def main(limit_episode, limit_step, seed=0, load=False):
rospy.init_node('dqn_pendulum_myrrbot7')
pub = rospy.Publisher("/myrrbot7/joint1_cotroller/command",
Float64,
queue_size=1)
loop_rate = rospy.Rate(hz)
result_path = "/home/amsl/ros_catkin_ws/src/deep_actor_critic/actor_critic_for_swingup/test_results/results/dqn_result.txt"
model_path = "/home/amsl/ros_catkin_ws/src/deep_actor_critic/actor_critic_for_swingup/test_results/models/dqn_"
init_theta = 0.0
init_omega = 0.0
state = get_state(init_theta, init_omega)
state_dash = get_state(init_theta, init_omega)
action = 0.0
reward = 0.0
action_list = [
np.array([a], dtype=np.float64) for a in [min_torque, max_torque]
]
n_st = len(state[0])
n_act = len(action_list)
Q_list = np.array([])
max_Q = 0.0
ave_Q = 0.0
reward_list = np.array([])
ave_reward = 0.0
total_reward = 0.0
temp_result = np.array([[]])
test_result = np.array([[]])
evaluation_flag = False
wait_flag = True
agent = Agent(n_st, n_act, seed)
if load:
agent.load_model(model_path)
episode_count = 0
time = 1
count = 0
wait_count = 0
while not rospy.is_shutdown():
if wait_flag:
wait_count += 1
# print "wait_count : ", wait_count
state = get_state(init_theta, init_omega)
state_dash = get_state(init_theta, init_omega)
reset_client(init_theta)
action = 0.0
pub.publish(action)
if wait_count == 0.5 * hz:
init_theta = uniform(-1 * math.pi, math.pi)
if wait_count % hz == 0:
wait_count = 0
wait_flag = False
# print "Please Wait 1 second"
# print "state : ", state
# print "state_dash : ", state_dash
else:
if not evaluation_flag:
# print "Now Learning!!!!!"
# print "episode : ", episode_count
# print "time : ", time
# print "state : ", state
act_i, q = agent.get_action(state, False)
Q_list = np.append(Q_list, [q])
# print "act_i : ", act_i
action = action_list[act_i]
# print "action : ", action
pub.publish(action)
theta, omega = get_joint_properties('myrrbot7_joint1')
# print "theta : %f, omega : %f" % (theta, omega)
state_dash = get_state(theta, omega)
# print "state_dash : ", state_dash
reward = get_reward(theta, omega, action)
reward_list = np.append(reward_list, [reward])
# print "reward : ", reward
ep_end = get_ep_end(theta, time, limit_step)
# print "ep_end : ", ep_end
agent.stock_experience(count, state, act_i, reward, state_dash,
ep_end)
agent.train(count)
time += 1
count += 1
if ep_end:
max_Q = np.max(Q_list)
ave_Q = np.average(Q_list)
# print "max_Q : ", max_Q
# print "ave_Q : ",ave_Q
ave_reward = np.average(reward_list)
total_reward = np.sum(reward_list)
# print "ave_reward : ", ave_reward
# print "total_reward : ", total_reward
print "Episode : %d\t/Reward Sum : %f\tEpsilon : %f\tLoss : %f\t/Average Q : %f\t/Time Step : %d" % (
episode_count, total_reward, agent.epsilon, agent.loss,
np.sum(Q_list) / float(time), agent.step + 1)
Q_list = np.array([])
reward_list = np.array([])
temp_result = np.array(([[
episode_count, max_Q, ave_Q, ave_reward, total_reward
]]),
dtype=np.float32)
if episode_count == 0:
# print "test_result : ", test_result
test_result = temp_result
# print "test_result : ", test_result
else:
test_result = np.r_[test_result, temp_result]
save_result(result_path, test_result)
agent.save_model(model_path)
if episode_count % 1 == 0:
evaluation_flag = False
episode_count += 1
time = 0
wait_flag = True
else:
# print "Now evaluation!!!"
# print "episode : ", episode_count-1
# print "time : ", time
# print "state : ", state
act_i, q = agent.get_action(state, True)
Q_list = np.append(Q_list, [q])
# print "act_i : ", act_i
# print "Q_list : ", Q_list
action = action_list[act_i]
# print "action : ", action
pub.publish(action)
theta, omega = get_joint_properties('myrrbot7_joint1')
# print "theta : %f, omega : %f" % (theta, omega)
state_dash = get_state(theta, omega)
# print "state_dash : ", state_dash
reward = get_reward(theta, omega, action)
# print "reward : ", reward
reward_list = np.append(reward_list, [reward])
# print "reward_list : ", reward_list
ep_end = get_ep_end(theta, time, limit_step)
# print "ep_end : ", ep_end
if ep_end:
max_Q = np.max(Q_list)
ave_Q = np.average(Q_list)
# print "max_Q : ", max_Q
# print "ave_Q : ",ave_Q
ave_reward = np.average(reward_list)
total_reward = np.sum(reward_list)
# print "ave_reward : ", ave_reward
# print "total_reward : ", total_reward
print "Episode : %d\t/Reward Sum : %f\tEpsilon : %f\tLoss : %f\t/Average Q : %f\t/Time Step : %d" % (
episode_count - 1, total_reward, agent.epsilon,
agent.loss, np.sum(Q_list) / float(time + 1),
agent.step)
Q_list = np.array([])
reward_list = np.array([])
time = 0
wait_flag = True
evaluation_flag = False
temp_result = np.array(([[
episode_count - 1, max_Q, ave_Q, ave_reward,
total_reward
]]),
dtype=np.float32)
if episode_count - 1 == 0:
# print "test_result : ", test_result
test_result = temp_result
# print "test_result : ", test_result
else:
test_result = np.r_[test_result, temp_result]
save_result(result_path, test_result)
agent.save_model(model_path)
time += 1
loop_rate.sleep()
agent.replay()
do_replay_count = 0
if total_frame % 500 == 0 and start_replay:
agent.update_target_model()
frame += 1
total_frame += 1
loss += agent.current_loss
Q_max += numpy.max(agent.Q_values([state_t]))
if start_replay:
agent.replay()
print(
"epochs: %s/%s, loss: %s, Q_max: %s, terminal: %s, step: %s, action: %s, reward: %s, random: %s"
% (e, n_epochs, loss / frame, Q_max / frame, terminal,
env.step, action_t, reward_t, is_random))
e += 1
if max_step < env.step:
max_step = env.step
if e % 500 == 0:
agent.save_model()
else:
print(
"frame: %s, total_frame: %s, terminal: %s, action: %s, reward: %s, is_random: %s"
%
(frame, total_frame, terminal, action_t, reward_t, is_random))
backend.clear_session()
print("max_step: %s, score: %s" % (max_step, env.score))
epsilon = 0.0
min_eps = 0.1
all_scores = []
#env_info = env.reset(train_mode=False)[brain_name] # reset the environment
#state = env_info.vector_observations[0] # get the current state
#score = 0 # initialize the score
for idx_games in range(1, max_games):
env_info = env.reset(train_mode=False)[brain_name] # reset the environment
state = env_info.vector_observations[0] # get the current state
score = 0 # initialize the score
print("GAME NUMBER: " + str(idx_games))
if idx_games % 100 == 0:
print("WRITING MODEL.")
my_agent.save_model()
if SET_EPS:
if idx_games % 100 == 0 and epsilon >= min_eps:
print("DECAYING EPS: " + str(epsilon))
epsilon = epsilon - 0.1
for steps_idx in range(0, max_steps):
#action = np.random.randint(action_size) # select an action
action = my_agent.act(state, epsilon) #***simply returns actions, from local policy network.
#print("ACTION: " + str(action))
env_info = env.step(action)[brain_name] # send the action to the environment
next_state = env_info.vector_observations[0] # get the next state
reward = env_info.rewards[0] # get the reward
done = env_info.local_done[0] # see if episode has finished
score += reward # update the score
if reward == -1:
reward = -50
