def sarsa(self, num_iter, alpha, epsilon):
# 定义行为值函数为字典，并初始化为0
qfunc = dict()
for s in self.states:
for a in self.actions:
qfunc['%d_%s' % (s, a)] = 0.0
# 迭代探索环境
for _ in range(num_iter):
# 随机初始化初始状态
state = self.states[int(random.random() * len(self.states))]
action = self.actions[int(random.random() * len(self.actions))]
is_terminal, count = False, 0
while False == is_terminal and count < 100:
policy = "%d_%s" % (state, action)
is_terminal, next_state, reward = self.env.transform1(
state, action)
# next_state处的最大动作，通过epsilon_greedy得出，这里是和qLearning的区别。
next_action = epsilon_greedy(qfunc, next_state, self.actions,
epsilon)
next_policy = "%d_%s" % (next_state, next_action)
# 利用qlearning算法更新值函数, 评估策略是greedy，因为计算当前值函数的下一个策略的action是由greedy得出的。
qfunc[policy] = qfunc[policy] + alpha * (
reward + self.gamma * qfunc[next_policy] - qfunc[policy])
# 转到下一个状态, 行动策略（探索策略）为epsilon_greedy.
state, action = next_state, epsilon_greedy(
qfunc, next_state, self.actions, epsilon)
count += 1
return qfunc
def SARSA(env, num_episodes, gamma, lr, e):
"""
Implement the SARSA algorithm following epsilon-greedy exploration.
Inputs:
env: OpenAI Gym environment
env.P: dictionary
P[state][action] are tuples of tuples tuples with (probability, nextstate, reward, terminal)
probability: float
nextstate: int
reward: float
terminal: boolean
env.nS: int
number of states
env.nA: int
number of actions
num_episodes: int
Number of episodes of training
gamma: float
Discount factor.
lr: float
Learning rate.
e: float
Epsilon value used in the epsilon-greedy method.
Outputs:
Q: numpy.ndarray
State-action values
"""
Q = np.zeros((env.nS, env.nA))
#TIPS: Call function epsilon_greedy without setting the seed
# Choose the first state of each episode randomly for exploration.
############################
# YOUR CODE STARTS HERE
for i in range(num_episodes):
state = np.random.randint(0, env.nS)
statelist = []
for j in range(0, env.nS):
if j == state:
statelist.append(1)
else:
statelist.append(0)
env.isd = statelist
env.reset()
terminal = False
action = epsilon_greedy(Q[state], e)
while not terminal:
next_state, reward, terminal, prob = env.step(action)
new_action = epsilon_greedy(Q[next_state], e)
new_value = Q[state, action] + lr * (
reward + gamma * Q[next_state, new_action]) - lr * Q[state,
action]
Q[state, action] = new_value
state, action = next_state, new_action
# YOUR CODE ENDS HERE
############################
return Q
def q_learning(env,
nE,
min_epsilon=0.01,
alpha=0.01,
gamma=0.9,
lamb=0.2,
debug=False,
render=False):
"""
This method updates the state action values using the Q-learning algorithm
Q(s,a) <- Q(s,a) + alpha*(r + gamma*Q(s_prime, pi_target(s_prime))-Q(s,a))))
"""
q_pi = defaultdict(lambda: defaultdict(float))
E = defaultdict(lambda: defaultdict(float))
for e in range(nE):
s = env.reset()
epsilon = (1.0-min_epsilon) * \
(1.0-float(e)/float(nE)) + min_epsilon
done = False
if debug:
if e % 1000 == 0:
print("Completed {} episodes".format(e))
print("Epsilon {}".format(epsilon))
while not done:
if render:
env.render()
time.sleep(0.25)
a = utils.epsilon_greedy(q_pi, env, epsilon)(s)
s_prime, r, done, _ = env.step(a)
a_target = utils.epsilon_greedy(q_pi, env, 0)(s_prime)
delta = r + q_pi[s_prime][a_target] - q_pi[s][a]
E[s][a] += 1.0
for s in q_pi:
for a in q_pi[s]:
q_pi[s][a] += alpha * delta * E[s][a]
E[s][a] *= gamma * lamb
s = s_prime
return q_pi, utils.epsilon_greedy(q_pi, env, min_epsilon)
def test_procedure(shared_actor, env):
num_actions = env.action_space.n
local_actor = nets.Actor(num_actions=num_actions)
# load parameters from shared models
begin_time = time.time()
while True:
replay_buffer = utils.ReplayBuffer(size=4, frame_history_len=4)
local_actor.load_state_dict(shared_actor.state_dict())
obs = env.reset()
rewards = []
while True:
replay_buffer.store_frame(obs)
states = replay_buffer.encode_recent_observation()
states = np.expand_dims(states, axis=0) / 255.0 - .5
logits = local_actor(
Variable(torch.FloatTensor(states.astype(np.float32))))
action = utils.epsilon_greedy(logits,
num_actions=env.action_space.n,
epsilon=-1.)
obs, reward, done, info = env.step(action)
rewards.append(reward)
if done:
print("Time:{}, computer:{}, agent:{}".format(
time.time() - begin_time, sum(np.array(rewards) == -1),
sum(np.array(rewards) == 1)))
break
def decide(self, state):
eps = max(
ConfigBrain.BASE_EPSILON,
1 - (self._age /
(self.learning_frequency() * ConfigBiology.MATURITY_AGE)))
brain_actions_prob = self.brain().think(state)
action_prob = utils.normalize_dist(self.fitrah() + brain_actions_prob)
decision = utils.epsilon_greedy(eps, action_prob)
return decision
def act(self, state):
""" Choose action according to behavior policy. Returns action values, state as torch.Tensor, chosen action and probabilites
Params
======
state(array): current state
"""
q_values, state_t = self.decisionQValues(state)
action, probs = utils.epsilon_greedy(q_values, self.epsilon)
return q_values, state_t, action, probs
def sarsa(env, pi, nE, alpha=0.01, gamma=1.0, lamb=0.2, min_epsilon=0.01, debug=False, render=False):
"""Calculates Q using the on-policy SARSA method
"""
q_pi = defaultdict(lambda: defaultdict(float))
E = defaultdict(lambda: defaultdict(float))
for e in range(nE):
done = False
s = env.reset()
a = pi(s)
epsilon = (1.0 - min_epsilon) * \
(1.0 - float(e) / float(nE)) + min_epsilon
if debug:
if e % 1000 == 0:
print("Completed {} episodes".format(e))
print("Epsilon: {}".format(epsilon))
while not done:
if render:
env.render()
time.sleep(0.25)
s_prime, r, done, _ = env.step(a)
a_prime = pi(s_prime)
delta = r + q_pi[s_prime][a_prime] - q_pi[s][a]
E[s][a] += 1.0
for s in q_pi:
for a in q_pi[s]:
q_pi[s][a] += alpha * delta * E[s][a]
E[s][a] *= gamma*lamb
s = s_prime
a = a_prime
pi = utils.epsilon_greedy(q_pi, env, epsilon)
return q_pi, pi
def monte_carlo_control(pi,
env,
n,
gamma=1.0,
min_epsilon=0.01,
debug=False,
render=False):
"""
This takes a policy and performs the monte carlo update
"""
q_pi = defaultdict(lambda: defaultdict(float))
for i in range(n):
epsilon = (1.0 - min_epsilon) * \
(1 - float(i) / float(n)) + min_epsilon
if debug:
if i % 1000 == 0:
print("Finished {} episodes".format(i))
print("Epsilon: {} episodes".format(epsilon))
G, N = monte_carlo_episode(pi, env, gamma, render)
q_pi = monte_carlo_step(q_pi, N, G)
pi = utils.epsilon_greedy(q_pi, env, epsilon)
return q_pi, pi
def decide(self, state):
brain_actions_prob = self._brain.think(state)
action_prob = utils.normalize_dist(
brain_actions_prob) # + self.fitrah()
decision = utils.epsilon_greedy(0, dist=action_prob)
return decision
def learning_thread(shared_actor,
shared_critic,
shared_actor_optim,
shared_critic_optim,
exploration=LinearSchedule(1000000, 0.1),
gamma=0.99,
frame_history_len=4):
####
# 1. build a local model
# 2. synchronize the shared model parameters and local model
# 3. choose an action based on observation
# 4. take an action and get the reward and the next observation
# 5. calculate the target, and accumulate the gradient
# 6. update the global model
####
# prepare environment
env = get_env()
obs = env.reset()
num_actions = env.action_space.n
# prepare local model
local_actor = nets.Actor(num_actions=num_actions)
local_critic = nets.Critic()
# criterion
criterion = nn.MSELoss(size_average=False)
# load parameters from shared models
local_actor.load_state_dict(shared_actor.state_dict())
local_critic.load_state_dict(shared_critic.state_dict())
replay_buffer = utils.ReplayBuffer(size=4,
frame_history_len=frame_history_len)
#
idx = replay_buffer.store_frame(obs)
num_n_steps = 4
for i in itertools.count():
states = []
actions = []
next_states = []
dones = []
rewards = []
for i in range(num_n_steps):
replay_buffer.store_frame(obs)
state = replay_buffer.encode_recent_observation()
state = np.expand_dims(state, axis=0) / 255.0 - .5
state = Variable(torch.from_numpy(state.astype(np.float32)),
volatile=True)
logits = local_actor(state)
action = utils.epsilon_greedy(logits,
num_actions=num_actions,
epsilon=exploration(i))
next_obs, reward, done, info = env.step(action)
replay_buffer.store_frame(next_obs)
# store the states for get the gradients
states.append(state)
actions.append(action)
dones.append(done)
rewards.append(reward)
next_states.append(replay_buffer.encode_recent_observation())
if done:
break
# compute targets and compute the critic's gradient
# from numpy to torch.Variable
cur_states = np.array(states) / 255.0 - .5
cur_states = Variable(torch.FloatTensor(cur_states.astype(np.float32)))
next_states = np.array(next_states) / 255.0 - .5
next_states = Variable(torch.FloatTensor(next_states.astype(
np.float32)),
volatile=True)
not_done_mask = torch.FloatTensor(1 - np.array(dones).astype(
dtype=np.float32)).view_(-1, 1)
rewards = torch.FloatTensor(np.array(rewards).astype(
np.float32)).view_(-1, 1)
values = local_critic(next_states)
targets = values.data.mul_(not_done_mask).mul_(gamma)
targets = targets.add_(rewards)
num_actions=num_actions,
name='target_dqn',
learning_rate=LR)
buf = MemoryBuffer(memory_size=BUFFER_SIZE)
total_episode_rewards = []
step = 0
for episode in range(MAX_EPISODE + 1):
frame = env.reset() # LazyFrames
state = np.array(frame) # narray (84, 84, 4)
done = False
cur_episode_reward = 0
while not done: # 如果done则结束episode
if step % C == 0:
target_dqn.copy_from(dqn) # 复制参数
if epsilon_greedy(step):
action = env.action_space.sample()
else:
action = dqn.get_action(state / 255.0)
# env.render()
next_frame, reward, done, _ = env.step(action)
next_state = np.array(next_frame)
buf.push(state, action, reward, next_state, done)
state = next_state
cur_episode_reward += reward
if buf.size() > MIN_BUFFER:
states, actions, rewards, next_states, dones = buf.sample(
MINI_BATCH)
next_state_action_values = np.max(target_dqn.predict(
next_states / 255.0),
env = GridWorld(path=args.input)
num_states = env.get_num_states()
num_actions = len(env.get_action_set())
num_rows, num_cols = env.get_grid_dimensions()
# Sarsa(0):
gamma = 0.95
step_size = 0.1
num_steps_episode = []
for seed in range(args.num_seeds):
random.seed(seed)
num_steps_episode.append([])
q_values = np.zeros((num_states, num_actions))
for i in range(args.num_episodes):
s = env.get_current_state()
a = utils.epsilon_greedy(q_values[s])
num_steps = 0
while num_steps < args.max_length_ep and not env.is_terminal():
r = env.act(env.get_action_set()[a])
next_s = env.get_current_state()
next_a = utils.epsilon_greedy(q_values[next_s])
td_error = r + gamma * q_values[next_s][next_a] - q_values[s][a]
q_values[s][a] = q_values[s][a] + step_size * td_error
s = next_s
a = next_a
num_steps += 1
env.reset()
num_steps_episode[seed].append(num_steps)
def double_q_learning(env,
nE,
alpha=0.01,
gamma=0.9,
lamb=0.2,
min_epsilon=0.01,
debug=False):
"""Learns Q use the double-q learning algorithm:
choose A using Q_1 + Q_2
with p=.5 make update to Q_1 using Q_2:
Q_1(S, A) = Q_1(S, A) + alpha(r + gamma * Q_2(S', pi_t(S')) - Q_1(S, A))
with p=.5 make update to Q_2 using Q_1:
Q_2(S, A) = Q_2(S, A) + alpha(r + gamma * Q_1(S', pi_t(S')) - Q_2(S, A))
"""
q_1 = defaultdict(lambda: defaultdict(float))
q_2 = defaultdict(lambda: defaultdict(float))
E = defaultdict(lambda: defaultdict(float))
flag = True
for e in range(nE):
epsilon = (1.0 - min_epsilon) * \
(1.0 - float(e)/float(nE)) + min_epsilon
if debug:
if e % 1000 == 0:
print("Completed {} episodes".format(e))
print("Epsilon: {}".format(epsilon))
done = False
s = env.reset()
while not done:
a = utils.epsilon_greedy({s: Counter(q_1[s]) + Counter(q_2[s])},
env, epsilon)(s)
s_prime, r, done, _ = env.step(a)
if np.random.rand() < 0.5:
a_prime = utils.epsilon_greedy(q_2, env, epsilon=0)(s_prime)
delta = r + q_2[s_prime][a_prime] - q_1[s][a]
flag = True
else:
a_prime = utils.epsilon_greedy(q_1, env, epsilon=0)(s_prime)
delta = r + q_1[s_prime][a_prime] - q_2[s][a]
flag = False
E[s][a] += 1
for s in q_1:
for a in q_1[s]:
if flag:
q_1[s][a] += alpha * delta * E[s][a]
else:
q_2[s][a] += alpha * delta * E[s][a]
E[s][a] *= gamma * lamb
s = s_prime
q_pi = utils.combine_nested_dicts(q_1, q_2)
return q_pi, utils.epsilon_greedy(q_pi, env, epsilon=min_epsilon)
lamb = float(input("Lambda: "))
n_episodes = int(input("Num Episodes: "))
n_episodes_watch = int(input("Num of episodes to watch: "))
should_render = "y" == input("Render (y/n): ")
should_debug = "y" == input("Debug (y/n): ")
algo = int(
input(
"Choose algorithm:\n(1)Monte-Carlo\n(2)SARSA\n(3)Q-learning\n(4)Double Q-learning\n(5)Value Iteration\n"
))
pi = utils.initial_pi(env)
v_pi = utils_model.value_iteration(env.P, gamma=gamma)
q_v_pi = utils.state_values_to_action_values(v_pi, env)
pi_opt = utils.epsilon_greedy(q_v_pi, env, epsilon=min_epsilon)
if algo == 1:
q_pi, pi_opt = utils_monte_carlo.monte_carlo_control(
pi,
env,
n_episodes,
gamma=gamma,
min_epsilon=min_epsilon,
debug=should_debug)
elif algo == 2:
q_pi, pi_opt = utils_sarsa.sarsa(env,
pi,
n_episodes,
gamma=gamma,