class DuelingDDQNAgent():
def __init__(self, gamma, epsilon, lr, n_actions, input_dims, mem_size, batch_size,
eps_min=0.01, eps_dec=5e-7, replace=1000, algo=None, env_name=None, chkpt_dir='tmp/dqn'):
self.gamma = gamma
self.epsilon = epsilon
self.lr = lr
self.n_actions = n_actions
self.input_dims = input_dims
self.batch_size = batch_size
self.eps_min = eps_min
self.eps_dec = eps_dec
self.replace_target_cnt = replace
self.algo = algo
self.env_name = env_name
self.chkpt_dir = chkpt_dir
self.action_space = [i for i in range(self.n_actions)]
self.learn_step_counter = 0
self.memory = ReplayBuffer(mem_size, input_dims, n_actions)
self.q_eval = DuelingDeepQNetwork(self.lr, self.n_actions, input_dims=self.input_dims,
name=self.env_name+'_'+self.algo+'_q_eval', chkpt_dir=self.chkpt_dir)
self.q_next = DuelingDeepQNetwork(self.lr, self.n_actions, input_dims=self.input_dims,
name=self.env_name+'_'+self.algo+'_q_next', chkpt_dir=self.chkpt_dir)
def choose_action(self, observation):
if np.random.random() > self.epsilon:
state = T.tensor([observation], dtype=T.float).to(self.q_eval.device)
_, advantage = self.q_eval.forward(state)
action = T.argmax(advantage).item()
else:
action = np.random.choice(self.action_space)
return action
def store_transition(self, state, action, reward, state_, done):
self.memory.store_transition(state, action, reward, state_, done)
def sample_memory(self):
state, action, reward, new_state, done = self.memory.sample_buffer(self.batch_size)
states = T.tensor(state).to(self.q_eval.device)
actions = T.tensor(action).to(self.q_eval.device)
rewards = T.tensor(reward).to(self.q_eval.device)
states_ = T.tensor(new_state).to(self.q_eval.device)
dones = T.tensor(done).to(self.q_eval.device)
return states, actions, rewards, states_, dones
def replace_target_network(self):
if self.learn_step_counter % self.replace_target_cnt == 0:
self.q_next.load_state_dict(self.q_eval.state_dict())
def decrement_epsilon(self):
self.epsilon = self.epsilon - self.eps_dec if self.epsilon > self.eps_min else self.eps_min
def save_models(self):
self.q_eval.save_checkpoint()
self.q_next.save_checkpoint()
def load_models(self):
self.q_eval.load_checkpoint()
self.q_next.load_checkpoint()
def learn(self):
if self.memory.mem_cntr < self.batch_size:
return
self.q_eval.optimizer.zero_grad()
self.replace_target_network()
states, actions, rewards, states_, dones = self.sample_memory()
indices = np.arange(self.batch_size)
V_s, A_s = self.q_eval.forward(states)
V_s_, A_s_ = self.q_next.forward(states_)
V_s_eval, A_s_eval = self.q_eval.forward(states_)
q_pred = T.add(V_s, (A_s - A_s.mean(dim=1, keepdim=True)))[indices, actions]
q_next = T.add(V_s_, (A_s_ - A_s_.mean(dim=1, keepdim=True)))
q_eval = T.add(V_s_eval, (A_s_eval - A_s_eval.mean(dim=1, keepdim=True)))
max_actions = T.argmax(q_eval, dim=1)
q_next[dones] = 0.0
q_target = rewards + self.gamma * q_next[indices, max_actions]
loss = self.q_eval.loss(q_target, q_pred).to(self.q_eval.device)
loss.backward()
self.q_eval.optimizer.step()
self.learn_step_counter += 1
self.decrement_epsilon()
class DuelingDQNAgent():
def __init__(self,
gamma,
epsilon,
lr,
n_actions,
input_dims,
memory_size,
batch_size,
algo,
env_name,
checkpoint_dir,
epsilon_min=0.01,
epsilon_decay=5e-7,
replace_target_count=1000):
self.gamma = gamma
self.epsilon = epsilon
self.lr = lr
self.n_actions = n_actions
self.input_dims = input_dims
self.memory_size = memory_size
self.batch_size = batch_size
self.algo = algo
self.env_name = env_name
self.epsilon_min = 0.01
self.epsilon_decay = epsilon_decay
self.replace_target_count = replace_target_count
self.checkpoint_dir = checkpoint_dir
self.action_space = [i for i in range(self.n_actions)]
self.learn_step_counter = 0
self.memory = ReplayMemory(memory_size, input_dims, n_actions)
self.q_net = DuelingDeepQNetwork(self.lr,
self.n_actions,
name=self.env_name + '_' + self.algo +
'_q_net',
input_dims=self.input_dims,
checkpoint_dir=self.checkpoint_dir)
self.target_net = DuelingDeepQNetwork(
self.lr,
self.n_actions,
name=self.env_name + '_' + self.algo + '_target_net',
input_dims=self.input_dims,
checkpoint_dir=self.checkpoint_dir)
def choose_action(self, observation):
if np.random.random() > self.epsilon:
observation = T.tensor([observation],
dtype=T.float).to(self.q_net.device)
_, A = self.q_net(observation)
action = T.argmax(A, dim=1).item()
else:
action = np.random.choice(self.action_space)
return action
def remember(self, state, action, reward, next_state, done):
self.memory.remember(state, action, reward, next_state, done)
def sample_memory(self):
states, actions, rewards, next_states, dones = \
self.memory.sample_buffer(self.batch_size)
states = T.tensor(states).to(self.q_net.device)
actions = T.tensor(actions).to(self.q_net.device)
rewards = T.tensor(rewards).to(self.q_net.device)
next_states = T.tensor(next_states).to(self.q_net.device)
dones = T.tensor(dones).to(self.q_net.device)
return states, actions, rewards, next_states, dones
def replace_target_network(self):
if self.learn_step_counter % self.replace_target_count == 0:
self.target_net.load_state_dict(self.q_net.state_dict())
def decrement_epsilon(self):
self.epsilon = self.epsilon - self.epsilon_decay \
if self.epsilon > self.epsilon_min else self.epsilon_min
def learn(self):
if self.memory.memory_counter < self.batch_size:
return
self.q_net.optimizer.zero_grad()
self.replace_target_network()
states, actions, rewards, next_states, dones = self.sample_memory()
indices = np.arange(self.batch_size)
V_pred, A_pred = self.q_net(states)
V_target, A_target = self.target_net(next_states)
q_value = T.add(
V_pred,
(A_pred[indices, actions] - A_pred.mean(dim=1, keepdim=True)))
target_predictions = T.add(
V_target,
(A_target.max(dim=1)[0] - A_target.mean(dim=1, keepdim=True)))
target_predictions[dones] = 0.0
target_value = rewards + self.gamma * target_predictions
loss = self.q_net.loss(q_value, target_value).to(self.q_net.device)
loss.backward()
self.q_net.optimizer.step()
self.learn_step_counter += 1
self.decrement_epsilon()
def save_models(self):
self.q_net.save_checkpoint()
self.target_net.save_checkpoint()
def load_models(self):
self.q_net.load_checkpoint()
self.target_net.load_checkpoint()