def main():
# define arguments
parser = argparse.ArgumentParser()
parser.add_argument("--render",
action="store_true",
help="Render the state")
parser.add_argument("--render_interval",
type=int,
default=10,
help="Number of rollouts to skip before rendering")
parser.add_argument("--num_rollouts",
type=int,
default=-1,
help="Number of max rollouts")
parser.add_argument("--logfile",
type=str,
help="Indicate where to save rollout data")
parser.add_argument(
"--load_params",
type=str,
help="Load previously learned parameters from [LOAD_PARAMS]")
parser.add_argument("--save_params",
type=str,
help="Save learned parameters to [SAVE_PARAMS]")
parser.add_argument("--silent",
action="store_true",
help="Suppress print of the DQN config")
parser.add_argument("--gamma",
type=float,
default=0.99,
help="Discount factor")
parser.add_argument("--epsilon",
type=float,
default=0.1,
help="Random factor (for Epsilon-greedy)")
parser.add_argument("--eps_anneal",
type=int,
default=0,
help="The amount of episodes to anneal epsilon by")
parser.add_argument("--sample_size",
type=int,
default=256,
help="Number of samples from the dataset per episode")
parser.add_argument("--num_epochs",
type=int,
default=50,
help="Number of epochs to run per episode")
parser.add_argument("--episode_length",
type=int,
default=128,
help="Number of rollouts per episode")
parser.add_argument("--noise",
type=float,
help="Amount of noise to add to the actions")
parser.add_argument("--test", action="store_true", help="Test the params")
args = parser.parse_args()
signal.signal(signal.SIGINT, stopsigCallback)
global stopsig
# create the basketball environment
env = BasketballVelocityEnv(fps=60.0,
timeInterval=1.0,
goal=[0, 5, 0],
initialLengths=np.array([0, 0, 1, 1, 1, 0, 1]),
initialAngles=np.array(
[0, 45, -20, -20, 0, -20, 0]))
# create space
stateSpace = ContinuousSpace(ranges=env.state_range())
actionSpace = DiscreteSpace(intervals=[25 for i in range(7)] + [1],
ranges=env.action_range())
processor = DQNProcessor(actionSpace)
# create the model and policy functions
modelFn = DQNNetwork(
sizes=[stateSpace.n + actionSpace.n, 128, 256, 256, 128, 1],
alpha=0.001,
use_gpu=True,
momentum=0.9)
if args.load_params:
print("Loading params...")
modelFn.load_params(args.load_params)
allActions = actionSpace.sampleAll()
policyFn = EpsilonGreedyPolicy(
epsilon=args.epsilon if not args.test else 0,
getActionsFn=lambda state: allActions,
distributionFn=lambda qstate: modelFn(qstate),
processor=processor)
replayBuffer = RingBuffer(max_limit=2048)
if args.logfile:
log = open(args.logfile, "a")
if not args.silent:
print("Env space range:", env.state_range())
print("Env action range:", env.action_range())
print("State space:", stateSpace.n)
print("Action space:", actionSpace.n)
print("Action space bins:", actionSpace.bins)
print("Epsilon:", args.epsilon)
print("Epsilon anneal episodes:", args.eps_anneal)
print("Gamma:", args.gamma)
__actionShape = policyFn.getActions(None).shape
totalActions = np.prod(actionSpace.bins)
print("Actions are sampled:", __actionShape[0] != totalActions)
print("Number of actions:", totalActions)
rollout = 0
if not args.silent and not args.test:
iterationBar = ProgressBar(maxval=args.episode_length)
while args.num_rollouts == -1 or rollout < args.num_rollouts:
if stopsig: break
if not args.silent and not args.test:
iterationBar.printProgress(rollout % args.episode_length,
prefix="Query(s,a,s',r)",
suffix="epsilon: " +
str(policyFn.epsilon))
state = env.reset()
reward = 0
done = False
steps = 0
while not done and steps < 5: # 5 step max
action = policyFn(state)
if steps == 4: # throw immediately
action[-2] = 0
action[-1] = 1
envAction = processor.process_env_action(action)
if args.noise:
envAction[:7] += np.random.normal(scale=np.ones([7]) *
args.noise)
nextState, reward, done, info = env.step(envAction)
replayBuffer.append([state, action, nextState, reward, done])
if args.test and done: print("Reward:", reward)
state = nextState
steps += 1
if args.render and (rollout + 1) % args.render_interval == 0:
env.render()
rollout += 1
if args.eps_anneal > 0: # linear anneal
epsilon_diff = args.epsilon - min(0.1, args.epsilon)
policyFn.epsilon = args.epsilon - min(rollout, args.eps_anneal) / \
float(args.eps_anneal) * epsilon_diff
if rollout % args.episode_length == 0 and not args.test:
dataset = replayBuffer.sample(args.sample_size)
states = np.array([d[0] for d in dataset])
actions = np.array([d[1] for d in dataset])
nextStates = [d[2] for d in dataset]
rewards = np.array([[d[3]]
for d in dataset]) # rewards require extra []
terminal = [d[4] for d in dataset]
QS0 = processor.process_Qstate(states, actions)
Q1 = np.zeros(rewards.shape, dtype=np.float32)
if not args.silent:
progressBar = ProgressBar(maxval=len(nextStates))
for i, nextState in enumerate(nextStates):
if stopsig: break
if not args.silent:
progressBar.printProgress(i,
prefix="Creating Q(s,a)",
suffix="%s / %s" %
(i + 1, len(nextStates)))
if terminal[i]: continue # 0
dist = modelFn(
processor.process_Qstate(
repmat(nextState, allActions.shape[0], 1), allActions))
Q1[i, 0] = np.max(dist) # max[a' in A]Q(s', a')
if stopsig: break
Q0_ = rewards + args.gamma * Q1
modelFn.fit({
"qstates": QS0,
"qvalues": Q0_
},
num_epochs=args.num_epochs)
avgQ = np.sum(Q0_) / Q0_.shape[0]
avgR = np.sum(rewards) / rewards.shape[0]
print("Rollouts:", rollout, "Error:", modelFn.score(),
"Average Q:", avgQ, "Average R:", avgR)
print("")
if args.logfile:
log.write("[" + str(rollout) + ", " + str(modelFn.score()) +
", " + str(avgQ) + ", " + str(avgR) + "]\n")
if args.logfile:
log.close()
if args.save_params:
print("Saving params...")
modelFn.save_params(args.save_params)
