def set_action_values(self, action_values: Dict[FarmState, List[float]]):
grid_dim_x, grid_dim_y = self.env.grid_shape
for grid_arrows_row in self.grid_arrows:
for grid_arrow in grid_arrows_row:
self.board.delete(grid_arrow)
self.grid_arrows: List[List[List]] = []
for pos_i in range(grid_dim_x):
grid_arrows_row: List = []
for pos_j in range(grid_dim_y):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
if self.env.is_terminal(state):
continue
for action, action_value in enumerate(action_values[state]):
color = _get_color(action_value, self.val_min,
self.val_max)
# color = hsl_interp((action_value - self.val_min) / (self.val_max - self.val_min))
grid_arrow = self._create_arrow(action, pos_i, pos_j,
color)
grid_arrows_row.append(grid_arrow)
self.grid_arrows.append(grid_arrows_row)
def _update_policy(self, policy: Dict[FarmState, List[float]]):
grid_dim_x, grid_dim_y = self.env.grid_shape
for grid_arrows_row in self.grid_arrows:
for grid_arrow in grid_arrows_row:
self.board.delete(grid_arrow)
self.grid_arrows: List[List[List]] = []
for pos_i in range(grid_dim_x):
grid_arrows_row: List = []
for pos_j in range(grid_dim_y):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
if self.env.is_terminal(state):
continue
for action, policy_prob in enumerate(policy[state]):
if policy_prob == 0.0:
continue
color: str = "gray%i" % (100 - 100 * policy_prob)
grid_arrow = self._create_arrow(action, pos_i, pos_j,
color)
grid_arrows_row.append(grid_arrow)
self.grid_arrows.append(grid_arrows_row)
def _update_action_vals_color_dqn(self, dqn, device):
dqn.eval()
cell_score_max: float = self.val_max
cell_score_min: float = self.val_min
grid_dim_x, grid_dim_y = self.env.grid_shape
for pos_i in range(grid_dim_x):
for pos_j in range(grid_dim_y):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
if self.env.is_terminal(state):
continue
state_tens = torch.tensor(self.env.state_to_nnet_input(state),
device=device)
action_vals_state = dqn(
state_tens.float()).cpu().data.numpy()[0, :]
for action in range(self.num_actions):
action_val: float = action_vals_state[action]
color = _get_color(action_val, cell_score_min,
cell_score_max)
self.board.itemconfigure(
self.action_val_arrows[pos_i][pos_j][action],
fill=color)
def greedy_policy_vis(self, num_steps: int):
def _update():
self.window.update()
curr_state = FarmState(self.start_idx, self.goal_idx, self.plant_idxs,
self.rocks_idxs)
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[curr_state.agent_idx])[0]
_update()
time.sleep(self.wait)
print("Step: ", end='', flush=True)
for itr in range(num_steps):
print("%i..." % itr, end='', flush=True)
if self.env.is_terminal(curr_state):
break
action: int = int(np.argmax(self.action_vals[curr_state]))
curr_state, _ = self.env.sample_transition(curr_state, action)
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[curr_state.agent_idx])[0]
_update()
time.sleep(self.wait)
print("")
def q_learning(self, epsilon: float, learning_rate: float,
wait_step: float):
state: FarmState = FarmState(self.start_idx, self.goal_idx,
self.plant_idxs, self.rocks_idxs)
def _update():
self._update_action_vals_color()
self.window.update()
episode_num: int = 0
print("Q-learning, episode %i" % episode_num)
while episode_num < 1000:
if self.env.is_terminal(state):
episode_num = episode_num + 1
if episode_num % 100 == 0:
print("Visualizing greedy policy")
_update()
self.greedy_policy_vis(40)
state = FarmState(self.start_idx, self.goal_idx,
self.plant_idxs, self.rocks_idxs)
print("Q-learning, episode %i" % episode_num)
state, self.action_vals = q_learning_step(self.env, state,
self.action_vals,
epsilon, learning_rate,
self.discount)
if wait_step > 0.0:
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[state.agent_idx])[0]
_update()
time.sleep(wait_step)
_update()
print("DONE")
def _init_action_vals_color(self):
grid_dim_x, grid_dim_y = self.env.grid_shape
self.action_val_arrows = []
for pos_i in range(grid_dim_x):
grid_arrows_row: List = []
for pos_j in range(grid_dim_y):
state_action_val_arrows: List = []
state = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
if not self.env.is_terminal(state):
for action in range(self.num_actions):
grid_arrow = self._create_arrow(
action, pos_i, pos_j, "white")
state_action_val_arrows.append(grid_arrow)
grid_arrows_row.append(state_action_val_arrows)
self.action_val_arrows.append(grid_arrows_row)
def _update_action_vals_color(self):
cell_score_max: float = self.val_max
if self.val_min is None:
cell_score_min: float = min(self.state_vals.values()) - 1E-9
else:
cell_score_min: float = self.val_min
grid_dim_x, grid_dim_y = self.env.grid_shape
for pos_i in range(grid_dim_x):
for pos_j in range(grid_dim_y):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
if self.env.is_terminal(state):
continue
for action in range(self.num_actions):
action_val: float = self.action_vals[state][action]
color = _get_color(action_val, cell_score_min,
cell_score_max)
self.board.itemconfigure(
self.action_val_arrows[pos_i][pos_j][action],
fill=color)
def get_environment(env_name: str):
env_name = env_name.lower()
farm_regex = re.search("aifarm(_(\S+))?", env_name)
env: Environment
if farm_regex is not None:
from environments.farm_grid_world import FarmGridWorld, FarmState
from visualizer.farm_visualizer import InteractiveFarm
grid = np.loadtxt("maps/map1.txt")
grid = np.transpose(grid)
assert np.sum(grid == 1) == 1, "Only one agent allowed"
assert np.sum(grid == 2) == 1, "Only one goal allowed"
env: FarmGridWorld = FarmGridWorld(grid.shape, float(farm_regex.group(2)), grid)
viz = InteractiveFarm(env, grid)
# get states
states: List[FarmState] = []
for pos_i in range(grid.shape[0]):
for pos_j in range(grid.shape[1]):
state: FarmState = FarmState((pos_i, pos_j), viz.goal_idx, viz.plant_idxs, viz.rocks_idxs)
states.append(state)
elif env_name == "puzzle8":
from environments.n_puzzle import NPuzzle
env = NPuzzle(3)
states = pickle.load(open("data/puzzle8.pkl", "rb"))['states']
viz = None
else:
raise ValueError('No known environment %s' % env_name)
return env, viz, states
def greedy_policy_vis_dqn(self, num_steps: int, dqn: nn.Module, device):
def _update():
self.window.update()
curr_state = FarmState(self.start_idx, self.goal_idx, self.plant_idxs,
self.rocks_idxs)
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[curr_state.agent_idx])[0]
_update()
time.sleep(self.wait)
print("Step: ", end='', flush=True)
for itr in range(num_steps):
print("%i..." % itr, end='', flush=True)
if self.env.is_terminal(curr_state):
break
state_tens = torch.tensor(self.env.state_to_nnet_input(curr_state),
device=device)
action_vals_state = dqn(
state_tens.float()).cpu().data.numpy()[0, :]
action: int = int(np.argmax(action_vals_state))
curr_state, _ = self.env.sample_transition(curr_state, action)
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[curr_state.agent_idx])[0]
_update()
time.sleep(self.wait)
print("")
def astar(self, weight: float):
# get nnet
torch.set_num_threads(1)
device: torch.device = torch.device("cpu")
nnet = self.env.get_state_value_nnet()
state_dict = torch.load(
"saved_models/supervised_small/model_state_dict.pt")
nnet.load_state_dict(state_dict)
nnet.eval()
# get heuristic function
def heuristic_fn(states):
# return np.zeros(len(states))
nnet_inputs_np_l = [
self.env.state_to_nnet_input(state_i) for state_i in states
]
nnet_input_np = np.concatenate(nnet_inputs_np_l, axis=0)
nnet_input = torch.tensor(nnet_input_np, device=device)
state_vals: np.array = nnet(
nnet_input.float()).cpu().data.numpy()[:, 0]
return -state_vals
state: FarmState = FarmState(self.start_idx, self.goal_idx,
self.plant_idxs, self.rocks_idxs)
astar = AStar(state, self.env, heuristic_fn, weight)
grid_dim_x, grid_dim_y = self.env.grid_shape
grid_text_astar: List[List[List]] = []
for pos_i in range(grid_dim_x):
grid_text_rows: List = []
for pos_j in range(grid_dim_y):
txt_i = (pos_i + 0.5) * self.width
txt_j = pos_j * self.width + self.text_offset
txt1 = self.board.create_text(txt_i,
txt_j,
text="",
fill="black")
txt2 = self.board.create_text(txt_i,
txt_j + 20,
text="",
fill="black")
txt3 = self.board.create_text(txt_i,
txt_j + 40,
text="",
fill="black")
grid_text_rows.append([txt1, txt2, txt3])
grid_text_astar.append(grid_text_rows)
def _update():
for node in astar.instance.closed_dict.keys():
pos_i_up, pos_j_up = node.state.agent_idx
self.board.itemconfigure(self.grid_squares[pos_i_up][pos_j_up],
fill="red")
for node in astar.instance.open_set:
pos_i_up, pos_j_up = node.state.agent_idx
self.board.itemconfigure(self.grid_squares[pos_i_up][pos_j_up],
fill="grey")
self.board.itemconfigure(
grid_text_astar[pos_i_up][pos_j_up][0],
text='g=%.1f' % node.path_cost)
self.board.itemconfigure(
grid_text_astar[pos_i_up][pos_j_up][1],
text='h=%.1f' % node.heuristic)
self.board.itemconfigure(
grid_text_astar[pos_i_up][pos_j_up][2],
text='f=%.1f' % node.cost)
self.window.update()
while not astar.is_solved():
if self.wait > 0:
_update()
time.sleep(self.wait)
astar.step(heuristic_fn)
if self.wait > 0:
_update()
time.sleep(self.wait)
actions = astar.get_soln_actions()
for action in actions:
state = self.env.sample_transition(state, action)[0]
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[state.agent_idx])[0]
self.window.update()
time.sleep(0.1)
def policy_gradient(self, learning_rate: float, wait_step: float):
torch.set_num_threads(1)
device: torch.device = torch.device("cpu")
nnet = self.env.get_policy_nnet()
optimizer: Optimizer = optim.Adam(nnet.parameters(), lr=learning_rate)
def _update():
nnet.eval()
policy: Dict[FarmState, List[float]] = {}
for state_up in self.states:
nnet_input_np_state_up = self.env.state_to_nnet_input(state_up)
nnet_input_up = torch.tensor(nnet_input_np_state_up,
device=device)
policy[state_up] = list(
nnet(nnet_input_up.float()).cpu().data.numpy()[0, :])
self._update_policy(policy)
self.window.update()
episode_num: int = 0
max_steps: int = 100
while episode_num < 1000:
state = FarmState(self.start_idx, self.goal_idx, self.plant_idxs,
self.rocks_idxs)
print("Policy gradient, episode %i" % episode_num)
episode_num = episode_num + 1
if episode_num % 10 == 0:
print("Visualizing greedy policy")
_update()
time.sleep(self.wait)
actions: List[int] = []
rewards: List[float] = []
nnet_inputs_np_l = []
nnet.eval()
for episode_step in range(max_steps):
nnet_input_np_state = self.env.state_to_nnet_input(state)
nnet_input = torch.tensor(nnet_input_np_state, device=device)
action_probs = nnet(
nnet_input.float()).cpu().data.numpy()[0, :]
nnet_inputs_np_l.append(nnet_input_np_state)
action = np.random.choice(4, p=action_probs)
state, reward = self.env.sample_transition(state, action)
actions.append(action)
rewards.append(reward)
if self.env.is_terminal(state):
break
nnet_inputs_np = np.concatenate(nnet_inputs_np_l, axis=0)
nnet.train()
optimizer.zero_grad()
nnet_inputs = torch.tensor(nnet_inputs_np, device=device)
nnet_outputs = nnet(nnet_inputs.float())
actions_t = torch.tensor(np.array(actions),
device=device).long().unsqueeze(1)
log_prob = torch.log(nnet_outputs)
log_prob_actions = log_prob.gather(1, actions_t)[:, 0]
returns = np.cumsum(np.array(rewards)[::-1])[::-1]
returns_t = torch.tensor(returns.astype(np.float32), device=device)
loss = torch.mean(-returns_t * log_prob_actions)
loss.backward()
optimizer.step()
if wait_step > 0.0:
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[state.agent_idx])[0]
_update()
time.sleep(wait_step)
_update()
print("DONE")
def deep_q_learning(self, epsilon: float, learning_rate: float,
batch_size: int, wait_step: float):
state: FarmState = FarmState(self.start_idx, self.goal_idx,
self.plant_idxs, self.rocks_idxs)
torch.set_num_threads(1)
device: torch.device = torch.device("cpu")
dqn: nn.Module = get_dqn()
optimizer: Optimizer = optim.Adam(dqn.parameters(), lr=0.001)
dqn_target: nn.Module = get_dqn()
dqn_target.eval()
replay_buffer: List = []
def _update():
self._update_action_vals_color_dqn(dqn, device)
self.window.update()
_update()
episode_num: int = 0
step_num: int = 0
update_num: int = 100
total_steps: int = 0
print("Q-learning, episode %i" % episode_num)
while episode_num < 1000:
dqn.eval()
if self.env.is_terminal(state) or (step_num >= 50):
episode_num = episode_num + 1
if episode_num % 100 == 0:
print("Visualizing greedy policy")
_update()
self.greedy_policy_vis_dqn(40, dqn, device)
# state = np.random.choice(self.states)
state = FarmState(self.start_idx, self.goal_idx,
self.plant_idxs, self.rocks_idxs)
step_num: int = 0
print("Q-learning, episode %i" % episode_num)
state, dqn, replay_buffer = deep_q_learning_step(
self.env, state, dqn, dqn_target, epsilon, self.discount,
batch_size, optimizer, device, replay_buffer)
if total_steps % update_num == 0:
dqn_target.load_state_dict(dqn.state_dict())
dqn_target.eval()
if len(replay_buffer) > 10000:
replay_buffer.pop(0)
if wait_step > 0.0:
self.board.delete(self.agent_img)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[state.agent_idx])[0]
_update()
time.sleep(wait_step)
step_num += 1
total_steps += 1
_update()
print("DONE")
def __init__(self,
env: FarmGridWorld,
grid: np.ndarray,
discount: float,
val_type: str,
show_policy: bool = True,
wait: float = 0.1,
val_min: Optional[float] = None):
# 0: up, 1: down, 2: left, 3: right
super().__init__()
# initialize environment
self.wait: float = wait
self.val_type: str = val_type.upper()
self.show_policy: bool = show_policy
self.val_min: float = val_min
self.val_max: float = 0
self.env: FarmGridWorld = env
self.discount: float = discount
self.num_actions: int = 4
self.agent_idx: Tuple[int, int] = mask_to_idxs(grid, 1)[0]
self.start_idx = self.agent_idx
self.goal_idx: Tuple[int, int] = mask_to_idxs(grid, 2)[0]
self.plant_idxs: List[Tuple[int, int]] = mask_to_idxs(grid, 3)
self.rocks_idxs: List[Tuple[int, int]] = mask_to_idxs(grid, 4)
# enumerate states
self.states: List[FarmState] = []
for pos_i in range(grid.shape[0]):
for pos_j in range(grid.shape[1]):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
self.states.append(state)
# enumerate value funcs
self.state_vals: Dict[FarmState, float] = dict()
self.action_vals: Dict[FarmState, List[float]] = dict()
self.state_visits: Dict[FarmState, int] = dict()
for state in self.states:
self.state_visits[state] = 0
self.state_vals[state] = 0.0
if self.env.is_terminal(state):
self.action_vals[state] = [0] * self.num_actions
else:
self.action_vals[state] = [0] * self.num_actions
# initialize board
self.window = tkinter.Tk()
self.window.wm_title("CSE 790 Farm")
self.width: int = 70
self.width_half: int = int(self.width / 2)
self.text_offset: int = 17
# load pictures
path = os.getcwd() + "/images/"
self.goal_pic = ImageTk.PhotoImage(file=path + 'goal.png')
self.plant_pic = ImageTk.PhotoImage(file=path + 'plant.png')
self.robot_pic = ImageTk.PhotoImage(file=path + 'robot.png')
self.rocks_pic = ImageTk.PhotoImage(file=path + 'rocks.png')
grid_dim_x, grid_dim_y = env.grid_shape
self.board: Canvas = Canvas(self.window,
width=grid_dim_y * self.width + 2,
height=grid_dim_x * self.width + 2)
# create initial grid squares
self.grid_squares: List[List] = []
for pos_i in range(grid_dim_x):
grid_squares_row: List = []
for pos_j in range(grid_dim_y):
square = self.board.create_rectangle(
pos_i * self.width + 4,
pos_j * self.width + 4, (pos_i + 1) * self.width + 4,
(pos_j + 1) * self.width + 4,
fill="white",
width=1)
grid_squares_row.append(square)
self.grid_squares.append(grid_squares_row)
# create figures
self._place_imgs(self.board, self.goal_pic, [self.goal_idx])
self._place_imgs(self.board, self.plant_pic, self.plant_idxs)
self._place_imgs(self.board, self.rocks_pic, self.rocks_idxs)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[self.agent_idx])[0]
# create grid arrows
self.grid_arrows: List[List[List]] = []
if self.val_type == "STATE":
# create initial grid values
self.grid_text: List[List] = []
for pos_i in range(grid_dim_x):
grid_text_rows: List = []
for pos_j in range(grid_dim_y):
val = self.board.create_text(
pos_i * self.width + self.width_half,
pos_j * self.width + self.width_half,
text="",
fill="black")
grid_text_rows.append(val)
self.grid_text.append(grid_text_rows)
self.board.pack(side=LEFT)
do_buttons: bool = False
if do_buttons:
# make control buttons
panel = Frame(self.window)
panel.pack(side=RIGHT)
Label(text="Buttons\n", font="Verdana 12 bold").pack()
value_itr_frame = Frame(self.window)
value_itr_frame.pack()
b1 = Button(text="Save Figure")
b1.bind("<Button-1>", self.save_board)
b1.pack()
vi_button = Button(text="Value Iteration")
vi_button.bind("<Button-1>", self.value_iteration)
vi_button.pack()
if self.val_type == "ACTION":
self._init_action_vals_color()
# self.update()
# self.monte_carlo_policy_evaluation()
# self.td_policy_evaluation(5)
# self.td_lambda_policy_evaluation(0.5)
# self.policy_evaluation()
# self.q_learning()
self.window.update()
def __init__(self, env: FarmGridWorld, grid: np.ndarray):
# 0: up, 1: down, 2: left, 3: right
super().__init__()
# initialize environment
self.val_max: float = 0
self.env: FarmGridWorld = env
self.num_actions: int = 4
self.agent_idx: Tuple[int, int] = mask_to_idxs(grid, 1)[0]
self.start_idx = self.agent_idx
self.goal_idx: Tuple[int, int] = mask_to_idxs(grid, 2)[0]
self.plant_idxs: List[Tuple[int, int]] = mask_to_idxs(grid, 3)
self.rocks_idxs: List[Tuple[int, int]] = mask_to_idxs(grid, 4)
# enumerate states
self.states: List[FarmState] = []
for pos_i in range(grid.shape[0]):
for pos_j in range(grid.shape[1]):
state: FarmState = FarmState((pos_i, pos_j), self.goal_idx,
self.plant_idxs, self.rocks_idxs)
self.states.append(state)
# enumerate value funcs
self.state_vals: Dict[FarmState, float] = dict()
self.action_vals: Dict[FarmState, List[float]] = dict()
self.state_visits: Dict[FarmState, int] = dict()
for state in self.states:
self.state_visits[state] = 0
self.state_vals[state] = 0.0
if self.env.is_terminal(state):
self.action_vals[state] = [0] * self.num_actions
else:
self.action_vals[state] = [0] * self.num_actions
# initialize board
self.window = tkinter.Tk()
self.window.wm_title("AI Farm")
self.width: int = 70
self.width_half: int = int(self.width / 2)
self.text_offset: int = 17
# load pictures
path = os.getcwd() + "/images/"
self.goal_pic = ImageTk.PhotoImage(file=path + 'goal.png')
self.plant_pic = ImageTk.PhotoImage(file=path + 'plant.png')
self.robot_pic = ImageTk.PhotoImage(file=path + 'robot.png')
self.rocks_pic = ImageTk.PhotoImage(file=path + 'rocks.png')
grid_dim_x, grid_dim_y = env.grid_shape
self.board: Canvas = Canvas(self.window,
width=grid_dim_y * self.width + 2,
height=grid_dim_x * self.width + 2)
# create initial grid squares
self.grid_squares: List[List] = []
for pos_i in range(grid_dim_x):
grid_squares_row: List = []
for pos_j in range(grid_dim_y):
square = self.board.create_rectangle(
pos_i * self.width + 4,
pos_j * self.width + 4, (pos_i + 1) * self.width + 4,
(pos_j + 1) * self.width + 4,
fill="white",
width=1)
grid_squares_row.append(square)
self.grid_squares.append(grid_squares_row)
# create figures
self._place_imgs(self.board, self.goal_pic, [self.goal_idx])
self._place_imgs(self.board, self.plant_pic, self.plant_idxs)
self._place_imgs(self.board, self.rocks_pic, self.rocks_idxs)
self.agent_img = self._place_imgs(self.board, self.robot_pic,
[self.agent_idx])[0]
# create grid arrows
self.grid_arrows: List[List[List]] = []
self.board.pack(side=LEFT)
self.window.update()
