class MLP(object):
@typechecked
def __init__(
self,
input_ph: tf.Tensor,
name_scope: str,
net_name: str,
reuse,
mlp_config: list,
input_norm: np.ndarray = None,
output_norm: np.ndarray = None,
output_low: np.ndarray = None,
output_high: np.ndarray = None,
):
self.input_ph = input_ph
self.name_scope = name_scope
self.mlp_config = mlp_config
self.mlp_net_name = net_name
self.net, self.output, self.var_list = MLPCreator.create_network_with_tf_layers(
input=input_ph,
reuse=reuse,
network_config=mlp_config,
tf_var_scope=name_scope,
net_name=net_name,
input_norm=input_norm,
output_high=output_high,
output_low=output_low,
output_norm=output_norm)
for var in self.var_list:
assert name_scope in var.name
self._parameters = ParametersWithTensorflowVariable(
tf_var_list=self.var_list,
name='parameters_{}'.format(self.mlp_net_name),
rest_parameters=dict())
def forward(
self, input: np.ndarray, sess=tf.get_default_session()) -> np.ndarray:
feed_dict = {
self.input_ph: input,
**self._parameters.return_tf_parameter_feed_dict()
}
res = sess.run(self.output, feed_dict=feed_dict)
return np.squeeze(res)
def copy_from(self, obj) -> bool:
if not isinstance(obj, type(self)):
raise TypeError(
'Wrong type of obj %s to be copied, which should be %s' %
(type(obj), type(self)))
self._parameters.copy_from(source_parameter=obj._parameters)
return True
def init(self, source_obj=None):
self._parameters.init()
if source_obj:
self.copy_from(obj=source_obj)
def create_ph(self, name):
with tf.variable_scope(name):
a = tf.get_variable(shape=[3, 4], dtype=tf.float32, name='var_1')
conf = DictConfig(required_key_dict=Foo.required_key_dict,
config_dict=dict(var1=1, var2=0.01))
param = ParametersWithTensorflowVariable(
tf_var_list=[a],
rest_parameters=dict(var3='sss'),
name=name,
source_config=conf,
require_snapshot=True,
to_ph_parameter_dict=dict(
var1=tf.placeholder(shape=(), dtype=tf.int32)))
param.init()
a = PlaceholderInput(parameters=param)
return a, locals()
class PPO(ModelFreeAlgo, OnPolicyAlgo, MultiPlaceholderInput):
required_key_dict = DictConfig.load_json(
file_path=GlobalConfig().DEFAULT_PPO_REQUIRED_KEY_LIST)
@typechecked
def __init__(self,
env_spec: EnvSpec,
stochastic_policy: StochasticPolicy,
config_or_config_dict: (DictConfig, dict),
value_func: VValueFunction,
warm_up_trajectories_number=5,
use_time_index_flag=False,
name='ppo'):
ModelFreeAlgo.__init__(
self,
env_spec=env_spec,
name=name,
warm_up_trajectories_number=warm_up_trajectories_number)
self.use_time_index_flag = use_time_index_flag
self.config = construct_dict_config(config_or_config_dict, self)
self.policy = stochastic_policy
self.value_func = value_func
to_ph_parameter_dict = dict()
self.trajectory_memory = TrajectoryData(env_spec=env_spec)
self.transition_data_for_trajectory = TransitionData(env_spec=env_spec)
self.value_func_train_data_buffer = None
self.scaler = RunningStandardScaler(dims=self.env_spec.flat_obs_dim)
if use_time_index_flag:
scale_last_time_index_mean = self.scaler._mean
scale_last_time_index_mean[-1] = 0
scale_last_time_index_var = self.scaler._var
scale_last_time_index_var[-1] = 1000 * 1000
self.scaler.set_param(mean=scale_last_time_index_mean,
var=scale_last_time_index_var)
with tf.variable_scope(name):
self.advantages_ph = tf.placeholder(tf.float32, (None, ),
'advantages')
self.v_func_val_ph = tf.placeholder(tf.float32, (None, ),
'val_val_func')
dist_info_list = self.policy.get_dist_info()
self.old_dist_tensor = [
(tf.placeholder(**dict(dtype=dist_info['dtype'],
shape=dist_info['shape'],
name=dist_info['name'])),
dist_info['name']) for dist_info in dist_info_list
]
self.old_policy = self.policy.make_copy(
reuse=False,
name_scope='old_{}'.format(self.policy.name),
name='old_{}'.format(self.policy.name),
distribution_tensors_tuple=tuple(self.old_dist_tensor))
to_ph_parameter_dict['beta'] = tf.placeholder(
tf.float32, (), 'beta')
to_ph_parameter_dict['eta'] = tf.placeholder(tf.float32, (), 'eta')
to_ph_parameter_dict['kl_target'] = tf.placeholder(
tf.float32, (), 'kl_target')
to_ph_parameter_dict['lr_multiplier'] = tf.placeholder(
tf.float32, (), 'lr_multiplier')
self.parameters = ParametersWithTensorflowVariable(
tf_var_list=[],
rest_parameters=dict(
advantages_ph=self.advantages_ph,
v_func_val_ph=self.v_func_val_ph,
),
to_ph_parameter_dict=to_ph_parameter_dict,
name='ppo_param',
save_rest_param_flag=False,
source_config=self.config,
require_snapshot=False)
with tf.variable_scope(name):
with tf.variable_scope('train'):
self.kl = tf.reduce_mean(self.old_policy.kl(self.policy))
self.average_entropy = tf.reduce_mean(self.policy.entropy())
self.policy_loss, self.policy_optimizer, self.policy_update_op = self._setup_policy_loss(
)
self.value_func_loss, self.value_func_optimizer, self.value_func_update_op = self._setup_value_func_loss(
)
var_list = get_tf_collection_var_list(
'{}/train'.format(name)) + self.policy_optimizer.variables(
) + self.value_func_optimizer.variables()
self.parameters.set_tf_var_list(
tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[
dict(
obj=self.value_func,
attr_name='value_func',
),
dict(obj=self.policy,
attr_name='policy')
],
parameters=self.parameters)
def warm_up(self, trajectory_data: TrajectoryData):
for traj in trajectory_data.trajectories:
self.scaler.update_scaler(data=traj.state_set)
if self.use_time_index_flag:
scale_last_time_index_mean = self.scaler._mean
scale_last_time_index_mean[-1] = 0
scale_last_time_index_var = self.scaler._var
scale_last_time_index_var[-1] = 1000 * 1000
self.scaler.set_param(mean=scale_last_time_index_mean,
var=scale_last_time_index_var)
@register_counter_info_to_status_decorator(increment=1,
info_key='init',
under_status='INITED')
def init(self, sess=None, source_obj=None):
self.policy.init()
self.value_func.init()
self.parameters.init()
if source_obj:
self.copy_from(source_obj)
super().init()
@record_return_decorator(which_recorder='self')
@register_counter_info_to_status_decorator(increment=1,
info_key='train',
under_status='TRAIN')
def train(self,
trajectory_data: TrajectoryData = None,
train_iter=None,
sess=None) -> dict:
super(PPO, self).train()
if trajectory_data is None:
trajectory_data = self.trajectory_memory
if len(trajectory_data) == 0:
raise MemoryBufferLessThanBatchSizeError(
'not enough trajectory data')
for i, traj in enumerate(trajectory_data.trajectories):
trajectory_data.trajectories[i].append_new_set(
name='state_set',
shape=self.env_spec.obs_shape,
data_set=np.reshape(
np.array(self.scaler.process(np.array(traj.state_set))),
[-1] + list(self.env_spec.obs_shape)))
trajectory_data.trajectories[i].append_new_set(
name='new_state_set',
shape=self.env_spec.obs_shape,
data_set=np.reshape(
np.array(self.scaler.process(np.array(
traj.new_state_set))),
[-1] + list(self.env_spec.obs_shape)))
tf_sess = sess if sess else tf.get_default_session()
SampleProcessor.add_estimated_v_value(trajectory_data,
value_func=self.value_func)
SampleProcessor.add_discount_sum_reward(trajectory_data,
gamma=self.parameters('gamma'))
SampleProcessor.add_gae(trajectory_data,
gamma=self.parameters('gamma'),
name='advantage_set',
lam=self.parameters('lam'),
value_func=self.value_func)
trajectory_data = SampleProcessor.normalization(trajectory_data,
key='advantage_set')
policy_res_dict = self._update_policy(
state_set=np.concatenate(
[t('state_set') for t in trajectory_data.trajectories],
axis=0),
action_set=np.concatenate(
[t('action_set') for t in trajectory_data.trajectories],
axis=0),
advantage_set=np.concatenate(
[t('advantage_set') for t in trajectory_data.trajectories],
axis=0),
train_iter=train_iter
if train_iter else self.parameters('policy_train_iter'),
sess=tf_sess)
value_func_res_dict = self._update_value_func(
state_set=np.concatenate(
[t('state_set') for t in trajectory_data.trajectories],
axis=0),
discount_set=np.concatenate(
[t('discount_set') for t in trajectory_data.trajectories],
axis=0),
train_iter=train_iter
if train_iter else self.parameters('value_func_train_iter'),
sess=tf_sess)
trajectory_data.reset()
self.trajectory_memory.reset()
return {**policy_res_dict, **value_func_res_dict}
@register_counter_info_to_status_decorator(increment=1,
info_key='test',
under_status='TEST')
def test(self, *arg, **kwargs) -> dict:
return super().test(*arg, **kwargs)
@register_counter_info_to_status_decorator(increment=1, info_key='predict')
def predict(self, obs: np.ndarray, sess=None, batch_flag: bool = False):
tf_sess = sess if sess else tf.get_default_session()
ac = self.policy.forward(
obs=self.scaler.process(
data=make_batch(obs, original_shape=self.env_spec.obs_shape)),
sess=tf_sess,
feed_dict=self.parameters.return_tf_parameter_feed_dict())
return ac
def append_to_memory(self, samples: TrajectoryData):
# todo how to make sure the data's time sequential
obs_list = samples.trajectories[0].state_set
for i in range(1, len(samples.trajectories)):
obs_list = np.array(
np.concatenate([obs_list, samples.trajectories[i].state_set],
axis=0))
self.trajectory_memory.union(samples)
self.scaler.update_scaler(data=np.array(obs_list))
if self.use_time_index_flag:
scale_last_time_index_mean = self.scaler._mean
scale_last_time_index_mean[-1] = 0
scale_last_time_index_var = self.scaler._var
scale_last_time_index_var[-1] = 1000 * 1000
self.scaler.set_param(mean=scale_last_time_index_mean,
var=scale_last_time_index_var)
@record_return_decorator(which_recorder='self')
def save(self, global_step, save_path=None, name=None, **kwargs):
save_path = save_path if save_path else GlobalConfig(
).DEFAULT_MODEL_CHECKPOINT_PATH
name = name if name else self.name
MultiPlaceholderInput.save(self,
save_path=save_path,
global_step=global_step,
name=name,
**kwargs)
return dict(check_point_save_path=save_path,
check_point_save_global_step=global_step,
check_point_save_name=name)
@record_return_decorator(which_recorder='self')
def load(self, path_to_model, model_name, global_step=None, **kwargs):
MultiPlaceholderInput.load(self, path_to_model, model_name,
global_step, **kwargs)
return dict(check_point_load_path=path_to_model,
check_point_load_global_step=global_step,
check_point_load_name=model_name)
def _setup_policy_loss(self):
"""
Code clip from pat-cody
Three loss terms:
1) standard policy gradient
2) D_KL(pi_old || pi_new)
3) Hinge loss on [D_KL - kl_targ]^2
See: https://arxiv.org/pdf/1707.02286.pdf
"""
if self.parameters('clipping_range') is not None:
pg_ratio = tf.exp(self.policy.log_prob() -
self.old_policy.log_prob())
clipped_pg_ratio = tf.clip_by_value(
pg_ratio, 1 - self.parameters('clipping_range')[0],
1 + self.parameters('clipping_range')[1])
surrogate_loss = tf.minimum(self.advantages_ph * pg_ratio,
self.advantages_ph * clipped_pg_ratio)
loss = -tf.reduce_mean(surrogate_loss)
else:
loss1 = -tf.reduce_mean(
self.advantages_ph *
tf.exp(self.policy.log_prob() - self.old_policy.log_prob()))
loss2 = tf.reduce_mean(self.parameters('beta') * self.kl)
loss3 = self.parameters('eta') * tf.square(
tf.maximum(0.0, self.kl - 2.0 * self.parameters('kl_target')))
loss = loss1 + loss2 + loss3
self.loss1 = loss1
self.loss2 = loss2
self.loss3 = loss3
if isinstance(self.policy, PlaceholderInput):
reg_list = tf.get_collection(tf.GraphKeys.REGULARIZATION_LOSSES,
scope=self.policy.name_scope)
if len(reg_list) > 0:
reg_loss = tf.reduce_sum(reg_list)
loss += reg_loss
optimizer = tf.train.AdamOptimizer(
learning_rate=self.parameters('policy_lr') *
self.parameters('lr_multiplier'))
train_op = optimizer.minimize(
loss, var_list=self.policy.parameters('tf_var_list'))
return loss, optimizer, train_op
def _setup_value_func_loss(self):
# todo update the value_func design
loss = tf.reduce_mean(
tf.square(
tf.squeeze(self.value_func.v_tensor) - self.v_func_val_ph))
reg_loss = tf.get_collection(tf.GraphKeys.REGULARIZATION_LOSSES,
scope=self.value_func.name_scope)
if len(reg_loss) > 0:
loss += tf.reduce_sum(reg_loss)
optimizer = tf.train.AdamOptimizer(self.parameters('value_func_lr'))
train_op = optimizer.minimize(
loss, var_list=self.value_func.parameters('tf_var_list'))
return loss, optimizer, train_op
def _update_policy(self, state_set, action_set, advantage_set, train_iter,
sess):
old_policy_feed_dict = dict()
res = sess.run(
[
getattr(self.policy, tensor[1])
for tensor in self.old_dist_tensor
],
feed_dict={
self.policy.parameters('state_input'): state_set,
self.policy.parameters('action_input'): action_set,
**self.parameters.return_tf_parameter_feed_dict()
})
for tensor, val in zip(self.old_dist_tensor, res):
old_policy_feed_dict[tensor[0]] = val
feed_dict = {
self.policy.parameters('action_input'): action_set,
self.old_policy.parameters('action_input'): action_set,
self.policy.parameters('state_input'): state_set,
self.advantages_ph: advantage_set,
**self.parameters.return_tf_parameter_feed_dict(),
**old_policy_feed_dict
}
average_loss, average_kl, average_entropy = 0.0, 0.0, 0.0
total_epoch = 0
kl = None
for i in range(train_iter):
_ = sess.run(self.policy_update_op, feed_dict=feed_dict)
loss, kl, entropy = sess.run(
[self.policy_loss, self.kl, self.average_entropy],
feed_dict=feed_dict)
average_loss += loss
average_kl += kl
average_entropy += entropy
total_epoch = i + 1
if kl > self.parameters('kl_target', require_true_value=True) * 4:
# early stopping if D_KL diverges badly
break
average_loss, average_kl, average_entropy = average_loss / total_epoch, average_kl / total_epoch, average_entropy / total_epoch
if kl > self.parameters('kl_target', require_true_value=True
) * 2: # servo beta to reach D_KL target
self.parameters.set(
key='beta',
new_val=np.minimum(
35,
1.5 * self.parameters('beta', require_true_value=True)))
if self.parameters(
'beta', require_true_value=True) > 30 and self.parameters(
'lr_multiplier', require_true_value=True) > 0.1:
self.parameters.set(
key='lr_multiplier',
new_val=self.parameters('lr_multiplier',
require_true_value=True) / 1.5)
elif kl < self.parameters('kl_target', require_true_value=True) / 2:
self.parameters.set(
key='beta',
new_val=np.maximum(
1 / 35,
self.parameters('beta', require_true_value=True) / 1.5))
if self.parameters('beta', require_true_value=True) < (
1 / 30) and self.parameters('lr_multiplier',
require_true_value=True) < 10:
self.parameters.set(
key='lr_multiplier',
new_val=self.parameters('lr_multiplier',
require_true_value=True) * 1.5)
return dict(policy_average_loss=average_loss,
policy_average_kl=average_kl,
policy_average_entropy=average_entropy,
policy_total_train_epoch=total_epoch)
def _update_value_func(self, state_set, discount_set, train_iter, sess):
y_hat = self.value_func.forward(obs=state_set).squeeze()
old_exp_var = 1 - np.var(discount_set - y_hat) / np.var(discount_set)
if self.value_func_train_data_buffer is None:
self.value_func_train_data_buffer = (state_set, discount_set)
else:
self.value_func_train_data_buffer = (
np.concatenate(
[self.value_func_train_data_buffer[0], state_set], axis=0),
np.concatenate(
[self.value_func_train_data_buffer[1], discount_set],
axis=0))
if len(self.value_func_train_data_buffer[0]) > self.parameters(
'value_func_memory_size'):
self.value_func_train_data_buffer = tuple(
np.array(data[-self.parameters('value_func_memory_size'):])
for data in self.value_func_train_data_buffer)
state_set_all, discount_set_all = self.value_func_train_data_buffer
param_dict = self.parameters.return_tf_parameter_feed_dict()
for i in range(train_iter):
random_index = np.random.choice(np.arange(len(state_set_all)),
len(state_set_all))
state_set_all = state_set_all[random_index]
discount_set_all = discount_set_all[random_index]
for index in range(
0,
len(state_set_all) -
self.parameters('value_func_train_batch_size'),
self.parameters('value_func_train_batch_size')):
state = np.array(
state_set_all[index:index + self.
parameters('value_func_train_batch_size')])
discount = discount_set_all[
index:index +
self.parameters('value_func_train_batch_size')]
loss, _ = sess.run(
[self.value_func_loss, self.value_func_update_op],
options=tf.RunOptions(
report_tensor_allocations_upon_oom=True),
feed_dict={
self.value_func.state_input: state,
self.v_func_val_ph: discount,
**param_dict
})
y_hat = self.value_func.forward(obs=state_set).squeeze()
loss = np.mean(np.square(y_hat - discount_set))
exp_var = 1 - np.var(discount_set - y_hat) / np.var(discount_set)
return dict(value_func_loss=loss,
value_func_policy_exp_var=exp_var,
value_func_policy_old_exp_var=old_exp_var)
class DQN(ModelFreeAlgo, OffPolicyAlgo, MultiPlaceholderInput):
required_key_dict = DictConfig.load_json(file_path=GlobalConfig().DEFAULT_DQN_REQUIRED_KEY_LIST)
@init_func_arg_record_decorator()
@typechecked
def __init__(self,
env_spec,
config_or_config_dict: (DictConfig, dict),
value_func: MLPQValueFunction,
schedule_param_list=None,
name: str = 'dqn',
replay_buffer=None):
ModelFreeAlgo.__init__(self, env_spec=env_spec, name=name)
self.config = construct_dict_config(config_or_config_dict, self)
if replay_buffer:
assert issubclass(replay_buffer, BaseReplayBuffer)
self.replay_buffer = replay_buffer
else:
self.replay_buffer = UniformRandomReplayBuffer(limit=self.config('REPLAY_BUFFER_SIZE'),
action_shape=self.env_spec.action_shape,
observation_shape=self.env_spec.obs_shape)
self.q_value_func = value_func
self.state_input = self.q_value_func.state_input
self.action_input = self.q_value_func.action_input
self.update_target_q_every_train = self.config('UPDATE_TARGET_Q_FREQUENCY') if 'UPDATE_TARGET_Q_FREQUENCY' in \
self.config.config_dict else 1
self.parameters = ParametersWithTensorflowVariable(tf_var_list=[],
rest_parameters=dict(),
to_scheduler_param_tuple=schedule_param_list,
name='{}_param'.format(name),
source_config=self.config,
require_snapshot=False)
with tf.variable_scope(name):
self.reward_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
self.next_state_input = tf.placeholder(shape=[None, self.env_spec.flat_obs_dim], dtype=tf.float32)
self.done_input = tf.placeholder(shape=[None, 1], dtype=tf.bool)
self.target_q_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
done = tf.cast(self.done_input, dtype=tf.float32)
self.target_q_value_func = self.q_value_func.make_copy(name_scope='{}_target_q_value_net'.format(name),
name='{}_target_q_value_net'.format(name),
reuse=False)
self.predict_q_value = (1. - done) * self.config('GAMMA') * self.target_q_input + self.reward_input
self.td_error = self.predict_q_value - self.q_value_func.q_tensor
with tf.variable_scope('train'):
self.q_value_func_loss, self.optimizer, self.update_q_value_func_op = self._set_up_loss()
self.update_target_q_value_func_op = self._set_up_target_update()
# redundant sort operation on var_list
var_list = get_tf_collection_var_list(key=tf.GraphKeys.GLOBAL_VARIABLES,
scope='{}/train'.format(name)) + self.optimizer.variables()
self.parameters.set_tf_var_list(tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[dict(obj=self.q_value_func, attr_name='q_value_func'),
dict(obj=self.target_q_value_func, attr_name='target_q_value_func')],
parameters=self.parameters)
@register_counter_info_to_status_decorator(increment=1, info_key='init', under_status='INITED')
def init(self, sess=None, source_obj=None):
super().init()
self.q_value_func.init()
self.target_q_value_func.init(source_obj=self.q_value_func)
self.parameters.init()
if source_obj:
self.copy_from(source_obj)
@record_return_decorator(which_recorder='self')
@register_counter_info_to_status_decorator(increment=1, info_key='train_counter', under_status='TRAIN')
def train(self, batch_data=None, train_iter=None, sess=None, update_target=True) -> dict:
super(DQN, self).train()
self.recorder.record()
if batch_data and not isinstance(batch_data, TransitionData):
raise TypeError()
tf_sess = sess if sess else tf.get_default_session()
train_iter = self.parameters("TRAIN_ITERATION") if not train_iter else train_iter
average_loss = 0.0
for i in range(train_iter):
if batch_data is None:
train_data = self.replay_buffer.sample(batch_size=self.parameters('BATCH_SIZE'))
else:
train_data = batch_data
_, target_q_val_on_new_s = self.predict_target_with_q_val(obs=train_data.new_state_set, batch_flag=True)
target_q_val_on_new_s = np.expand_dims(target_q_val_on_new_s, axis=1)
assert target_q_val_on_new_s.shape[0] == train_data.state_set.shape[0]
feed_dict = {
self.reward_input: np.reshape(train_data.reward_set, [-1, 1]),
self.action_input: flatten_n(self.env_spec.action_space, train_data.action_set),
self.state_input: train_data.state_set,
self.done_input: np.reshape(train_data.done_set, [-1, 1]),
self.target_q_input: target_q_val_on_new_s,
**self.parameters.return_tf_parameter_feed_dict()
}
res, _ = tf_sess.run([self.q_value_func_loss, self.update_q_value_func_op],
feed_dict=feed_dict)
average_loss += res
average_loss /= train_iter
if update_target is True and self.get_status()['train_counter'] % self.update_target_q_every_train == 0:
tf_sess.run(self.update_target_q_value_func_op,
feed_dict=self.parameters.return_tf_parameter_feed_dict())
return dict(average_loss=average_loss)
@register_counter_info_to_status_decorator(increment=1, info_key='test_counter', under_status='TEST')
def test(self, *arg, **kwargs):
return super().test(*arg, **kwargs)
@register_counter_info_to_status_decorator(increment=1, info_key='predict_counter')
def predict(self, obs: np.ndarray, sess=None, batch_flag: bool = False):
if batch_flag:
action, q_val = self._predict_batch_action(obs=obs,
q_value_tensor=self.q_value_func.q_tensor,
action_ph=self.action_input,
state_ph=self.state_input,
sess=sess)
else:
action, q_val = self._predict_action(obs=obs,
q_value_tensor=self.q_value_func.q_tensor,
action_ph=self.action_input,
state_ph=self.state_input,
sess=sess)
if not batch_flag:
return int(action)
else:
return action.astype(np.int).tolist()
def predict_target_with_q_val(self, obs: np.ndarray, sess=None, batch_flag: bool = False):
if batch_flag:
action, q_val = self._predict_batch_action(obs=obs,
q_value_tensor=self.target_q_value_func.q_tensor,
action_ph=self.target_q_value_func.action_input,
state_ph=self.target_q_value_func.state_input,
sess=sess)
else:
action, q_val = self._predict_action(obs=obs,
q_value_tensor=self.target_q_value_func.q_tensor,
action_ph=self.target_q_value_func.action_input,
state_ph=self.target_q_value_func.state_input,
sess=sess)
return action, q_val
# Store Transition
@register_counter_info_to_status_decorator(increment=1, info_key='append_to_memory')
def append_to_memory(self, samples: TransitionData):
self.replay_buffer.append_batch(obs0=samples.state_set,
obs1=samples.new_state_set,
action=samples.action_set,
reward=samples.reward_set,
terminal1=samples.done_set)
self._status.update_info(info_key='replay_buffer_data_total_count', increment=len(samples))
@record_return_decorator(which_recorder='self')
def save(self, global_step, save_path=None, name=None, **kwargs):
save_path = save_path if save_path else GlobalConfig().DEFAULT_MODEL_CHECKPOINT_PATH
name = name if name else self.name
MultiPlaceholderInput.save(self, save_path=save_path, global_step=global_step, name=name, **kwargs)
return dict(check_point_save_path=save_path, check_point_save_global_step=global_step,
check_point_save_name=name)
@record_return_decorator(which_recorder='self')
def load(self, path_to_model, model_name, global_step=None, **kwargs):
MultiPlaceholderInput.load(self, path_to_model, model_name, global_step, **kwargs)
return dict(check_point_load_path=path_to_model, check_point_load_global_step=global_step,
check_point_load_name=model_name)
def _predict_action(self, obs: np.ndarray, q_value_tensor: tf.Tensor, action_ph: tf.Tensor, state_ph: tf.Tensor, sess=None):
if self.env_spec.obs_space.contains(obs) is False:
raise StateOrActionOutOfBoundError("obs {} out of bound {}".format(obs, self.env_spec.obs_space.bound()))
obs = repeat_ndarray(obs, repeats=self.env_spec.flat_action_dim)
tf_sess = sess if sess else tf.get_default_session()
feed_dict = {action_ph: generate_n_actions_hot_code(n=self.env_spec.flat_action_dim),
state_ph: obs, **self.parameters.return_tf_parameter_feed_dict()}
res = tf_sess.run([q_value_tensor],
feed_dict=feed_dict)[0]
return np.argmax(res, axis=0), np.max(res, axis=0)
def _predict_batch_action(self, obs: np.ndarray, q_value_tensor: tf.Tensor, action_ph: tf.Tensor,
state_ph: tf.Tensor, sess=None):
actions = []
q_values = []
for obs_i in obs:
action, q_val = self._predict_action(obs=obs_i,
q_value_tensor=q_value_tensor,
action_ph=action_ph,
state_ph=state_ph,
sess=sess)
actions.append(np.argmax(action, axis=0))
q_values.append(np.max(q_val, axis=0))
return np.array(actions), np.array(q_values)
def _set_up_loss(self):
reg_loss = tf.get_collection(tf.GraphKeys.REGULARIZATION_LOSSES, scope=self.q_value_func.name_scope)
loss = tf.reduce_sum((self.predict_q_value - self.q_value_func.q_tensor) ** 2)
if len(reg_loss) > 0:
loss += tf.reduce_sum(reg_loss)
optimizer = tf.train.AdamOptimizer(learning_rate=self.parameters('LEARNING_RATE'))
optimize_op = optimizer.minimize(loss=loss, var_list=self.q_value_func.parameters('tf_var_list'))
return loss, optimizer, optimize_op
# update target net
def _set_up_target_update(self):
op = []
for var, target_var in zip(self.q_value_func.parameters('tf_var_list'),
self.target_q_value_func.parameters('tf_var_list')):
ref_val = self.parameters('DECAY') * target_var + (1.0 - self.parameters('DECAY')) * var
op.append(tf.assign(target_var, ref_val))
return op
def _evaluate_td_error(self, sess=None):
# tf_sess = sess if sess else tf.get_default_session()
# feed_dict = {
# self.reward_input: train_data.reward_set,
# self.action_input: flatten_n(self.env_spec.action_space, train_data.action_set),
# self.state_input: train_data.state_set,
# self.done_input: train_data.done_set,
# self.target_q_input: target_q_val_on_new_s,
# **self.parameters.return_tf_parameter_feed_dict()
# }
# td_loss = tf_sess.run([self.td_error], feed_dict=feed_dict)
pass
class DDPG(ModelFreeAlgo, OffPolicyAlgo, MultiPlaceholderInput):
required_key_dict = DictConfig.load_json(file_path=GlobalConfig().DEFAULT_DDPG_REQUIRED_KEY_LIST)
@typechecked
def __init__(self,
env_spec: EnvSpec,
config_or_config_dict: (DictConfig, dict),
value_func: MLPQValueFunction,
policy: DeterministicMLPPolicy,
schedule_param_list=None,
name='ddpg',
replay_buffer=None):
"""
:param env_spec: environment specifications, like action apace or observation space
:param config_or_config_dict: configuraion dictionary, like learning rate or decay, if any
:param value_func: value function
:param policy: agent policy
:param schedule_param_list: schedule parameter list, if any initla final function to schedule learning process
:param name: name of algorithm class instance
:param replay_buffer: replay buffer, if any
"""
ModelFreeAlgo.__init__(self, env_spec=env_spec, name=name)
config = construct_dict_config(config_or_config_dict, self)
self.config = config
self.actor = policy
self.target_actor = self.actor.make_copy(name_scope='{}_target_actor'.format(self.name),
name='{}_target_actor'.format(self.name),
reuse=False)
self.critic = value_func
self.target_critic = self.critic.make_copy(name_scope='{}_target_critic'.format(self.name),
name='{}_target_critic'.format(self.name),
reuse=False)
self.state_input = self.actor.state_input
if replay_buffer:
assert issubclass(replay_buffer, BaseReplayBuffer)
self.replay_buffer = replay_buffer
else:
self.replay_buffer = UniformRandomReplayBuffer(limit=self.config('REPLAY_BUFFER_SIZE'),
action_shape=self.env_spec.action_shape,
observation_shape=self.env_spec.obs_shape)
"""
self.parameters contains all the parameters (variables) of the algorithm
"""
self.parameters = ParametersWithTensorflowVariable(tf_var_list=[],
rest_parameters=dict(),
to_scheduler_param_tuple=schedule_param_list,
name='ddpg_param',
source_config=config,
require_snapshot=False)
self._critic_with_actor_output = self.critic.make_copy(reuse=True,
name='actor_input_{}'.format(self.critic.name),
state_input=self.state_input,
action_input=self.actor.action_tensor)
self._target_critic_with_target_actor_output = self.target_critic.make_copy(reuse=True,
name='target_critic_with_target_actor_output_{}'.format(
self.critic.name),
action_input=self.target_actor.action_tensor)
with tf.variable_scope(name):
self.reward_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
self.next_state_input = tf.placeholder(shape=[None, self.env_spec.flat_obs_dim], dtype=tf.float32)
self.done_input = tf.placeholder(shape=[None, 1], dtype=tf.bool)
self.target_q_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
done = tf.cast(self.done_input, dtype=tf.float32)
self.predict_q_value = (1. - done) * self.config('GAMMA') * self.target_q_input + self.reward_input
with tf.variable_scope('train'):
self.critic_loss, self.critic_update_op, self.target_critic_update_op, self.critic_optimizer, \
self.critic_grads = self._setup_critic_loss()
self.actor_loss, self.actor_update_op, self.target_actor_update_op, self.action_optimizer, \
self.actor_grads = self._set_up_actor_loss()
var_list = get_tf_collection_var_list(
'{}/train'.format(name)) + self.critic_optimizer.variables() + self.action_optimizer.variables()
self.parameters.set_tf_var_list(tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[dict(obj=self.target_actor,
attr_name='target_actor',
),
dict(obj=self.actor,
attr_name='actor'),
dict(obj=self.critic,
attr_name='critic'),
dict(obj=self.target_critic,
attr_name='target_critic')
],
parameters=self.parameters)
@register_counter_info_to_status_decorator(increment=1, info_key='init', under_status='INITED')
def init(self, sess=None, source_obj=None):
self.actor.init()
self.critic.init()
self.target_actor.init()
self.target_critic.init(source_obj=self.critic)
self.parameters.init()
if source_obj:
self.copy_from(source_obj)
super().init()
@record_return_decorator(which_recorder='self')
@register_counter_info_to_status_decorator(increment=1, info_key='train', under_status='TRAIN')
def train(self, batch_data=None, train_iter=None, sess=None, update_target=True) -> dict:
super(DDPG, self).train()
if isinstance(batch_data, TrajectoryData):
batch_data = batch_data.return_as_transition_data(shuffle_flag=True)
tf_sess = sess if sess else tf.get_default_session()
train_iter = self.parameters("TRAIN_ITERATION") if not train_iter else train_iter
average_critic_loss = 0.0
average_actor_loss = 0.0
for i in range(train_iter):
train_batch = self.replay_buffer.sample(
batch_size=self.parameters('BATCH_SIZE')) if batch_data is None else batch_data
assert isinstance(train_batch, TransitionData)
critic_loss, _ = self._critic_train(train_batch, tf_sess)
actor_loss, _ = self._actor_train(train_batch, tf_sess)
average_actor_loss += actor_loss
average_critic_loss += critic_loss
if update_target:
tf_sess.run([self.target_actor_update_op, self.target_critic_update_op])
return dict(average_actor_loss=average_actor_loss / train_iter,
average_critic_loss=average_critic_loss / train_iter)
def _critic_train(self, batch_data, sess) -> ():
target_q = sess.run(
self._target_critic_with_target_actor_output.q_tensor,
feed_dict={
self._target_critic_with_target_actor_output.state_input: batch_data.new_state_set,
self.target_actor.state_input: batch_data.new_state_set
}
)
loss, _, grads = sess.run(
[self.critic_loss, self.critic_update_op, self.critic_grads
],
feed_dict={
self.target_q_input: target_q,
self.critic.state_input: batch_data.state_set,
self.critic.action_input: batch_data.action_set,
self.done_input: np.reshape(batch_data.done_set, [-1, 1]),
self.reward_input: np.reshape(batch_data.reward_set, [-1, 1]),
**self.parameters.return_tf_parameter_feed_dict()
}
)
return loss, grads
def _actor_train(self, batch_data, sess) -> ():
target_q, loss, _, grads = sess.run(
[self._critic_with_actor_output.q_tensor, self.actor_loss, self.actor_update_op, self.actor_grads],
feed_dict={
self.actor.state_input: batch_data.state_set,
self._critic_with_actor_output.state_input: batch_data.state_set,
**self.parameters.return_tf_parameter_feed_dict()
}
)
return loss, grads
@register_counter_info_to_status_decorator(increment=1, info_key='test', under_status='TEST')
def test(self, *arg, **kwargs) -> dict:
return super().test(*arg, **kwargs)
def predict(self, obs: np.ndarray, sess=None, batch_flag: bool = False):
tf_sess = sess if sess else tf.get_default_session()
feed_dict = {
self.state_input: make_batch(obs, original_shape=self.env_spec.obs_shape),
**self.parameters.return_tf_parameter_feed_dict()
}
return self.actor.forward(obs=obs, sess=tf_sess, feed_dict=feed_dict)
def append_to_memory(self, samples: TransitionData):
self.replay_buffer.append_batch(obs0=samples.state_set,
obs1=samples.new_state_set,
action=samples.action_set,
reward=samples.reward_set,
terminal1=samples.done_set)
@record_return_decorator(which_recorder='self')
def save(self, global_step, save_path=None, name=None, **kwargs):
save_path = save_path if save_path else GlobalConfig().DEFAULT_MODEL_CHECKPOINT_PATH
name = name if name else self.name
MultiPlaceholderInput.save(self, save_path=save_path, global_step=global_step, name=name, **kwargs)
return dict(check_point_save_path=save_path, check_point_save_global_step=global_step,
check_point_save_name=name)
@record_return_decorator(which_recorder='self')
def load(self, path_to_model, model_name, global_step=None, **kwargs):
MultiPlaceholderInput.load(self, path_to_model, model_name, global_step, **kwargs)
return dict(check_point_load_path=path_to_model, check_point_load_global_step=global_step,
check_point_load_name=model_name)
def _setup_critic_loss(self):
reg_loss = tf.get_collection(tf.GraphKeys.REGULARIZATION_LOSSES, scope=self.critic.name_scope)
loss = tf.reduce_sum((self.predict_q_value - self.critic.q_tensor) ** 2)
if len(reg_loss) > 0:
loss += tf.reduce_sum(reg_loss)
optimizer = tf.train.AdamOptimizer(learning_rate=self.parameters('CRITIC_LEARNING_RATE'))
grad_var_pair = optimizer.compute_gradients(loss=loss, var_list=self.critic.parameters('tf_var_list'))
grads = [g[0] for g in grad_var_pair]
if self.parameters('critic_clip_norm') is not None:
grad_var_pair, grads = clip_grad(optimizer=optimizer,
loss=loss,
var_list=self.critic.parameters('tf_var_list'),
clip_norm=self.parameters('critic_clip_norm'))
optimize_op = optimizer.apply_gradients(grad_var_pair)
op = []
for var, target_var in zip(self.critic.parameters('tf_var_list'),
self.target_critic.parameters('tf_var_list')):
ref_val = self.parameters('DECAY') * target_var + (1.0 - self.parameters('DECAY')) * var
op.append(tf.assign(target_var, ref_val))
return loss, optimize_op, op, optimizer, grads
def _set_up_actor_loss(self):
reg_loss = tf.get_collection(tf.GraphKeys.REGULARIZATION_LOSSES, scope=self.actor.name_scope)
loss = -tf.reduce_mean(self._critic_with_actor_output.q_tensor)
if len(reg_loss) > 0:
loss += tf.reduce_sum(reg_loss)
optimizer = tf.train.AdamOptimizer(learning_rate=self.parameters('CRITIC_LEARNING_RATE'))
grad_var_pair = optimizer.compute_gradients(loss=loss, var_list=self.actor.parameters('tf_var_list'))
grads = [g[0] for g in grad_var_pair]
if self.parameters('actor_clip_norm') is not None:
grad_var_pair, grads = clip_grad(optimizer=optimizer,
loss=loss,
var_list=self.actor.parameters('tf_var_list'),
clip_norm=self.parameters('critic_clip_norm'))
optimize_op = optimizer.apply_gradients(grad_var_pair)
op = []
for var, target_var in zip(self.actor.parameters('tf_var_list'),
self.target_actor.parameters('tf_var_list')):
ref_val = self.parameters('DECAY') * target_var + (1.0 - self.parameters('DECAY')) * var
op.append(tf.assign(target_var, ref_val))
return loss, optimize_op, op, optimizer, grads
