def __init__(self, config, log_dir):
self.config = config # dictionary with game-specific information
self.log_dir = log_dir # saving directory
self.grad_file = open('GradInfo.txt', 'w')
self.env = gym.make(config['game'])
self.ale_lives = None
self.detector = Detector(YOLONet(False), cfg.WEIGHT_DIR)
self.replay_memory = Experience(
memory_size=config['state_memory'],
state_shape=config['state_shape'],
dtype=config['state_dtype']
)
self.net = config['q'](
batch_size=config['batch_size'],
state_shape=config['state_shape']+[config['state_time']],
num_actions=config['actions'],
summaries=True,
**config['q_params']
)
# Disable the target network if needed
if not self.config['double_q']:
self.net.t_batch = self.net.q_batch
with tf.variable_scope('RL_summary'):
self.episode = tf.Variable(0.,name='episode')
self.training_reward = tf.Variable(0.,name='training_reward')
self.validation_reward = tf.Variable(0.,name='validation_reward')
tf.summary.scalar(name='training_reward',tensor=self.training_reward)
tf.summary.scalar(name='validation_reward',tensor=self.validation_reward)
# Create tensorflow variables
self.session = tf.Session()
self.session.run(tf.global_variables_initializer())
self.update_target_network()
self.summaries = tf.summary.merge_all()
if log_dir is not None:
self.train_writer = tf.summary.FileWriter(self.log_dir, self.session.graph)
self.epsilon = 1.0
self.steps = 0
class QAgent(object):
def __init__(self, config, log_dir):
self.config = config # dictionary with game-specific information
self.log_dir = log_dir # saving directory
self.env = gym.make(config['game'])
self.ale_lives = None
self.replay_memory = Experience(
memory_size=config['state_memory'],
state_shape=config['state_shape'],
dtype=config['state_dtype']
)
self.net = config['q'](
batch_size=config['batch_size'],
state_shape=config['state_shape']+[config['state_time']],
num_actions=config['actions'],
summaries=True,
**config['q_params']
)
# Disable the target network if needed
if not self.config['double_q']:
self.net.t_batch = self.net.q_batch
with tf.variable_scope('RL_summary'):
self.episode = tf.Variable(0.,name='episode')
self.training_reward = tf.Variable(0.,name='training_reward')
self.validation_reward = tf.Variable(0.,name='validation_reward')
tf.summary.scalar(name='training_reward',tensor=self.training_reward)
tf.summary.scalar(name='validation_reward',tensor=self.validation_reward)
# Create tensorflow variables
self.session = tf.Session()
self.session.run(tf.global_variables_initializer())
self.update_target_network()
self.summaries = tf.summary.merge_all()
if log_dir is not None:
self.train_writer = tf.summary.FileWriter(self.log_dir, self.session.graph)
self.epsilon = 1.0
self.steps = 0
def update_target_network(self):
"""
Update the parameters of the target network
Assigns the parameter of the Q-Network to the Target network
:return:
"""
if self.config['double_q']:
self.session.run(self.net.assign_op)
def _update_training_reward(self,reward):
"""
set the value of the training reward.
This ensures it is stored and visualised on the tensorboard
"""
self.session.run(self.training_reward.assign(reward))
def _update_validation_reward(self,reward):
"""
set the value of the validation reward.
This ensures it is stored and visualised on the tensorboard
"""
self.session.run(self.validation_reward.assign(reward))
def get_training_state(self):
"""
Get the last state
:return:
"""
return self.replay_memory.get_last_state(self.config['state_time'])
def sample_action(self,state,epsilon):
"""
Sample an action for the state according to the epsilon greedy strategy
:param state:
:param epsilon:
:return:
"""
if np.random.rand() <= epsilon:
return np.random.randint(0,self.config['actions'])
else:
return self.session.run(self.net.q, feed_dict={self.net.x: state[np.newaxis].astype(np.float32)})[0].argmax()
def update_state(self, old_state, new_frame):
"""
:param old_state:
:param new_frame:
:return:
"""
# Remove oldest frame and add new frame (84 x 84 x 1)
'''
if np.any(old_state[:, -6:, :] == 0.0) or np.any(new_frame == 0.0):
return np.concatenate([
old_state[:, 12:, :],
new_frame - old_state[:, -6:, :],
new_frame], axis=1)
'''
return np.concatenate([
old_state[:, 6:, :],
new_frame], axis=1)
def reset_to_zero_state(self):
"""
Reset the state history to zeros and reset the environment to fill the first state
:return:
"""
return np.concatenate([
np.zeros((1, self.config['state_shape'][1] - 6, 1)),
self.config['frame'](self.env.reset())
],axis=1)
def update_epsilon_and_steps(self):
if self.steps > self.config['step_startrl']:
self.epsilon = max(self.config['eps_minval'],self.epsilon*self.config['step_eps_mul']-self.config['step_eps_min'])
self.steps += 1
def train_episode(self):
# Load the last state and add a reset
state = self.update_state(
self.get_training_state(),
self.config['frame'](self.env.reset())
)
# Store the starting state in memory
self.replay_memory.add(
state = state[:,:,-1],
action = np.random.randint(self.config['actions']),
reward = 0.,
done = False
)
# Use flags to signal the end of the episode and for pressing the start button
done = False
press_fire = True
total_reward = 0
while not done:
if press_fire: # start the episode
press_fire = False
new_frame,reward,done, info = self.act(state,-1,True)
if info.has_key('ale.lives'):
self.ale_lives = info['ale.lives']
else:
self.update_epsilon_and_steps()
new_frame,reward,done, info = self.act(state,self.epsilon,True)
state = self.update_state(state, new_frame)
#print(state.reshape(72, ))
#print(state.reshape((24, )))
total_reward += reward
# Perform online Q-learning updates
if self.steps > self.config['step_startrl']:
summaries,_ = self.train_batch()
if self.steps % self.config['tensorboard_interval'] == 0:
self.train_writer.add_summary(summaries, global_step=self.steps)
if self.steps % self.config['double_q_freq'] == 0.:
print("double q swap")
self.update_target_network()
return total_reward
def validate_episode(self,epsilon,visualise=False):
state = self.reset_to_zero_state()
done = False
press_fire = True
total_reward = 0
while not done:
if press_fire:
press_fire = False
new_frame, reward, done,_ = self.act(state=state, epsilon=-1, store=False)
else:
new_frame, reward, done,_ = self.act(state=state, epsilon=epsilon, store=False)
state = self.update_state(old_state=state, new_frame=new_frame)
if reward == 0.1:
reward = 0
total_reward += reward
if visualise:
self.env.render()
return total_reward
def act(self, state, epsilon, store=False, debug=False, rs=False):
"""
Perform an action in the environment.
If it is an atari game and there are lives, it will end the episode in the replay memory if a life is lost.
This is important in games lik
:param epsilon: the epsilon for the epsilon-greedy strategy. If epsilon is -1, the no-op will be used in the atari games.
:param state: the state for which to compute the action
:param store: if true, the state is added to the replay memory
:return: the observed state (processed), the reward and whether the state is final
"""
if epsilon == -1:
action = 1
else:
action = self.sample_action(state=state,epsilon=epsilon)
raw_frame, reward, done, info = self.env.step(action)
# Clip rewards to -1,0,1
reward = np.sign(reward)
# Preprocess the output state
new_frame = self.config['frame'](raw_frame)
#print(state[0, 20, 0])
if rs and state[0, 68, 0] > 0 and state[0, 62, 0] > 0 and new_frame[0, 2, 0] > 0:
v_before = state[0, 68, 0] - state[0, 62, 0]
v_after = new_frame[0, 2, 0] - state[0, 68, 0]
#print(v_after)
#print(v_before)
if v_after < 0 and v_before > 0:
reward = 0.1
#print(reward)
#self.env.render()
if debug:
cur_x = new_frame.reshape((6, ))
I = preprocess_atari_crop(raw_frame)
for idx in range(3):
if idx == 0:
cv2.circle(I, (int(cur_x[2*idx]), int(cur_x[2 * idx + 1])),
1, (255, 0, 0), -1)
elif idx == 1:
cv2.circle(I, (int(cur_x[2 * idx]), int(cur_x[2 * idx + 1])),
1, (0, 255, 0), -1)
else:
cv2.circle(I, (int(cur_x[2 * idx]), int(cur_x[2 * idx + 1])),
1, (0, 0, 255), -1)
print(cur_x)
print('--------------------')
cv2.imshow('Image', I)
cv2.waitKey(0)
# If needed, store the last frame
if store:
# End episodes if lives are involved in the atari game.
# This is important in e.g. breakout
# If this is not included, dropping the ball is not penalised.
# By marking the end of the reward propagation, the maximum reward is limited
# This makes learning faster.
store_done = done
if self.ale_lives is not None and info.has_key('ale.lives') and info['ale.lives']<self.ale_lives:
store_done = True
self.ale_lives = info['ale.lives']
self.replay_memory.add(state[:,:,-1],action,reward,store_done)
return new_frame, reward, done, info
def train_batch(self):
"""
Sample a batch of training samples from the replay memory.
Compute the target Q values
Perform one SGD update step
:return: summaries, step
summaries: the tensorflow summaries that can be put into a log.
step, the global step from tensorflow. This represents the number of updates
"""
# Sample experience
xp_states, xp_actions, xp_rewards, xp_done, xp_next = self.replay_memory.sample_experience(
self.config['batch_size'],
self.config['state_time']
)
# Create a mask on which output to update
q_mask = np.zeros((self.config['batch_size'], self.config['actions']))
for idx, a in enumerate(xp_actions):
q_mask[idx, a] = 1
# Use the target network to value the next states
next_actions, next_values = self.session.run(
[self.net.q_batch,self.net.t_batch],
feed_dict={self.net.x_batch: xp_next.astype(np.float32)}
)
# Combine the reward and the value of the next state into the q-targets
q_next = np.array([
next_values[idx,next_actions[idx].argmax()]
for idx in range(self.config['batch_size'])
])
q_next *= (1.-xp_done)
q_targets = (xp_rewards + self.config['gamma']*q_next)
# Perform the update
feed = {
self.net.x_batch: xp_states.astype(np.float32),
self.net.q_targets: q_targets[:,np.newaxis]*q_mask,
self.net.q_mask: q_mask
}
_, summaries, step = self.session.run([self.net._train_op, self.summaries, self.net.global_step], feed_dict=feed)
return summaries, step
def __init__(self, config, log_dir):
self.config = config # dictionary with game-specific information
self.log_dir = log_dir # saving directory
self.env = gym.make(config['game'])
self.ale_lives = None
# Instantiate replay buffer
self.replay_memory = Experience(
memory_size=config['state_memory'],
state_shape=config['state_shape'],
dtype=config['state_dtype']
)
# Instantiate the Q-networks (Running & Target)
self.net = config['q'](
batch_size=config['batch_size'],
state_shape=config['state_shape']+[config['state_time']],
num_actions=config['actions'],
summaries=True,
**config['q_params']
)
# Instantiate class-wise models
self.model_pro = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_pro',
summaries=True,
**config['q_params']
)
self.model_ball = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_ball',
summaries=True,
**config['q_params']
)
self.model_ant = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_ant',
summaries=True,
**config['q_params']
)
# Disable the target network if needed
if not self.config['double_q']:
self.net.t_batch = self.net.q_batch
with tf.variable_scope('RL_summary'):
self.episode = tf.Variable(0.,name='episode')
self.training_reward = tf.Variable(0.,name='training_reward')
self.validation_reward = tf.Variable(0.,name='validation_reward')
tf.summary.scalar(name='training_reward',tensor=self.training_reward)
tf.summary.scalar(name='validation_reward',tensor=self.validation_reward)
# Create tensorflow variables
self.session = tf.Session()
self.session.run(tf.global_variables_initializer())
self.update_target_network()
self.summaries = tf.summary.merge_all()
if log_dir is not None:
self.train_writer = tf.summary.FileWriter(self.log_dir, self.session.graph)
self.epsilon = 1.0
self.steps = 0
class QAgent(object):
def __init__(self, config, log_dir):
self.config = config # dictionary with game-specific information
self.log_dir = log_dir # saving directory
self.env = gym.make(config['game'])
self.ale_lives = None
# Instantiate replay buffer
self.replay_memory = Experience(
memory_size=config['state_memory'],
state_shape=config['state_shape'],
dtype=config['state_dtype']
)
# Instantiate the Q-networks (Running & Target)
self.net = config['q'](
batch_size=config['batch_size'],
state_shape=config['state_shape']+[config['state_time']],
num_actions=config['actions'],
summaries=True,
**config['q_params']
)
# Instantiate class-wise models
self.model_pro = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_pro',
summaries=True,
**config['q_params']
)
self.model_ball = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_ball',
summaries=True,
**config['q_params']
)
self.model_ant = config['model'](
batch_size=config['batch_size'],
state_shape=config['model_state_shape']+[config['state_time']],
output_state_shape=3,
name='Model_ant',
summaries=True,
**config['q_params']
)
# Disable the target network if needed
if not self.config['double_q']:
self.net.t_batch = self.net.q_batch
with tf.variable_scope('RL_summary'):
self.episode = tf.Variable(0.,name='episode')
self.training_reward = tf.Variable(0.,name='training_reward')
self.validation_reward = tf.Variable(0.,name='validation_reward')
tf.summary.scalar(name='training_reward',tensor=self.training_reward)
tf.summary.scalar(name='validation_reward',tensor=self.validation_reward)
# Create tensorflow variables
self.session = tf.Session()
self.session.run(tf.global_variables_initializer())
self.update_target_network()
self.summaries = tf.summary.merge_all()
if log_dir is not None:
self.train_writer = tf.summary.FileWriter(self.log_dir, self.session.graph)
self.epsilon = 1.0
self.steps = 0
def update_target_network(self):
"""
Update the parameters of the target network
Assigns the parameter of the Q-Network to the Target network
:return:
"""
if self.config['double_q']:
self.session.run(self.net.assign_op)
def _update_training_reward(self,reward):
"""
set the value of the training reward.
This ensures it is stored and visualised on the tensorboard
"""
self.session.run(self.training_reward.assign(reward))
def _update_validation_reward(self,reward):
"""
set the value of the validation reward.
This ensures it is stored and visualised on the tensorboard
"""
self.session.run(self.validation_reward.assign(reward))
def get_training_state(self):
"""
Get the last state
:return:
"""
return self.replay_memory.get_last_state(self.config['state_time'])
def sample_action(self,state,epsilon):
"""
Sample an action for the state according to the epsilon greedy strategy
:param state:
:param epsilon:
:return:
"""
if np.random.rand() <= epsilon:
return np.random.randint(0,self.config['actions'])
else:
return self.session.run(self.net.q, feed_dict={self.net.x: state[np.newaxis].astype(np.float32)})[0].argmax()
def update_state(self, old_state, new_frame):
"""
:param old_state:
:param new_frame:
:return:
"""
# Remove oldest frame and add new frame (84 x 84 x 1)
'''
if np.any(old_state[:, -6:, :] == 0.0) or np.any(new_frame == 0.0):
return np.concatenate([
old_state[:, 12:, :],
new_frame - old_state[:, -6:, :],
new_frame], axis=1)
'''
return np.concatenate([
old_state[:, 9:, :],
new_frame], axis=1)
def reset_to_zero_state(self):
"""
Reset the state history to zeros and reset the environment to fill the first state
:return:
"""
return np.concatenate([
np.zeros((1, self.config['state_shape'][1] - 9, 1)),
self.config['frame'](self.env.reset())
],axis=1)
def reset_to_zero_state_model(self):
"""
Reset the state history to zeros and reset the environment to fill the first state
:return:
"""
state = self.env.reset()
for idx in range(15):
state, _, _, _ = self.env.step(1)
return np.concatenate([
np.zeros((1, self.config['state_shape'][1] - 9, 1)),
self.config['frame'](state)
],axis=1)
def update_epsilon_and_steps(self):
if self.steps > self.config['step_startrl']:
self.epsilon = max(self.config['eps_minval'],self.epsilon*self.config['step_eps_mul']-self.config['step_eps_min'])
self.steps += 1
def train_episode(self):
# Load the last state and add a reset
state = self.update_state(
self.get_training_state(),
self.config['frame'](self.env.reset())
)
# Store the starting state in memory
self.replay_memory.add(
state = state[:,:,-1],
action = np.random.randint(self.config['actions']),
reward = 0.,
done = False
)
# Use flags to signal the end of the episode and for pressing the start button
done = False
press_fire = True
total_reward = 0
agg_loss = np.zeros((3, ))
loop_count = 0
while not done:
if press_fire: # start the episode
press_fire = False
new_frame,reward,done, info = self.act(state,-1,True)
if info.has_key('ale.lives'):
self.ale_lives = info['ale.lives']
else:
self.update_epsilon_and_steps()
new_frame,reward,done, info = self.act(state,self.epsilon,True)
state = self.update_state(state, new_frame)
#print(state.reshape(72, ))
#print(state.reshape((24, )))
total_reward += reward
# Perform online Q-learning updates
if self.steps > self.config['step_startrl']:
loop_count += 1
summaries,_,loss = self.train_batch(loop_count)
for dummy_idx in range(25):
self.train_model_batch(loop_count)
agg_loss += np.array(loss).reshape((3, ))
if self.steps % self.config['tensorboard_interval'] == 0:
self.train_writer.add_summary(summaries, global_step=self.steps)
if self.steps % self.config['double_q_freq'] == 0.:
print("double q swap")
self.update_target_network()
if loop_count == 0:
return total_reward, agg_loss
else:
return total_reward, agg_loss/loop_count
def validate_episode(self,epsilon,visualise=False):
state = self.reset_to_zero_state()
#model_state = state
done = False
press_fire = True
total_reward = 0
while not done:
if press_fire:
press_fire = False
new_frame, reward, done,_ = self.act(state=state, epsilon=-1, store=False)
else:
new_frame, reward, done,_ = self.act(state=state, epsilon=epsilon, store=False, debug=False)
#model_frame, new_frame, reward, done,_ = self.act(model_state=model_state, state=state, epsilon=epsilon, store=False, debug=True)
state = self.update_state(old_state=state, new_frame=new_frame)
#model_state = self.update_state(old_state=model_state, new_frame=model_frame)
if reward == 0.1:
reward = 0
total_reward += reward
if visualise:
self.env.render()
return total_reward
def act(self, state, epsilon, store=False, debug=False, rs=False):
"""
Perform an action in the environment.
If it is an atari game and there are lives, it will end the episode in the replay memory if a life is lost.
This is important in games lik
:param epsilon: the epsilon for the epsilon-greedy strategy. If epsilon is -1, the no-op will be used in the atari games.
:param state: the state for which to compute the action
:param store: if true, the state is added to the replay memory
:return: the observed state (processed), the reward and whether the state is final
"""
if epsilon == -1:
action = 1
else:
action = self.sample_action(state=state,epsilon=epsilon)
raw_frame, reward, done, info = self.env.step(action)
# Clip rewards to -1,0,1
reward = np.sign(reward)
# Preprocess the output state
new_frame = self.config['frame'](raw_frame)
if debug:
action_input = np.zeros((1, 1, self.config['actions'], 1))
action_input[0, 0, action, 0] = 1
m_state = state[np.newaxis].astype(np.float32)
m_state = m_state[:, :, -108:, :]
model_input = np.concatenate((m_state, action_input.astype(np.float32)), axis=2)
# Class-wise state prediction
model_ant_prediction, model_ball_prediction, model_pro_prediction = self.session.run([self.model_ant.next_state, self.model_ball.next_state, self.model_pro.next_state], feed_dict={self.model_ant.x: model_input, self.model_ball.x: model_input, self.model_pro.x: model_input})
model_ant_prediction = self.update_presence(model_ant_prediction)
model_pro_prediction = self.update_presence(model_pro_prediction)
model_ball_prediction = self.update_presence(model_ball_prediction)
# Concatenate into a joint model state
model_prediction = np.concatenate((model_ant_prediction, model_ball_prediction, model_pro_prediction), axis=1)
cur_x = new_frame.reshape((self.config['actions']+3, ))
model_predicted_state = model_prediction.reshape((9, ))
I = preprocess_atari_crop(raw_frame)
for idx in range(3):
# Display opponent paddle in Blue (opencv is BGR format)
if idx == 0 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 8),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 8), (255, 0, 0), 3)
# Display ball in Green
elif idx == 1 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 1,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 2),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 1,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 2), (0, 255, 0), 3)
# Display your paddle in Red
elif idx == 2 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 8),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 8), (0, 0, 255), 3)
cv2.circle(I, (np.round((cur_x[3*idx]+1)*79.5).astype(int),
np.round((cur_x[3*idx+1]+1)*79.5).astype(int)), 1, (255, 255, 255), -1)
print(cur_x)
print(model_predicted_state)
print('--------------------')
I = cv2.resize(I, None, fx=2, fy=2, interpolation=cv2.INTER_LINEAR)
cv2.imshow('Image', I)
cv2.waitKey(0)
# If needed, store the last frame
if store:
# End episodes if lives are involved in the atari game.
# This is important in e.g. breakout
# If this is not included, dropping the ball is not penalised.
# By marking the end of the reward propagation, the maximum reward is limited
# This makes learning faster.
store_done = done
if self.ale_lives is not None and info.has_key('ale.lives') and info['ale.lives']<self.ale_lives:
store_done = True
self.ale_lives = info['ale.lives']
self.replay_memory.add(state[:,:,-1],action,reward,store_done)
return new_frame, reward, done, info
def validate_model(self, epsilon):
state = self.reset_to_zero_state_model()
#model_state = state
done = False
press_fire = True
total_reward = 0
count = 0
while not done:
if count > 400:
done = True
elif press_fire:
press_fire = False
new_frame = self.act_with_model(state=state, epsilon=-1, debug=True)
else:
new_frame = self.act_with_model(state=state, epsilon=epsilon, debug=True)
if new_frame[:, 2, :] == 0:
state = self.reset_to_zero_state_model()
else:
state = self.update_state(old_state=state, new_frame=new_frame)
count += 1
return
def act_with_model(self, state, epsilon, debug):
if epsilon == -1:
action = 1
else:
action = self.sample_action(state=state,epsilon=epsilon)
action_input = np.zeros((1, 1, self.config['actions'], 1))
action_input[0, 0, action, 0] = 1
state = state[np.newaxis].astype(np.float32)
state = state[:, :, -108:, :]
model_input = np.concatenate((state, action_input.astype(np.float32)), axis=2)
# Class-wise state prediction
model_ant_prediction, model_ball_prediction, model_pro_prediction = self.session.run([self.model_ant.next_state, self.modedl_ball.next_state, self.model_pro.next_state], feed_dict={self.model_ant.x: model_input, self.model_ball.x: model_input, self.model_pro.x: model_input})
model_ant_prediction = self.update_presence(model_ant_prediction)
model_pro_prediction = self.update_presence(model_pro_prediction)
model_ball_prediction = self.update_presence(model_ball_prediction)
# Concatenate into a joint model state
model_prediction = np.concatenate((model_ant_prediction, model_ball_prediction, model_pro_prediction),
axis=1)
if debug:
model_predicted_state = model_prediction.reshape((9, ))
I = np.zeros((160, 160, 3))
for idx in range(3):
# Display opponent paddle in Blue (opencv is BGR format)
if idx == 0 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 8),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 8), (255, 0, 0), 3)
# Display ball in Green
elif idx == 1 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 1,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 2),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 1,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 2), (0, 255, 0), 3)
# Display your paddle in Red
elif idx == 2 and model_predicted_state[3*idx+2] == 1:
cv2.rectangle(I, (np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) - 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) - 8),
(np.round((model_predicted_state[3*idx]+1)*79.5).astype(int) + 2,
np.round((model_predicted_state[3*idx+1]+1)*79.5).astype(int) + 8), (0, 0, 255), 3)
'''
cv2.circle(I, (int((model_predicted_state[3*idx]+1)*79.5),
int((model_predicted_state[3*idx+1]+1)*79.5)), 1, (255, 255, 255), -1)
'''
I = cv2.resize(I, None, fx=2, fy=2, interpolation=cv2.INTER_LINEAR)
print(model_predicted_state)
print('--------------------')
cv2.imshow('Image', I)
cv2.waitKey(0)
model_prediction = model_prediction.reshape((1, 9, 1))
#model_prediction = np.round((model_prediction + 1)*79.5) / 79.5 - 1.0
return model_prediction
def update_presence(self, prediction):
if prediction[0, 2] > 0:
prediction[0, 2] = 1
else:
prediction[0, 2] = 0
return prediction
def train_batch(self, loop_count):
"""
Sample a batch of training samples from the replay memory.
Compute the target Q values
Perform one SGD update step
:return: summaries, step
summaries: the tensorflow summaries that can be put into a log.
step, the global step from tensorflow. This represents the number of updates
"""
# Sample experience
xp_states, xp_actions, xp_rewards, xp_done, xp_next = self.replay_memory.sample_experience(
self.config['batch_size'],
self.config['state_time']
)
# Create a mask on which output to update
q_mask = np.zeros((self.config['batch_size'], self.config['actions']))
action_input = np.zeros((self.config['batch_size'], 1, self.config['actions'], 1))
for idx, a in enumerate(xp_actions):
q_mask[idx, a] = 1
action_input[idx, 0, a, 0] = 1
# Use the target network to value the next states
next_actions, next_values = self.session.run(
[self.net.q_batch,self.net.t_batch],
feed_dict={self.net.x_batch: xp_next.astype(np.float32)}
)
# Combine the reward and the value of the next state into the q-targets
q_next = np.array([
next_values[idx,next_actions[idx].argmax()]
for idx in range(self.config['batch_size'])
])
q_next *= (1.-xp_done)
q_targets = (xp_rewards + self.config['gamma']*q_next)
'''
# Perform the update
feed = {
self.net.x_batch: xp_states.astype(np.float32),
self.net.q_targets: q_targets[:,np.newaxis]*q_mask,
self.net.q_mask: q_mask
}
_, summaries, step = self.session.run([self.net._train_op, self.summaries, self.net.global_step], feed_dict=feed)
'''
# Perform update on class-wise model
# State batch = same for all models
xp_states = xp_states.astype(np.float32)
m_batch = np.concatenate((xp_states[:, :, -108:, :], action_input.astype(np.float32)), axis=2)
# Joint next state batch
m_targets = xp_next.astype(np.float32)
# Antagonist model target
m_targets_ant = m_targets[:, :, -9:-6, :]
m_targets_ant = m_targets_ant.reshape((self.config['batch_size'], 3))
# Ball model target
m_targets_ball = m_targets[:, :, -6:-3, :]
m_targets_ball = m_targets_ball.reshape((self.config['batch_size'], 3))
# Protagonist model target
m_targets_pro = m_targets[:, :, -3:, :]
m_targets_pro = m_targets_pro.reshape((self.config['batch_size'], 3))
feed = {
self.net.x_batch: xp_states.astype(np.float32),
self.net.q_targets: q_targets[:,np.newaxis]*q_mask,
self.net.q_mask: q_mask,
self.model_ant.x_batch: m_batch,
self.model_ant.m_targets: m_targets_ant,
self.model_ball.x_batch: m_batch,
self.model_ball.m_targets: m_targets_ball,
self.model_pro.x_batch: m_batch,
self.model_pro.m_targets: m_targets_pro
}
'''
feed_model = {
self.model.x_batch: np.concatenate((xp_states.astype(np.float32), action_input.astype(np.float32)), axis=2),
self.model.m_targets: m_targets
}
'''
# Train all networks
_, _, _, _, next_states, loss_ant, loss_ball, loss_pro, summaries, step, _, _, _ = self.session.run([self.net._train_op, self.model_ant._train_op, self.model_ball._train_op, self.model_pro._train_op, self.model_ball.next_state_batch, self.model_ant.loss, self.model_ball.loss, self.model_pro.loss, self.summaries, self.net.global_step, self.model_ant.global_step, self.model_ball.global_step, self.model_pro.global_step], feed_dict=feed)
if loop_count == 500:
#m_batch = m_batch.reshape((self.config['batch_size'], self.config['model_state_shape'][1]))
#print(m_batch[0:10, :])
print(m_targets[0:5, :, -9:, :].reshape((5, 9)))
print(next_states[0:5, :])
loss = [loss_ant, loss_ball, loss_pro]
return summaries, step, loss
def train_model_batch(self, loop_count):
"""
Sample a batch of training samples from the replay memory.
Compute the target Q values
Perform one SGD update step
:return: summaries, step
summaries: the tensorflow summaries that can be put into a log.
step, the global step from tensorflow. This represents the number of updates
"""
# Sample experience
xp_states, xp_actions, xp_rewards, xp_done, xp_next = self.replay_memory.sample_experience(
self.config['batch_size'],
self.config['state_time']
)
# Create a mask on which output to update
action_input = np.zeros((self.config['batch_size'], 1, self.config['actions'], 1))
for idx, a in enumerate(xp_actions):
action_input[idx, 0, a, 0] = 1
# Perform update on class-wise model
# State batch = same for all models
xp_states = xp_states.astype(np.float32)
m_batch = np.concatenate((xp_states[:, :, -108:, :], action_input.astype(np.float32)), axis=2)
# Joint next state batch
m_targets = xp_next.astype(np.float32)
# Antagonist model target
m_targets_ant = m_targets[:, :, -9:-6, :]
m_targets_ant = m_targets_ant.reshape((self.config['batch_size'], 3))
# Ball model target
m_targets_ball = m_targets[:, :, -6:-3, :]
m_targets_ball = m_targets_ball.reshape((self.config['batch_size'], 3))
# Protagonist model target
m_targets_pro = m_targets[:, :, -3:, :]
m_targets_pro = m_targets_pro.reshape((self.config['batch_size'], 3))
feed = {
self.model_ant.x_batch: m_batch,
self.model_ant.m_targets: m_targets_ant,
self.model_ball.x_batch: m_batch,
self.model_ball.m_targets: m_targets_ball,
self.model_pro.x_batch: m_batch,
self.model_pro.m_targets: m_targets_pro
}
'''
feed_model = {
self.model.x_batch: np.concatenate((xp_states.astype(np.float32), action_input.astype(np.float32)), axis=2),
self.model.m_targets: m_targets
}
'''
# Train all networks
_, _, _, next_states, loss_ant, loss_ball, loss_pro = self.session.run([self.model_ant._train_op, self.model_ball._train_op, self.model_pro._train_op, self.model_ball.next_state_batch, self.model_ant.loss, self.model_ball.loss, self.model_pro.loss], feed_dict=feed)
loss = [loss_ant, loss_ball, loss_pro]
return loss
def challenger_round():
challengers = []
leaders = []
leader_checkpoints = os.listdir(LEADER_DIR)
# Need to share the same schedule with all challengers, so they all anneal
# at same rate
epsilon_schedule = LinearSchedule(EPS_START, EPS_END, TRAIN_FRAMES)
for i in xrange(NUM_LEADERS):
challenger = try_gpu(
DQNAgent(6,
epsilon_schedule,
OBSERVATION_MODE,
lr=LR,
max_grad_norm=GRAD_CLIP_NORM))
if i < len(leader_checkpoints):
leader = try_gpu(
DQNAgent(6, LinearSchedule(0.1, 0.1, 500000),
OBSERVATION_MODE))
leader_path = os.path.join(LEADER_DIR, leader_checkpoints[i])
print "LOADING CHECKPOINT: {}".format(leader_path)
challenger.load_state_dict(
torch.load(leader_path,
map_location=lambda storage, loc: storage))
leader.load_state_dict(
torch.load(leader_path,
map_location=lambda storage, loc: storage))
else:
leader = RandomAgent(6)
print "INITIALIZING NEW CHALLENGER AND LEADER"
challengers.append(challenger)
leaders.append(leader)
if CHALLENGER_DIR is not None:
challengers = []
# Load in all of the leaders
for checkpoint in os.listdir(CHALLENGER_DIR):
path = os.path.join(CHALLENGER_DIR, checkpoint)
print "LOADING FROM CHALLENGER_DIR: {}".format(path)
challenger = try_gpu(
DQNAgent(6,
LinearSchedule(0.05, 0.05, 1),
CHALLENGER_OBSERVATION_MODE,
lr=LR,
max_grad_norm=GRAD_CLIP_NORM,
name=checkpoint))
challenger.load_state_dict(
torch.load(path, map_location=lambda storage, loc: storage))
challengers.append(challenger)
challenger = EnsembleDQNAgent(challengers)
leader = EnsembleDQNAgent(leaders)
if OPPONENT is not None or HUMAN:
leader = NoOpAgent()
replay_buffer = ReplayBuffer(1000000)
rewards = collections.deque(maxlen=1000)
frames = 0 # number of training frames seen
episodes = 0 # number of training episodes that have been played
with tqdm(total=TRAIN_FRAMES) as progress:
# Each loop completes a single episode
while frames < TRAIN_FRAMES:
states = env.reset()
challenger.reset()
leader.reset()
episode_reward = 0.
episode_frames = 0
# Each loop completes a single step, duplicates _evaluate() to
# update at the appropriate frame #s
for _ in xrange(MAX_EPISODE_LENGTH):
frames += 1
episode_frames += 1
action1 = challenger.act(states[0])
action2 = leader.act(states[1])
next_states, reward, done = env.step(action1, action2)
episode_reward += reward
# NOTE: state and next_state are LazyFrames and must be
# converted to np.arrays
replay_buffer.add(
Experience(states[0], action1._action_index, reward,
next_states[0], done))
states = next_states
if len(replay_buffer) > 50000 and \
frames % 4 == 0:
experiences = replay_buffer.sample(32)
challenger.update_from_experiences(experiences)
if frames % 10000 == 0:
challenger.sync_target()
if frames % SAVE_FREQ == 0:
# TODO: Don't access internals
for agent in challenger._agents:
path = os.path.join(LEADER_DIR,
agent.name + "-{}".format(frames))
print "SAVING CHECKPOINT TO: {}".format(path)
torch.save(agent.state_dict(), path)
#path = os.path.join(
# LEADER_DIR, challenger.name + "-{}".format(frames))
#torch.save(challenger.state_dict(), path)
if frames >= TRAIN_FRAMES:
break
if done:
break
if episodes % 300 == 0:
print "Evaluation: {}".format(
evaluate(challenger, leader, EPISODES_EVALUATE_TRAIN))
print "Episode reward: {}".format(episode_reward)
episodes += 1
rewards.append(episode_reward)
stats = challenger.stats
stats["Avg Episode Reward"] = float(sum(rewards)) / len(rewards)
stats["Num Episodes"] = episodes
stats["Replay Buffer Size"] = len(replay_buffer)
progress.set_postfix(stats, refresh=False)
progress.update(episode_frames)
episode_frames = 0
