def __init__(self,
task,
exploration_mu=0,
exploration_theta=0.15,
exploration_sigma=0.2,
buffer_size=100000,
batch_size=64,
gamma=0.99,
tau=0.01,
actor_learning_rate=0.001,
critic_learning_rate=0.001):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=actor_learning_rate)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high,
learning_rate=actor_learning_rate)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size,
learning_rate=critic_learning_rate)
self.critic_target = Critic(self.state_size,
self.action_size,
learning_rate=critic_learning_rate)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = exploration_mu
self.exploration_theta = exploration_theta
self.exploration_sigma = exploration_sigma
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = buffer_size
self.batch_size = batch_size
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = gamma
self.tau = tau
def __init__(self,
actor_model,
tgt_actor_model,
critic_model,
tgt_critic_model,
action_limits,
actor_lr=1e-4,
critic_lr=1e-3,
critic_decay=1e-2,
tau=1e-3,
gamma=0.99,
process=None,
rb_size=1e6,
minibatch_size=64,
warmup_episodes=0,
episodes_trained=0,
train_scores=None,
test_scores=None,
best_train_score=-np.inf):
# Changed this to use generic env instead of Task
super().__init__(warmup_episodes, episodes_trained, train_scores,
test_scores, best_train_score)
self.actor = Actor(actor_model, critic_model, lr=actor_lr)
self.tgt_actor = Actor(tgt_actor_model, tgt_critic_model, lr=actor_lr)
self.tgt_actor.set_weights(self.actor.get_weights())
self.critic = Critic(critic_model, lr=critic_lr, decay=critic_decay)
self.tgt_critic = Critic(tgt_critic_model,
lr=critic_lr,
decay=critic_decay)
self.tgt_critic.set_weights(self.critic.get_weights())
self.action_limits = action_limits
self.process = process
self.minibatch_size = minibatch_size
self.buffer = ReplayBuffer(int(rb_size), self.minibatch_size)
self.tau = tau
self.gamma = gamma
self.state_space = K.int_shape(critic_model.inputs[0])[1]
self.action_space = K.int_shape(critic_model.inputs[1])[1]
self.learning_phase = 1
if process is None:
self.process = OUNoise(size=self.action_space,
theta=0.15,
mu=0,
sigma=0.2)
else:
self.process = process
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size)
self.critic_target = Critic(self.state_size,
self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.005
self.noise = OUNoise(self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
# Discount factor
self.gamma = 0.99
# For soft update of target parameters
self.tau = 0.15
self.best_score = -np.inf
self.score = 0
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size, self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size, self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# The reference for the values below can be seen in the DDPG paper
# "Continuous control with deep reinforcement learning"
# 7. EXPERIMENT DETAILS
#
# This
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.001 # for soft update of target parameters
# Tracking
self.score = -np.inf
self.best_score = -np.inf
def __init__(self, env):
self.env = env
self.state_size = env.observation_space.shape[0]
self.action_size = env.action_space.shape[0]
self.act_limit = self.env.action_space.high[0]
# Actor (Policy) Model
self.actor_local = Actor(env)
self.actor_target = Actor(env)
# Critic (Value) Model
self.critic_local = Critic(env)
self.critic_target = Critic(env)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(
self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma,
)
# Replay memory
self.buffer_size = 1000000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.001 # for soft update of target parameters
print(self.actor_local.model.summary())
print(self.critic_local.model.summary())
class Agent():
"""Reinforcement Learning agent that learns using DDPG."""
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.001 # 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.1 #0.01 # for soft update of target parameters
# Score tracker
self.best_score = -np.inf
self.score = 0
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.score = 0
return state
def step(self, action, reward, next_state, done):
# Save experience / reward
self.memory.add(self.last_state, action, reward, next_state, done)
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
# Score tracker
self.score += reward
if done:
if self.score > self.best_score:
self.best_score = self.score
def act(self, state):
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action +
self.noise.sample()) # add some noise for exploration
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.array([e.action for e in experiences
if e is not None]).astype(np.float32).reshape(
-1, self.action_size)
rewards = np.array([e.reward for e in experiences if e is not None
]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences
if e is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack(
[e.next_state for e in experiences if e is not None])
# Get predicted next-state actions and Q values from target models
# Q_targets_next = critic_target(next_state, actor_target(next_state))
actions_next = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, actions_next])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train actor model (local)
action_gradients = np.reshape(
self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
self.actor_local.train_fn([states, action_gradients,
1]) # custom training function
# Soft-update target models
self.soft_update(self.critic_local.model, self.critic_target.model)
self.soft_update(self.actor_local.model, self.actor_target.model)
def soft_update(self, local_model, target_model):
"""Soft update model parameters."""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(
target_weights
), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
class DDPGAgent(Agent):
"""Reinforcement Learning agent that learns using DDPG."""
def __init__(self,
actor_model,
tgt_actor_model,
critic_model,
tgt_critic_model,
action_limits,
actor_lr=1e-4,
critic_lr=1e-3,
critic_decay=1e-2,
tau=1e-3,
gamma=0.99,
process=None,
rb_size=1e6,
minibatch_size=64,
warmup_episodes=0,
episodes_trained=0,
train_scores=None,
test_scores=None,
best_train_score=-np.inf):
# Changed this to use generic env instead of Task
super().__init__(warmup_episodes, episodes_trained, train_scores,
test_scores, best_train_score)
self.actor = Actor(actor_model, critic_model, lr=actor_lr)
self.tgt_actor = Actor(tgt_actor_model, tgt_critic_model, lr=actor_lr)
self.tgt_actor.set_weights(self.actor.get_weights())
self.critic = Critic(critic_model, lr=critic_lr, decay=critic_decay)
self.tgt_critic = Critic(tgt_critic_model,
lr=critic_lr,
decay=critic_decay)
self.tgt_critic.set_weights(self.critic.get_weights())
self.action_limits = action_limits
self.process = process
self.minibatch_size = minibatch_size
self.buffer = ReplayBuffer(int(rb_size), self.minibatch_size)
self.tau = tau
self.gamma = gamma
self.state_space = K.int_shape(critic_model.inputs[0])[1]
self.action_space = K.int_shape(critic_model.inputs[1])[1]
self.learning_phase = 1
if process is None:
self.process = OUNoise(size=self.action_space,
theta=0.15,
mu=0,
sigma=0.2)
else:
self.process = process
def sense(self, s, a, r, s_new, done):
s = np.reshape(s, [-1, self.state_space])
s_new = np.reshape(s_new, [-1, self.state_space])
self.buffer.add(s, a, r, s_new, done)
def act(self, s):
s = np.reshape(s, [-1, self.state_space])
a = self.tgt_actor(s)
# Cache.
self.last_state = np.copy(s)
self.last_action = np.copy(a)
if self.learning_phase:
a += self.process.sample()
a = np.clip(a, self.action_limits[0], self.action_limits[1])
self.last_action_noisy = np.copy(a)
return a
def new_episode(self):
self.process.reset()
def train_step(self):
if len(self.buffer.memory) < self.minibatch_size:
return
minibatch = self.buffer.sample(self.minibatch_size)
states = np.zeros([len(minibatch), self.state_space])
states_new = np.zeros([len(minibatch), self.state_space])
actions = np.zeros([len(minibatch), self.action_space])
r = np.zeros([len(minibatch), 1])
dones = np.zeros([len(minibatch), 1])
for i in range(len(minibatch)):
states[i], actions[i], r[i], states_new[i], dones[i] = minibatch[i]
# Estimate Q_values
critic_out = self.critic(states_new, self.actor(states_new))
tgt_critic_out = self.tgt_critic(states_new,
self.tgt_actor(states_new))
# Q-values using tgt_critic
ys = r + self.gamma * tgt_critic_out
# Train local critic and actor
self.critic.step(states, actions, ys)
self.actor.step(states)
# Soft weight updates for target critic and actor
critic_weights = self.critic.get_weights()
tgt_critic_weights = self.tgt_critic.get_weights()
for i in range(len(critic_weights)):
tgt_critic_weights[i] = (1 - self.tau) * tgt_critic_weights[i] + \
self.tau * critic_weights[i]
self.tgt_critic.set_weights(tgt_critic_weights)
actor_weights = self.actor.get_weights()
tgt_actor_weights = self.tgt_actor.get_weights()
for i in range(len(actor_weights)):
tgt_actor_weights[i] = (1 - self.tau) * tgt_actor_weights[i] + \
self.tau * actor_weights[i]
self.tgt_actor.set_weights(tgt_actor_weights)
class Agent():
"""RL agent that learns using DDPG"""
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
self.actor_target = Actor(self.state_size,
self.action_size,
self.action_low,
self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size,
self.action_size)
self.critic_target = Critic(self.state_size,
self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.005
self.noise = OUNoise(self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
# Discount factor
self.gamma = 0.99
# For soft update of target parameters
self.tau = 0.15
self.best_score = -np.inf
self.score = 0
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.score = 0
return state
def step(self, action, reward, next_state, done):
# Save experience / reward to memory
self.memory.add(self.last_state,
action,
reward,
next_state,
done)
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
# Sample from the experiences saved in memory
experiences = self.memory.sample()
# Learn from the sampled experiences
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
self.score += reward
if done:
if self.score > self.best_score:
self.best_score = self.score
def act(self, state):
"""
Returns actions for given state(s) as per current policy
"""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
# Add some noise for exploration
return list(action + self.noise.sample())
def learn(self, experiences):
"""
Update policy and value parameters using given batch of experience tuples
Args:
experiences: List of tuples of (state, action, reward, next_state, done)
"""
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.array([e.action for e in experiences if e is not None]).astype(np.float32).reshape(-1, self.action_size)
rewards = np.array([e.reward for e in experiences if e is not None]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences if e is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack([e.next_state for e in experiences if e is not None])
# Get predicted next-state actions from actor_target model
actions_next = self.actor_target.model.predict_on_batch(next_states)
# Get predicted next Q_values from critic_target model
Q_targets_next = self.critic_target.model.predict_on_batch([next_states, actions_next])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train actor model (local)
action_gradients = np.reshape(self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
self.actor_local.train_fn([states, action_gradients, 1]) # custom training function
#Soft-update target models
self.soft_update(self.critic_local.model,
self.critic_target.model)
self.soft_update(self.actor_local.model,
self.actor_target.model)
def soft_update(self, local_model, target_model):
"""
Notice that after training over a batch of experiences, we could just copy our newly learned weights (from the local model) to the target model. However, individual batches can introduce a lot of variance into the process, so it's better to perform a soft update, controlled by the parameter tau.
Soft update model parameters
Args:
local_model: Local copy of the model
target_model: Target copy of the model
"""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(target_weights), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 - self.tau) * target_weights
target_model.set_weights(new_weights)
class DDPG:
"""Reinforcement Learning agent that learns using DDPG."""
def __init__(self, env):
self.env = env
self.state_size = env.observation_space.shape[0]
self.action_size = env.action_space.shape[0]
self.act_limit = self.env.action_space.high[0]
# Actor (Policy) Model
self.actor_local = Actor(env)
self.actor_target = Actor(env)
# Critic (Value) Model
self.critic_local = Critic(env)
self.critic_target = Critic(env)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(
self.action_size,
self.exploration_mu,
self.exploration_theta,
self.exploration_sigma,
)
# Replay memory
self.buffer_size = 1000000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.001 # for soft update of target parameters
print(self.actor_local.model.summary())
print(self.critic_local.model.summary())
def reset_episode(self, state):
self.noise.reset()
def get_action(self, state, test=False):
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
# add some noise for exploration
if not test:
action += self.noise.sample()
return np.clip(action, -self.act_limit, self.act_limit)
def step(self, state, action, reward, next_state, done):
pi_loss = None
q_loss = None
# Save experience / reward
self.memory.add(state, action, reward, next_state, done)
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
pi_loss, q_loss = self.learn(experiences)
return pi_loss, q_loss, None
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = (
np.array([e.action for e in experiences if e is not None])
.astype(np.float32)
.reshape(-1, self.action_size)
)
rewards = (
np.array([e.reward for e in experiences if e is not None])
.astype(np.float32)
.reshape(-1, 1)
)
dones = (
np.array([e.done for e in experiences if e is not None])
.astype(np.uint8)
.reshape(-1, 1)
)
next_states = np.vstack([e.next_state for e in experiences if e is not None])
# Get predicted next-state actions and Q values from target models
# Q_targets_next = critic_target(next_state, actor_target(next_state))
actions_next = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, actions_next]
)
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
q_train_loss = self.critic_local.model.train_on_batch(
x=[states, actions], y=Q_targets
)
# print(f"q-loss: {q_train_loss}")
# Train actor model (local) with custom train function
action_gradients = np.reshape(
self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size),
)
pi_loss = self.actor_local.train_fn([states, action_gradients, 1])[0]
# print(f"pi_loss: {pi_loss}")
# Soft-update target models
self.soft_update(self.critic_local.model, self.critic_target.model)
self.soft_update(self.actor_local.model, self.actor_target.model)
return pi_loss, q_train_loss
def soft_update(self, local_model, target_model):
"""Soft update model parameters."""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(
target_weights
), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 - self.tau) * target_weights
target_model.set_weights(new_weights)
def save_models(self, path="./", suffix=""):
self.actor_local.model.save(f"{path}actor_local{suffix}.h5")
self.actor_target.model.save(f"{path}actor_target{suffix}.h5")
self.critic_local.model.save(f"{path}critic_local{suffix}.h5")
self.critic_target.model.save(f"{path}critic_target{suffix}.h5")
def load_models(self, path="./", suffix=""):
self.actor_local.model = load_model(f"{path}actor_local{suffix}.h5")
self.actor_target.model = load_model(f"{path}actor_target{suffix}.h5")
self.critic_local.model = load_model(f"{path}critic_local{suffix}.h5")
self.critic_target.model = load_model(f"{path}critic_target{suffix}.h5")