def __init__(self, cfg):
# Replay memory
self.memory = ReplayBuffer(**cfg['agent']['memory'])
# Environment configuration
self.action_shape = cfg['env']['action_shape']
# Algorithm parameters
self.exploration_mu, self.exploration_theta, self.exploration_sigma = cfg['agent']['noise']
self.noise = OUNoise(self.action_shape, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
self.gamma = cfg['agent']['gamma']
self.tau = cfg['agent']['tau']
state_flatten_shape = [np.prod(self.memory.flatten_state_shape)]
# Actor Model
self.actor = Actor(state_flatten_shape, self.action_shape, cfg['env']['action_range'],
self.tau, self.memory.batch_size, cfg['actor'])
# Critic Model
self.critic = Critic(state_flatten_shape, self.action_shape, self.tau, cfg['critic'])
# Flag & Counter
self.add_noise = True
self.episode = 0
self.max_episode_explore = 100
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
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)
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
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)
self.buffer_size = 1000000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
self.gamma = 0.99
self.tau = 0.001
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 = 0.2
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 = 0.01 # for soft update of target parameters
def __init__(self, task, sess):
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
self.action_range = self.action_high - self.action_low
# Algorithm parameters
self.gamma = 0.9 # discount factor
self.tau = 2e-3 # for soft update of target parameters
self.actor_lr = 2e-3
self.critic_lr = 2e-3
# END
self.reward_variance = RunningVariance(1)
self.q_values_variance = RunningVariance(1)
# Actor (Policy) Model
self.actor_local = Actor(sess, self.state_size, self.action_size,
self.action_low, self.action_high,
self.actor_lr)
self.actor_target = Actor(sess, self.state_size, self.action_size,
self.action_low, self.action_high,
self.actor_lr)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size,
self.critic_lr)
self.critic_target = Critic(self.state_size, self.action_size,
self.critic_lr)
# 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 = 0.8
self.exploration_sigma = 0.05 * self.action_range
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 100
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# initialize
sess.run(tf.global_variables_initializer())
def __init__(self, task, verbose=False):
self.verbose = verbose
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)
#log_path = '/tmp/logs'
#self.callback = callbacks.TensorBoard(log_dir=log_path, histogram_freq=1,
# write_images=False, write_grads=True, write_graph=False)
#self.callback.set_model(self.critic_local.model)
#log_path = '/tmp/logs'
#self.writer = tf.summary.FileWriter(log_path)
#self.learn_counter = 0
# 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 = 0.1
self.exploration_theta = 0.2
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 = 512
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.015 # for soft update of target parameters
def __init__(self, task, learning_rate_actor=0.0002,
learning_rate_critic=0.00003, gamma=0.99, tau=0.01):
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
self.action_range = self.action_high - self.action_low
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high,
learning_rate=learning_rate_actor)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high,
learning_rate=learning_rate_actor)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size,
learning_rate=learning_rate_critic)
self.critic_target = Critic(self.state_size, self.action_size,
learning_rate=learning_rate_critic)
# 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.noise = OUNoise(size=self.action_size, mu=0, theta=0.15, sigma=0.5)
# Replay memory
self.batch_size = 64
self.memory = ReplayBuffer(batch_size=self.batch_size)
# Algorithm parameters
self.gamma = gamma # discount factor
self.tau = tau # for soft update of target parameters
self.last_state = None
self.reset_episode()
def reset_learning(self):
# 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.set_weights(self.critic_local.get_weights())
self.actor_target.set_weights(self.actor_local.get_weights())
self.memory = GoodBadReplayBuffer(self.buffer_size, self.batch_size)
self.noise = OUNoise(self.action_size, mu=self.exploration_mu,\
theta=self.exploration_theta, sigma=self.exploration_sigma)
self.noise_scale = self.noise.calc_scale()
self.best_score = -np.inf
self.__evaluate()
return self.reset_episode()
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
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)
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Critic
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
# Exploration noise
self.exploration_mu = 0.1
self.exploration_sigma = 0.1
self.exploration_theta = 0.1
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Experience
self.buffer_size = 100000000
self.batch_size = 64
self.buffer = ReplayBuffer(self.buffer_size)
# Parameters
self.gamma = 0.99
self.tau = 0.001
def __init__(self, task, prioritized_replay=True):
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 #0.15 #0.1
self.exploration_sigma = 0.2 #0.2 #0.1
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
self.buffer_size = 100000
self.batch_size = 64 # 64
self.prioritized_replay = prioritized_replay
self.prioritized_replay_alpha = 0.6
self.prioritized_replay_beta0 = 0.4
self.prioritized_replay_beta_iters = None
self.prioritized_replay_eps = 1e-6
self.max_timesteps = 100000
# Replay buffer
if self.prioritized_replay:
self.memory = PrioritizedReplayBuffer(
self.buffer_size, alpha=self.prioritized_replay_alpha)
if self.prioritized_replay_beta_iters is None:
self.prioritized_replay_beta_iters = self.max_timesteps
self.beta_schedule = LinearSchedule(
self.prioritized_replay_beta_iters,
initial_p=self.prioritized_replay_beta0,
final_p=1.0)
else:
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
#self.tau = 0.001 # 0.001 per paper
self.td_errors_list = []
self.actor_loss_list = []
self.critic_loss_list = []
class 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
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)
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Critic
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
# Exploration noise
self.exploration_mu = 0.1
self.exploration_sigma = 0.1
self.exploration_theta = 0.1
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Experience
self.buffer_size = 100000000
self.batch_size = 64
self.buffer = ReplayBuffer(self.buffer_size)
# Parameters
self.gamma = 0.99
self.tau = 0.001
def act(self, states):
state = np.reshape(states, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action + self.noise.sample())
def learn(self):
# Sample
states, actions, rewards, dones, next_states = self.buffer.sample(
self.batch_size, self.action_size, self.state_size)
# Predict
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])
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
# Train Critic
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train Actor
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])
# Update weights
self.update_target_weights(self.critic_local.model,
self.critic_target.model)
self.update_target_weights(self.actor_local.model,
self.actor_target.model)
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
self.buffer.add(self.last_state, action, reward, next_state, done)
self.learn()
self.last_state = next_state
def update_target_weights(self, local_model, target_model):
target_model.set_weights(
self.tau * np.array(local_model.get_weights()) +
(1 - self.tau) * np.array(target_model.get_weights()))
class Agent():
def __init__(self, cfg):
# Replay memory
self.memory = ReplayBuffer(**cfg['agent']['memory'])
# Environment configuration
self.action_shape = cfg['env']['action_shape']
# Algorithm parameters
self.exploration_mu, self.exploration_theta, self.exploration_sigma = cfg['agent']['noise']
self.noise = OUNoise(self.action_shape, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
self.gamma = cfg['agent']['gamma']
self.tau = cfg['agent']['tau']
state_flatten_shape = [np.prod(self.memory.flatten_state_shape)]
# Actor Model
self.actor = Actor(state_flatten_shape, self.action_shape, cfg['env']['action_range'],
self.tau, self.memory.batch_size, cfg['actor'])
# Critic Model
self.critic = Critic(state_flatten_shape, self.action_shape, self.tau, cfg['critic'])
# Flag & Counter
self.add_noise = True
self.episode = 0
self.max_episode_explore = 100
def init_actor_critic(self):
# Initialize target model
self.critic.copy_local_in_target()
self.actor.copy_local_in_target()
def reset(self):
self.memory.reset_past()
self.noise = OUNoise(self.action_shape, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
def step(self, action, reward, next_state, done):
# Save experience / reward
self.memory.add(self.last_state, action, reward,
next_state, done)
if done:
self.reset()
def act(self, state):
self.last_state = state
window_states = self.memory.get_state_vector(state).reshape(1, -1)
action = self.actor.predict(window_states)
if self.add_noise and self.episode < self.max_episode_explore:
p = self.episode / self.max_episode_explore
action = np.clip(action*p + (1-p)*self.noise.sample(), a_max=1, a_min=-1)
return action
def learn(self):
if self.memory.is_sufficient():
experiences = self.memory.sample()
states = experiences['state'][:, 0].reshape(self.memory.batch_size, -1)
actions = experiences['action']
rewards = experiences['reward']
dones = experiences['done']
next_states = experiences['next_state'][:, 0].reshape(self.memory.batch_size, -1)
# get predicted next state action and Q values from target models
actions_next = self.actor.get_targets(next_states)
Q_targets_next = self.critic.get_targets(next_states, actions_next)
# Compute Q targets for current states and train critic model
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
critic_summaries = self.critic.fit(states, actions, Q_targets)
# Train actor model
action_gradients = self.critic.get_actions_grad(states, actions)[0]
actor_summaries = self.actor.fit(states, action_gradients)
# Soft-update target models
self.critic.soft_update()
self.actor.soft_update()
summary_reward = summary('sample_rewards', rewards)
return critic_summaries, actor_summaries, summary_reward
def reset(self):
self.memory.reset_past()
self.noise = OUNoise(self.action_shape, self.exploration_mu, self.exploration_theta, self.exploration_sigma)
class MyAgent:
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
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)
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
self.critic_target.model.set_weights(self.critic_local.model.get_weights())
self.actor_target.model.set_weights(self.actor_local.model.get_weights())
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)
self.buffer_size = 1000000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
self.gamma = 0.99
self.tau = 0.001
def act(self, state):
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action + self.noise.sample())
def step(self, action, reward, next_state, done):
self.memory.add(self.last_state, action, reward, next_state, done)
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences)
self.last_state = next_state
def learn(self, experiences):
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])
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])
Q_targets = rewards + self.gamma * Q_targets_next * (1-dones)
self.critic_local.model.train_on_batch(x=[states, actions], y=Q_targets)
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])
self.soft_update(self.critic_local.model, self.critic_target.model)
self.soft_update(self.actor_local.model, self.actor_target.model)
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
return state
def soft_update(self, local_model, target_model):
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(target_weights)
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, task, verbose=False):
self.verbose = verbose
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)
#log_path = '/tmp/logs'
#self.callback = callbacks.TensorBoard(log_dir=log_path, histogram_freq=1,
# write_images=False, write_grads=True, write_graph=False)
#self.callback.set_model(self.critic_local.model)
#log_path = '/tmp/logs'
#self.writer = tf.summary.FileWriter(log_path)
#self.learn_counter = 0
# 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 = 0.1
self.exploration_theta = 0.2
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 = 512
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.015 # for soft update of target parameters
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
#self.learn_counter = 0
return state
def mimic(self, experience_to_mimic):
print("ready to mimic")
self.memory.memory = experience_to_mimic
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
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)
def save_grads(writer, model):
for layer in model.layers:
for weight in layer.weights:
mapped_weight_name = weight.name.replace(':', '_')
tf.summary.histogram(mapped_weight_name, weight)
grads = model.optimizer.get_gradients(
model.total_loss, weight)
def is_indexed_slices(grad):
return type(grad).__name__ == 'IndexedSlices'
grads = [
grad.values if is_indexed_slices(grad) else grad
for grad in grads
]
tf.summary.histogram('{}_grad'.format(mapped_weight_name),
grads)
merged = tf.summary.merge_all()
writer.flush()
writer.close()
#save_grads(self.writer, self.critic_local.model)
#def write_log(callback, names, logs, batch_no):
# for name, value in zip(names, logs):
# summary = tf.Summary()
# summary_value = summary.value.add()
# summary_value.simple_value = value
# summary_value.tag = name
# callback.writer.add_summary(summary, batch_no)
# callback.writer.flush()
#train_names = ['train_loss', 'train_mae']
#print("about to write log")
#write_log(self.callback, train_names, logs, self.learn_counter)
#trainable_weights = critic_local.model.trainable_weights
#gradients = critic_local.model.optimizer.get_gradients(critic_local.model.total_loss, trainable_weights)
# 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)
#self.learn_counter += 1
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_weight(self, model, directory_name, file_name):
cwd = os.getcwd()
directory_path = os.path.join(cwd, directory_name)
if not os.path.exists(directory_path):
os.makedirs(directory_path)
file_path = os.path.join(directory_path, file_name)
mv_file_to_dir_with_date(file_path, directory_path)
model.save_weights(file_path)
def save_weights(self, location='weights_backup'):
if self.verbose:
print("start save_weights")
self._save_weight(self.critic_local.model, location, "critic_local.h5")
self._save_weight(self.critic_target.model, location,
"critic_target.h5")
self._save_weight(self.actor_local.model, location, "actor_local.h5")
self._save_weight(self.actor_target.model, location, "actor_target.h5")
if self.verbose:
print("done save_weights")
def _h5(self, model, file_path):
if os.path.exists(file_path):
model.load_weights(file_path)
else:
print(f'could not find weight to load from [{file_path}]')
def load_weights(self, location='weights_backup'):
if self.verbose:
print("start load_weights")
cwd = os.getcwd()
directory_path = os.path.join(cwd, location)
self._h5(self.critic_local.model,
os.path.join(directory_path, "critic_local.h5"))
self._h5(self.critic_target.model,
os.path.join(directory_path, "critic_target.h5"))
self._h5(self.actor_local.model,
os.path.join(directory_path, "actor_local.h5"))
self._h5(self.actor_target.model,
os.path.join(directory_path, "actor_target.h5"))
if self.verbose:
print("done load_weights")
class DDPG():
"""Reinforcement Learning agent that learns using DDPG."""
def __init__(self, task, sess):
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
self.action_range = self.action_high - self.action_low
# Algorithm parameters
self.gamma = 0.9 # discount factor
self.tau = 2e-3 # for soft update of target parameters
self.actor_lr = 2e-3
self.critic_lr = 2e-3
# END
self.reward_variance = RunningVariance(1)
self.q_values_variance = RunningVariance(1)
# Actor (Policy) Model
self.actor_local = Actor(sess, self.state_size, self.action_size,
self.action_low, self.action_high,
self.actor_lr)
self.actor_target = Actor(sess, self.state_size, self.action_size,
self.action_low, self.action_high,
self.actor_lr)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size,
self.critic_lr)
self.critic_target = Critic(self.state_size, self.action_size,
self.critic_lr)
# 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 = 0.8
self.exploration_sigma = 0.05 * self.action_range
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 100
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# initialize
sess.run(tf.global_variables_initializer())
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
self.last_reward = self.task.get_reward()
self.reward_variance.update(self.last_reward)
return state
def step(self, action, reward, next_state, done):
self.reward_variance.update(reward)
# Save experience / reward
self.memory.add(self.last_state, action, reward, next_state, done,
self.last_reward)
# Learn, if enough samples are available in memory
experiences = self.memory.sample()
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
self.last_reward = reward
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_target.model.predict(state)[0]
noise = self.noise.sample()
action += noise
return list(action) # 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([
self.reward_variance.normalize(e.reward) for e in experiences
if e is not None
]).astype(np.float32).reshape(-1, 1)
next_states = np.vstack(
[e.next_state for e in experiences if e is not None])
dones = np.array([e.done for e in experiences
if e is not None]).astype(np.uint8).reshape(-1, 1)
last_rewards = np.array([
self.reward_variance.normalize(e.prev_reward) for e in experiences
if e is not None
]).astype(np.float32).reshape(-1, 1)
# 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])
Q_targets_prev = self.critic_target.model.predict_on_batch(
[states, actions])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (
1 - dones) - last_rewards
for q in Q_targets:
self.q_values_variance.update(q)
Q_targets = np.array(
[self.q_values_variance.normalize(q) for q in Q_targets])
#print("\n", Q_targets, "\n")
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))
#action_gradients *= Q_targets
#action_gradients /= self.batch_size
#self.actor_local.train_fn([states, action_gradients, 1]) # custom training function
self.actor_local.train(states, action_gradients)
# 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 DDPG():
"""
Reinforcement Learning agent that learns using DDPG.
Deep DPG as described by Lillicrap et al. (2015)
"""
def __init__(self, task, prioritized_replay=True):
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 #0.15 #0.1
self.exploration_sigma = 0.2 #0.2 #0.1
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
self.buffer_size = 100000
self.batch_size = 64 # 64
self.prioritized_replay = prioritized_replay
self.prioritized_replay_alpha = 0.6
self.prioritized_replay_beta0 = 0.4
self.prioritized_replay_beta_iters = None
self.prioritized_replay_eps = 1e-6
self.max_timesteps = 100000
# Replay buffer
if self.prioritized_replay:
self.memory = PrioritizedReplayBuffer(
self.buffer_size, alpha=self.prioritized_replay_alpha)
if self.prioritized_replay_beta_iters is None:
self.prioritized_replay_beta_iters = self.max_timesteps
self.beta_schedule = LinearSchedule(
self.prioritized_replay_beta_iters,
initial_p=self.prioritized_replay_beta0,
final_p=1.0)
else:
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
#self.tau = 0.001 # 0.001 per paper
self.td_errors_list = []
self.actor_loss_list = []
self.critic_loss_list = []
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
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:
if self.prioritized_replay:
samples = self.memory.sample(self.batch_size,
beta=self.beta_schedule.value(
len(self.memory)))
(obses_t, actions, rewards, obses_tp1, dones, weights,
batch_idxes) = samples
experiences = []
for i in range(len(obses_t)):
experiences.append(
namedtuple("PrioritizedExperience",
field_names=[
"state", "action", "reward",
"next_state", "done", "weight",
"batch_idx"
])(obses_t[i:i + 1], actions[i:i + 1],
rewards[i:i + 1], obses_tp1[i:i + 1],
dones[i:i + 1], weights[i:i + 1],
batch_idxes[i:i + 1]))
self.learn(experiences)
else:
experiences = self.memory.sample()
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
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]
#actions = list(action + self.noise.sample())
#print("act {}".format(actions))
#return actions # add some noise for exploration
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)
critic_loss = self.critic_local.model.train_on_batch(
x=[states, actions], y=Q_targets)
# Train actor model (local) using action gradients
action_gradients = np.reshape(
self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
actor_loss = 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)
if self.prioritized_replay:
# Update replay buffer priorities
batch_idxes = np.vstack(
[e.batch_idx[0] for e in experiences if e is not None])
new_priorities = np.abs(Q_targets) + self.prioritized_replay_eps
self.memory.update_priorities(batch_idxes, new_priorities)
self.td_errors_list.append(Q_targets.T)
self.actor_loss_list.append(actor_loss[0])
self.critic_loss_list.append(critic_loss)
#print("states {} next states {} critic_loss {} actor_loss {}".format(states, actions_next, critic_loss, actor_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_weights(self):
self.actor_local.model.save_weights("DDPG_actor_weights.h5")
self.critic_local.model.save_weights("DDPG_critic_weights.h5")
def save_td_errors(self, i_episode):
with open("DDPG_agent_td_errors_episode_{}.csv".format(i_episode),
'w') as csvfile:
writer = csv.writer(csvfile)
for td_errors in self.td_errors_list:
writer.writerow([td_errors])
self.td_errors_list.clear()
def save_losses(self, i_episode):
with open(
"DDPG_agent_actor_critic_loss_episode_{}.csv".format(
i_episode), 'w') as csvfile:
writer = csv.writer(csvfile)
for actor_loss, critic_loss in zip(self.actor_loss_list,
self.critic_loss_list):
writer.writerow([actor_loss, critic_loss])
self.actor_loss_list.clear()
self.critic_loss_list.clear()
class DDPG():
"""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 = 0.3
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 = 0.95 # discount factor
self.tau = 0.002 # for soft update of target parameters
def reset_episode(self):
self.noise.reset()
state = self.task.reset()
self.last_state = state
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
def act(self, states):
state = np.reshape(states, [-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):
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])
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])
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
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
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())
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
class DDPG():
"""Reinforcementing 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 = 0.2
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 = 0.0005 # for soft update of target parameters
self.noise_scale = 0.1
def reset_episode(self):
self.noise.reset()
self.total_reward = 0
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
# Save experience / reward
self.total_reward += reward
self.memory.add(self.last_state, action, reward, next_state, done)
#print(len(self.memory), self.batch_size)
# 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
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 DDPG():
"""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
# Noise process
self.max_unsuccessful_episodes_in_a_row = 10
self.exploration_mu = 0
# theta units are proportional to the action range, so I set it to 1% instead of the original 15%
self.exploration_theta = 0.01
self.exploration_sigma = 0.05
# Replay memory
self.buffer_size = 10000
self.batch_size = 64
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.1 # for soft update of target parameters
self.best_learning = -np.inf
self.reset_learning()
def __evaluate(self):
state = self.task.reset()
score = 0.
count = 0
done = False
while not done:
action = self.actor_local.act(state)
state, reward, done = self.task.step(action)
score += reward
count += 1
score *= self.task.action_repeat * self.task.sim.dt / self.task.sim.runtime
self.score = score
self.count = count
if self.score > self.best_score:
self.__save_best()
return True
return False
def __save_best(self):
self.__best_actor_local = self.actor_local.get_weights()
self.__best_actor_target = self.actor_target.get_weights()
self.__best_critic_local = self.critic_local.get_weights()
self.__best_critic_target = self.critic_target.get_weights()
self.count_unsuccessful_in_a_row = 0
self.best_score = self.score
self.best_score_count = self.count
if self.best_score > self.best_learning:
# save best learning
self.__best_learning_actor_local = np.copy(self.__best_actor_local)
self.__best_learning_actor_target = np.copy(
self.__best_actor_target)
self.__best_learning_critic_local = np.copy(
self.__best_critic_local)
self.__best_learning_critic_target = np.copy(
self.__best_critic_target)
self.best_learning = self.best_score
self.best_learning_count = self.best_score_count
def restore_best(self):
self.actor_local.set_weights(self.__best_actor_local)
self.actor_target.set_weights(self.__best_actor_target)
self.critic_local.set_weights(self.__best_critic_local)
self.critic_target.set_weights(self.__best_critic_target)
self.count_unsuccessful_in_a_row = 0
self.score = self.best_score
self.count = self.best_score_count
def restore_learning(self):
self.actor_local.set_weights(self.__best_learning_actor_local)
self.actor_target.set_weights(self.__best_learning_actor_target)
self.critic_local.set_weights(self.__best_learning_critic_local)
self.critic_target.set_weights(self.__best_learning_critic_target)
self.count_unsuccessful_in_a_row = 0
self.score = self.best_learning
self.count = self.best_learning_count
def __update_noise(self):
if self.__evaluate():
# improvement in score --> less exploration
self.noise_scale = self.noise.multiply(0.5)
self.count_unsuccessful_in_a_row = 0
return
self.count_unsuccessful_in_a_row += 1
if self.count_unsuccessful_in_a_row < self.max_unsuccessful_episodes_in_a_row:
return
curr_noise_scale = self.noise_scale
# increasing the action noise, more exploration
self.noise_scale = self.noise.multiply(1.5)
if (self.noise_scale > 1.0) and (self.noise_scale <
curr_noise_scale + 1e-6):
# could not increase action noise
self.reset_learning()
else:
self.restore_best()
def reset_learning(self):
# 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.set_weights(self.critic_local.get_weights())
self.actor_target.set_weights(self.actor_local.get_weights())
self.memory = GoodBadReplayBuffer(self.buffer_size, self.batch_size)
self.noise = OUNoise(self.action_size, mu=self.exploration_mu,\
theta=self.exploration_theta, sigma=self.exploration_sigma)
self.noise_scale = self.noise.calc_scale()
self.best_score = -np.inf
self.__evaluate()
return self.reset_episode()
def reset_episode(self, use_noise=True):
self.noise.reset()
self.use_noise = use_noise
self.last_state = self.task.reset()
self.__last_state_reward = self.task.curr_score
return self.last_state
def act(self, state):
"""Returns actions for given state(s) as per current policy."""
action = self.actor_local.act(state)
if self.use_noise:
ret = list(action +
self.noise.sample()) # add some noise for exploration
else:
ret = list(action)
return np.clip(ret, self.task.action_low,
self.task.action_high).tolist()
def step(self, action, reward, next_state, done):
# Save experience / reward
if self.use_noise:
diff_reward = reward - self.__last_state_reward
self.memory.add(self.last_state, action, diff_reward, reward,
next_state, done)
if self.memory.has_sample():
# single learn at each step
self.learn(self.memory.sample())
if done:
self.__update_noise()
# Roll over last state and action
self.last_state = next_state
self.__last_state_reward = reward
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.task.action_size)
rewards = np.array([
e.step_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
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.task.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())
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
