class Trainer(object):
def __init__(self, agent, env):
self.agent = agent
self.env = env
self.seed = random.randint(0, 20180818)
self.optimizer = optim.Adam(agent.parameters, lr=LEARNING_RATE)
self.buffer = ReplayBuffer(capacity=CAPACITY)
self.total_step = 0
def run(self, device='cpu', buffer=False, explore=False):
"""Run an episode and buffer"""
self.env.reset()
self.env.env.seed(self.seed)
state = self.env.get_screen()
states = np.asarray([state for _ in range(4)]) # shape (4, 84, 84)
step = 0
accumulated_reward = 0
while True:
action = self.agent.make_action(torch.Tensor([states]).to(device),
explore=explore)
state_next, reward, done = self.env.step(action)
states_next = np.concatenate([states[1:, :, :], [state_next]],
axis=0)
step += 1
accumulated_reward += reward
if buffer:
self.buffer.append(states, action, reward, states_next, done)
states = states_next
if done:
break
return accumulated_reward, step
def _fill_buffer(self, num, device='cpu'):
start = time.time()
while self.buffer.size < num:
self.run(device, buffer=True, explore=True)
print('Fill buffer: {}/{}'.format(self.buffer.size,
self.buffer.capacity))
print('Filling buffer takes {:.3f} seconds'.format(time.time() -
start))
def train(self, device='cpu'):
self.env.change_record_every_episode(100000000)
self._fill_buffer(OBSERV, device)
if self.env.record_every_episode:
self.env.change_record_every_episode(self.env.record_every_episode)
episode = 0
while 'training' != 'converge':
self.env.reset()
state = self.env.get_screen()
states = np.asarray([state for _ in range(4)]) # shape (4, 84, 84)
step_prev = self.total_step
accumulated_reward = 0
done = False
n_flap = 0
n_none = 0
while not done:
#### --------------------
#### Add a new transition
action = self.agent.make_action(torch.Tensor([states
]).to(device),
explore=True)
state_next, reward, done = self.env.step(action)
states_next = np.concatenate([states[1:, :, :], [state_next]],
axis=0)
self.total_step += 1
accumulated_reward += reward
self.buffer.append(states, action, reward, states_next, done)
states = states_next
#### --------------------
#### --------------------
#### Training step
start = time.time()
# prepare training data
minibatch = self.buffer.sample(n_sample=BATCH)
_states = [b[0] for b in minibatch]
_actions = [b[1] for b in minibatch]
_rewards = [b[2] for b in minibatch]
_states_next = [b[3] for b in minibatch]
_dones = [b[4] for b in minibatch]
ys = []
for i in range(len(minibatch)):
terminal = _dones[i]
r = _rewards[i]
if terminal:
y = r
else:
# Double DQN
s_t_next = torch.Tensor([_states_next[i]]).to(device)
online_act = self.agent.make_action(s_t_next)
y = r + DISCOUNT * self.agent.Q(
s_t_next, online_act, target=True)
ys.append(y)
ys = torch.Tensor(ys).to(device)
# Apply gradient
self.optimizer.zero_grad()
input = torch.Tensor(_states).to(device)
output = self.agent.net(input) # shape (BATCH, 2)
actions_one_hot = np.zeros([BATCH, 2])
actions_one_hot[np.arange(BATCH), _actions] = 1.0
actions_one_hot = torch.Tensor(actions_one_hot).to(device)
ys_hat = (output * actions_one_hot).sum(dim=1)
loss = F.smooth_l1_loss(ys_hat, ys)
loss.backward()
self.optimizer.step()
#### --------------------
# logging
if action == 0:
n_flap += 1
else:
n_none += 1
if done and self.total_step % LOGGING_CYCLE == 0:
log = '[{}, {}] alive: {}, reward: {}, F/N: {}/{}, loss: {:.4f}, epsilon: {:.4f}, time: {:.3f}'.format(
episode, self.total_step, self.total_step - step_prev,
accumulated_reward, n_flap, n_none, loss.item(),
self.agent.epsilon,
time.time() - start)
print(log)
self.agent.update_epsilon()
if self.total_step % TARGET_UPDATE_CYCLE == 0:
#print('[Update target network]')
self.agent.update_target()
if self.total_step % SAVE_MODEL_CYCLE == 0:
print('[Save model]')
self.save(id=self.total_step)
episode += 1
def save(self, id):
filename = 'tmp/models/model_{}.pth.tar'.format(id)
dirpath = os.path.dirname(filename)
if not os.path.exists(dirpath):
os.mkdir(dirpath)
checkpoint = {
'net': self.agent.net.state_dict(),
'target': self.agent.target.state_dict(),
'optimizer': self.optimizer.state_dict(),
'total_step': self.total_step
}
torch.save(checkpoint, filename)
def load(self, filename, device='cpu'):
ckpt = torch.load(filename, map_location=lambda storage, loc: storage)
## Deal with the missing of bn.num_batches_tracked
net_new = OrderedDict()
tar_new = OrderedDict()
for k, v in ckpt['net'].items():
for _k, _v in self.agent.net.state_dict().items():
if k == _k:
net_new[k] = v
for k, v in ckpt['target'].items():
for _k, _v in self.agent.target.state_dict().items():
if k == _k:
tar_new[k] = v
self.agent.net.load_state_dict(net_new)
self.agent.target.load_state_dict(tar_new)
## -----------------------------------------------
self.optimizer.load_state_dict(ckpt['optimizer'])
self.total_step = ckpt['total_step']
class DQNAgent:
def __init__(
self,
n_actions,
learning_rate=0.001,
gamma=0.9,
#gamma=0.95,
batch_size=64,
replay_buffer_size=200000,
replay_start_size=1000):
"""
:param n_actions: the number of possible actions
:param learning_rate: the learning rate for the optimizer
:param gamma: discount factor
:param batch_size: size of a minibatch
:param replay_buffer_size: the size of the replay memory
:param replay_start_size: the initial size of the replay memory before learning starts
:param target_update_interval: number of steps between consecutive updates of
the target network
"""
self.n_actions = n_actions
self.learning_rate = learning_rate
self.gamma = gamma
self.batch_size = batch_size
# Create the replay buffer
#self.replay_buffer = deque(maxlen=replay_buffer_size)
self.replay_buffer = ReplayBuffer(max_size=replay_buffer_size)
self.replay_start_size = replay_start_size
# Build the Q-network
self.q_network = self.build_model()
# Create the target network as a copy of the Q-network
self.target_network = keras.models.clone_model(self.q_network)
# Create the optimizer
self.optimizer = keras.optimizers.Adam(self.learning_rate)
self.training_step = 0
def build_model(self):
model = keras.models.Sequential([
layers.Dense(256, activation='relu'),
layers.Dense(256, activation='relu'),
layers.Dense(256, activation='relu'),
layers.Dense(self.n_actions)
])
return model
def select_action(self, state, epsilon):
"""
An epsilon-greedy action selection
:param state: the current state of the environment
:param epsilon: the exploration rate
:return: an action
"""
if np.random.rand() < epsilon:
return np.random.choice(self.n_actions)
else:
q_values = self.q_network.predict(np.expand_dims(state, axis=0))[0]
return np.argmax(q_values)
def remember(self, state, action, reward, next_state, done, info):
"""Store a new transition in the replay buffer"""
self.replay_buffer.append((state, action, reward, next_state, done))
def sample_transitions(self):
#indices = np.random.randint(len(self.replay_buffer), size=self.batch_size)
#mini_batch = [self.replay_buffer[index] for index in indices]
mini_batch = self.replay_buffer.sample(self.batch_size)
states, actions, rewards, next_states, dones = [
np.array([transition[field_index] for transition in mini_batch])
for field_index in range(5)
]
return states, actions, rewards, next_states, dones
def train(self):
"""Perform a single training step on the network"""
# Check that we have enough transitions in the replay buffer
if len(self.replay_buffer) < max(self.batch_size,
self.replay_start_size):
return
# Sample transitions from the replay buffer
states, actions, rewards, next_states, dones = self.sample_transitions(
)
# Compute the target Q values for the sampled transitions
next_q_values = self.target_network.predict(next_states)
max_next_q_values = np.max(next_q_values, axis=1)
target_q_values = rewards + (1 -
dones) * self.gamma * max_next_q_values
with tf.GradientTape() as tape:
# Forward pass: compute the Q-values for the states in the batch
all_q_values = self.q_network(states)
# Mask out the Q-values for the non-chosen actions
mask = tf.one_hot(actions, self.n_actions)
q_values = tf.reduce_sum(all_q_values * mask, axis=1)
# Compute the loss between the targets and the Q-values
loss_fn = keras.losses.Huber()
loss = loss_fn(target_q_values, q_values)
# Perform a gradient descent step to minimize the loss with respect
# to the model's trainable variables
gradients = tape.gradient(loss, self.q_network.trainable_variables)
self.optimizer.apply_gradients(
zip(gradients, self.q_network.trainable_variables))
def update_target_network(self):
self.target_network.set_weights(self.q_network.get_weights())
def save_model(self, folder, env_id):
"""Save the network params to a file"""
agent_file = os.path.join(folder, f'{env_id}.h5')
keras.models.save_model(self.q_network, agent_file)
def load_model(self, folder, env_id):
"""Load the network params from a file"""
agent_file = os.path.join(folder, f'{env_id}.h5')
self.q_network = keras.models.load_model(agent_file)
class Agent:
def __init__(self):
self.name = "expected_sarsa_agent"
def agent_init(self, agent_config):
"""Setup for the agent called when the experiment first starts.
Set parameters needed to setup the agent.
Assume agent_config dict contains:
{
network_pickle: string (optional),
network_config: dictionary,
optimizer_config: dictionary,
replay_buffer_size: integer,
minibatch_sz: integer,
num_replay_updates_per_step: float
discount_factor: float,
}
"""
self.replay_buffer = ReplayBuffer(agent_config['replay_buffer_size'],
agent_config['minibatch_sz'],
agent_config.get("seed"))
if "network_pickle" in agent_config:
self.network = pickle.load(
open(agent_config["network_pickle"], 'rb'))
else:
self.network = ActionValueNetwork(agent_config['network_config'])
self.optimizer = Adam(self.network.layer_sizes,
agent_config["optimizer_config"])
self.num_actions = agent_config['network_config']['num_actions']
self.num_replay = agent_config['num_replay_updates_per_step']
self.discount = agent_config['gamma']
self.tau = agent_config['tau']
self.rand_generator = np.random.RandomState(agent_config.get("seed"))
self.last_state = None
self.last_action = None
self.sum_rewards = 0
self.episode_steps = 0
def policy(self, state):
"""
Args:
state (Numpy array): the state.
Returns:
the action.
"""
action_values = self.network.get_action_values(state)
probs_batch = self.softmax(action_values, self.tau)
action = self.rand_generator.choice(self.num_actions,
p=probs_batch.squeeze())
return action
def agent_start(self, state):
"""The first method called when the experiment starts, called after
the environment starts.
Args:
state (Numpy array): the state from the
environment's evn_start function.
Returns:
The first action the agent takes.
"""
self.sum_rewards = 0
self.episode_steps = 0
self.last_state = np.array([state])
self.last_action = self.policy(self.last_state)
return self.last_action
def agent_step(self, reward, state):
"""A step taken by the agent.
Args:
reward (float): the reward received for taking the last action taken
state (Numpy array): the state from the
environment's step based, where the agent ended up after the
last step
Returns:
The action the agent is taking.
"""
self.sum_rewards += reward
self.episode_steps += 1
state = np.array([state])
action = self.policy(state)
self.replay_buffer.append(self.last_state, self.last_action, reward, 0,
state)
if self.replay_buffer.size() > self.replay_buffer.minibatch_size:
current_q = deepcopy(self.network)
for _ in range(self.num_replay):
experiences = self.replay_buffer.sample()
self.optimize_network(experiences, current_q)
self.last_state = state
self.last_action = action
return action
def agent_end(self, reward):
"""Run when the agent terminates.
Args:
reward (float): the reward the agent received for entering the
terminal state.
"""
self.sum_rewards += reward
self.episode_steps += 1
state = np.zeros_like(self.last_state)
self.replay_buffer.append(self.last_state, self.last_action, reward, 1,
state)
if self.replay_buffer.size() > self.replay_buffer.minibatch_size:
current_q = deepcopy(self.network)
for _ in range(self.num_replay):
experiences = self.replay_buffer.sample()
self.optimize_network(experiences, current_q)
def agent_message(self, message):
if message == "get_sum_reward":
return self.sum_rewards
else:
raise Exception("Unrecognized Message!")
def softmax(self, action_values, tau=1.0):
"""
Args:
action_values (Numpy array): A 2D array of shape (batch_size, num_actions).
The action-values computed by an action-value network.
tau (float): The temperature parameter scalar.
Returns:
A 2D array of shape (batch_size, num_actions). Where each column is a probability distribution over
the actions representing the policy.
"""
preferences = action_values / tau
max_preference = np.amax(preferences, 1)
reshaped_max_preference = max_preference.reshape((-1, 1))
exp_preferences = np.exp(preferences - reshaped_max_preference)
sum_of_exp_preferences = np.sum(exp_preferences, 1)
reshaped_sum_of_exp_preferences = sum_of_exp_preferences.reshape(
(-1, 1))
action_probs = exp_preferences / reshaped_sum_of_exp_preferences
action_probs = action_probs.squeeze()
return action_probs
def get_td_error(self, states, next_states, actions, rewards, terminals,
current_q):
"""
Args:
states (Numpy array): The batch of states with the shape (batch_size, state_dim).
next_states (Numpy array): The batch of next states with the shape (batch_size, state_dim).
actions (Numpy array): The batch of actions with the shape (batch_size,).
rewards (Numpy array): The batch of rewards with the shape (batch_size,).
discount (float): The discount factor.
terminals (Numpy array): The batch of terminals with the shape (batch_size,).
network (ActionValueNetwork): The latest state of the network that is getting replay updates.
current_q (ActionValueNetwork): The fixed network used for computing the targets,
and particularly, the action-values at the next-states.
Returns:
The TD errors (Numpy array) for actions taken, of shape (batch_size,)
"""
q_next_mat = np.apply_along_axis(current_q.get_action_values, 1,
next_states).squeeze()
probs_mat = self.softmax(q_next_mat, self.tau)
v_next_vec = np.einsum("ij,ij->i", probs_mat, q_next_mat)
v_next_vec *= (1 - terminals)
target_vec = rewards + self.discount * v_next_vec
q_mat = np.apply_along_axis(self.network.get_action_values, 1,
states).squeeze()
batch_indices = np.arange(q_mat.shape[0])
q_vec = np.array([q_mat[i][actions[i]] for i in batch_indices])
delta_vec = target_vec - q_vec
return delta_vec
def optimize_network(self, experiences, current_q):
"""
Args:
experiences (Numpy array): The batch of experiences including the states, actions,
rewards, terminals, and next_states.
discount (float): The discount factor.
network (ActionValueNetwork): The latest state of the network that is getting replay updates.
current_q (ActionValueNetwork): The fixed network used for computing the targets,
and particularly, the action-values at the next-states.
"""
states, actions, rewards, terminals, next_states = map(
list, zip(*experiences))
states = np.concatenate(states)
next_states = np.concatenate(next_states)
rewards = np.array(rewards)
terminals = np.array(terminals)
batch_size = states.shape[0]
delta_vec = self.get_td_error(states, next_states, actions, rewards,
terminals, current_q)
batch_indices = np.arange(batch_size)
delta_mat = np.zeros((batch_size, self.network.num_actions))
delta_mat[batch_indices, actions] = delta_vec
td_update = self.network.get_TD_update(states, delta_mat)
weights = self.optimizer.update_weights(self.network.get_weights(),
td_update)
self.network.set_weights(weights)
def worker_process(job_name, task_index, cluster_dict, file_name):
import tensorflow as tf
# GPU training.
if USE_GPU:
os.environ["CUDA_VISIBLE_DEVICES"] = CUDA_VISIBLE_DEVICES
gpu_options = tf.GPUOptions(
per_process_gpu_memory_fraction=PER_PROCESS_GPU_MEMORY_FRACTION)
config = tf.ConfigProto(gpu_options=gpu_options)
else:
config = None
# Create and start a server for the local task.
cluster = tf.train.ClusterSpec(cluster_dict)
server = tf.train.Server(cluster,
job_name=job_name,
task_index=task_index,
config=config)
if job_name == "ps":
# Parameter server.
with tf.device("/job:" + job_name + "/task:" + str(task_index)):
queue = tf.FIFOQueue(cluster.num_tasks("worker"),
tf.int32,
shared_name="done_queue" + str(task_index))
# Close the parameter server when all queues from workers have been filled.
with tf.Session(server.target) as sess:
for i in range(cluster.num_tasks("worker")):
sess.run(queue.dequeue())
return []
elif job_name == "worker":
# Obtain environment parameters.
env = make_atari(ENV_NAME)
obs_space = env.observation_space
action_space = env.action_space
# Worker.
with tf.device(
tf.train.replica_device_setter(worker_device="/job:" +
job_name + "/task:" +
str(task_index),
cluster=cluster)):
# Build networks.
main_network = QValueNetwork(obs_space,
action_space,
name="main_network")
target_network = QValueNetwork(obs_space,
action_space,
name="target_network",
auxiliary_network=main_network)
replay_buffer = ReplayBuffer(buffer_size=BUFFER_SIZE)
list_episodic_reward = []
episodic_reward = 0
obs = env.reset()
# Additional settings for the first worker (task_index = 0).
if task_index == 0:
saver = tf.train.Saver(var_list=main_network.variables,
max_to_keep=1)
next_target_network_update_step = 0
next_autosave_step = 0
with tf.train.MonitoredTrainingSession(
master=server.target,
is_chief=(task_index == 0),
config=config,
save_summaries_steps=None,
save_summaries_secs=None,
save_checkpoint_steps=None,
save_checkpoint_secs=None) as sess:
# Initialize buffers.
for _ in range(INITIAL_BUFFER_SIZE):
# Sample random action.
action = np.random.randint(action_space.n)
# Interact with the environment.
obs_next, reward, done, _ = env.step(action)
episodic_reward += reward
if done:
obs_next = env.reset()
episodic_reward = 0
# Store data.
data = [obs, action, reward, done, obs_next]
replay_buffer.append(data)
# Update observation.
obs = obs_next
# Run until reaching maximum training steps.
while sess.run(main_network.global_step) < TOTAL_STEP:
global_step = sess.run(main_network.global_step)
if task_index == 0:
# Synchronize the target network periodically (target network <- main network).
if global_step >= next_target_network_update_step:
sess.run(target_network.sync_op)
next_target_network_update_step += TARGET_NETWORK_UPDATE_STEP
# Sample action with epsilon-greedy policy.
epsilon = EPSILON_MAX - (
EPSILON_MAX - EPSILON_MIN) * np.minimum(
global_step / EPSILON_DECAY_STEP, 1)
if np.random.uniform() < epsilon:
action = np.random.randint(action_space.n)
else:
q = sess.run(target_network.q,
feed_dict={
target_network.Obs:
np.expand_dims(np.array(obs) / 255.0, 0)
})
action = np.argmax(q[0])
# Interact with the environment.
obs_next, reward, done, _ = env.step(action)
episodic_reward += reward
if done:
obs_next = env.reset()
list_episodic_reward.append((global_step, episodic_reward))
delta_time = int(time.time() - start_time)
print("Step ",
global_step,
"/",
TOTAL_STEP,
": Time spent = ",
delta_time,
" s , Episodic reward = ",
episodic_reward,
sep="")
episodic_reward = 0
# Store data.
data = [obs, action, reward, done, obs_next]
replay_buffer.append(data)
# Update observation.
obs = obs_next
# Learning rate.
lr = LEARNING_RATE[-1]
for i in range(len(LR_ANNEAL_STEP)):
if global_step < LR_ANNEAL_STEP[i]:
lr = LEARNING_RATE[i]
break
# Sample training data from the replay buffer.
batch_data = replay_buffer.sample(BATCH_SIZE)
batch_obs, batch_action, batch_reward, batch_done, batch_obs_next = \
[np.array([batch_data[j][i] for j in range(BATCH_SIZE)]) for i in range(len(batch_data[0]))]
# Compute the target Q value:
# target_q = r + (1 - done) * REWARD_DISCOUNT * max[q(s', a)]
q_next = sess.run(
target_network.q,
feed_dict={target_network.Obs: batch_obs_next / 255.0})
max_qnext = np.amax(q_next, axis=1)
target_q = batch_reward + (
1 - batch_done) * REWARD_DISCOUNT * max_qnext
# Update the main network (main network <- local network gradients).
sess.run(main_network.train_op,
feed_dict={
main_network.Obs: batch_obs / 255.0,
main_network.Action: batch_action,
main_network.TargetQ: target_q,
main_network.LR: lr
})
if task_index == 0:
# Save the main network periodically.
if global_step >= next_autosave_step:
saver.save(sess._sess._sess._sess._sess,
SAVE_DIR + file_name)
next_autosave_step += AUTOSAVE_STEP
if task_index == 0:
# Save the main network.
saver.save(sess._sess._sess._sess._sess, SAVE_DIR + file_name)
tf.contrib.keras.backend.clear_session()
# Close the environment.
env.close()
queues = []
# Create a shared queue on the worker which is visible on the parameter server.
for i in range(cluster.num_tasks("ps")):
with tf.device("/job:ps/task:" + str(i)):
queue = tf.FIFOQueue(cluster.num_tasks("worker"),
tf.int32,
shared_name="done_queue" + str(i))
queues.append(queue)
# Notify all parameter servers that the current worker has finished the task.
with tf.Session(server.target) as sess:
for i in range(cluster.num_tasks("ps")):
sess.run(queues[i].enqueue(task_index))
# Release memory when a worker is finished.
tf.contrib.keras.backend.clear_session()
return list_episodic_reward
class RL_Agent:
"""
Main activities:
- Making actual moves in a game.
- Making search moves during MCTS
- Updating the target policy via supervised learning
Must contain the ANET(the actor network)
Should save net params to file
"""
def __init__(self, input_shape, output_size, anet_layer_sizes, anet_layer_activations, gm: GameManager,
model_load_path, e_greedy, lr=0.01, optimizer="adam"):
self.e_greedy = e_greedy
self.anet = ActorNetwork(hidden_layer_sizes=anet_layer_sizes,
hidden_activations=anet_layer_activations,
optimizer=optimizer,
input_shape=input_shape,
output_size=output_size,
model_load_path=model_load_path,
gm=gm,
lr=lr)
self.rbuf = ReplayBuffer(size_x=len(gm.get_start_state()),
size_y=output_size,
max_size=5000,
default_batch_size=64)
self.env = gm
def normalize_action_values(self, action_values, actions_available):
d = defaultdict()
all_act = self.env.get_all_actions()
for action in actions_available:
idx = all_act.index(action)
d[action] = action_values[-1][idx]
return {k: v / total for total in (sum(d.values()),) for k, v in d.items()}
def default_policy(self, state): # make general for game.
moves = self.env.legal_actions(state)
if random() < self.e_greedy:
return choice(moves)
prediction = self.anet.predict(state)
normalized_prediction = self.normalize_action_values(prediction, moves) # too slow!
return max(normalized_prediction, key=lambda action: normalized_prediction[action])
def retain(self, state, edge_visits):
self.rbuf.append(x=state, y=self.get_distribution(edge_visits))
def get_distribution(self, edge_visits: dict):
"""
dict should be on form {action:visits}
:param Edge_visits:
:return:
"""
all_acts = self.env.get_all_actions()
distribution = np.zeros(len(all_acts))
s = sum(edge_visits.values())
for action, visits in edge_visits.items():
idx = all_acts.index(action)
distribution[idx] = visits / s
return distribution
def train_rbuf(self, verbose):
history = self.anet.train(self.rbuf.minibatch())
if verbose:
# do something about loss
print(history.history["loss"])
return history
def extend_saved_rbuf(self):
self.rbuf.save()
env = Gridworld(10)
gpu_num = 1
dqn = GoalQWrapper(env, 'dqn', 0)
buffer = ReplayBuffer(100000)
steps_before_train = 1000
viz_freq = 1000
batch_size = 32
s = env.reset()
for time in itertools.count():
a = np.random.randint(0, 4)
sp, r, t, info = env.step(a)
buffer.append(s, a, r, sp, t)
s = sp
if time < steps_before_train:
continue
s_batch, a_batch, r_batch, sp_batch, t_batch = buffer.sample(batch_size)
g_batch, _, _, _, _ = buffer.sample(batch_size)
loss = dqn.train_batch_goals(time, s_batch, a_batch, sp_batch, g_batch)
print(time, loss)
if time % viz_freq == 0:
visualize_all_values(dqn, env.get_all_states())
def training(file_name):
# Create folders.
if not os.path.isdir(SAVE_DIR):
os.makedirs(SAVE_DIR)
if not os.path.isdir(CSV_DIR):
os.makedirs(CSV_DIR)
if not os.path.isdir(FIGURE_TRAINING_DIR):
os.makedirs(FIGURE_TRAINING_DIR)
# Load models.
actor = Actor(name="actor")
actor_target = Actor(name="actor_target")
actor_initial_update_op = target_update_op(
actor.trainable_variables, actor_target.trainable_variables, 1.0)
actor_target_update_op = target_update_op(actor.trainable_variables,
actor_target.trainable_variables,
TARGET_UPDATE_RATE)
critic = Critic(name="critic")
critic.build_training()
critic_target = Critic(name="critic_target")
critic_initial_update_op = target_update_op(
critic.trainable_variables, critic_target.trainable_variables, 1.0)
critic_target_update_op = target_update_op(
critic.trainable_variables, critic_target.trainable_variables,
TARGET_UPDATE_RATE)
critic_with_actor = Critic(name="critic", A=actor.pi)
actor.build_training(critic_with_actor.actor_loss)
env = PendulumEnv()
replay_buffer = ReplayBuffer(BUFFER_SIZE)
action_noise = OUActionNoise(np.zeros(A_LENGTH))
with tf.Session() as sess:
# Initialize actor and critic networks.
sess.run(tf.global_variables_initializer())
sess.run([actor_initial_update_op, critic_initial_update_op])
list_final_reward = []
additional_episode = int(np.ceil(MIN_BUFFER_SIZE / MAX_FRAME))
for episode in range(-additional_episode, MAX_EPISODE):
list_actor_loss = []
list_critic_loss = []
# Reset the environment and noise.
s = env.reset()
action_noise.reset()
for step in range(MAX_FRAME):
env.render()
# Get action.
a = sess.run(actor.pi,
feed_dict={actor.S: np.reshape(s, (1, -1))})
noise = action_noise.get_noise()
a = a[0] + ACTION_SCALING * noise
a = np.clip(a, -ACTION_SCALING, ACTION_SCALING)
# Interact with the game engine.
s1, r, _, _ = env.step(a)
# Add data to the replay buffer.
data = [s, a, [r], s1]
replay_buffer.append(data)
if episode >= 0:
for _ in range(BATCHES_PER_STEP):
# Sample data from the replay buffer.
batch_data = replay_buffer.sample(BATCH_SIZE)
batch_s, batch_a, batch_r, batch_s1 = [
np.array(
[batch_data[j][i] for j in range(BATCH_SIZE)])
for i in range(len(batch_data[0]))
]
# Compute the next action.
a1 = sess.run(actor_target.pi,
feed_dict={actor_target.S: batch_s1})
# Compute the target Q.
q1 = sess.run(critic_target.q,
feed_dict={
critic_target.S: batch_s1,
critic_target.A: a1
})
q_target = batch_r + DISCOUNT * q1
# Update actor and critic.
_, _, actor_loss, critic_loss = sess.run(
[
actor.train_op, critic.train_op,
actor.actor_loss, critic.critic_loss
],
feed_dict={
actor.S: batch_s,
critic_with_actor.S: batch_s,
actor.LR: LR_ACTOR,
critic.S: batch_s,
critic.A: batch_a,
critic.QTarget: q_target,
critic.LR: LR_CRITIC
})
list_actor_loss.append(actor_loss)
list_critic_loss.append(critic_loss)
# Update target networks.
sess.run(
[actor_target_update_op, critic_target_update_op])
s = s1
# Postprocessing after each episode.
if episode >= 0:
list_final_reward.append(r)
avg_actor_loss = np.mean(list_actor_loss)
avg_critic_loss = np.mean(list_critic_loss)
print("Episode ", format(episode, "03d"), ":", sep="")
print(" Final Reward = ",
format(r, ".6f"),
", Actor Loss = ",
format(avg_actor_loss, ".6f"),
", Critic Loss = ",
format(avg_critic_loss, ".6f"),
sep="")
# Testing.
avg_reward = 0
for i in range(TEST_EPISODE):
# Reset the environment and noise.
s = env.reset()
action_noise.reset()
for step in range(MAX_FRAME):
env.render()
# Get action.
a = sess.run(actor.pi,
feed_dict={actor.S: np.reshape(s, (1, -1))})
a = a[0]
# Interact with the game engine.
s, r, _, _ = env.step(a)
# Postprocessing after each episode.
avg_reward += r
avg_reward /= TEST_EPISODE
# Save the parameters.
saver = tf.train.Saver(
[*actor.trainable_variables, *critic.trainable_variables])
saver.save(sess, SAVE_DIR + file_name)
tf.contrib.keras.backend.clear_session()
env.close()
# Store data in the csv file.
with open(CSV_DIR + file_name + ".csv", "w") as f:
fieldnames = ["Episode", "Final Reward", "Average Reward"]
writer = csv.DictWriter(f, fieldnames=fieldnames, lineterminator="\n")
writer.writeheader()
for episode in range(MAX_EPISODE):
content = {
"Episode": episode,
"Final Reward": list_final_reward[episode]
}
if episode == MAX_EPISODE - 1:
content.update({"Average Reward": avg_reward})
writer.writerow(content)
# Plot the training process.
list_episode = list(range(MAX_EPISODE))
f, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
ax.plot(list_episode, list_final_reward, "r-", label="Final Reward")
ax.plot([MAX_EPISODE - 1], [avg_reward], "b.", label="Average Reward")
ax.set_title("Final Reward")
ax.set_xlabel("Episode")
ax.set_ylabel("Reward")
ax.legend(loc="lower right")
ax.grid()
f.savefig(FIGURE_TRAINING_DIR + file_name + ".png")
plt.close(f)
def train(env, agent, args):
"""
Trains the given agent in the given environment,
following the specification in the arguments passed via command-line
:param env: environment
:type env: OpenAI gym environment
:param agent: agent to be trained
:type agent: SAC
:param args: the arguments parsed from command-line
:type args: object returned by argparse library
:return: array with the returns per episode cumulated by the agent during training
:rtype: numpy array of dtype float32
"""
if args.max_episode_steps is not None:
# if user has specified a maximum number of steps per episode, set it
env.set_max_episode_steps(args.max_episode_steps)
# build replay buffer
replay_buffer = ReplayBuffer(args.replay_size)
total_steps = 0
updates = 0
returns = []
epsilon = args.initial_epsilon
# for each episode counting from 1
for i_episode in itertools.count(1):
# reset the environment and the episode counters, and get the initial state
state = env.reset()
episode_return = 0
i_step = 0
# for each step in the episode
for i_step in itertools.count(0):
if args.render:
env.render()
# if user has specified a number of initial exploratory steps,
# then just sample a random action from the environment action space
# if user has specified an epsilon randomness different from zero (and the exploratory steps are over)
# then just sample a random action from the environment action space
# otherwise let the agent choose an appropriate action
if total_steps <= args.exploratory_steps:
action = env.action_space.sample()
elif epsilon > 0 and np.random.uniform(0, 1) <= epsilon:
action = env.action_space.sample()
else:
action = agent.choose_action(state)
# perform the action and observe the resulting next state, reward and done signal
next_state, reward, done, _ = env.step(action)
# if very verbose print per step log
if args.verbose >= 2:
print("Step: {}".format(i_step))
print("(s,a,r,s',d): ({}, {}, {}, {}, {})".format(
state, action, reward, next_state, done))
# append observed transition to replay buffer
replay_buffer.append(state, action, reward, next_state, done)
# if user has specified a number of steps without having the agent update its networks (and learn),
# then skip the update
# if that phase is over, then proceed to update agent's networks
if total_steps > args.learning_starts and len(
replay_buffer) > args.batch_size:
for _ in range(args.gradient_steps):
q1l, q2l, pl, al = agent.update(replay_buffer,
args.batch_size, updates)
if args.verbose >= 2:
print("Losses: ({}, {}, {}, {})".format(
q1l, q2l, pl, al))
updates += 1
# update per step variables and cumulate episode return
state = next_state
episode_return += reward
i_step += 1
total_steps += 1
# if received done signal from the environment, then terminate the episode
if done:
break
# append the cumulated episode return to the array
returns.append(episode_return)
# if verbose print a summary of the training occurred in the last episode
if args.verbose >= 1:
summary = "Episode: {}. Steps: {}. Episode steps: {}. Episode return: {:.3f}.\n".format(
i_episode, total_steps, i_step, episode_return)
if args.learning_starts > total_steps:
summary += "Learning starts in: {} steps. ".format(
args.learning_starts - total_steps)
if args.exploratory_steps > total_steps:
summary += "Exploratory steps left: {}. ".format(
args.exploratory_steps - total_steps)
elif epsilon > 0:
summary += "Epsilon: {:.3f}.".format(epsilon)
print(summary)
# if user has specified plotting, then plot the returns cumulated so far
if args.plot and i_episode % args.plot_interval == 0:
plot_mean_k_episodes_return(returns)
# if user has specified a fixed number of training episodes, check if time is up
if args.train_episodes is not None and i_episode >= args.train_episodes:
break
# update epsilon randomness coefficient,
# if still positive and if exploratory phase is over and learning has started
# linear decrease update wins over exponential decay update, in case user specified both
if epsilon > 0 and \
total_steps > args.learning_starts and \
total_steps > args.exploratory_steps:
if args.epsilon_decrease > 0 and epsilon > args.final_epsilon:
epsilon = max(args.final_epsilon,
epsilon - args.epsilon_decrease)
elif args.epsilon_decay > 0:
epsilon *= args.epsilon_decay
return np.array(returns)
def train(file_name):
# Create folders.
if not os.path.isdir(SAVE_DIR):
os.makedirs(SAVE_DIR)
if not os.path.isdir(FIGURE_TRAINING_DIR):
os.makedirs(FIGURE_TRAINING_DIR)
# Obtain environment parameters.
env = make_atari(ENV_NAME)
obs_space = env.observation_space
action_space = env.action_space
# Build networks.
main_network = QValueNetwork(obs_space, action_space, name = "main_network")
target_network = QValueNetwork(obs_space, action_space, name = "target_network", auxiliary_network = main_network)
variables_initializer = tf.global_variables_initializer()
replay_buffer = ReplayBuffer(buffer_size = BUFFER_SIZE)
start_time = time.time()
list_episodic_reward = []
episodic_reward = 0
obs = env.reset()
with tf.Session() as sess:
# Initialize all variables.
sess.run(variables_initializer)
# Only save the main network.
saver = tf.train.Saver(var_list = main_network.variables)
# Initialize buffers.
for _ in range(INITIAL_BUFFER_SIZE):
# Sample random action.
action = np.random.randint(action_space.n)
# Interact with the environment.
obs_next, reward, done, _ = env.step(action)
episodic_reward += reward
if done:
obs_next = env.reset()
episodic_reward = 0
# Store data.
data = [obs, action, reward, done, obs_next]
replay_buffer.append(data)
# Update observation.
obs = obs_next
for step in range(TOTAL_STEP):
# Synchronize the target network periodically (target network <- main network).
if step % TARGET_NETWORK_UPDATE_STEP == 0:
sess.run(target_network.sync_op)
# Sample action with epsilon-greedy policy.
epsilon = EPSILON_MAX - (EPSILON_MAX - EPSILON_MIN) * np.minimum(step / EPSILON_DECAY_STEP, 1)
if np.random.uniform() < epsilon:
action = np.random.randint(action_space.n)
else:
q = sess.run(target_network.q, feed_dict = {target_network.Obs: np.expand_dims(np.array(obs) / 255.0, 0)})
action = np.argmax(q[0])
# Interact with the environment.
obs_next, reward, done, _ = env.step(action)
episodic_reward += reward
if done:
obs_next = env.reset()
list_episodic_reward.append((step, episodic_reward))
delta_time = int(time.time() - start_time)
print("Step ", step, "/", TOTAL_STEP, ": Time spent = ", delta_time, " s , Episodic reward = ", episodic_reward, sep = "")
episodic_reward = 0
# Store data.
data = [obs, action, reward, done, obs_next]
replay_buffer.append(data)
# Update observation.
obs = obs_next
# Learning rate.
lr = LEARNING_RATE[-1]
for i in range(len(LR_ANNEAL_STEP)):
if step < LR_ANNEAL_STEP[i]:
lr = LEARNING_RATE[i]
break
# Sample training data from the replay buffer.
batch_data = replay_buffer.sample(BATCH_SIZE)
batch_obs, batch_action, batch_reward, batch_done, batch_obs_next = \
[np.array([batch_data[j][i] for j in range(BATCH_SIZE)]) for i in range(len(batch_data[0]))]
# Compute the target Q value:
# target_q = r + (1 - done) * REWARD_DISCOUNT * max[q(s', a)]
q_next = sess.run(target_network.q, feed_dict = {target_network.Obs: batch_obs_next / 255.0})
max_qnext = np.amax(q_next, axis = 1)
target_q = batch_reward + (1 - batch_done) * REWARD_DISCOUNT * max_qnext
# Update the main network.
sess.run(main_network.train_op, feed_dict = {
main_network.Obs: batch_obs / 255.0, main_network.Action: batch_action, main_network.TargetQ: target_q, main_network.LR: lr
})
# Save the main network periodically.
if step % AUTOSAVE_STEP == 0:
saver.save(sess, SAVE_DIR + file_name)
# Save the main network.
saver = tf.train.Saver(var_list = main_network.variables)
saver.save(sess, SAVE_DIR + file_name)
total_time = int(time.time() - start_time)
print("Training finished in ", total_time, " s.", sep = "")
# Close the environment.
env.close()
# Plot the episodic reward against training step curve.
plot_episodic_reward(list_episodic_reward, file_name)
class Agent:
Transition = namedtuple(
'Transition', ('state', 'action', 'next_state', 'reward', 'done'),
rename=False) # 'rename' means not to overwrite invalid field
def __init__(self, env, hyperparameters, device, writer, max_games,
tg_bot):
self.eps_start = hyperparameters['eps_start']
self.eps_end = hyperparameters['eps_end']
self.eps_decay = hyperparameters['eps_decay']
self.epsilon = hyperparameters['eps_start']
self.n_iter_update_nn = hyperparameters['n_iter_update_nn']
self.max_games = max_games
self.tg_bot = tg_bot
self.env = env
self.agent_control = AgentControl(env, device,
hyperparameters['learning_rate'],
hyperparameters['gamma'],
hyperparameters['multi_step'],
hyperparameters['double_dqn'],
hyperparameters['dueling'])
self.replay_buffer = ReplayBuffer(hyperparameters['buffer_size'],
hyperparameters['buffer_minimum'],
hyperparameters['multi_step'],
hyperparameters['gamma'])
self.summary_writer = writer
self.num_iterations = 0
self.total_reward = 0
self.num_games = 0
self.total_loss = []
self.ts_frame = 0
self.ts = time.time()
self.birth_time = time.time()
self.rewards = []
if self.tg_bot:
tg.welcome_msg(hyperparameters['multi_step'],
hyperparameters['double_dqn'],
hyperparameters['dueling'])
def select_greedy_action(self, obs):
# Give current state to the control who will pass it to NN which will
# return all actions and the control will take max and return it here
return self.agent_control.select_greedy_action(obs)
def select_eps_greedy_action(self, obs):
rand_num = random.rand()
if self.epsilon > rand_num:
# Select random action - explore
return self.env.action_space.sample()
else:
# Select best action
return self.select_greedy_action(obs)
def add_to_buffer(self, obs, action, new_obs, reward, done):
transition = self.Transition(state=obs,
action=action,
next_state=new_obs,
reward=reward,
done=done)
self.replay_buffer.append(transition)
self.num_iterations = self.num_iterations + 1
if self.epsilon > self.eps_end:
self.epsilon = self.eps_start - self.num_iterations / self.eps_decay
self.total_reward = self.total_reward + reward
def sample_and_improve(self, batch_size):
# If buffer is big enough
if len(self.replay_buffer.buffer) > self.replay_buffer.minimum:
# Sample batch_size number of transitions from buffer B
mini_batch = self.replay_buffer.sample(batch_size)
# Calculate loss and improve NN
loss = self.agent_control.improve(mini_batch)
# So we can calculate mean of all loss during one game
self.total_loss.append(loss)
if (self.num_iterations % self.n_iter_update_nn) == 0:
self.agent_control.update_target_nn()
def reset_parameters(self):
self.rewards.append(self.total_reward)
self.total_reward = 0
self.num_games = self.num_games + 1
self.total_loss = []
def print_info(self):
# print(self.num_iterations, self.ts_frame, time.time(), self.ts)
fps = (self.num_iterations - self.ts_frame) / (time.time() - self.ts)
print('%d %d rew:%d mean_rew:%.2f fps:%d, eps:%.2f, loss:%.4f' %
(self.num_iterations, self.num_games, self.total_reward,
np.mean(self.rewards[-40:]), fps, self.epsilon,
np.mean(self.total_loss)))
self.ts_frame = self.num_iterations
self.ts = time.time()
if self.summary_writer != None:
self.summary_writer.add_scalar('reward', self.total_reward,
self.num_games)
self.summary_writer.add_scalar('mean_reward',
np.mean(self.rewards[-40:]),
self.num_games)
self.summary_writer.add_scalar('10_mean_reward',
np.mean(self.rewards[-10:]),
self.num_games)
self.summary_writer.add_scalar('esilon', self.epsilon,
self.num_games)
self.summary_writer.add_scalar('loss', np.mean(self.total_loss),
self.num_games)
if self.tg_bot:
if (self.num_games % 10) == 0:
tg.info_msg(self.num_games + 1, self.max_games,
np.mean(self.rewards[-40:]),
np.mean(self.total_loss))
if self.num_games == (self.max_games - 1):
tg.end_msg(time.time() - self.birth_time)
def train(file_name):
# Create folders.
if not os.path.isdir(SAVE_DIR):
os.makedirs(SAVE_DIR)
if not os.path.isdir(FIGURE_TRAINING_DIR):
os.makedirs(FIGURE_TRAINING_DIR)
# Obtain environment parameters.
env = make_atari(ENV_NAME)
obs_space = env.observation_space
action_space = env.action_space
env.close()
# Build networks.
main_network = QValueNetwork(obs_space, action_space, name="main_network")
target_network = QValueNetwork(obs_space,
action_space,
name="target_network",
auxiliary_network=main_network)
variables_initializer = tf.global_variables_initializer()
# Create parallel environments.
par_env = ParallelEnvironment(
[make_atari(ENV_NAME) for _ in range(NUM_ENV)])
replay_buffer = ReplayBuffer(buffer_size=BUFFER_SIZE)
start_time = time.time()
list_episodic_reward = []
episodic_reward = np.zeros(NUM_ENV)
obs = par_env.reset()
with tf.Session() as sess:
# Initialize all variables.
sess.run(variables_initializer)
# Only save the main network.
saver = tf.train.Saver(var_list=main_network.variables)
# Initialize buffers.
while replay_buffer.get_size() < INITIAL_BUFFER_SIZE:
# Sample random action.
action = np.random.randint(action_space.n, size=NUM_ENV)
# Interact with the environment.
obs_next, reward, done, _ = par_env.step(action)
episodic_reward += reward
for i in range(NUM_ENV):
if done[i]:
episodic_reward[i] = 0
# Store data.
for i in range(NUM_ENV):
data = [obs[i], action[i], reward[i], done[i], obs_next[i]]
replay_buffer.append(data)
# Update observation.
obs = obs_next
step = 0
next_target_network_update_step = 0
next_autosave_step = 0
while step < TOTAL_STEP:
# Synchronize the target network periodically (target network <- main network).
if step >= next_target_network_update_step:
sess.run(target_network.sync_op)
next_target_network_update_step += TARGET_NETWORK_UPDATE_STEP
# Sample action with epsilon-greedy policy.
epsilon = EPSILON_MAX - (EPSILON_MAX - EPSILON_MIN) * np.minimum(
step / EPSILON_DECAY_STEP, 1)
random_uniform = np.random.uniform(size=NUM_ENV)
action = np.zeros(NUM_ENV, dtype=np.int32)
random_action_index = np.argwhere(random_uniform < epsilon)
if np.shape(random_action_index)[0] > 0:
action[tuple(
np.transpose(random_action_index))] = np.random.randint(
action_space.n, size=np.shape(random_action_index)[0])
greedy_action_index = np.argwhere(random_uniform >= epsilon)
if np.shape(greedy_action_index)[0] > 0:
q = sess.run(target_network.q,
feed_dict={
target_network.Obs:
np.array(obs)[tuple(
np.transpose(greedy_action_index))] /
255.0
})
action[tuple(np.transpose(greedy_action_index))] = np.argmax(
q, axis=1)
# Interact with the environment.
obs_next, reward, done, _ = par_env.step(action)
episodic_reward += reward
for i in range(NUM_ENV):
if done[i]:
list_episodic_reward.append((step, episodic_reward[i]))
delta_time = int(time.time() - start_time)
print("Step ",
step,
"/",
TOTAL_STEP,
": Time spent = ",
delta_time,
" s , Episodic reward = ",
episodic_reward[i],
sep="")
episodic_reward[i] = 0
# Store data.
for i in range(NUM_ENV):
data = [obs[i], action[i], reward[i], done[i], obs_next[i]]
replay_buffer.append(data)
# Update observation.
obs = obs_next
# Learning rate.
lr = LEARNING_RATE[-1]
for i in range(len(LR_ANNEAL_STEP)):
if step < LR_ANNEAL_STEP[i]:
lr = LEARNING_RATE[i]
break
for _ in range(NUM_ENV):
# Sample training data from the replay buffer.
batch_data = replay_buffer.sample(BATCH_SIZE)
batch_obs, batch_action, batch_reward, batch_done, batch_obs_next = \
[np.array([batch_data[j][i] for j in range(BATCH_SIZE)]) for i in range(len(batch_data[0]))]
# Compute the target Q value:
# target_q = r + (1 - done) * REWARD_DISCOUNT * max[q(s', a)]
q_next = sess.run(
target_network.q,
feed_dict={target_network.Obs: batch_obs_next / 255.0})
max_qnext = np.amax(q_next, axis=1)
target_q = batch_reward + (
1 - batch_done) * REWARD_DISCOUNT * max_qnext
# Update the main network.
sess.run(main_network.train_op,
feed_dict={
main_network.Obs: batch_obs / 255.0,
main_network.Action: batch_action,
main_network.TargetQ: target_q,
main_network.LR: lr
})
# Save the main network periodically.
if step >= next_autosave_step:
saver.save(sess, SAVE_DIR + file_name)
next_autosave_step += AUTOSAVE_STEP
# Update step.
step += NUM_ENV
# Save the main network.
saver = tf.train.Saver(var_list=main_network.variables)
saver.save(sess, SAVE_DIR + file_name)
total_time = int(time.time() - start_time)
print("Training finished in ", total_time, " s.", sep="")
# Close the environment.
par_env.close()
# Plot the episodic reward against training step curve.
plot_episodic_reward(list_episodic_reward, file_name)
class DQNAgent:
def __init__(self,
env,
QNetworkClass,
minibatch_size_limit=32,
replay_memory_size=1000000,
history_length=4,
target_update_step=10000,
discount_factor=0.99,
learning_rate=0.00025,
initial_exploration=1.0,
final_exploration=0.1,
final_exploration_frame=1000000,
replay_start_size=50000,
log_dir=None):
self.env = env
self.new_episode()
self.n_actions = env.action_space.n
self.n_states = env.observation_space.shape[0]
self.n_input = self.n_states * history_length
#setup tensorflow
self.sess = tf.Session()
self.q = QNetworkClass("q_orig", self.n_input, self.n_actions,
learning_rate)
self.q_hat = QNetworkClass("q_hat", self.n_input, self.n_actions)
self.total_reward = tf.placeholder(tf.float32)
tf.summary.scalar("TotalReward", self.total_reward)
self.sess.run(tf.global_variables_initializer())
self.saver = tf.train.Saver(max_to_keep=0)
self.summary = tf.summary.merge_all()
if tf.gfile.Exists(log_dir):
tf.gfile.DeleteRecursively(log_dir)
tf.gfile.MakeDirs(log_dir)
if log_dir:
self.log_writer = tf.summary.FileWriter(log_dir,
self.sess.graph,
flush_secs=20)
else:
self.log_writer = None
#store parameter
self.minibatch_size_limit = minibatch_size_limit
self.gamma = discount_factor
self.replay_buffer = ReplayBuffer(replay_memory_size)
self.target_update_step = target_update_step
self.step = 0
self.phi_t = np.zeros((1, self.n_input)). \
astype(np.float32)
self.epsilon = initial_exploration
self.replay_start_size = replay_start_size
self.final_exploration = final_exploration
self.epsilon_step = (initial_exploration - final_exploration) \
/ final_exploration_frame
def act(self):
a_t = np.argmax(self._perform_q(self.phi_t))
s_t_1, r_t, terminal, _ = self.env.step(a_t)
phi_t_1 = np.hstack(
(self.phi_t[:, self.n_states:], s_t_1.astype(np.float32).reshape(
(1, -1))))
self.phi_t = phi_t_1
return a_t, s_t_1, r_t, terminal, {'epsilon': self.epsilon}
def act_and_train(self):
# With probability epsilon select a random action
# Otherwise select acionn from Q network
if random.random() <= self.epsilon:
a_t = random.randint(0, self.n_actions - 1)
else:
a_t = np.argmax(self._perform_q(self.phi_t))
# Execute action in emulator and observe reward and state
s_t_1, r_t, terminal, _ = self.env.step(a_t)
phi_t_1 = np.hstack(
(self.phi_t[:, self.n_states:], s_t_1.astype(np.float32).reshape(
(1, -1))))
# Store transition
self.replay_buffer.append([self.phi_t, a_t, r_t, phi_t_1, terminal])
self.phi_t = phi_t_1
# After specified steps start experienced replay to update Q network
if self.step >= self.replay_start_size:
# sample minibatch
y = np.zeros((0, self.n_actions))
phi = np.zeros((0, self.n_input))
minibatch = self.replay_buffer.sample(self.minibatch_size_limit)
for phi_j, a_j, r_j, phi_j_1, terminal_j in minibatch:
y_j = self._perform_q(phi_j)[0]
if terminal_j:
y_j[a_j] = r_j
else:
# DDQN
a = np.argmax(self._perform_q(phi_j_1))
y_j[a_j] = r_j + self.gamma * self._perform_q_hat(phi_j_1)[
0, a]
# DQN
#y_j[a_j] = r_j + self.gamma * np.max(self._perform_q_hat(phi_j_1))
y = np.vstack((y, y_j))
phi = np.vstack((phi, phi_j))
# Update Q network #TODO comversion to numpy array should be done in q network class
self._train_q(np.array(phi, dtype=np.float32),
np.array(y, dtype=np.float32))
# Update target Q network every specific steps
if self.step % self.target_update_step == 0:
self._update_q_hat()
# Update Exploration ratio
if self.epsilon > self.final_exploration:
self.epsilon -= self.epsilon_step
self.step += 1
return a_t, s_t_1, r_t, terminal, {'epsilon': self.epsilon}
def new_episode(self):
self.env.reset()
def write_summary(self, episode, total_reward):
summary = self.sess.run(
self.summary,
feed_dict={self.total_reward: np.array(total_reward)})
self.log_writer.add_summary(summary, episode)
def save_variables(self, step, model_dir=None):
if model_dir:
if not tf.gfile.Exists(model_dir):
tf.gfile.MakeDirs(model_dir)
full_path = os.path.join(model_dir, 'model')
self.saver.save(self.sess, full_path, global_step=step)
print('save model to ' + full_path)
def restore_variables(self, model_path=None):
if model_path:
self.saver.restore(self.sess, model_path)
print('Restore model from ' + model_path)
def _perform_q(self, x):
return self.q(self.sess, x)
def _perform_q_hat(self, x):
return self.q_hat(self.sess, x)
def _train_q(self, x, t):
self.q.train(self.sess, x, t)
def _update_q_hat(self):
self.q_hat.set_variables(self.sess, self.q.read_variables(self.sess))
def __del__(self):
if self.log_writer:
self.log_writer.close()
def ddpg_training(plt, args=None):
print("Using {} environment.".format(env.spec.id))
print('observation space {} '.format(env.observation_space))
print('action space {} high {} low {}'.format(env.action_space,
env.action_space.high,
env.action_space.low))
critic.summary()
actor.summary()
# create target networks
criticp = keras.models.clone_model(critic)
criticp.compile(optimizer='adam', loss='mse')
criticp.set_weights(critic.get_weights())
actorp = keras.models.clone_model(actor)
actorp.compile(optimizer='adam', loss='mse')
actorp.set_weights(actor.get_weights())
#allocate replay buffers
replay_buffer = ReplayBuffer(Config.buffer_length,
env.observation_space.shape,
env.action_space.shape)
#set up the plotting - imports must be here to enable matplotlib.use()
plt.ion()
from util import ToggleFlags
from display import display_progress
flags = ToggleFlags(args)
flags.add('noise', True)
flags.add('render', False)
flags.add('clear')
flags.add('viz', True)
flags.add('movie', True)
flags.add('trails', False)
RewardsHistory = []
Rdfr = np.zeros((Config.buffer_length, ))
episodes = []
epoches = int(Config.buffer_length / Config.batch_size)
for i_episode in range(Config.max_episodes):
observation1 = env.reset()
episode = []
RewardsHistory.append(0)
for t in range(Config.max_steps):
episode.append(replay_buffer.index)
#take step using the action based on actor
observation = observation1
action = actor.predict(np.expand_dims(observation, axis=0))[0]
if flags.noise: action += exploration.sample()
observation1, reward, done, _ = env.step(action)
if len(observation1.shape) > 1 and observation1.shape[-1] == 1:
observation1 = np.squeeze(observation1, axis=-1)
# insert into replay buffer
replay_buffer.append(observation, action, reward, observation1,
done)
#book keeping
RewardsHistory[-1] += reward
if flags.render: env.render()
if done: break
if replay_buffer.index == 0:
episodes = [] #forget old episodes to avoid wraparound
if replay_buffer.ready:
for epoch in range(epoches):
sample = replay_buffer.sample(Config.batch_size)
# train critic on discounted future rewards
yq = (replay_buffer.reward[sample] + Config.gamma *
(criticp.predict([
replay_buffer.obs1[sample],
actorp.predict(replay_buffer.obs1[sample])
])[:, 0]))
critic.train_on_batch(
[replay_buffer.obs[sample], replay_buffer.action[sample]],
yq)
# train the actor to maximize Q
if i_episode > Config.warmup:
actor.train_on_batch(
replay_buffer.obs[sample],
np.zeros((Config.batch_size, *actor.output_shape[1:])))
# update target networks
criticp.set_weights([
Config.tau * w + (1 - Config.tau) * wp for wp, w in zip(
criticp.get_weights(), critic.get_weights())
])
actorp.set_weights([
Config.tau * w + (1 - Config.tau) * wp
for wp, w in zip(actorp.get_weights(), actor.get_weights())
])
if flags.clear:
episodes = []
episodes.append(episode)
if len(episode) > 2 and Config.show_progress:
display_progress(replay_buffer, flags, plt, RewardsHistory, Rdfr,
env, episode, episodes, i_episode, actor, actorp,
critic, criticp)
if Config.save_model and i_episode % 100 == 0:
print("Save models")
actor.save('actor.h5')
critic.save('critic.h5')
print("Episode {} finished after {} timesteps total reward={}".format(
i_episode, t + 1, RewardsHistory[-1]))
class Trainer_Clipped(object):
def __init__(self, agent, env):
self.agent = agent
self.env = env
self.seed = random.randint(0, 20180818)
self.optimizer1 = optim.Adam(agent.parameters1, lr=LEARNING_RATE)
self.optimizer2 = optim.Adam(agent.parameters2, lr=LEARNING_RATE)
self.buffer = ReplayBuffer(capacity=CAPACITY)
self.total_step = 0
def run(self, device='cpu', buffer=False, explore=False):
"""Run an episode and buffer"""
self.env.reset()
self.env.env.seed(self.seed)
state = self.env.get_screen()
states = np.asarray([state for _ in range(4)]) # shape (4, 84, 84)
step = 0
accumulated_reward = 0
while True:
action = self.agent.make_action1(torch.Tensor([states]).to(device), explore=explore)
state_next, reward, done = self.env.step(action)
states_next = np.concatenate([states[1:, :, :], [state_next]], axis=0)
step += 1
accumulated_reward += reward
if buffer:
self.buffer.append(states, action, reward, states_next, done)
states = states_next
if explore == False:
# Render the screen to see training
self.env.env.render()
if done:
break
return accumulated_reward, step
def _fill_buffer(self, num, device='cpu'):
start = time.time()
while self.buffer.size < num:
self.run(device, buffer=True, explore=True)
print('Fill buffer: {}/{}'.format(self.buffer.size, self.buffer.capacity))
print('Filling buffer takes {:.3f} seconds'.format(time.time() - start))
def train(self, device='cpu'):
# Sp
self.env.change_record_every_episode(100000000)
self._fill_buffer(OBSERV, device)
if self.env.record_every_episode:
self.env.change_record_every_episode(self.env.record_every_episode)
episode = 0
total_accumulated_rewards = []
while 'training' != 'converge':
#while episode <= 500:
self.env.reset()
state = self.env.get_screen()
states = np.asarray([state for _ in range(4)]) # shape (4, 84, 84)
step_prev = self.total_step
accumulated_reward = 0
done = False
n_flap = 0
n_none = 0
while not done:
#### --------------------
#### Add a new transition
# Calculates actions based on e-greedy
action = self.agent.make_action1(torch.Tensor([states]).to(device), explore=True)
state_next, reward, done = self.env.step(action)
states_next = np.concatenate([states[1:, :, :], [state_next]], axis=0)
self.total_step += 1
accumulated_reward += reward
self.buffer.append(states, action, reward, states_next, done)
states = states_next
#### --------------------
#### --------------------
#### Training step
start = time.time()
# prepare training data
minibatch = self.buffer.sample(n_sample=BATCH)
_states = [b[0] for b in minibatch]
_actions = [b[1] for b in minibatch]
_rewards = [b[2] for b in minibatch]
_states_next = [b[3] for b in minibatch]
_dones = [b[4] for b in minibatch]
ys = []
for i in range(len(minibatch)):
terminal = _dones[i]
r = _rewards[i]
if terminal:
y = r
else:
# Double DQN
# Nessa parte usamos a e_greedy para tomar a ação, ou sempre nos baseamos no argmax da propria rede?
s_t_next = torch.Tensor([_states_next[i]]).to(device)
# Calculates de action with self.net1
online_act1 = self.agent.make_action1(s_t_next)
# Calculates de max value for online_act1
max_value1 = self.agent.Q1(s_t_next, online_act1, target=True)
# Calculates de action with self.net2
# online_act2 = self.agent.make_action2(s_t_next)
# Calculates de max value for online_act2
max_value2 = self.agent.Q2(s_t_next, online_act1, target=True)
# Index 0 network1, Index 1 network 2
max_values = [max_value1,max_value2]
index = np.argmin(np.asarray(max_values))
# Calculates the total reward with the target network using the action calculated form the other network (self.net)
# Both network1 and network 2 shares the same target
y = r + DISCOUNT * max_values[index]
ys.append(y)
ys = torch.Tensor(ys).to(device)
# Render the screen to see training
#self.env.env.render()
# Apply gradient on network 1
#print('Traning network 1...')
self.optimizer1.zero_grad()
input = torch.Tensor(_states).to(device)
output1 = self.agent.net1(input) # shape (BATCH, 2)
actions_one_hot = np.zeros([BATCH, 2])
actions_one_hot[np.arange(BATCH), _actions] = 1.0
actions_one_hot = torch.Tensor(actions_one_hot).to(device)
ys_hat = (output1 * actions_one_hot).sum(dim=1)
loss1 = F.smooth_l1_loss(ys_hat, ys)
loss1.backward()
self.optimizer1.step()
# Apply gradient on network 2
#print('Traning network 2...')
self.optimizer2.zero_grad()
input = torch.Tensor(_states).to(device)
output2 = self.agent.net2(input) # shape (BATCH, 2)
actions_one_hot = np.zeros([BATCH, 2])
actions_one_hot[np.arange(BATCH), _actions] = 1.0
actions_one_hot = torch.Tensor(actions_one_hot).to(device)
ys_hat = (output2 * actions_one_hot).sum(dim=1)
loss2 = F.smooth_l1_loss(ys_hat, ys)
loss2.backward()
self.optimizer2.step()
#### --------------------
# logging
if action == 0:
n_flap += 1
else:
n_none += 1
if done and self.total_step % LOGGING_CYCLE == 0:
log = '[{}, {}] alive: {}, reward: {}, F/N: {}/{}, loss1: {:.4f}, loss2: {:.4f}, epsilon: {:.4f}, time: {:.3f}, network: Q{}'.format(
episode,
self.total_step,
self.total_step - step_prev,
accumulated_reward,
n_flap,
n_none,
loss1.item(),
loss2.item(),
self.agent.epsilon,
time.time() - start,
index+1)
print(log)
self.agent.update_epsilon()
if self.total_step % TARGET_UPDATE_CYCLE == 0:
#print('[Update target network]')
self.agent.update_targets()
if self.total_step % SAVE_MODEL_CYCLE == 0:
print('[Save model]')
self.save(id=self.total_step)
if len(total_accumulated_rewards) > 0:
self.save_graph_rewards(episode, total_accumulated_rewards)
# Keep the accumulated_reward for all the episodes
total_accumulated_rewards.append(accumulated_reward)
episode += 1
def save_graph_rewards(self, episodes, total_accumulated_rewards):
#fig = plt.figure()
fig, ax = plt.subplots(figsize=(5, 5))
plt.xlabel('Episodes')
plt.ylabel('Total reward')
episodes_x = np.linspace(0, episodes, episodes)
ax.plot(episodes_x, np.ones(episodes)*0, color='red', label='ref')
ax.plot(episodes_x, total_accumulated_rewards, color='turquoise', label='real')
ax.legend(loc='lower left')
if not os.path.exists('tmp/graphs'):
os.makedirs('tmp/graphs')
plt.savefig(f'tmp/graphs/Total_rewards_ep={episodes}.png')
plt.close()
def save(self, id):
filename = 'tmp/models1/model_{}.pth.tar'.format(id)
dirpath = os.path.dirname(filename)
if not os.path.exists(dirpath):
os.mkdir(dirpath)
checkpoint = {
'net': self.agent.net1.state_dict(),
'target': self.agent.target1.state_dict(),
'optimizer': self.optimizer1.state_dict(),
'total_step': self.total_step
}
torch.save(checkpoint, filename)
# Only saves Q1
filename = 'tmp/models2/model_{}.pth.tar'.format(id)
dirpath = os.path.dirname(filename)
if not os.path.exists(dirpath):
os.mkdir(dirpath)
checkpoint = {
'net': self.agent.net2.state_dict(),
'target': self.agent.target2.state_dict(),
'optimizer': self.optimizer2.state_dict(),
'total_step': self.total_step
}
torch.save(checkpoint, filename)
def load(self, filename, device='cpu'):
# FAZER AJUSTES DEPOIS PARA EVALUATE
# LEMBRAR DO USO DE DUAS REDES, LOGO DOIS OPTIMIZERS
ckpt = torch.load(filename, map_location=lambda storage, loc: storage)
## Deal with the missing of bn.num_batches_tracked
net_new = OrderedDict()
tar_new = OrderedDict()
for k, v in ckpt['net'].items():
for _k, _v in self.agent.net1.state_dict().items():
if k == _k:
net_new[k] = v
for k, v in ckpt['target'].items():
for _k, _v in self.agent.target1.state_dict().items():
if k == _k:
tar_new[k] = v
self.agent.net1.load_state_dict(net_new)
self.agent.target1.load_state_dict(tar_new)
## -----------------------------------------------
self.optimizer1.load_state_dict(ckpt['optimizer'])
self.total_step = ckpt['total_step']
def train(
args,
log_dir,
seed,
env_id,
replay_buffer_len,
memory_len,
cores,
trees,
p, # #nn items; reported number is 50
embed_size, # embedding vector length; reported number is ?
gamma, # discount value; reported number is 0.99
N, # N-step bootstrapping; reported number is 100
update_period, # the reported number is 16//4 = 4
batch_size, # the reported number is 32
init_eps,
delta,
lr,
q_lr,
epsilon,
min_epsilon,
epsilon_decay, #exponential decaying factor
eval_period,
save_period,
**kwargs):
# another hyper params
_gw = np.array([gamma**i for i in range(N)])
# expr setting
Path(log_dir).mkdir(parents=True, exist_ok='temp' in log_dir)
with open(os.path.join(log_dir, 'args.txt'), 'w') as f:
f.write(str(args))
np.random.seed(seed)
tf.random.set_random_seed(seed)
# Env
env = wrap_deepmind(make_atari(env_id),
episode_life=False,
clip_rewards=False,
frame_stack=True,
scale=False)
num_ac = env.action_space.n
# ReplayBuffer
replay_buffer = ReplayBuffer(replay_buffer_len)
# Neural Episodic Controller
nec = NEC(
num_ac,
p,
embed_size,
delta,
lr,
q_lr,
dnd_params={
'maxlen': memory_len,
'seed': seed,
'cores': cores, # #cores for KD-Tree
'trees': trees, # #trees for KD-Tree
})
sess = tf.InteractiveSession()
sess.run(tf.global_variables_initializer())
summary_writer = tf.summary.FileWriter(os.path.join(
log_dir, 'tensorboard'))
def _write_scalar(it, it_type, tag, value):
summary = tf.Summary(value=[
tf.Summary.Value(tag=f"{tag}/{it_type}", simple_value=value)
])
summary_writer.add_summary(summary, global_step=it)
####### Setup Done
num_steps = 0
num_updates = 0
# Fill up the memory and replay buffer with a random policy
for ep in range(init_eps):
ob = env.reset()
obs, acs, rewards = [ob], [], []
for _ in itertools.count():
ac = np.random.randint(num_ac)
ob, r, done, _ = env.step(ac)
obs.append(ob)
acs.append(ac)
rewards.append(r)
num_steps += 1
if done:
break
Rs = [
np.sum(_gw[:len(rewards[i:i + N])] * rewards[i:i + N])
for i in range(len(rewards))
]
obs = np.array(obs)
es = nec._embed(obs)
for ob, e, a, R in zip(obs, es, acs, Rs):
nec.append(e, a, R)
replay_buffer.append(ob, a, R)
# Training!
next_save_steps = save_period
try:
for ep in itertools.count(start=init_eps):
ob = env.reset()
obs, acs, rewards, es, Vs = [ob], [], [], [], []
for t in itertools.count():
# Epsilon Greedy Policy
ac, (e, V) = nec.policy(ob)
if np.random.random() < epsilon:
ac = np.random.randint(num_ac)
ob, r, done, _ = env.step(ac)
obs.append(ob)
acs.append(ac)
rewards.append(r)
es.append(e)
Vs.append(V)
num_steps += 1
# Train on random minibatch from replacy buffer
if num_steps % update_period == 0:
b_s, b_a, b_R = replay_buffer.sample(batch_size)
loss = nec.update(b_s, b_a, b_R)
num_updates += 1
if num_updates % 100 == 0:
print(f'[{num_steps*4}/{num_updates}] loss: {loss}')
_write_scalar(it=num_steps * 4,
it_type='per_frames',
tag='loss',
value=loss)
_write_scalar(it=num_updates,
it_type='per_updates',
tag='loss',
value=loss)
_write_scalar(it=num_steps * 4,
it_type='per_frames',
tag='num_updates',
value=num_updates)
if t >= N:
# N-Step Bootstrapping
# TODO: implement the efficient version
R = np.sum(
_gw * rewards[t - N:t]) + (gamma**N) * Vs[t] #R_{t-N}
# append to memory
nec.append(es[t - N], acs[t - N], R)
# append to replay buffer
replay_buffer.append(obs[t - N], acs[t - N], R)
if done:
break
print(
f'Episode {ep} -- Ep Len: {len(obs)} Acc Reward: {np.sum(rewards)} current epsilon: {epsilon}'
)
_write_scalar(tag='ep',
value=ep,
it=num_steps * 4,
it_type='per_frames')
_write_scalar(tag='ep_len',
value=len(obs),
it=num_steps * 4,
it_type='per_frames')
_write_scalar(tag='ep_len',
value=len(obs),
it=ep,
it_type='per_episode')
_write_scalar(tag='eps_reward',
value=np.sum(rewards),
it=num_steps * 4,
it_type='per_frames')
_write_scalar(tag='eps_reward',
value=np.sum(rewards),
it=ep,
it_type='per_episode')
_write_scalar(tag='epsilon',
value=epsilon,
it=ep,
it_type='per_episode')
# Remaining items which is not bootstrappable; partial trajectory close to end of episode
# Append to memory & replay buffer
for t in range(len(rewards) - N, len(rewards)):
R = np.sum([
gamma**(i - t) * rewards[i]
for i in range(t, len(rewards))
])
nec.append(es[t], acs[t], R)
replay_buffer.append(obs[t], acs[t], R)
# epsilon decay
epsilon = max(min_epsilon, epsilon * epsilon_decay)
# Save Model & Evaluatate
if ep % eval_period == 0:
try:
ep_len, eps_reward = _run(env,
nec,
os.path.join(
log_dir, f'test-{ep}.mp4'),
maxlen=len(obs) * 3)
print(
f'Evaluation -- Episode {ep} -- Ep Len: {ep_len} Acc Reward: {eps_reward}'
)
_write_scalar(tag='ep_len',
value=ep_len,
it=ep,
it_type='per_episode_eval')
_write_scalar(tag='eps_reward',
value=eps_reward,
it=ep,
it_type='per_episode_eval')
except RuntimeError as e:
print(e)
print('Evaluation -- Skipped')
if num_steps >= next_save_steps:
nec.save(log_dir, it=next_save_steps *
4) # iteration number -- num frames
next_save_steps += save_period
except KeyboardInterrupt:
print('saving... please wait...')
nec.save(log_dir)
print('done!')
max_steps = 500
batch_size = 64
frame_idx = 0
latest_10_returns = deque(maxlen=10)
while True:
state = env.reset()
ou_noise.reset()
episode_reward = 0
loss_act, loss_cri = 0, 0
for t in range(max_steps):
action = act_net.get_action([state])
action = ou_noise.get_action(action, t)
next_state, reward, done, _ = env.step(action)
replay_buffer.append(state, action, reward, next_state, done)
state = next_state
frame_idx += 1
if len(replay_buffer) > batch_size:
loss_act, loss_cri = ddpg_update(batch_size)
episode_reward += reward
if done:
break
latest_10_returns.append(episode_reward)
mean_return = np.mean(latest_10_returns)
if frame_idx % 500 == 0:
print(
'Frame_idx: %d, loss_act: %.3f, loss_cri： %.3f, mean_return: %.3f'
% (frame_idx, loss_act, loss_cri, float(mean_return)))
if mean_return > -300:
torch.save(act_net.state_dict(), identity + '_act.pth')
class Brain:
"""
The Brain that contains all the models
"""
def __init__(self, num_states, num_actions, action_high, action_low, gamma=GAMMA, rho=RHO,
std_dev=STD_DEV):
# initialize everything
self.actor_network = ActorNetwork(num_states, num_actions, action_high)
self.critic_network = CriticNetwork(num_states, num_actions, action_high)
self.actor_target = ActorNetwork(num_states, num_actions, action_high)
self.critic_target = CriticNetwork(num_states, num_actions, action_high)
# Making the weights equal initially
self.actor_target.set_weights(self.actor_network.get_weights())
self.critic_target.set_weights(self.critic_network.get_weights())
self.buffer = ReplayBuffer(BUFFER_SIZE, BATCH_SIZE)
self.gamma = tf.constant(gamma)
self.rho = rho
self.action_high = action_high
self.action_low = action_low
self.num_states = num_states
self.num_actions = num_actions
self.noise = OUActionNoise(mean=np.zeros(1), std_deviation=float(std_dev) * np.ones(1))
# optimizers
self.critic_optimizer = tf.keras.optimizers.Adam(CRITIC_LR, amsgrad=True)
self.actor_optimizer = tf.keras.optimizers.Adam(ACTOR_LR, amsgrad=True)
# temporary variable for side effects
self.cur_action = None
# define update weights with tf.function for improved performance
@tf.function(
input_signature=[
tf.TensorSpec(shape=(None, num_states), dtype=tf.float32),
tf.TensorSpec(shape=(None, num_actions), dtype=tf.float32),
tf.TensorSpec(shape=(None, 1), dtype=tf.float32),
tf.TensorSpec(shape=(None, num_states), dtype=tf.float32),
tf.TensorSpec(shape=(None, 1), dtype=tf.float32),
])
def update_weights(s, a, r, sn, d):
"""
Function to update weights with optimizer
"""
with tf.GradientTape() as tape:
# define target
y = r + self.gamma * (1 - d) * self.critic_target([sn, self.actor_target(sn)])
# define the delta Q
critic_loss = tf.math.reduce_mean(tf.math.abs(y - self.critic_network([s, a])))
critic_grad = tape.gradient(critic_loss, self.critic_network.trainable_variables)
self.critic_optimizer.apply_gradients(
zip(critic_grad, self.critic_network.trainable_variables))
with tf.GradientTape() as tape:
# define the delta mu
actor_loss = -tf.math.reduce_mean(self.critic_network([s, self.actor_network(s)]))
actor_grad = tape.gradient(actor_loss, self.actor_network.trainable_variables)
self.actor_optimizer.apply_gradients(
zip(actor_grad, self.actor_network.trainable_variables))
return critic_loss, actor_loss
self.update_weights = update_weights
def act(self, state, _notrandom=True, noise=True):
"""
Run action by the actor network
Args:
state: the current state
_notrandom: whether greedy is used
noise: whether noise is to be added to the result action (this improves exploration)
Returns:
the resulting action
"""
self.cur_action = (self.actor_network(state)[0].numpy()
if _notrandom
else (np.random.uniform(self.action_low, self.action_high,
self.num_actions)) +
(self.noise() if noise else 0))
self.cur_action = np.clip(self.cur_action, self.action_low, self.action_high)
maxQ = max(self.critic_network([state, self.actor_network(state)])).numpy()[0]
return self.cur_action, maxQ
def remember(self, prev_state, reward, state, done):
"""
Store states, reward, done value to the buffer
"""
# record it in the buffer based on its reward
self.buffer.append(prev_state, self.cur_action, reward, state, done)
def learn(self, entry):
"""
Run update for all networks (for training)
"""
s, a, r, sn, d = zip(*entry)
c_l, a_l = self.update_weights(tf.convert_to_tensor(s, dtype=tf.float32),
tf.convert_to_tensor(a, dtype=tf.float32),
tf.convert_to_tensor(r, dtype=tf.float32),
tf.convert_to_tensor(sn, dtype=tf.float32),
tf.convert_to_tensor(d, dtype=tf.float32))
update_target(self.actor_target, self.actor_network, self.rho)
update_target(self.critic_target, self.critic_network, self.rho)
return c_l, a_l
def save_weights(self, path):
"""
Save weights to `path`
"""
parent_dir = os.path.dirname(path)
if not os.path.exists(parent_dir):
os.makedirs(parent_dir)
# Save the weights
self.actor_network.save_weights(path + "an.h5")
self.critic_network.save_weights(path + "cn.h5")
self.critic_target.save_weights(path + "ct.h5")
self.actor_target.save_weights(path + "at.h5")
def load_weights(self, path):
"""
Load weights from path
"""
try:
self.actor_network.load_weights(path + "an.h5")
self.critic_network.load_weights(path + "cn.h5")
self.critic_target.load_weights(path + "ct.h5")
self.actor_target.load_weights(path + "at.h5")
except OSError as err:
logging.warning("Weights files cannot be found, %s", err)