sizes]))
# Draw the computational graph and save it in the output directory.
if args.use_full_observation:
sample_obs = tuple([x[None] for x in env.observation_space.sample()])
else:
sample_obs = env.observation_space.sample()[None]
chainerrl.misc.draw_computational_graph([q_func(phi(sample_obs))],
os.path.join(args.outdir, 'model'))
if args.optimizer == 'rmsprop':
opt = chainer.optimizers.RMSpropGraves(args.lr,
alpha=0.95,
momentum=0.0,
eps=1e-2)
elif args.optimizer == 'adam':
opt = chainer.optimizers.Adam(args.lr)
if args.use_noisy_net is None:
opt.setup(q_func)
if args.gradient_rescaling:
opt.add_hook(ScaleGradHook(1 / (1 + len(q_func.branch_sizes))))
if args.gradient_clipping:
opt.add_hook(chainer.optimizer_hooks.GradientClipping(10.0))
# calculate corresponding `steps` and `eval_interval` according to frameskip
maximum_frames = 8640000 # = 1440 episodes if we count an episode as 6000 frames.
if args.frame_skip is None:
steps = maximum_frames
eval_interval = 6000 * 100 # (approx.) every 100 episode (counts "1 episode = 6000 steps")
else:
steps = maximum_frames // args.frame_skip
eval_interval = 6000 * 100 // args.frame_skip # (approx.) every 100 episode (counts "1 episode = 6000 steps")
# Anneal beta from beta0 to 1 throughout training
betasteps = steps / args.update_interval
replay_buffer = PrioritizedDemoReplayBuffer(args.replay_buffer_size,
alpha=0.4,
beta0=0.6,
betasteps=betasteps,
error_max=args.error_max,
num_steps=args.num_step_return)
# Fill the demo buffer with expert transitions
if not args.demo:
chosen_dirs = choose_top_experts(args.expert_demo_path,
args.n_experts,
logger=logger)
fill_buffer(args.env,
chosen_dirs,
replay_buffer,
args.frame_skip,
args.frame_stack,
args.camera_atomic_actions,
args.max_range_of_camera,
args.use_full_observation,
logger=logger)
logger.info("Demo buffer loaded with {} transitions".format(
len(replay_buffer)))
def reward_transform(x):
return np.sign(x) * np.log(1 + np.abs(x))
if args.use_noisy_net is not None and args.use_noisy_net == 'before-pretraining':
chainerrl.links.to_factorized_noisy(q_func,
sigma_scale=args.noisy_net_sigma)
explorer = explorers.Greedy()
opt.setup(q_func)
agent = DQfD(q_func,
opt,
replay_buffer,
gamma=0.99,
explorer=explorer,
n_pretrain_steps=args.n_pretrain_steps,
demo_supervised_margin=args.demo_supervised_margin,
bonus_priority_agent=args.bonus_priority_agent,
bonus_priority_demo=args.bonus_priority_demo,
loss_coeff_nstep=args.loss_coeff_nstep,
loss_coeff_supervised=args.loss_coeff_supervised,
loss_coeff_l2=args.loss_coeff_l2,
gpu=args.gpu,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
clip_delta=args.clip_delta,
update_interval=args.update_interval,
batch_accumulator=args.batch_accumulator,
phi=phi,
reward_transform=reward_transform,
minibatch_size=args.minibatch_size)
if args.use_noisy_net is not None and args.use_noisy_net == 'after-pretraining':
chainerrl.links.to_factorized_noisy(q_func,
sigma_scale=args.noisy_net_sigma)
explorer = explorers.Greedy()
if args.optimizer == 'rmsprop':
opt = chainer.optimizers.RMSpropGraves(args.lr,
alpha=0.95,
momentum=0.0,
eps=1e-2)
elif args.optimizer == 'adam':
opt = chainer.optimizers.Adam(args.lr)
opt.setup(q_func)
opt.add_hook(chainer.optimizer_hooks.WeightDecay(args.loss_coeff_l2))
agent.optimizer = opt
agent.target_model = None
agent.sync_target_network()
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs)
logger.info('n_runs: {} mean: {} median: {} stdev: {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
agent.pretrain()
evaluator = Evaluator(agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs,
eval_interval=eval_interval,
outdir=args.outdir,
max_episode_len=None,
env=eval_env,
step_offset=0,
save_best_so_far_agent=True,
logger=logger)
# Evaluate the agent BEFORE training begins
evaluator.evaluate_and_update_max_score(t=0, episodes=0)
experiments.train_agent(agent=agent,
env=env,
steps=steps,
outdir=args.outdir,
max_episode_len=None,
step_offset=0,
evaluator=evaluator,
successful_score=None,
step_hooks=[])
env.close()
def main():
import logging
logging.basicConfig(level=logging.DEBUG)
parser = argparse.ArgumentParser()
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--env', type=str, default='CartPole-v1')
parser.add_argument('--seed', type=int, default=0)
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--final-exploration-steps', type=int, default=1000)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--steps', type=int, default=10**8)
parser.add_argument('--prioritized-replay', action='store_true')
parser.add_argument('--episodic-replay', action='store_true')
parser.add_argument('--replay-start-size', type=int, default=50)
parser.add_argument('--target-update-interval', type=int, default=100)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--soft-update-tau', type=float, default=1e-2)
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=100)
parser.add_argument('--eval-interval', type=int, default=1000)
parser.add_argument('--n-hidden-channels', type=int, default=12)
parser.add_argument('--n-hidden-layers', type=int, default=3)
parser.add_argument('--gamma', type=float, default=0.95)
parser.add_argument('--minibatch-size', type=int, default=None)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--monitor', action='store_true')
parser.add_argument('--reward-scale-factor', type=float, default=1.0)
args = parser.parse_args()
# Set a random seed used in ChainerRL
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
args.outdir = experiments.prepare_output_dir(args,
args.outdir,
argv=sys.argv)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
env = gym.make(args.env)
env_seed = 2**32 - 1 - args.seed if test else args.seed
env.seed(env_seed)
# Cast observations to float32 because our model uses float32
env = chainerrl.wrappers.CastObservationToFloat32(env)
if args.monitor:
env = gym.wrappers.Monitor(env, args.outdir)
if not test:
# Scale rewards (and thus returns) to a reasonable range so that
# training is easier
env = chainerrl.wrappers.ScaleReward(env, args.reward_scale_factor)
if ((args.render_eval and test) or (args.render_train and not test)):
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
timestep_limit = env.spec.tags.get(
'wrapper_config.TimeLimit.max_episode_steps')
obs_size = env.observation_space.low.size
action_space = env.action_space
n_atoms = 51
v_max = 500
v_min = 0
n_actions = action_space.n
q_func = q_functions.DistributionalFCStateQFunctionWithDiscreteAction(
obs_size,
n_actions,
n_atoms,
v_min,
v_max,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(args.start_epsilon,
args.end_epsilon,
args.final_exploration_steps,
action_space.sample)
opt = optimizers.Adam(1e-3)
opt.setup(q_func)
rbuf_capacity = 50000 # 5 * 10 ** 5
if args.episodic_replay:
if args.minibatch_size is None:
args.minibatch_size = 4
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedEpisodicReplayBuffer(
rbuf_capacity, betasteps=betasteps)
else:
rbuf = replay_buffer.EpisodicReplayBuffer(rbuf_capacity)
else:
if args.minibatch_size is None:
args.minibatch_size = 32
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
agent = chainerrl.agents.CategoricalDQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=args.gamma,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
episodic_update=args.episodic_replay,
episodic_update_len=16)
if args.load:
agent.load(args.load)
eval_env = make_env(test=True)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_runs=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_env=eval_env,
max_episode_len=timestep_limit)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env',
type=str,
default='BreakoutNoFrameskip-v4',
help='OpenAI Atari domain to perform algorithm on.')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu',
type=int,
default=0,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--final-exploration-frames',
type=int,
default=10**6,
help='Timesteps after which we stop ' +
'annealing exploration rate')
parser.add_argument('--final-epsilon',
type=float,
default=0.01,
help='Final value of epsilon during training.')
parser.add_argument('--eval-epsilon',
type=float,
default=0.001,
help='Exploration epsilon used during eval episodes.')
parser.add_argument('--steps',
type=int,
default=5 * 10**7,
help='Total number of timesteps to train the agent.')
parser.add_argument(
'--max-frames',
type=int,
default=30 * 60 * 60, # 30 minutes with 60 fps
help='Maximum number of frames for each episode.')
parser.add_argument('--replay-start-size',
type=int,
default=5 * 10**4,
help='Minimum replay buffer size before ' +
'performing gradient updates.')
parser.add_argument('--target-update-interval',
type=int,
default=3 * 10**4,
help='Frequency (in timesteps) at which ' +
'the target network is updated.')
parser.add_argument('--demo-n-episodes', type=int, default=30)
parser.add_argument('--eval-n-steps', type=int, default=125000)
parser.add_argument('--eval-interval',
type=int,
default=250000,
help='Frequency (in timesteps) of evaluation phase.')
parser.add_argument('--update-interval',
type=int,
default=4,
help='Frequency (in timesteps) of network updates.')
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
parser.add_argument('--lr',
type=float,
default=2.5e-4,
help='Learning rate.')
parser.add_argument('--recurrent',
action='store_true',
default=False,
help='Use a recurrent model. See the code for the'
' model definition.')
parser.add_argument('--flicker',
action='store_true',
default=False,
help='Use so-called flickering Atari, where each'
' screen is blacked out with probability 0.5.')
parser.add_argument('--no-frame-stack',
action='store_true',
default=False,
help='Disable frame stacking so that the agent can'
' only see the current screen.')
parser.add_argument('--episodic-update-len',
type=int,
default=10,
help='Maximum length of sequences for updating'
' recurrent models')
parser.add_argument('--batch-size',
type=int,
default=32,
help='Number of transitions (in a non-recurrent case)'
' or sequences (in a recurrent case) used for an'
' update.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(
atari_wrappers.make_atari(args.env, max_frames=args.max_frames),
episode_life=not test,
clip_rewards=not test,
flicker=args.flicker,
frame_stack=not args.no_frame_stack,
)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, args.eval_epsilon)
if args.monitor:
env = gym.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
print('Observation space', env.observation_space)
print('Action space', env.action_space)
n_actions = env.action_space.n
if args.recurrent:
# Q-network with LSTM
q_func = chainerrl.links.StatelessRecurrentSequential(
L.Convolution2D(None, 32, 8, stride=4),
F.relu,
L.Convolution2D(None, 64, 4, stride=2),
F.relu,
L.Convolution2D(None, 64, 3, stride=1),
functools.partial(F.reshape, shape=(-1, 3136)),
F.relu,
L.NStepLSTM(1, 3136, 512, 0),
L.Linear(None, n_actions),
DiscreteActionValue,
)
# Replay buffer that stores whole episodes
rbuf = replay_buffer.EpisodicReplayBuffer(10**6)
else:
# Q-network without LSTM
q_func = chainer.Sequential(
L.Convolution2D(None, 32, 8, stride=4),
F.relu,
L.Convolution2D(None, 64, 4, stride=2),
F.relu,
L.Convolution2D(None, 64, 3, stride=1),
functools.partial(F.reshape, shape=(-1, 3136)),
L.Linear(None, 512),
F.relu,
L.Linear(None, n_actions),
DiscreteActionValue,
)
# Replay buffer that stores transitions separately
rbuf = replay_buffer.ReplayBuffer(10**6)
# Draw the computational graph and save it in the output directory.
fake_obss = np.zeros(env.observation_space.shape, dtype=np.float32)[None]
if args.recurrent:
fake_out, _ = q_func(fake_obss, None)
else:
fake_out = q_func(fake_obss)
chainerrl.misc.draw_computational_graph([fake_out],
os.path.join(args.outdir, 'model'))
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon, args.final_exploration_frames,
lambda: np.random.randint(n_actions))
opt = chainer.optimizers.Adam(1e-4, eps=1e-4)
opt.setup(q_func)
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
agent = chainerrl.agents.DoubleDQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator='mean',
phi=phi,
minibatch_size=args.batch_size,
episodic_update_len=args.episodic_update_len,
recurrent=args.recurrent,
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.demo_n_episodes,
)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.demo_n_episodes,
eval_stats['mean'],
eval_stats['median'],
eval_stats['stdev'],
))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_steps=args.eval_n_steps,
eval_n_episodes=None,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_env=eval_env,
)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--env',
type=str,
default='BreakoutNoFrameskip-v4',
help='OpenAI Atari domain to perform algorithm on.')
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu',
type=int,
default=0,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--logging-level',
type=int,
default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render',
action='store_true',
default=False,
help='Render env states in a GUI window.')
parser.add_argument('--monitor',
action='store_true',
default=False,
help='Monitor env. Videos and additional information'
' are saved as output files.')
parser.add_argument('--steps',
type=int,
default=5 * 10**7,
help='Total number of timesteps to train the agent.')
parser.add_argument('--replay-start-size',
type=int,
default=5 * 10**4,
help='Minimum replay buffer size before ' +
'performing gradient updates.')
parser.add_argument('--eval-n-steps', type=int, default=125000)
parser.add_argument('--eval-interval', type=int, default=250000)
parser.add_argument('--n-best-episodes', type=int, default=30)
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
# Set different random seeds for train and test envs.
train_seed = args.seed
test_seed = 2**31 - 1 - args.seed
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
# Use different random seeds for train and test envs
env_seed = test_seed if test else train_seed
env = atari_wrappers.wrap_deepmind(atari_wrappers.make_atari(
args.env, max_frames=None),
episode_life=not test,
clip_rewards=not test)
env.seed(int(env_seed))
if test:
# Randomize actions like epsilon-greedy in evaluation as well
env = chainerrl.wrappers.RandomizeAction(env, 0.05)
if args.monitor:
env = chainerrl.wrappers.Monitor(
env, args.outdir, mode='evaluation' if test else 'training')
if args.render:
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
eval_env = make_env(test=True)
n_actions = env.action_space.n
q_func = links.Sequence(links.NatureDQNHead(), L.Linear(512, n_actions),
DiscreteActionValue)
# Draw the computational graph and save it in the output directory.
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros((4, 84, 84), dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
# Use the same hyperparameters as the Nature paper
opt = optimizers.RMSpropGraves(lr=2.5e-4,
alpha=0.95,
momentum=0.0,
eps=1e-2)
opt.setup(q_func)
rbuf = replay_buffer.ReplayBuffer(10**6)
explorer = explorers.LinearDecayEpsilonGreedy(
start_epsilon=1.0,
end_epsilon=0.1,
decay_steps=10**6,
random_action_func=lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
return np.asarray(x, dtype=np.float32) / 255
Agent = agents.DQN
agent = Agent(q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=0.99,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=10**4,
clip_delta=True,
update_interval=4,
batch_accumulator='sum',
phi=phi)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(env=eval_env,
agent=agent,
n_steps=args.eval_n_steps,
n_episodes=None)
print('n_episodes: {} mean: {} median: {} stdev {}'.format(
eval_stats['episodes'], eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_steps=args.eval_n_steps,
eval_n_episodes=None,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=True,
eval_env=eval_env,
)
dir_of_best_network = os.path.join(args.outdir, "best")
agent.load(dir_of_best_network)
# run 30 evaluation episodes, each capped at 5 mins of play
stats = experiments.evaluator.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.n_best_episodes,
max_episode_len=4500,
logger=None)
with open(os.path.join(args.outdir, 'bestscores.json'), 'w') as f:
json.dump(stats, f)
print("The results of the best scoring network:")
for stat in stats:
print(str(stat) + ":" + str(stats[stat]))
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--outdir',
type=str,
default='/tmp/chainerRL_results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed',
type=int,
default=0,
help='Random seed [0, 2 ** 32)')
parser.add_argument('--final-exploration-steps', type=int, default=10**4)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--noisy-net-sigma', type=float, default=None)
parser.add_argument('--evaluate',
action='store_true',
default=False,
help="Run evaluation mode")
parser.add_argument('--load',
type=str,
default=None,
help="Load saved_model")
parser.add_argument('--steps', type=int, default=4 * 10**6)
parser.add_argument('--prioritized-replay', action='store_true')
parser.add_argument('--replay-start-size', type=int, default=1000)
parser.add_argument('--target-update-interval',
type=int,
default=5 * 10**2)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--soft-update-tau', type=float, default=1e-2)
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=1)
parser.add_argument('--eval-interval',
type=int,
default=1e4,
help="After how many steps to evaluate the agent."
"(-1 -> always)")
parser.add_argument('--n-hidden-channels', type=int, default=20)
parser.add_argument('--n-hidden-layers', type=int, default=20)
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--minibatch-size', type=int, default=None)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--reward-scale-factor', type=float, default=1)
parser.add_argument('--time-step-limit', type=int, default=1e5)
parser.add_argument('--outdir-time-suffix',
choices=['empty', 'none', 'time'],
default='empty',
type=str.lower)
parser.add_argument('--checkpoint_frequency',
type=int,
default=1e3,
help="Nuber of steps to checkpoint after")
parser.add_argument('--verbose',
'-v',
action='store_true',
help='Use debug log-level')
args = parser.parse_args()
import logging
logging.basicConfig(
level=logging.INFO if not args.verbose else logging.DEBUG)
# Set a random seed used in ChainerRL ALSO SETS NUMPY SEED!
misc.set_random_seed(args.seed)
if args.outdir and not args.load:
outdir_suffix_dict = {
'none': '',
'empty': '',
'time': '%Y%m%dT%H%M%S.%f'
}
args.outdir = experiments.prepare_output_dir(
args,
args.outdir,
argv=sys.argv,
time_format=outdir_suffix_dict[args.outdir_time_suffix])
elif args.load:
if args.load.endswith(os.path.sep):
args.load = args.load[:-1]
args.outdir = os.path.dirname(args.load)
count = 0
fn = os.path.join(args.outdir.format(count), 'scores_{:>03d}')
while os.path.exists(fn.format(count)):
count += 1
os.rename(os.path.join(args.outdir, 'scores.txt'), fn.format(count))
if os.path.exists(os.path.join(args.outdir, 'best')):
os.rename(os.path.join(args.outdir, 'best'),
os.path.join(args.outdir, 'best_{:>03d}'.format(count)))
logging.info('Output files are saved in {}'.format(args.outdir))
def clip_action_filter(a):
return np.clip(a, action_space.low, action_space.high)
def make_env(test):
HOST = '' # The server's hostname or IP address
PORT = 54321 # The port used by the server
if test: # Just such that eval and train env don't have the same port
PORT += 1
# TODO don't hardcode env params
# TODO if we use this solution (i.e. write port to file and read it with FD) we would have to make sure that
# outdir doesn't append time strings. Otherwise it will get hard to use on the cluster
env = FDEnvSelHeur(host=HOST,
port=PORT,
num_heuristics=2,
config_dir=args.outdir)
# Use different random seeds for train and test envs
env_seed = 2**32 - 1 - args.seed if test else args.seed
env.seed(env_seed)
# Cast observations to float32 because our model uses float32
env = chainerrl.wrappers.CastObservationToFloat32(env)
if isinstance(env.action_space, spaces.Box):
misc.env_modifiers.make_action_filtered(env, clip_action_filter)
if not test:
# Scale rewards (and thus returns) to a reasonable range so that
# training is easier
env = chainerrl.wrappers.ScaleReward(env, args.reward_scale_factor)
if ((args.render_eval and test) or (args.render_train and not test)):
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
# state = env.reset()
# while True:
# for x in [1,1,1,1,0,0,0,0]:
# state, reward, done, _ = env.step(x)
# print(x)
# if done:
# break
timestep_limit = args.time_step_limit
obs_space = env.observation_space
obs_size = obs_space.low.size
action_space = env.action_space
if isinstance(action_space, spaces.Box): # Usefull if we want to control
action_size = action_space.low.size # other continous parameters
# Use NAF to apply DQN to continuous action spaces
q_func = q_functions.FCQuadraticStateQFunction(
obs_size,
action_size,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers,
action_space=action_space)
# Use the Ornstein-Uhlenbeck process for exploration
ou_sigma = (action_space.high - action_space.low) * 0.2
explorer = explorers.AdditiveOU(sigma=ou_sigma)
else:
n_actions = action_space.n
q_func = q_functions.FCStateQFunctionWithDiscreteAction(
obs_size,
n_actions,
n_hidden_channels=args.n_hidden_channels,
n_hidden_layers=args.n_hidden_layers)
# q_func = FCDuelingDQN(
# obs_size, n_actions)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(
args.start_epsilon, args.end_epsilon, args.final_exploration_steps,
action_space.sample)
if args.noisy_net_sigma is not None:
links.to_factorized_noisy(q_func, sigma_scale=args.noisy_net_sigma)
# Turn off explorer
explorer = explorers.Greedy()
# Draw the computational graph and save it in the output directory.
if not args.load:
chainerrl.misc.draw_computational_graph(
[q_func(np.zeros_like(obs_space.low, dtype=np.float32)[None])],
os.path.join(args.outdir, 'model'))
opt = optimizers.Adam(eps=1e-2)
logging.info('Optimizer: %s', str(opt))
opt.setup(q_func)
opt.add_hook(GradientClipping(5))
rbuf_capacity = 5 * 10**5
if args.minibatch_size is None:
args.minibatch_size = 32
# args.minibatch_size = 16
if args.prioritized_replay:
betasteps = (args.steps - args.replay_start_size) \
// args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(rbuf_capacity,
betasteps=betasteps)
else:
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
agent = DDQN(
q_func,
opt,
rbuf,
gamma=args.gamma,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
minibatch_size=args.minibatch_size,
target_update_method=args.target_update_method,
soft_update_tau=args.soft_update_tau,
)
t_offset = 0
if args.load: # Continue training model or load for evaluation
agent.load(args.load)
rbuf.load(os.path.join(args.load, 'replay_buffer.pkl'))
try:
t_offset = int(os.path.basename(args.load).split('_')[0])
except TypeError:
with open(os.path.join(args.load, 't.txt'), 'r') as fh:
data = fh.readlines()
t_offset = int(data[0])
except ValueError:
t_offset = 0
eval_env = make_env(test=False)
if args.evaluate:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_steps=None,
n_episodes=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
criterion = 'steps' # can be made an argument if we support any other form of checkpointing
l = logging.getLogger('Checkpoint_Hook')
def checkpoint(env, agent, step):
if criterion == 'steps':
if step % args.checkpoint_frequency == 0:
save_agent_and_replay_buffer(
agent,
step,
args.outdir,
suffix='_chkpt',
logger=l,
chckptfrq=args.checkpoint_frequency)
else:
# TODO seems to checkpoint given wall_time we would have to modify the environment such that it tracks
# time or number of episodes
raise NotImplementedError
hooks = [checkpoint]
experiments.train_agent(agent=agent,
env=env,
steps=args.steps,
outdir=args.outdir,
step_hooks=hooks,
step_offset=t_offset)
def main():
import logging
logging.basicConfig(level=logging.DEBUG)
parser = argparse.ArgumentParser()
parser.add_argument('--outdir',
type=str,
default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--env', type=str, default='CartPole-v1')
parser.add_argument('--seed', type=int, default=0)
parser.add_argument('--gpu', type=int, default=0)
parser.add_argument('--final-exploration-steps', type=int, default=1000)
parser.add_argument('--start-epsilon', type=float, default=1.0)
parser.add_argument('--end-epsilon', type=float, default=0.1)
parser.add_argument('--demo', action='store_true', default=False)
parser.add_argument('--load', type=str, default=None)
parser.add_argument('--steps', type=int, default=10**8)
parser.add_argument('--replay-start-size', type=int, default=50)
parser.add_argument('--target-update-interval', type=int, default=100)
parser.add_argument('--target-update-method', type=str, default='hard')
parser.add_argument('--update-interval', type=int, default=1)
parser.add_argument('--eval-n-runs', type=int, default=100)
parser.add_argument('--eval-interval', type=int, default=1000)
parser.add_argument('--n-hidden-channels', type=int, default=12)
parser.add_argument('--n-hidden-layers', type=int, default=3)
parser.add_argument('--gamma', type=float, default=0.95)
parser.add_argument('--minibatch-size', type=int, default=32)
parser.add_argument('--render-train', action='store_true')
parser.add_argument('--render-eval', action='store_true')
parser.add_argument('--monitor', action='store_true')
parser.add_argument('--reward-scale-factor', type=float, default=1.0)
args = parser.parse_args()
# Set a random seed used in ChainerRL
misc.set_random_seed(args.seed, gpus=(args.gpu, ))
args.outdir = experiments.prepare_output_dir(args,
args.outdir,
argv=sys.argv)
print('Output files are saved in {}'.format(args.outdir))
def make_env(test):
env = gym.make(args.env)
env_seed = 2**32 - 1 - args.seed if test else args.seed
env.seed(env_seed)
# Cast observations to float32 because our model uses float32
env = chainerrl.wrappers.CastObservationToFloat32(env)
if args.monitor:
env = gym.wrappers.Monitor(env, args.outdir)
if not test:
misc.env_modifiers.make_reward_filtered(
env, lambda x: x * args.reward_scale_factor)
if ((args.render_eval and test) or (args.render_train and not test)):
env = chainerrl.wrappers.Render(env)
return env
env = make_env(test=False)
timestep_limit = env.spec.tags.get(
'wrapper_config.TimeLimit.max_episode_steps')
obs_size = env.observation_space.low.size
action_space = env.action_space
hidden_size = 64
q_func = chainerrl.agents.iqn.ImplicitQuantileQFunction(
psi=chainerrl.links.Sequence(
L.Linear(obs_size, hidden_size),
F.relu,
),
phi=chainerrl.links.Sequence(
chainerrl.agents.iqn.CosineBasisLinear(64, hidden_size),
F.relu,
),
f=L.Linear(hidden_size, env.action_space.n),
)
# Use epsilon-greedy for exploration
explorer = explorers.LinearDecayEpsilonGreedy(args.start_epsilon,
args.end_epsilon,
args.final_exploration_steps,
action_space.sample)
opt = optimizers.Adam(1e-3)
opt.setup(q_func)
rbuf_capacity = 50000 # 5 * 10 ** 5
rbuf = replay_buffer.ReplayBuffer(rbuf_capacity)
agent = chainerrl.agents.IQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=args.gamma,
explorer=explorer,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
minibatch_size=args.minibatch_size,
)
if args.load:
agent.load(args.load)
eval_env = make_env(test=True)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_runs=args.eval_n_runs,
max_episode_len=timestep_limit)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_with_evaluation(
agent=agent,
env=env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
eval_env=eval_env,
max_episode_len=timestep_limit)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--outdir', type=str, default='results',
help='Directory path to save output files.'
' If it does not exist, it will be created.')
parser.add_argument('--seed', type=int, default=0,
help='Random seed [0, 2 ** 31)')
parser.add_argument('--gpu', type=int, default=0,
help='GPU to use, set to -1 if no GPU.')
parser.add_argument('--demo', action='store_true', default=False,
help='Evaluate the agent without training.')
parser.add_argument('--load', type=str, default=None,
help='Load a saved agent from a given directory.')
parser.add_argument('--final-exploration-steps',
type=int, default=5 * 10 ** 5,
help='Timesteps after which we stop'
' annealing exploration rate')
parser.add_argument('--final-epsilon', type=float, default=0.2,
help='Final value of epsilon during training.')
parser.add_argument('--steps', type=int, default=2 * 10 ** 6,
help='Total number of timesteps to train the agent.')
parser.add_argument('--replay-start-size', type=int, default=5 * 10 ** 4,
help='Minimum replay buffer size before'
' performing gradient updates.')
parser.add_argument('--target-update-interval',
type=int, default=1 * 10 ** 4,
help='Frequency (in timesteps) at which'
' the target network is updated.')
parser.add_argument('--eval-interval', type=int, default=10 ** 5,
help='Frequency (in timesteps) of evaluation phase.')
parser.add_argument('--update-interval', type=int, default=1,
help='Frequency (in timesteps) of network updates.')
parser.add_argument('--eval-n-runs', type=int, default=100,
help='Number of episodes used for evaluation.')
parser.add_argument('--logging-level', type=int, default=20,
help='Logging level. 10:DEBUG, 20:INFO etc.')
parser.add_argument('--render', action='store_true', default=False,
help='Render env states in a GUI window.')
parser.add_argument('--lr', type=float, default=6.25e-5,
help='Learning rate')
parser.add_argument('--num-envs', type=int, default=1,
help='Number of envs run in parallel.')
parser.add_argument('--batch-size', type=int, default=32,
help='Batch size used for training.')
parser.add_argument('--record', action='store_true', default=False,
help='Record videos of evaluation envs.'
' --render should also be specified.')
parser.add_argument('--gamma', type=float, default=0.99,
help='Discount factor.')
args = parser.parse_args()
import logging
logging.basicConfig(level=args.logging_level)
# Set a random seed used in ChainerRL.
misc.set_random_seed(args.seed, gpus=(args.gpu,))
# Set different random seeds for different subprocesses.
# If seed=0 and processes=4, subprocess seeds are [0, 1, 2, 3].
# If seed=1 and processes=4, subprocess seeds are [4, 5, 6, 7].
process_seeds = np.arange(args.num_envs) + args.seed * args.num_envs
assert process_seeds.max() < 2 ** 32
args.outdir = experiments.prepare_output_dir(args, args.outdir)
print('Output files are saved in {}'.format(args.outdir))
max_episode_steps = 8
def make_env(idx, test):
from pybullet_envs.bullet.kuka_diverse_object_gym_env import KukaDiverseObjectEnv # NOQA
# Use different random seeds for train and test envs
process_seed = int(process_seeds[idx])
env_seed = 2 ** 32 - 1 - process_seed if test else process_seed
# Set a random seed for this subprocess
misc.set_random_seed(env_seed)
env = KukaDiverseObjectEnv(
isDiscrete=True,
renders=args.render and (args.demo or not test),
height=84,
width=84,
maxSteps=max_episode_steps,
isTest=test,
)
# (84, 84, 3) -> (3, 84, 84)
env = TransposeObservation(env, (2, 0, 1))
env = ObserveElapsedSteps(env, max_episode_steps)
# KukaDiverseObjectEnv internally asserts int actions and does not
# accept python-future's newint.
env = CastAction(env, __builtins__.int)
env.seed(int(env_seed))
if test and args.record:
assert args.render,\
'To use --record, --render needs be specified.'
video_dir = os.path.join(args.outdir, 'video_{}'.format(idx))
os.mkdir(video_dir)
env = RecordMovie(env, video_dir)
return env
def make_batch_env(test):
return chainerrl.envs.MultiprocessVectorEnv(
[functools.partial(make_env, idx, test)
for idx in range(args.num_envs)])
eval_env = make_batch_env(test=True)
n_actions = eval_env.action_space.n
q_func = GraspingQFunction(n_actions, max_episode_steps)
# Draw the computational graph and save it in the output directory.
fake_obs = (
np.zeros((3, 84, 84), dtype=np.float32)[None],
np.zeros((), dtype=np.int32)[None],
)
chainerrl.misc.draw_computational_graph(
[q_func(fake_obs)],
os.path.join(args.outdir, 'model'))
# Use the hyper parameters of the Nature paper
opt = optimizers.RMSpropGraves(
lr=args.lr, alpha=0.95, momentum=0.0, eps=1e-2)
opt.setup(q_func)
# Anneal beta from beta0 to 1 throughout training
betasteps = args.steps / args.update_interval
rbuf = replay_buffer.PrioritizedReplayBuffer(
10 ** 6, alpha=0.6, beta0=0.4, betasteps=betasteps)
explorer = explorers.LinearDecayEpsilonGreedy(
1.0, args.final_epsilon,
args.final_exploration_steps,
lambda: np.random.randint(n_actions))
def phi(x):
# Feature extractor
image, elapsed_steps = x
# Normalize RGB values: [0, 255] -> [0, 1]
norm_image = np.asarray(image, dtype=np.float32) / 255
return norm_image, elapsed_steps
agent = chainerrl.agents.DoubleDQN(
q_func,
opt,
rbuf,
gpu=args.gpu,
gamma=args.gamma,
explorer=explorer,
minibatch_size=args.batch_size,
replay_start_size=args.replay_start_size,
target_update_interval=args.target_update_interval,
update_interval=args.update_interval,
batch_accumulator='sum',
phi=phi,
)
if args.load:
agent.load(args.load)
if args.demo:
eval_stats = experiments.eval_performance(
env=eval_env,
agent=agent,
n_runs=args.eval_n_runs)
print('n_runs: {} mean: {} median: {} stdev {}'.format(
args.eval_n_runs, eval_stats['mean'], eval_stats['median'],
eval_stats['stdev']))
else:
experiments.train_agent_batch_with_evaluation(
agent=agent,
env=make_batch_env(test=False),
eval_env=eval_env,
steps=args.steps,
eval_n_runs=args.eval_n_runs,
eval_interval=args.eval_interval,
outdir=args.outdir,
save_best_so_far_agent=False,
log_interval=1000,
)
