def exploration(args, actor_id, param_queue):
writer = SummaryWriter(comment="-{}-eval".format(args.env))
args.clip_rewards = False
args.episode_life = False
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + actor_id
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env, args)
param = param_queue.get(block=True)
model.load_state_dict(param)
param = None
print("Received First Parameter!")
episode_reward, episode_length, episode_idx = 0, 0, 0
state = env.reset()
tb_dict = {k: [] for k in ['episode_reward', 'episode_length']}
while True:
action, _ = model.act(torch.FloatTensor(np.array(state)), 0.)
next_state, reward, done, _ = env.step(action)
state = next_state
episode_reward += reward
episode_length += 1
if done or episode_length == args.max_episode_length:
state = env.reset()
tb_dict["episode_reward"].append(episode_reward)
tb_dict["episode_length"].append(episode_length)
episode_reward = 0
episode_length = 0
episode_idx += 1
param = param_queue.get()
model.load_state_dict(param)
print(f"{datetime.now()} Updated Parameter..")
if (episode_idx *
args.num_envs_per_worker) % args.tb_interval == 0:
writer.add_scalar('evaluator/episode_reward_mean',
np.mean(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/episode_reward_max',
np.max(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/episode_reward_min',
np.min(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/episode_reward_std',
np.std(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/episode_length_mean',
np.mean(tb_dict['episode_length']),
episode_idx)
tb_dict['episode_reward'].clear()
tb_dict['episode_length'].clear()
def train(args, n_actors, batch_queue, prios_queue, param_queue):
env = wrapper.make_atari(args.env)
env = wrapper.wrap_atari_dqn(env, args)
utils.set_global_seeds(args.seed, use_torch=True)
model = DuelingDQN(env, args).to(args.device)
# model.load_state_dict(torch.load('model_30h.pth'))
tgt_model = DuelingDQN(env, args).to(args.device)
tgt_model.load_state_dict(model.state_dict())
writer = SummaryWriter(comment="-{}-learner".format(args.env))
optimizer = torch.optim.Adam(model.parameters(), args.lr)
# optimizer = torch.optim.RMSprop(model.parameters(), args.lr, alpha=0.95, eps=1.5e-7, centered=True)
check_connection(n_actors)
param_queue.put(model.state_dict())
learn_idx = 0
ts = time.time()
tb_dict = {
k: []
for k in ['loss', 'grad_norm', 'max_q', 'mean_q', 'min_q']
}
while True:
*batch, idxes = batch_queue.get()
loss, prios, q_values = utils.compute_loss(model, tgt_model, batch,
args.n_steps, args.gamma)
grad_norm = utils.update_parameters(loss, model, optimizer,
args.max_norm)
prios_queue.put((idxes, prios))
batch, idxes, prios = None, None, None
learn_idx += 1
tb_dict["loss"].append(float(loss))
tb_dict["grad_norm"].append(float(grad_norm))
tb_dict["max_q"].append(float(torch.max(q_values)))
tb_dict["mean_q"].append(float(torch.mean(q_values)))
tb_dict["min_q"].append(float(torch.min(q_values)))
if args.soft_target_update:
tau = args.tau
for p_tgt, p in zip(tgt_model.parameters(), model.parameters()):
p_tgt.data *= 1 - tau
p_tgt.data += tau * p
elif learn_idx % args.target_update_interval == 0:
print("Updating Target Network..")
tgt_model.load_state_dict(model.state_dict())
if learn_idx % args.save_interval == 0:
print("Saving Model..")
torch.save(model.state_dict(), "model.pth")
if learn_idx % args.publish_param_interval == 0:
param_queue.put(model.state_dict())
if learn_idx % args.tb_interval == 0:
bps = args.tb_interval / (time.time() - ts)
print("Step: {:8} / BPS: {:.2f}".format(learn_idx, bps))
writer.add_scalar("learner/BPS", bps, learn_idx)
for k, v in tb_dict.items():
writer.add_scalar(f'learner/{k}', np.mean(v), learn_idx)
v.clear()
ts = time.time()
def main():
args = argparser()
args.clip_rewards = False
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + 1122
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env)
model.load_state_dict(torch.load('model.pth', map_location='cpu'))
episode_reward, episode_length = 0, 0
state = env.reset()
while True:
if args.render:
env.render()
action, _ = model.act(torch.FloatTensor(np.array(state)), 0.)
next_state, reward, done, _ = env.step(action)
state = next_state
episode_reward += reward
episode_length += 1
if done:
state = env.reset()
print("Episode Length / Reward: {} / {}".format(
episode_length, episode_reward))
episode_reward = 0
episode_length = 0
def exploration(args, actor_id, n_actors, param_queue, send_queue,
req_param_queue):
writer = SummaryWriter(comment="-{}-actor{}".format(args.env, actor_id))
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + actor_id
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env)
epsilon = args.eps_base**(1 + actor_id / (n_actors - 1) * args.eps_alpha)
storage = BatchStorage(args.n_steps, args.gamma)
req_param_queue.put(True)
param = param_queue.get(block=True)
model.load_state_dict(param)
param = None
print("Received First Parameter!")
episode_reward, episode_length, episode_idx, actor_idx = 0, 0, 0, 0
state = env.reset()
while True:
action, q_values = model.act(torch.FloatTensor(np.array(state)),
epsilon)
next_state, reward, done, _ = env.step(action)
com_state = zlib.compress(np.array(state).tobytes())
storage.add(com_state, reward, action, done, q_values)
state = next_state
episode_reward += reward
episode_length += 1
actor_idx += 1
if done or episode_length == args.max_episode_length:
state = env.reset()
writer.add_scalar("actor/episode_reward", episode_reward,
episode_idx)
writer.add_scalar("actor/episode_length", episode_length,
episode_idx)
episode_reward = 0
episode_length = 0
episode_idx += 1
if actor_idx % args.update_interval == 0:
try:
req_param_queue.put(True)
param = param_queue.get(block=True)
model.load_state_dict(param)
print("Updated Parameter..")
except queue.Empty:
pass
if len(storage) == args.send_interval:
batch, prios = storage.make_batch()
send_queue.put((batch, prios))
batch, prios = None, None
storage.reset()
def main():
learner_ip = get_environ()
args = argparser()
writer = SummaryWriter(comment="-{}-eval".format(args.env))
ctx = zmq.Context()
param_socket = ctx.socket(zmq.SUB)
param_socket.setsockopt(zmq.SUBSCRIBE, b'')
param_socket.setsockopt(zmq.CONFLATE, 1)
param_socket.connect('tcp://{}:52001'.format(learner_ip))
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + 1122
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env)
data = param_socket.recv(copy=False)
param = pickle.loads(data)
model.load_state_dict(param)
print("Loaded first parameter from learner")
episode_reward, episode_length, episode_idx = 0, 0, 0
state = env.reset()
while True:
if args.render:
env.render()
action, _ = model.act(torch.FloatTensor(np.array(state)), 0.01)
next_state, reward, done, _ = env.step(action)
state = next_state
episode_reward += reward
episode_length += 1
if done:
state = env.reset()
writer.add_scalar("eval/episode_reward", episode_reward,
episode_idx)
writer.add_scalar("eval/episode_length", episode_length,
episode_idx)
episode_reward = 0
episode_length = 0
episode_idx += 1
if episode_idx % args.eval_update_interval == 0:
data = param_socket.recv(copy=False)
param = pickle.loads(data)
model.load_state_dict(param)
def main():
args = argparser()
args.clip_rewards = False
args.episode_life=False
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
# seed = args.seed + 1122
# utils.set_global_seeds(seed, use_torch=True)
# env.seed(seed)
model = DuelingDQN(env, args)
model.load_state_dict(torch.load('model.pth', map_location='cpu'))
episode_reward, episode_length = 0, 0
state = env.reset()
if not os.path.exists('plays'):
os.mkdir('plays')
video = cv2.VideoWriter('plays/tmp.avi', cv2.VideoWriter_fourcc(*'DIVX'), 15, (160, 210))
while True:
img = env.render(mode='rgb_array')
model.zero_grad()
state = torch.tensor(state[np.newaxis, :], dtype=torch.float32, requires_grad=True)
value, action = model(state).max(1)
value = value[0]
action = action[0]
value.backward()
img_gradient = np.abs(state.grad.numpy())
img_gradient = np.sum(img_gradient, axis=(0,1))
img_gradient = (img_gradient - np.min(img_gradient)) / (np.max(img_gradient) - np.min(img_gradient))
img_gradient = img_gradient.transpose()
img_gradient = cv2.resize(img_gradient, (160, 210))[...,np.newaxis]
img_gradient = img_gradient * 255
masked_img = (img + img_gradient).astype(np.uint8)
masked_img = np.clip(masked_img, 0, 255)
video.write(masked_img)
next_state, reward, done, _ = env.step(int(action))
state = next_state
episode_reward += reward
episode_length += 1
if done:
state = env.reset()
print("Episode Length / Reward: {} / {}".format(episode_length, episode_reward))
video.release()
os.rename('plays/tmp.avi', f'plays/{args.env}-{episode_reward}.avi')
video = cv2.VideoWriter('plays/tmp.avi', cv2.VideoWriter_fourcc(*'DIVX'), 15, (160, 210))
episode_reward = 0
episode_length = 0
def train(args, n_actors, batch_queue, prios_queue, param_queue):
env = wrapper.make_atari(args.env)
env = wrapper.wrap_atari_dqn(env, args)
utils.set_global_seeds(args.seed, use_torch=True)
model = DuelingDQN(env).to(args.device)
tgt_model = DuelingDQN(env).to(args.device)
tgt_model.load_state_dict(model.state_dict())
writer = SummaryWriter(comment="-{}-learner".format(args.env))
# optimizer = torch.optim.Adam(model.parameters(), args.lr)
optimizer = torch.optim.RMSprop(model.parameters(),
args.lr,
alpha=0.95,
eps=1.5e-7,
centered=True)
check_connection(n_actors)
param_queue.put(model.state_dict())
learn_idx = 0
ts = time.time()
while True:
*batch, idxes = batch_queue.get()
loss, prios = utils.compute_loss(model, tgt_model, batch, args.n_steps,
args.gamma)
grad_norm = utils.update_parameters(loss, model, optimizer,
args.max_norm)
prios_queue.put((idxes, prios))
batch, idxes, prios = None, None, None
learn_idx += 1
writer.add_scalar("learner/loss", loss, learn_idx)
writer.add_scalar("learner/grad_norm", grad_norm, learn_idx)
if learn_idx % args.target_update_interval == 0:
print("Updating Target Network..")
tgt_model.load_state_dict(model.state_dict())
if learn_idx % args.save_interval == 0:
print("Saving Model..")
torch.save(model.state_dict(), "model.pth")
if learn_idx % args.publish_param_interval == 0:
param_queue.put(model.state_dict())
if learn_idx % args.bps_interval == 0:
bps = args.bps_interval / (time.time() - ts)
print("Step: {:8} / BPS: {:.2f}".format(learn_idx, bps))
writer.add_scalar("learner/BPS", bps, learn_idx)
ts = time.time()
def exploration_eval(args, actor_id, param_queue):
writer = SummaryWriter(comment="-{}-eval".format(args.env))
args.clip_rewards = False
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + actor_id
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env)
param = param_queue.get(block=True)
model.load_state_dict(param)
param = None
print("Received First Parameter!")
episode_reward, episode_length, episode_idx = 0, 0, 0
state = env.reset()
while True:
action, _ = model.act(torch.FloatTensor(np.array(state)), 0.)
next_state, reward, done, _ = env.step(action)
state = next_state
episode_reward += reward
episode_length += 1
if done or episode_length == args.max_episode_length:
state = env.reset()
writer.add_scalar("evaluator/episode_reward", episode_reward,
episode_idx)
writer.add_scalar("evaluator/episode_length", episode_length,
episode_idx)
episode_reward = 0
episode_length = 0
episode_idx += 1
param = param_queue.get()
model.load_state_dict(param)
print("Updated Parameter..")
def observation_converter(obs) -> torch.FloatTensor:
"""
turns observation in something usable
"""
return torch.from_numpy(np.array(obs)).view(-1, 84, 84, 4).permute(
0, 3, 1, 2).type(torch.float).cuda() / 255.0
def choose_action(obs: torch.FloatTensor, network: network_conv) -> int:
return torch.argmax(network(obs.cuda())).item()
if __name__ == "__main__":
env = wrapper.wrap_deepmind(wrapper.make_atari("SpaceInvaders-v0", skip=3),
frame_stack=True,
scale=False,
episode_life=False)
net = network_conv()
"""
model_avg47.00_min0.00_max97.00_std32.99.dat
mean: 56.61
max: 103.0
min: 24.0
std: 24.74263324708993
"""
net.load_state_dict(
torch.load("model_avg47.00_min0.00_max97.00_std32.99.dat"))
def main():
plt.ion()
env = wrapper.make_atari("BreakoutNoFrameskip-v4",
monitor=True,
epidsode_capture=50) #Riverraid Frostbite Enduro
env = wrapper.wrap_deepmind(env, frame_stack=True, pytorch_img=True)
action_space = env.action_space.n
current_model = CnnDQN(env.observation_space.shape,
action_space) #env.observation_space.shape
target_model = CnnDQN(env.observation_space.shape, action_space)
if USE_CUDA:
current_model = current_model.cuda()
target_model = target_model.cuda()
#DeepMind took optim.RMSprop(current_model.parameters(), lr=0.000)
#opti = optim.Adam(current_model.parameters(), lr=0.0001)
opti = optim.RMSprop(current_model.parameters(), lr=0.0001)
loss_func = nn.SmoothL1Loss()
replay_initial = 10000
PER = PrioritizedReplay(100000,
alpha=0.6,
beta_start=0.4,
beta_frames=1000000)
num_frames = 1000000
batch_size = 32
gamma = 0.99
losses = []
all_rewards = []
episode_reward = 0
state = env.reset() # shape normal:(1,84,84) -stacked (4,84,84)
# Manuel Stacking
#state = processing(state)
#state = np.stack((state,state,state,state),axis = 1).squeeze(0)
#assert state.shape == (4,84,84)
for frame_idx in range(1, num_frames + 1):
epsilon = epsilon_by_frame(frame_idx)
action = current_model.act(state, epsilon, action_space)
next_state, reward, done, _ = env.step(action)
print("Training :: Frame {} :: Epsilon {} :: Reward {} ".format(
frame_idx, round(epsilon, 2), reward))
# Manuel Stacking
#next_state = processing(next_state)
#next_state = np.append(next_state, state[1:, :, :],axis= 0)
#assert next_state.shape == (4,84,84)
PER.push(state, action, reward, next_state, done)
state = next_state
episode_reward += reward
if done:
state = env.reset()
all_rewards.append(episode_reward)
episode_reward = 0
if PER.__len__() > replay_initial:
loss = compute_td_loss(batch_size, current_model, target_model,
opti, loss_func, gamma, PER)
losses.append(loss.item())
if frame_idx % 10000 == 0:
plot(frame_idx, all_rewards, losses)
if frame_idx % 1000 == 0:
update_target(current_model, target_model)
def actor(args, actor_id):
comm = global_dict['comm_local']
writer = SummaryWriter(log_dir=os.path.join(
args['log_dir'], f'{global_dict["unit_idx"]}-actor{actor_id}'))
num_envs = args['num_envs_per_worker']
envs = [
wrap_atari_dqn(make_atari(args['env']), args) for _ in range(num_envs)
]
if args['seed'] is not None:
seeds = args['seed'] + actor_id * num_envs + np.arange(num_envs)
utils.set_global_seeds(seeds[0], use_torch=True)
for seed, env in zip(seeds, envs):
env.seed(int(seed))
model = DuelingDQN(envs[0], args)
model = torch.jit.trace(model, torch.zeros((1, 4, 84, 84)))
_actor_id = (np.arange(num_envs) + actor_id *
num_envs) * args['num_units'] + global_dict['unit_idx']
n_actors = args['num_actors'] * num_envs * args['num_units']
epsilons = args['eps_base']**(1 + _actor_id /
(n_actors - 1) * args['eps_alpha'])
storages = [
BatchStorage(args['n_steps'], args['gamma']) for _ in range(num_envs)
]
recv_param_buf = bytearray(100 * 1024 * 1024)
recv_param_request = None
send_batch_request = None
actor_idx = 0
tb_idx = 0
episode_rewards = np.array([0] * num_envs)
episode_lengths = np.array([0] * num_envs)
states = np.array([env.reset() for env in envs])
tb_dict = {
key: []
for key in
['episode_reward', 'episode_length', 'kept_sample_percentage']
}
step_t = time.time()
inf_t = 0
sim_t = 0
def make_episilons():
return epsilons
while True:
if recv_param_request and recv_param_request.Test():
param = pickle.loads(recv_param_buf)
model.load_state_dict(param)
recv_param_request = None
if actor_idx * num_envs * n_actors <= args[
'initial_exploration_samples']: # initial random exploration
random_idx = np.arange(num_envs)
else:
random_idx, = np.where(
np.random.random(num_envs) <= make_episilons())
_t = time.time()
with torch.no_grad():
states_tensor = torch.tensor(states, dtype=torch.float32)
q_values = model(states_tensor).detach().numpy()
inf_t += time.time() - _t
actions = np.argmax(q_values, 1)
actions[random_idx] = np.random.choice(envs[0].action_space.n,
len(random_idx))
for i, (state, q_value, action, env, storage) in enumerate(
zip(states, q_values, actions, envs, storages)):
_t = time.time()
next_state, reward, done, _ = env.step(action)
try:
real_done = env.was_real_done
except:
real_done = done
sim_t += time.time() - _t
storage.add(np.array(state), reward, action, done, real_done,
q_value, _t, episode_lengths[i])
states[i] = next_state
episode_rewards[i] += reward
episode_lengths[i] += 1
if done or episode_lengths[i] == args['max_episode_length']:
states[i] = env.reset()
if real_done or episode_lengths[i] == args['max_episode_length']:
tb_idx += 1
tb_dict["episode_reward"].append(episode_rewards[i])
tb_dict["episode_length"].append(episode_lengths[i])
episode_rewards[i] = 0
episode_lengths[i] = 0
if tb_idx % args['tb_interval'] == 0:
writer.add_scalar('actor/1_episode_reward_mean',
np.mean(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/2_episode_reward_max',
np.max(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/3_episode_reward_min',
np.min(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/4_episode_reward_std',
np.std(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/5_episode_length_mean',
np.mean(tb_dict['episode_length']),
tb_idx)
tb_dict['episode_reward'].clear()
tb_dict['episode_length'].clear()
writer.add_scalar('actor/6_step_time',
(time.time() - step_t) /
np.sum(episode_lengths), tb_idx)
writer.add_scalar('actor/7_step_inference_time',
inf_t / np.sum(episode_lengths), tb_idx)
writer.add_scalar('actor/8_step_simulation_time',
sim_t / np.sum(episode_lengths), tb_idx)
writer.add_scalar(
'actor/9_kept_sample_percentage',
np.mean(tb_dict['kept_sample_percentage']), tb_idx)
inf_t = 0
sim_t = 0
step_t = time.time()
tb_dict['kept_sample_percentage'].clear()
actor_idx += 1
if actor_idx % args['update_interval'] == 0:
if recv_param_request is not None:
print(
f"actor {global_dict['unit_idx']}-{actor_id}: last recv param request is not complete!"
)
sys.stdout.flush()
else:
comm.Send(b'', dest=global_dict['rank_learner'])
recv_param_request = comm.Irecv(
buf=recv_param_buf, source=global_dict['rank_learner'])
if sum(len(storage)
for storage in storages) >= args['send_interval'] * num_envs:
batch = []
prios = []
for storage in storages:
_batch, _prios = storage.make_batch()
batch.append(_batch)
prios.append(_prios)
storage.reset()
batch = [np.concatenate(v) for v in zip(*batch)]
prios = np.concatenate(prios)
threshold = args['sample_filter_threshold']
prios_mask = prios > np.max(prios) * threshold
tb_dict['kept_sample_percentage'].append(
np.sum(prios_mask) / len(prios_mask))
prios = prios[prios_mask]
batch = [i[prios_mask] for i in batch]
data = pickle.dumps((batch, prios))
if send_batch_request is not None:
send_batch_request.wait()
send_batch_request = comm.Isend(data,
dest=global_dict['rank_replay'],
tag=utils.TAG_RECV_BATCH)
"""
calculate noisy parameters (without resamping the noise)
returns: (noisy_weight, noisy_bias)
"""
noisy_weight = self.noisy_mean_weights + self.noisy_variance_weights * self.noise_weights
noisy_bias = self.noisy_mean_bias + self.noisy_variance_bias * self.noise_bias
return (noisy_weight, noisy_bias)
def forward(self, x: torch.FloatTensor) -> torch.FloatTensor:
return self.linear(x) + F.linear(x, *self.calc_noise_parameters())
if __name__ == "__main__":
env = wrapper.wrap_deepmind(
wrapper.make_atari("SpaceInvaders-v0", skip=3),
frame_stack=True) #skip 4 in space invaders makes the lasers invisable
net = network_conv() #4 input channels, 6 discrete actions
optimizer = optim.Adam(net.parameters(), lr=0.0001)
agent = dqn_agent(net, env, optimizer, steps_before_training=0)
sync_step = 1000 #sync every n steps
for i in tqdm(range(10000000), ascii=True):
agent.step()
if (i % sync_step == 0):
agent.sync_target_network()
def evaluator(args):
comm = global_dict['comm_world']
writer = SummaryWriter(log_dir=os.path.join(args['log_dir'], 'eval'))
args['clip_rewards'] = False
args['episode_life'] = False
env = make_atari(args['env'])
env = wrap_atari_dqn(env, args)
seed = args['seed'] - 1
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
torch.set_num_threads(1)
model = DuelingDQN(env, args)
recv_param_buf = bytearray(100 * 1024 * 1024)
comm.Send(b'', dest=global_dict['rank_learner'])
comm.Recv(buf=recv_param_buf, source=global_dict['rank_learner'])
param = pickle.loads(recv_param_buf)
model.load_state_dict(param)
episode_reward, episode_length, episode_idx = 0, 0, 0
state = env.reset()
tb_dict = {k: [] for k in ['episode_reward', 'episode_length']}
while True:
action, _ = model.act(torch.FloatTensor(np.array(state)), 0.)
next_state, reward, done, _ = env.step(action)
state = next_state
episode_reward += reward
episode_length += 1
if done or episode_length == args['max_episode_length']:
state = env.reset()
tb_dict["episode_reward"].append(episode_reward)
tb_dict["episode_length"].append(episode_length)
episode_reward = 0
episode_length = 0
episode_idx += 1
comm.Send(b'', dest=global_dict['rank_learner'])
comm.Recv(buf=recv_param_buf, source=global_dict['rank_learner'])
param = pickle.loads(recv_param_buf)
model.load_state_dict(param)
if (episode_idx *
args['num_envs_per_worker']) % args['tb_interval'] == 0:
writer.add_scalar('evaluator/1_episode_reward_mean',
np.mean(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/2_episode_reward_max',
np.max(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/3_episode_reward_min',
np.min(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/4_episode_reward_std',
np.std(tb_dict['episode_reward']),
episode_idx)
writer.add_scalar('evaluator/5_episode_length_mean',
np.mean(tb_dict['episode_length']),
episode_idx)
tb_dict['episode_reward'].clear()
tb_dict['episode_length'].clear()
def exploration(args, actor_id, n_actors, replay_ip, param_queue, sample_enque, sample_deque):
ctx = zmq.Context()
batch_socket = ctx.socket(zmq.DEALER)
batch_socket.setsockopt(zmq.IDENTITY, pickle.dumps('actor-{}'.format(actor_id)))
batch_socket.connect('tcp://{}:51001'.format(replay_ip))
writer = SummaryWriter(comment="-{}-actor{}".format(args.env, actor_id))
env = make_atari(args.env)
env = wrap_atari_dqn(env, args)
seed = args.seed + actor_id
utils.set_global_seeds(seed, use_torch=True)
env.seed(seed)
model = DuelingDQN(env)
epsilon = args.eps_base ** (1 + actor_id / (n_actors - 1) * args.eps_alpha)
storage = BatchStorage(args.n_steps, args.gamma)
param = param_queue.get(block=True)
model.load_state_dict(param)
param = None
print("Received First Parameter!")
episode_reward, episode_length, episode_idx, actor_idx = 0, 0, 0, 0
state = env.reset()
while True:
action, q_values = model.act(torch.FloatTensor(np.array(state)), epsilon)
next_state, reward, done, _ = env.step(action)
storage.add(state, reward, action, done, q_values)
state = next_state
episode_reward += reward
episode_length += 1
actor_idx += 1
if done or episode_length == args.max_episode_length:
state = env.reset()
writer.add_scalar("actor/episode_reward", episode_reward, episode_idx)
writer.add_scalar("actor/episode_length", episode_length, episode_idx)
episode_reward = 0
episode_length = 0
episode_idx += 1
if actor_idx % args.update_interval == 0:
try:
param = param_queue.get(block=False)
model.load_state_dict(param)
print("Updated Parameter..")
except queue.Empty:
pass
# get sample batch after each step
while sample_enque:
idxes = sample_enque.get()
sample_deque.put(storage.get_sample_batch(idxes))
# only pass the prios and get indexes from ReplayBuffer
if len(storage) == args.send_interval:
batch, prios = storage.make_batch()
data = pickle.dumps(prios)
batch, prios = None, None
storage.reset()
batch_socket.send(data, copy=False)
_, idxes = batch_socket.recv_multipart(copy=False)
storage.add_batch(batch, idxes)
def vector_exploration(args, actor_id, n_actors, replay_ip, param_queue):
ctx = zmq.Context()
batch_socket = ctx.socket(zmq.DEALER)
batch_socket.setsockopt(zmq.IDENTITY,
pickle.dumps('actor-{}'.format(actor_id)))
batch_socket.connect('tcp://{}:51001'.format(replay_ip))
outstanding = 0
writer = SummaryWriter(comment="-{}-actor{}".format(args.env, actor_id))
num_envs = args.num_envs_per_worker
envs = [
wrap_atari_dqn(make_atari(args.env), args) for _ in range(num_envs)
]
if args.seed is not None:
seeds = args.seed + actor_id * num_envs + np.arange(num_envs)
utils.set_global_seeds(seeds[0], use_torch=True)
for seed, env in zip(seeds, envs):
env.seed(int(seed))
model = DuelingDQN(envs[0], args)
model = torch.jit.trace(model, torch.zeros((1, 4, 84, 84)))
_actor_id = np.arange(num_envs) + actor_id * num_envs
n_actors = n_actors * num_envs
epsilons = args.eps_base**(1 + _actor_id / (n_actors - 1) * args.eps_alpha)
storages = [
BatchStorage(args.n_steps, args.gamma) for _ in range(num_envs)
]
param = param_queue.get(block=True)
model.load_state_dict(param)
param = None
print("%d: Received First Parameter!" % actor_id)
actor_idx = 0
tb_idx = 0
episode_rewards = np.array([0] * num_envs)
episode_lengths = np.array([0] * num_envs)
states = np.array([env.reset() for env in envs])
tb_dict = {key: [] for key in ['episode_reward', 'episode_length']}
step_t = time.time()
ref_t = 0
sim_t = 0
while True:
if actor_idx * num_envs * n_actors <= args.initial_exploration_samples: # initial random exploration
random_idx = np.arange(num_envs)
else:
random_idx, = np.where(np.random.random(num_envs) <= epsilons)
_t = time.time()
with torch.no_grad():
states_tensor = torch.tensor(states, dtype=torch.float32)
q_values = model(states_tensor).detach().numpy()
ref_t += time.time() - _t
actions = np.argmax(q_values, 1)
actions[random_idx] = np.random.choice(envs[0].action_space.n,
len(random_idx))
for i, (state, q_value, action, env, storage) in enumerate(
zip(states, q_values, actions, envs, storages)):
_t = time.time()
next_state, reward, done, _ = env.step(action)
sim_t += time.time() - _t
storage.add(np.array(state), reward, action, done, q_value, _t,
episode_lengths[i])
states[i] = next_state
episode_rewards[i] += reward
episode_lengths[i] += 1
if done or episode_lengths[i] == args.max_episode_length:
states[i] = env.reset()
tb_idx += 1
tb_dict["episode_reward"].append(episode_rewards[i])
tb_dict["episode_length"].append(episode_lengths[i])
episode_rewards[i] = 0
episode_lengths[i] = 0
if tb_idx % args.tb_interval == 0:
writer.add_scalar('actor/episode_reward_mean',
np.mean(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/episode_reward_max',
np.max(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/episode_reward_min',
np.min(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/episode_reward_std',
np.std(tb_dict['episode_reward']),
tb_idx)
writer.add_scalar('actor/episode_length_mean',
np.mean(tb_dict['episode_length']),
tb_idx)
tb_dict['episode_reward'].clear()
tb_dict['episode_length'].clear()
writer.add_scalar('actor/step_time',
(time.time() - step_t) /
np.sum(episode_lengths), tb_idx)
writer.add_scalar('actor/step_inference_time',
ref_t / np.sum(episode_lengths), tb_idx)
writer.add_scalar('actor/step_simulation_time',
sim_t / np.sum(episode_lengths), tb_idx)
ref_t = 0
sim_t = 0
step_t = time.time()
actor_idx += 1
if actor_idx % args.update_interval == 0:
try:
param = param_queue.get(block=False)
model.load_state_dict(param)
print("%d: Updated Parameter.." % actor_id)
except queue.Empty:
pass
if sum(len(storage)
for storage in storages) >= args.send_interval * num_envs:
batch = []
prios = []
for storage in storages:
_batch, _prios = storage.make_batch()
batch.append(_batch)
prios.append(_prios)
storage.reset()
batch = [np.concatenate(v) for v in zip(*batch)]
prios = np.concatenate(prios)
data = pickle.dumps((batch, prios))
batch, prios = None, None
while outstanding >= args.max_outstanding:
batch_socket.recv()
outstanding -= 1
batch_socket.send(data, copy=False)
outstanding += 1
def learner(args):
comm_cross = global_dict['comm_cross']
hvd.init(comm=comm_cross)
torch.cuda.set_device(hvd.local_rank())
env = wrap_atari_dqn(make_atari(args['env']), args)
# utils.set_global_seeds(args['seed'], use_torch=True)
device = args['device']
model = DuelingDQN(env, args).to(device)
if os.path.exists('model.pth'):
# model.load_state_dict(torch.load('model.pth'))
pass
tgt_model = DuelingDQN(env, args).to(device)
del env
writer = SummaryWriter(log_dir=os.path.join(
args['log_dir'], f'{global_dict["unit_idx"]}-learner'))
# optimizer = torch.optim.SGD(model.parameters(), 1e-5 * args['num_units'], momentum=0.8)
# optimizer = torch.optim.RMSprop(model.parameters(), args['lr'], alpha=0.95, eps=1.5e-7, centered=True)
optimizer = torch.optim.Adam(model.parameters(),
args['lr'] * args['num_units'])
optimizer = hvd.DistributedOptimizer(
optimizer, named_parameters=model.named_parameters())
hvd.broadcast_parameters(model.state_dict(), root_rank=0)
tgt_model.load_state_dict(model.state_dict())
if args['dynamic_gradient_clip']:
grad_norm_running_mean = args['gradient_norm_running_mean']
grad_norm_lambda = args['gradient_norm_lambda']
batch_queue = queue.Queue(maxsize=3)
prios_queue = queue.Queue(maxsize=4)
param_queue = queue.Queue(maxsize=3)
threading.Thread(target=recv_batch, args=(batch_queue, )).start()
threading.Thread(target=send_prios, args=(prios_queue, )).start()
threading.Thread(target=send_param, args=(param_queue, )).start()
if global_dict['unit_idx'] == 0:
threading.Thread(target=send_param_evaluator,
args=(param_queue, )).start()
prefetcher = data_prefetcher(batch_queue, args['cuda'])
learn_idx = 0
ts = time.time()
tb_dict = {
k: []
for k in [
'loss', 'grad_norm', 'max_q', 'mean_q', 'min_q',
'batch_queue_size', 'prios_queue_size'
]
}
first_rount = True
while True:
(*batch, idxes) = prefetcher.next()
if first_rount:
print("start training")
sys.stdout.flush()
first_rount = False
loss, prios, q_values = utils.compute_loss(model, tgt_model, batch,
args['n_steps'],
args['gamma'])
optimizer.zero_grad()
loss.backward()
if args['dynamic_gradient_clip']:
grad_norm = torch.nn.utils.clip_grad_norm_(
model.parameters(),
grad_norm_running_mean * args['clipping_threshold'])
grad_norm_running_mean = grad_norm_running_mean * grad_norm_lambda + \
min(grad_norm, grad_norm_running_mean * args['clipping_threshold']) * (1-grad_norm_lambda)
else:
grad_norm = torch.norm(
torch.stack([
torch.norm(p.grad.detach(), 2) for p in model.parameters()
]), 2)
# global_prios_sum = np.array(prios_sum)
# comm_cross.Allreduce(MPI.IN_PLACE, global_prios_sum.data)
# global_prios_sum = float(global_prios_sum)
# scale = prios_sum / global_prios_sum
if args['dynamic_gradient_clip'] and args[
'dropping_threshold'] and grad_norm > grad_norm_running_mean * args[
'dropping_threshold']:
pass
else:
optimizer.step()
prios_queue.put((idxes, prios))
learn_idx += 1
tb_dict["loss"].append(float(loss))
tb_dict["grad_norm"].append(float(grad_norm))
tb_dict["max_q"].append(float(torch.max(q_values)))
tb_dict["mean_q"].append(float(torch.mean(q_values)))
tb_dict["min_q"].append(float(torch.min(q_values)))
tb_dict["batch_queue_size"].append(batch_queue.qsize())
tb_dict["prios_queue_size"].append(prios_queue.qsize())
if learn_idx % args['target_update_interval'] == 0:
tgt_model.load_state_dict(model.state_dict())
if learn_idx % args['save_interval'] == 0 and global_dict[
'unit_idx'] == 0:
torch.save(model.state_dict(), "model.pth")
if learn_idx % args['publish_param_interval'] == 0:
param_queue.put(model.state_dict())
if learn_idx % args['tb_interval'] == 0:
bps = args['tb_interval'] / (time.time() - ts)
for i, (k, v) in enumerate(tb_dict.items()):
writer.add_scalar(f'learner/{i+1}_{k}', np.mean(v), learn_idx)
v.clear()
writer.add_scalar(f"learner/{i+2}_BPS", bps, learn_idx)
ts = time.time()
def train(args, n_actors, batch_queue, prios_queue, param_queue):
"""
thread to fill parameter queue
"""
def _fill_param():
while True:
model_dict = {}
state_dict = model.state_dict()
for k, v in state_dict.items():
model_dict[k] = v.cpu().numpy()
param_queue.put(model_dict)
env = wrapper.make_atari(args.env)
env = wrapper.wrap_atari_dqn(env, args)
utils.set_global_seeds(args.seed, use_torch=True)
model = DuelingDQN(env).to(args.device)
tgt_model = DuelingDQN(env).to(args.device)
tgt_model.load_state_dict(model.state_dict())
writer = SummaryWriter(comment="-{}-learner".format(args.env))
# optimizer = torch.optim.Adam(model.parameters(), args.lr)
optimizer = torch.optim.RMSprop(model.parameters(),
args.lr,
alpha=0.95,
eps=1.5e-7,
centered=True)
model_dict = {}
state_dict = model.state_dict()
for k, v in state_dict.items():
model_dict[k] = v.cpu().numpy()
param_queue.put(model_dict)
threading.Thread(target=_fill_param).start()
learn_idx = 0
ts = time.time()
while True:
#if batch_queue.empty():
# print("batch queue size:{}".format(batch_queue.qsize()))
*batch, idxes = batch_queue.get()
loss, prios = utils.compute_loss(model, tgt_model, batch, args.n_steps,
args.gamma)
grad_norm = utils.update_parameters(loss, model, optimizer,
args.max_norm)
prios_queue.put((idxes, prios))
batch, idxes, prios = None, None, None
learn_idx += 1
if learn_idx % args.tensorboard_update_interval == 0:
writer.add_scalar("learner/loss", loss, learn_idx)
writer.add_scalar("learner/grad_norm", grad_norm, learn_idx)
if learn_idx % args.target_update_interval == 0:
print("Updating Target Network..")
tgt_model.load_state_dict(model.state_dict())
if learn_idx % args.save_interval == 0:
print("Saving Model..")
torch.save(model.state_dict(), "model.pth")
if learn_idx % args.publish_param_interval == 0:
param_queue.get()
if learn_idx % args.bps_interval == 0:
bps = args.bps_interval / (time.time() - ts)
print("Step: {:8} / BPS: {:.2f}".format(learn_idx, bps))
writer.add_scalar("learner/BPS", bps, learn_idx)
ts = time.time()