class Model:
def __init__(self, device, state_size, action_size, folder, config):
self.folder = folder
self.config = config
self.device = device
self.memory = ReplayMemory(self.config["MEMORY_CAPACITY"])
self.state_size = state_size
self.action_size = action_size
self.critic = Critic(self.state_size, self.action_size, self.device,
self.config)
self.actor = Actor(self.state_size, self.action_size, self.device,
self.config)
def select_action(self, state):
action = self.actor.select_action(state)
return action
def optimize(self):
if len(self.memory) < self.config["BATCH_SIZE"]:
return None, None
transitions = self.memory.sample(self.config["BATCH_SIZE"])
batch = list(zip(*transitions))
# Divide memory into different tensors
states = torch.FloatTensor(batch[0]).to(self.device)
actions = torch.FloatTensor(batch[1]).to(self.device)
rewards = torch.FloatTensor(batch[2]).unsqueeze(1).to(self.device)
next_states = torch.FloatTensor(batch[3]).to(self.device)
done = torch.FloatTensor(batch[4]).unsqueeze(1).to(self.device)
# Compute Q(s,a) using critic network
current_Q = self.critic(states, actions)
# Compute deterministic next state action using actor target network
next_actions = self.actor.target(next_states)
# Compute next state values at t+1 using target critic network
target_Q = self.critic.target(next_states, next_actions).detach()
# Compute expected state action values y[i]= r[i] + Q'(s[i+1], a[i+1])
target_Q = rewards + done * self.config["GAMMA"] * target_Q
# Critic loss by mean squared error
loss_critic = F.mse_loss(current_Q, target_Q)
# Optimize the critic network
self.critic.update(loss_critic)
# Optimize actor
loss_actor = -self.critic(states, self.actor(states)).mean()
self.actor.update(loss_actor)
# Soft parameter update
update_targets(self.critic.target_nn, self.critic.nn,
self.config["TAU"])
update_targets(self.actor.target_nn, self.actor.nn, self.config["TAU"])
return loss_actor.item(), loss_critic.item()
def evaluate(self, environement, n_ep=10):
rewards = []
try:
for i in range(n_ep):
print('Episode number', i + 1, 'out of', n_ep,
'keep waiting...')
state = environement.reset()
reward = 0
done = False
steps = 0
while not done and steps < self.config["MAX_STEPS"]:
action = self.select_action(state)
state, r, done = environement.step(action)
reward += r
steps += 1
rewards.append(reward)
print('Episode reward:', reward)
except KeyboardInterrupt:
pass
if rewards:
score = sum(rewards) / len(rewards)
else:
score = 0
return score
def save(self):
self.actor.save(self.folder)
self.critic.save(self.folder)
def load(self):
try:
self.actor.load(self.folder)
self.critic.load(self.folder)
except FileNotFoundError:
raise Exception("No model has been saved !") from None
class Model:
def __init__(self, device, memory, state_size, action_size, low_bound, high_bound, folder, config):
self.folder = folder
self.config = config
self.device = device
self.memory = memory
self.state_size = state_size
self.action_size = action_size
self.low_bound = low_bound
self.high_bound = high_bound
self.critic = Critic(state_size, action_size, device, self.config)
self.actor = Actor(state_size, action_size, low_bound, high_bound, device, self.config)
def select_action(self, state):
return self.actor.select_action(state)
def query(self):
self.thread = threading.Thread(target=self.thread_query)
self.thread.start()
def thread_query(self):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind(('localhost', 12801))
sock.listen(5)
connection, address = sock.accept()
with connection:
msg = ''
while True:
data = connection.recv(8192)
if not data:
break
msg += data.decode()
if '\n' in msg:
state, msg = msg.split('\n', 1)
send_data = str(list(self.select_action(str_to_list(state))))
connection.sendall(send_data.encode())
sock.close()
def close(self):
self.thread.join()
def optimize(self):
if len(self.memory) < self.config['BATCH_SIZE']:
return None, None
transitions = self.memory.sample(self.config['BATCH_SIZE'])
batch = list(zip(*transitions))
# Divide memory into different tensors
states = torch.FloatTensor(batch[0]).to(self.device)
actions = torch.FloatTensor(batch[1]).to(self.device)
rewards = torch.FloatTensor(batch[2]).unsqueeze(1).to(self.device)
next_states = torch.FloatTensor(batch[3]).to(self.device)
done = torch.FloatTensor(batch[4]).unsqueeze(1).to(self.device)
# Compute Q(s,a) using critic network
current_Q = self.critic(states, actions)
# Compute deterministic next state action using actor target network
next_actions = self.actor.target(next_states)
# Compute next state values at t+1 using target critic network
target_Q = self.critic.target(next_states, next_actions).detach()
# Compute expected state action values y[i]= r[i] + Q'(s[i+1], a[i+1])
target_Q = rewards + done*self.config['GAMMA']*target_Q
# Critic loss by mean squared error
loss_critic = F.mse_loss(current_Q, target_Q)
# Optimize the critic network
self.critic.update(loss_critic)
# Optimize actor
loss_actor = -self.critic(states, self.actor(states)).mean()
self.actor.update(loss_actor)
# Soft parameter update
self.critic.update_target(self.config['TAU'])
self.actor.update_target(self.config['TAU'])
return loss_actor.item(), loss_critic.item()
def save(self):
print("\033[91m\033[1mModel saved in", self.folder, "\033[0m")
self.actor.save(self.folder)
self.critic.save(self.folder)
def load(self):
try:
self.actor.load(self.folder)
self.critic.load(self.folder)
except FileNotFoundError:
raise Exception("No model has been saved !") from None