class PPO():
def __init__(self, envs):
self.value_loss_coefficient = 0.5
self.entropy_coefficient = 0.05
self.learning_rate = 1e-4
self.envs = envs
self.env_num=8
self.processor = Preprocessor(self.envs.observation_spec()[0])
self.sum_score = 0
self.n_steps = 512
self.gamma = 0.999
self.clip=0.27
self.sum_episode = 0
self.total_updates = -1
self.net = CNN().cuda()
self.old_net = copy.deepcopy(self.net)
self.old_net.cuda()
self.epoch=4
self.batch_size=8
self.optimizer = optim.Adam(
self.net.parameters(), self.learning_rate, weight_decay=0.01)
def reset(self):
self.obs_start = self.envs.reset()
self.last_obs = self.processor.preprocess_obs(self.obs_start)
def grad_step(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
policy, value = self.net(screen, minimap, flat)
return policy, value
def step(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
with torch.no_grad():
policy, value = self.net(screen, minimap, flat)
return policy, value
def old_step(self,observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
with torch.no_grad():
policy, value = self.old_net(screen, minimap, flat)
return policy, value
def select_actions(self, policy, last_obs):
available_actions = last_obs['available_actions']
def sample(prob):
actions = Categorical(prob).sample()
return actions
function_pi, args_pi = policy
available_actions = torch.FloatTensor(available_actions)
function_pi = available_actions*function_pi.cpu()
function_pi /= torch.sum(function_pi, dim=1, keepdim=True)
try:
function_sample = sample(function_pi)
except:
return 0
args_sample = dict()
for type, pi in args_pi.items():
if type.name == 'queued':
args_sample[type] = torch.zeros((self.env_num,),dtype=int)
else:
args_sample[type] = sample(pi).cpu()
return function_sample, args_sample
def mask_unused_action(self, actions):
fn_id, arg_ids = actions
for n in range(fn_id.shape[0]):
a_0 = fn_id[n]
unused_types = set(ACTION_TYPES) - \
set(FUNCTIONS._func_list[a_0].args)
for arg_type in unused_types:
arg_ids[arg_type][n] = -1
return (fn_id, arg_ids)
def functioncall_action(self, actions, size):
height, width = size
fn_id, arg_ids = actions
fn_id = fn_id.numpy().tolist()
actions_list = []
for n in range(len(fn_id)):
a_0 = fn_id[n]
a_l = []
for arg_type in FUNCTIONS._func_list[a_0].args:
arg_id = arg_ids[arg_type][n].detach(
).numpy().squeeze().tolist()
if is_spatial_action[arg_type]:
arg = [arg_id % width, arg_id // height]
else:
arg = [arg_id]
a_l.append(arg)
action = FunctionCall(a_0, a_l)
actions_list.append(action)
return actions_list
def get_value(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
with torch.no_grad():
_, value = self.net(screen, minimap, flat)
return value
def train(self):
obs_raw = self.obs_start
shape = (self.n_steps, self.envs.n_envs)
sample_values = np.zeros(shape, dtype=np.float32)
sample_obersavation = []
sample_rewards = np.zeros(shape, dtype=np.float32)
sample_actions = []
sample_dones = np.zeros(shape, dtype=np.float32)
scores = []
last_obs = self.last_obs
for step in range(self.n_steps):
policy, value = self.step(last_obs)
actions = self.select_actions(policy, last_obs)
if actions == 0:
self.sum_episode = 7
self.sum_score = 0
return
actions = self.mask_unused_action(actions)
size = last_obs['screen'].shape[2:4]
sample_values[step, :] = value.cpu()
sample_obersavation.append(last_obs)
sample_actions.append(actions)
pysc2_action = self.functioncall_action(actions, size)
'''fn_id, args_id = actions
if fn_id[0].cpu().numpy().squeeze() in obs_raw[0].observation['available_actions']:
print('1,True')
else: print('1.False'),printoobs_info(obs_raw[0])
if fn_id[1].cpu().numpy().squeeze() in obs_raw[1].observation['available_actions']:
print('2,True')
else: print('2.False'),printoobs_info(obs_raw[1])
print(last_obs['available_actions'][0][fn_id[0]], last_obs['available_actions'][1][fn_id[1]],fn_id)'''
obs_raw = self.envs.step(pysc2_action)
# print("0:",pysc2_action[0].function)
# print("1:",pysc2_action[1].function)
last_obs = self.processor.preprocess_obs(obs_raw)
sample_rewards[step, :] = [
i.reward for i in obs_raw]
sample_dones[step, :] = [i.last() for i in obs_raw]
for i in obs_raw:
if i.last():
score = i.observation['score_cumulative'][0]
self.sum_score += score
self.sum_episode += 1
print("episode %d: score = %f" % (self.sum_episode, score))
# if self.sum_episode % 10 == 0:
# torch.save(self.net.state_dict(), './save/episode' +
# str(self.sum_episode)+'_score'+str(score)+'.pkl')
self.last_obs = last_obs
next_value = self.get_value(last_obs).cpu()
returns = np.zeros(
[sample_rewards.shape[0]+1, sample_rewards.shape[1]])
returns[-1, :] = next_value
for i in reversed(range(sample_rewards.shape[0])):
next_rewards = self.gamma*returns[i+1, :]*(1-sample_dones[i, :])
returns[i, :] = sample_rewards[i, :]+next_rewards
returns = returns[:-1, :]
advantages = returns-sample_values
self.old_net.load_state_dict(self.net.state_dict())
actions = stack_and_flatten_actions(sample_actions)
observation = flatten_first_dims_dict(
stack_ndarray_dicts(sample_obersavation))
returns = flatten_first_dims(returns)
advantages = flatten_first_dims(advantages)
self.learn(observation, actions, returns, advantages)
def learn(self, observation, actions, returns, advantages):
temp=np.arange(returns.shape[0])
minibatch=returns.shape[0]//self.batch_size
screen=observation['screen']
flat=observation['flat']
minimap=observation['minimap']
a_actions=observation['available_actions']
args_id=actions[1]
for _ in range(self.epoch):
np.random.shuffle(temp)
for i in range(0,returns.shape[0],minibatch):
j=i+minibatch
shuffle=temp[i:j]
batch_screen=screen[shuffle]
batch_minimap=minimap[shuffle]
batch_flat=flat[shuffle]
batch_a_actions=a_actions[shuffle]
batch_observation={'screen': batch_screen,
'minimap': batch_minimap,
'flat': batch_flat,
'available_actions': batch_a_actions}
batch_advantages=advantages[shuffle]
batch_fn_id=actions[0][shuffle]
batch_args_id={k:v[shuffle] for k, v in args_id.items()}
batch_actions=(batch_fn_id,batch_args_id)
batch_returns=returns[shuffle]
batch_advantages = torch.FloatTensor(batch_advantages).cuda()
batch_returns = torch.FloatTensor(batch_returns).cuda()
batch_advantages = (batch_advantages - batch_advantages.mean()) / (batch_advantages.std() + 1e-8)
policy, batch_value = self.grad_step(batch_observation)
log_probs = compute_policy_log_probs(
batch_observation['available_actions'], policy, batch_actions).squeeze()
old_policy, _ =self.old_step(batch_observation)
old_log_probs=compute_policy_log_probs(
batch_observation['available_actions'], old_policy, batch_actions).squeeze().detach()
ratio=torch.exp(log_probs-old_log_probs)
temp1=ratio*batch_advantages
temp2=torch.clamp(ratio, 1 - self.clip, 1 + self.clip) * batch_advantages
policy_loss = -torch.min(temp1, temp2).mean()
value_loss = (batch_returns-batch_value).pow(2).mean()
entropy_loss = compute_policy_entropy(
batch_observation['available_actions'], policy, batch_actions)
loss = policy_loss+value_loss*self.value_loss_coefficient +\
entropy_loss*self.entropy_coefficient
# loss=loss.requires_grad_()
self.optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(self.net.parameters(), 1.0)
self.optimizer.step()
def RuleBase(net):
map_name = 'CollectMineralShards'
total_episodes = 100
total_updates = -1
sum_score = 0
n_steps = 8
learning_rate = 1e-4
optimizer = optim.Adam(net.parameters(), learning_rate, weight_decay=0.01)
env = make_sc2env(
map_name=map_name,
battle_net_map=False,
players=[sc2_env.Agent(sc2_env.Race.terran)],
agent_interface_format=sc2_env.parse_agent_interface_format(
feature_screen=32,
feature_minimap=32,
rgb_screen=None,
rgb_minimap=None,
action_space=None,
use_feature_units=False,
use_raw_units=False),
step_mul=8,
game_steps_per_episode=None,
disable_fog=False,
visualize=True)
processor = Preprocessor(env.observation_spec()[0])
observation_spec = env.observation_spec()
action_spec = env.action_spec()
agent = CollectMineralShards()
episodes = 0
agent.reset()
timesteps = env.reset()
while True:
fn_ids = []
args_ids = []
observations = []
for step in range(n_steps):
a_0, a_1 = agent.step(timesteps[0])
obs = processor.preprocess_obs(timesteps)
observations.append(obs)
actions = FunctionCall(a_0, a_1)
fn_id = torch.LongTensor([a_0]).cuda()
args_id = {}
if a_0 == 7:
for type in ACTION_TYPES:
if type.name == 'select_add':
args_id[type] = torch.LongTensor([a_1[0][0]]).cuda()
else:
args_id[type] = torch.LongTensor([-1]).cuda()
elif a_0 == 331:
for type in ACTION_TYPES:
if type.name == 'queued':
args_id[type] = torch.LongTensor([a_1[0][0]]).cuda()
elif type.name == 'screen':
args_id[type] = torch.LongTensor(
[a_1[1][1] * 32 + a_1[1][0]]).cuda()
else:
args_id[type] = torch.LongTensor([-1]).cuda()
action = (fn_id, args_id)
fn_ids.append(fn_id)
args_ids.append(args_id)
timesteps = env.step([actions])
if timesteps[0].last():
i = timesteps[0]
score = i.observation['score_cumulative'][0]
sum_score += score
episodes += 1
if episodes % 50 == 0:
torch.save(net.state_dict(),
'./save/episode2' + str(episodes) + str('.pkl'))
print("episode %d: score = %f" % (episodes, score))
observations = flatten_first_dims_dict(
stack_ndarray_dicts(observations))
train_fn_ids = torch.cat(fn_ids)
train_arg_ids = {}
for k in args_ids[0].keys():
temp = []
temp = [d[k] for d in args_ids]
train_arg_ids[k] = torch.cat(temp, dim=0)
screen = torch.FloatTensor(observations['screen']).cuda()
minimap = torch.FloatTensor(observations['minimap']).cuda()
flat = torch.FloatTensor(observations['flat']).cuda()
policy, _ = net(screen, minimap, flat)
fn_pi, args_pi = policy
available_actions = torch.FloatTensor(
observations['available_actions']).cuda()
function_pi = available_actions * fn_pi
function_pi /= torch.sum(function_pi, dim=1, keepdim=True)
Loss = nn.CrossEntropyLoss(reduction='none')
loss = Loss(function_pi, train_fn_ids)
for type in train_arg_ids.keys():
id = train_arg_ids[type]
pi = args_pi[type]
arg_loss_list = []
for i, p in zip(id, pi):
if i == -1:
temp = torch.zeros((1)).cuda()
else:
a = torch.LongTensor([i]).cuda()
b = torch.unsqueeze(p, dim=0).cuda()
temp = Loss(b, a)
arg_loss_list.append(temp)
arg_loss = torch.cat(arg_loss_list)
loss += arg_loss
loss = loss.mean()
print(loss)
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 1.0)
optimizer.step()
if episodes >= total_episodes:
break
torch.save(net.state_dict(), './save/episode1' + str('.pkl'))
class A2C():
def __init__(self, envs, args):
self.value_loss_coefficient = args.value_loss_weight
self.entropy_coefficient = args.entropy_weight
self.learning_rate = args.lr
self.envs = envs
self.map = args.map
self.env_num = args.envs
self.save = args.save_eposides
self.save_dir = args.save_dir
self.processor = Preprocessor(self.envs.observation_spec()[0],
self.map, args.process_screen)
self.sum_score = 0
self.n_steps = 8
self.gamma = 0.999
self.sum_episode = 0
self.total_updates = -1
if args.process_screen:
self.net = CNN(348, 1985).cuda()
else:
self.net = CNN().cuda()
self.optimizer = optim.Adam(self.net.parameters(),
self.learning_rate,
weight_decay=0.01)
def reset(self):
self.obs_start = self.envs.reset()
self.last_obs = self.processor.preprocess_obs(self.obs_start)
def grad_step(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
policy, value = self.net(screen, minimap, flat)
return policy, value
def step(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
with torch.no_grad():
policy, value = self.net(screen, minimap, flat)
return policy, value
def select_actions(self, policy, last_obs):
available_actions = last_obs['available_actions']
def sample(prob):
actions = Categorical(prob).sample()
return actions
function_pi, args_pi = policy
available_actions = torch.FloatTensor(available_actions)
function_pi = available_actions * function_pi.cpu()
function_pi /= torch.sum(function_pi, dim=1, keepdim=True)
try:
function_sample = sample(function_pi)
except:
return 0
args_sample = dict()
for type, pi in args_pi.items():
if type.name == 'queued':
args_sample[type] = torch.zeros((self.env_num, ), dtype=int)
else:
args_sample[type] = sample(pi).cpu()
return function_sample, args_sample
def determined_actions(self, policy, last_obs):
available_actions = last_obs['available_actions']
def sample(prob):
actions = torch.argmax(prob, dim=1)
return actions
function_pi, args_pi = policy
available_actions = torch.FloatTensor(available_actions)
function_pi = available_actions * function_pi.cpu()
function_pi /= torch.sum(function_pi, dim=1, keepdim=True)
try:
function_sample = sample(function_pi)
except:
return 0
args_sample = dict()
for type, pi in args_pi.items():
if type.name == 'queued':
args_sample[type] = torch.zeros((self.env_num, ), dtype=int)
else:
args_sample[type] = sample(pi).cpu()
return function_sample, args_sample
def mask_unused_action(self, actions):
fn_id, arg_ids = actions
for n in range(fn_id.shape[0]):
a_0 = fn_id[n]
unused_types = set(ACTION_TYPES) - \
set(FUNCTIONS._func_list[a_0].args)
for arg_type in unused_types:
arg_ids[arg_type][n] = -1
return (fn_id, arg_ids)
def functioncall_action(self, actions, size):
height, width = size
fn_id, arg_ids = actions
fn_id = fn_id.numpy().tolist()
actions_list = []
for n in range(len(fn_id)):
a_0 = fn_id[n]
a_l = []
for arg_type in FUNCTIONS._func_list[a_0].args:
arg_id = arg_ids[arg_type][n].detach().numpy().squeeze(
).tolist()
if is_spatial_action[arg_type]:
arg = [arg_id % width, arg_id // height]
else:
arg = [arg_id]
a_l.append(arg)
action = FunctionCall(a_0, a_l)
actions_list.append(action)
return actions_list
def get_value(self, observation):
screen = torch.FloatTensor(observation['screen']).cuda()
minimap = torch.FloatTensor(observation['minimap']).cuda()
flat = torch.FloatTensor(observation['flat']).cuda()
with torch.no_grad():
_, value = self.net(screen, minimap, flat)
return value
def train(self):
obs_raw = self.obs_start
shape = (self.n_steps, self.envs.n_envs)
sample_values = np.zeros(shape, dtype=np.float32)
sample_obersavation = []
sample_rewards = np.zeros(shape, dtype=np.float32)
sample_actions = []
sample_dones = np.zeros(shape, dtype=np.float32)
scores = []
last_obs = self.last_obs
for step in range(self.n_steps):
policy, value = self.step(last_obs)
actions = self.select_actions(policy, last_obs)
if actions == 0:
self.sum_episode = 7
self.sum_score = 0
return
actions = self.mask_unused_action(actions)
size = last_obs['screen'].shape[2:4]
sample_values[step, :] = value.cpu()
sample_obersavation.append(last_obs)
sample_actions.append(actions)
pysc2_action = self.functioncall_action(actions, size)
obs_raw = self.envs.step(pysc2_action)
# print("0:",pysc2_action[0].function)
# print("1:",pysc2_action[1].function)
last_obs = self.processor.preprocess_obs(obs_raw)
sample_rewards[step, :] = [
1 if i.reward else -0.1 for i in obs_raw
]
sample_dones[step, :] = [i.last() for i in obs_raw]
for i in obs_raw:
if i.last():
score = i.observation['score_cumulative'][0]
self.sum_score += score
self.sum_episode += 1
print("episode %d: score = %f" % (self.sum_episode, score))
if self.sum_episode % self.save == 0:
torch.save(
self.net.state_dict(),
self.save_dir + '/' + str(self.sum_episode) +
'_score' + str(score) + '.pkl')
self.last_obs = last_obs
next_value = self.get_value(last_obs).cpu()
returns = np.zeros(
[sample_rewards.shape[0] + 1, sample_rewards.shape[1]])
returns[-1, :] = next_value
for i in reversed(range(sample_rewards.shape[0])):
next_rewards = self.gamma * returns[i + 1, :] * (
1 - sample_dones[i, :])
returns[i, :] = sample_rewards[i, :] + next_rewards
returns = returns[:-1, :]
advantages = returns - sample_values
actions = stack_and_flatten_actions(sample_actions)
observation = flatten_first_dims_dict(
stack_ndarray_dicts(sample_obersavation))
returns = flatten_first_dims(returns)
advantages = flatten_first_dims(advantages)
self.learn(observation, actions, returns, advantages)
def learn(self, observation, actions, returns, advantages):
advantages = torch.FloatTensor(advantages).cuda()
returns = torch.FloatTensor(returns).cuda()
policy, value = self.grad_step(observation)
log_probs = compute_policy_log_probs(observation['available_actions'],
policy, actions).squeeze()
policy_loss = -(log_probs * advantages).mean()
value_loss = (returns - value).pow(2).mean()
entropy_loss = compute_policy_entropy(observation['available_actions'],
policy, actions)
loss = policy_loss+value_loss*self.value_loss_coefficient +\
entropy_loss*self.entropy_coefficient
#print(loss)
# loss=loss.requires_grad_()
self.optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(self.net.parameters(), 1.0)
self.optimizer.step()
def RuleBase6(net, map, process):
map_name = 'CollectMineralsAndGas'
value_coef = 0.01
total_episodes = 20
total_updates = -1
sum_score = 0
n_steps = 8
learning_rate = 1e-5
optimizer = optim.Adam(net.parameters(), learning_rate, weight_decay=0.01)
env = make_sc2env(
map_name=map_name,
battle_net_map=False,
players=[sc2_env.Agent(sc2_env.Race.terran)],
agent_interface_format=sc2_env.parse_agent_interface_format(
feature_screen=32,
feature_minimap=32,
rgb_screen=None,
rgb_minimap=None,
action_space=None,
use_feature_units=True,
use_raw_units=False),
step_mul=8,
game_steps_per_episode=None,
disable_fog=False,
visualize=True)
processor = Preprocessor(env.observation_spec()[0], map, process)
observation_spec = env.observation_spec()
action_spec = env.action_spec()
agent = CollectMineralsAndGas()
agent.setup(observation_spec[0], action_spec[0])
episodes = 0
agent.reset()
timesteps = env.reset()
while True:
fn_ids = []
args_ids = []
observations = []
rewards = []
dones = []
for step in range(n_steps):
a_0, a_1 = agent.step(timesteps[0])
obs = processor.preprocess_obs(timesteps)
observations.append(obs)
actions = FunctionCall(a_0, a_1)
fn_id = torch.LongTensor([a_0]).cuda()
args_id = {}
if a_0 == 2:
for type in ACTION_TYPES:
if type.name == 'select_point_act':
args_id[type] = torch.LongTensor([a_1[0][0]]).cuda()
elif type.name == 'screen':
args_id[type] = torch.LongTensor(
[a_1[1][1] * 32 + a_1[1][0]]).cuda()
else:
args_id[type] = torch.LongTensor([-1]).cuda()
elif a_0 == 91 or a_0 == 44 or a_0 == 264:
for type in ACTION_TYPES:
if type.name == 'queued':
args_id[type] = torch.LongTensor([a_1[0][0]]).cuda()
elif type.name == 'screen':
args_id[type] = torch.LongTensor(
[a_1[1][1] * 32 + a_1[1][0]]).cuda()
else:
args_id[type] = torch.LongTensor([-1]).cuda()
elif a_0 == 490:
for type in ACTION_TYPES:
if type.name == 'queued':
args_id[type] = torch.LongTensor([a_1[0][0]]).cuda()
else:
args_id[type] = torch.LongTensor([-1]).cuda()
elif a_0 == 0:
for type in ACTION_TYPES:
args_id[type] = torch.LongTensor([-1]).cuda()
action = (fn_id, args_id)
fn_ids.append(fn_id)
args_ids.append(args_id)
timesteps = env.step([actions])
rewards.append(torch.FloatTensor([timesteps[0].reward]).cuda())
dones.append(torch.IntTensor([timesteps[0].last()]).cuda())
if timesteps[0].last():
i = timesteps[0]
score = i.observation['score_cumulative'][0]
sum_score += score
episodes += 1
if episodes % 1 == 0:
torch.save(net.state_dict(),
'./save/game6_' + str(episodes) + str('.pkl'))
print("episode %d: score = %f" % (episodes, score))
# obs = processor.preprocess_obs(timesteps)
# observations.append(obs)
rewards = torch.cat(rewards)
dones = torch.cat(dones)
with torch.no_grad():
obs = processor.preprocess_obs(timesteps)
screen = torch.FloatTensor(obs['screen']).cuda()
minimap = torch.FloatTensor(obs['minimap']).cuda()
flat = torch.FloatTensor(obs['flat']).cuda()
_, next_value = net(screen, minimap, flat)
observations = flatten_first_dims_dict(
stack_ndarray_dicts(observations))
train_fn_ids = torch.cat(fn_ids)
train_arg_ids = {}
for k in args_ids[0].keys():
temp = []
temp = [d[k] for d in args_ids]
train_arg_ids[k] = torch.cat(temp, dim=0)
screen = torch.FloatTensor(observations['screen']).cuda()
minimap = torch.FloatTensor(observations['minimap']).cuda()
flat = torch.FloatTensor(observations['flat']).cuda()
policy, value = net(screen, minimap, flat)
returns = torch.zeros((rewards.shape[0] + 1, ), dtype=float)
returns[-1] = next_value
for i in reversed(range(rewards.shape[0])):
next_rewards = 0.999 * returns[i + 1] * (1 - dones[i])
returns[i] = rewards[i] + next_rewards
returns = returns[:-1].cuda()
fn_pi, args_pi = policy
available_actions = torch.FloatTensor(
observations['available_actions']).cuda()
function_pi = available_actions * fn_pi
function_pi /= torch.sum(function_pi, dim=1, keepdim=True)
Loss = nn.CrossEntropyLoss(reduction='none')
function_pi = torch.clamp(function_pi, 1e-4, 1 - (1e-4))
policy_loss = Loss(function_pi, train_fn_ids)
for type in train_arg_ids.keys():
id = train_arg_ids[type]
pi = args_pi[type]
arg_loss_list = []
for i, p in zip(id, pi):
if i == -1:
temp = torch.zeros((1)).cuda()
else:
a = torch.LongTensor([i]).cuda()
b = torch.unsqueeze(p, dim=0).cuda()
b = torch.clamp(b, 1e-4, 1 - (1e-4))
temp = Loss(b, a)
arg_loss_list.append(temp)
arg_loss = torch.cat(arg_loss_list)
policy_loss += arg_loss
policy_loss = policy_loss.mean()
value_loss = (returns - value).pow(2).mean()
print(policy_loss, value_loss)
loss = policy_loss + value_coef * value_loss
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(net.parameters(), 1.0)
optimizer.step()
if episodes >= total_episodes:
break
torch.save(net.state_dict(), './save/game6_final' + str('.pkl'))