def build_ddpg_model(env, actor_hidden_layers, critic_hidden_layers, gamma,
learning_rate):
actor = build_actor(env, actor_hidden_layers)
critic, action_input = build_critic(env, critic_hidden_layers)
nb_actions = env.action_space.shape[0]
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.2,
mu=0.1,
sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile(Adam(lr=learning_rate, clipnorm=1.), metrics=['mae'])
return agent
def get_agent(drlm):
print('tesing', '.' * 60)
actor = drlm.actor
critic = drlm.critic
nb_actions = drlm.nb_actions
action_input = drlm.action_input
processor = TorcsProcessor()
# load weights
print('loading weights ', load_weights, '.' * 60)
if load_weights:
actor.load_weights(alw)
critic.load_weights(clw)
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.5, mu=0., sigma=.3)
# random_process = ExplorationNoise(nb_steps=epochs,
# epsilon=1.0,
# steer=OrnsteinUhlenbeckProcess(theta=0.6, mu=0, sigma=0.3),
# accel_brake=OrnsteinUhlenbeckProcess(theta=1.0, mu=0.5, sigma=0.3),
# noise=1)
agent = DDPGAgent(nb_actions=nb_actions, batch_size=batch_size,
actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, processor=processor, nb_steps_warmup_critic=nb_steps_warmup_critic,
nb_steps_warmup_actor=nb_steps_warmup_actor,
random_process=random_process, gamma=.99, target_model_update=1e-3)
agent.compile(Adam(lr=.0001, clipnorm=1.), metrics=[loss])
return agent
def main():
# Get the environment and extract the number of actions.
env = gym.make(ENV_NAME)
env = wrappers.Monitor(env, '/tmp/{}'.format(ENV_NAME), force=True)
np.random.seed(123)
env.seed(123)
assert len(env.action_space.shape) == 1
action_shape = env.action_space.shape[0]
observation_shape = env.observation_space.shape
actor = create_actor(observation_shape, action_shape)
action_input = Input(shape=(action_shape,), name='action_input')
observation_input = Input(shape=(1,) + observation_shape, name='observation_input')
critic = create_critic(observation_input, action_input)
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=action_shape, theta=.15, mu=0., sigma=.1)
agent = DDPGAgent(nb_actions=action_shape, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.99, target_model_update=1e-3,
processor=BipedalProcessor())
agent.compile([Adam(lr=1e-4), Adam(lr=1e-3)], metrics=['mae'])
agent.load_weights('ddpg_{}_weights.h5f'.format(ENV_NAME))
#agent.fit()
agent.fit(env, nb_steps=3000000, visualize=False, verbose=2)
agent.save_weights('ddpg_{}_weights.h5f'.format(ENV_NAME), overwrite=True)
def __init__(self, env):
self.nb_actions = env.action_space.shape[0]
self.nb_states = env.observation_space.shape[0]
self.env = env
self.actor = self.build_actor(env)
self.actor.compile('Adam', 'mse')
self.critic, action_input = self.build_critic(env)
self.loss = self.build_loss()
self.processor = WhiteningNormalizerProcessor()
self.memory = SequentialMemory(limit=5000000, window_length=1)
self.random_process = OrnsteinUhlenbeckProcess(size=self.nb_actions,
theta=0.75,
mu=0.5,
sigma=0.25)
self.agent = DDPGAgent(nb_actions=self.nb_actions,
actor=self.actor,
critic=self.critic,
critic_action_input=action_input,
memory=self.memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=self.random_process,
gamma=.99,
target_model_update=1e-3,
processor=self.processor)
self.agent.compile([Adam(lr=1e-4), Adam(lr=1e-3)], metrics=self.loss)
self.sym_actor = self.build_sym_actor()
self.sym_actor.compile(optimizer='Adam', loss='mse')
class RLAgent:
def __init__(self, env):
np.random.seed(123)
env.seed(123)
assert len(env.action_space.shape) == 1
nb_actions = env.action_space.shape[0]
# Next, we build a very simple model.
self.actor = Sequential()
self.actor.add(Flatten(input_shape=(1, ) +
env.observation_space.shape))
self.actor.add(Dense(16))
self.actor.add(Activation('relu'))
self.actor.add(Dense(16))
self.actor.add(Activation('relu'))
self.actor.add(Dense(16))
self.actor.add(Activation('relu'))
self.actor.add(
Dense(nb_actions,
activation='tanh',
kernel_initializer=RandomUniform()))
self.actor.add(Lambda(lambda x: x * 60.0))
print(self.actor.summary())
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
self.agent = DDPGAgent(nb_actions=nb_actions,
actor=self.actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
def __init__(self,
observation_space,
action_space,
filename='KerasDDPGAgent.h5f'):
nb_actions = action_space.shape[0]
# Actor network
actor = Sequential()
actor.add(Flatten(input_shape=(1, ) + observation_space.shape))
actor.add(Dense(32))
actor.add(Activation('relu'))
actor.add(Dense(32))
actor.add(Activation('relu'))
actor.add(Dense(32))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('sigmoid'))
print(actor.summary())
# Critic network
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation])
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Setup Keras RL's DDPGAgent
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.2,
size=nb_actions)
self.agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
delta_clip=1.)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
self.filename = filename
def buildAgent(env):
nb_actions = env.action_space.shape[0]
# Create networks for DDPG
# Next, we build a very simple model.
actor = Sequential()
print((-1, env.observation_space.shape[0]))
actor.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
actor.add(Dense(32))
actor.add(Activation('tanh'))
actor.add(Dense(32))
actor.add(Activation('tanh'))
actor.add(Dense(32))
actor.add(Activation('tanh'))
actor.add(Dense(nb_actions))
actor.add(Activation('sigmoid'))
print(actor.summary())
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation])
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Set up the agent for training
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.2,
size=env.noutput)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
delta_clip=1.)
# agent = ContinuousDQNAgent(nb_actions=env.noutput, V_model=V_model, L_model=L_model, mu_model=mu_model,
# memory=memory, nb_steps_warmup=1000, random_process=random_process,
# gamma=.99, target_model_update=0.1)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
def main(args):
CUDA = torch.cuda.is_available()
OUTPUT_RESULTS_DIR = './saver'
ENVIRONMENT = 'SemisuperPendulumRandom-v0'
TIMESTAMP = datetime.now().strftime("%Y%m%d-%H%M%S")
SUMMARY_DIR = os.path.join(OUTPUT_RESULTS_DIR, "DDPG", ENVIRONMENT,
TIMESTAMP)
env = gym.make(ENVIRONMENT)
env = wrappers.Monitor(env, SUMMARY_DIR, force=True)
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.shape[0]
action_bound = env.action_space.high
actor = ActorNetwork(state_dim, action_dim, action_bound, args.actor_lr,
args.tau, args.seed)
target_actor = ActorNetwork(state_dim, action_dim, action_bound,
args.actor_lr, args.tau, args.seed)
critic = CriticNetwork(state_dim, action_dim, action_bound, args.critic_lr,
args.tau, args.l2_decay, args.seed)
target_critic = CriticNetwork(state_dim, action_dim, action_bound,
args.critic_lr, args.tau, args.l2_decay,
args.seed)
if CUDA:
actor = actor.cuda()
target_actor = target_actor.cuda()
critic = critic.cuda()
target_critic = target_critic.cuda()
replay_buffer = ReplayBuffer(args.bufferlength, args.seed)
agent = DDPGAgent(actor,
target_actor,
critic,
target_critic,
replay_buffer,
batch_size=args.batch_size,
gamma=args.gamma,
seed=args.seed,
episode_len=args.episode_len,
episode_steps=args.episode_steps,
noise_mean=args.noise_mean,
noise_th=args.noise_th,
noise_std=args.noise_std,
noise_decay=args.noise_decay)
if args.is_train:
agent.train(env)
agent.save_actor_weights(save_dir=OUTPUT_RESULTS_DIR,
filename=args.actor_weights)
else:
agent.load_actor_weights(save_dir=OUTPUT_RESULTS_DIR,
filename=args.actor_weights)
agent.test(env)
def create(env):
np.random.seed(config.current.domain_seed)
env.seed(config.current.domain_seed)
nb_actions = env.action_space.n
# Next, we build a very simple model.
actor = Sequential()
actor.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
actor.add(Dense(config.current.agent_vfn_complexity))
actor.add(Activation('relu'))
actor.add(Dense(config.current.agent_vfn_complexity))
actor.add(Activation('relu'))
actor.add(Dense(config.current.agent_vfn_complexity))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('linear'))
#print(actor.summary())
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(config.current.agent_vfn_complexity)(x)
x = Activation('relu')(x)
x = Dense(config.current.agent_vfn_complexity)(x)
x = Activation('relu')(x)
x = Dense(config.current.agent_vfn_complexity)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
#print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=1000,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
processor=ArgmaxProcessor())
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
def build_agent(env):
assert len(env.action_space.shape) == 1
nb_actions = env.action_space.shape[0]
print(env.observation_space.shape)
# Actor model
actor = Sequential()
actor.add(
Flatten(input_shape=(window_length, ) + env.observation_space.shape))
actor.add(Dense(128, activation="relu"))
actor.add(Dense(128, activation="relu"))
actor.add(Dense(64, activation="relu"))
actor.add(Dense(nb_actions, activation="tanh"))
actor.summary()
# Critic model
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(window_length, ) +
env.observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(256, activation="relu")(x)
x = Dense(256, activation="relu")(x)
x = Dense(128, activation="relu")(x)
x = Dense(1, activation="linear")(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
critic.summary()
memory = SequentialMemory(limit=1000000, window_length=window_length)
# Exploration policy - has a great effect on learning. Should encourage forward motion.
# theta - how fast the process returns to the mean
# mu - mean value - this should be greater than 0 to encourage forward motion
# sigma - volatility of the process
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.5,
mu=0.4,
sigma=0.3)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=50,
nb_steps_warmup_actor=50,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
def configure(self, observation_space_shape, nb_actions):
# Next, we build a simple model.
# actor network
actor = Sequential()
actor.add(Flatten(input_shape=(1, ) + observation_space_shape))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('linear'))
print(actor.summary())
# critic network
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + observation_space_shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
self.agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
def visualize(session_name):
kwargs = {'viewer': True}
ENV_NAME = 'singlePendulum-v0'
env = gym.make(ENV_NAME, **kwargs)
np.random.seed(7)
env.seed(7)
assert len(env.action_space.shape) == 1
nb_actions = env.action_space.shape[0]
actor, critic, action_input = create_networks(env)
memory = SequentialMemory(limit=400, window_length=1)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory)
agent.compile(Adam(lr=.0005,
clipnorm=1.,
epsilon=1.e-7,
beta_1=0.9,
beta_2=0.999),
metrics=['mae'])
checkpoint_filepath = 'checkpoint/ddpg_{}_{}_weights.h5f'.format(
ENV_NAME, session_name)
filepath = 'ddpg_{}_{}_weights.h5f'.format(ENV_NAME, session_name)
agent.load_weights(filepath=filepath)
env.viewer = True
agent.test(env, nb_episodes=1, visualize=False, nb_max_episode_steps=400)
env.close()
def _build_ddpg(nb_actions, nb_states):
# build an actor network
actor = Sequential()
actor.add(Flatten(input_shape=(1, nb_states)))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('sigmoid'))
# build a critic network
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, nb_states),
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
# tricks:
memory = SequentialMemory(limit=10240, window_length=1)
oup = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
# build ddpg agent
ddpg = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_actor=100,
nb_steps_warmup_critic=100,
random_process=oup,
gamma=.99,
target_model_update=1e-3)
ddpg.compile(Adam(), metrics=['mae'])
return ddpg
def build_agent(num_action, observation_shape):
actor = build_actor_model(num_action, observation_shape)
critic, critic_action_input = build_critic_model(num_action,
observation_shape)
memory = SequentialMemory(limit=10**5, window_length=1)
agent = DDPGAgent(num_action, actor, critic, critic_action_input, memory)
return agent
def create_agent(observation_space, action_space, hyperparams):
assert len(action_space.shape) == 1
nb_actions = action_space.shape[0]
actor = Sequential()
actor.add(Flatten(input_shape=(1, ) + observation_space.shape))
for layer in hyperparams['actor']['layers']:
actor.add(Dense(layer['neurons'].value))
actor.add(Activation(layer['activation'].value))
actor.add(Dense(nb_actions))
actor.add(Activation(hyperparams['actor']['output_activation'].value))
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
for layer in hyperparams['critic']['layers']:
x = Dense(layer['neurons'].value,
activation=layer['activation'].value)(x)
x = Dense(1,
activation=hyperparams['critic']['output_activation'].value)(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile(optimizer=hyperparams['optimizer'].value, metrics=['mae'])
return actor, agent
def get_agent(env) -> DDPGAgent:
"""
Generate a `DDPGAgent` instance that represents an agent learned using
Deep Deterministic Policy Gradient. The agent has 2 neural networks: an actor
network and a critic network.
Args:
* `env`: An OpenAI `gym.Env` instance.
Returns:
* a `DDPGAgent` instance.
"""
nb_actions = env.action_space.shape[0]
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + env.observation_space.shape, name='observation_input')
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + env.observation_space.shape))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('tanh'))
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3, size=nb_actions)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
gamma=.99, target_model_update=1e-3)#random_process=random_process,
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
class DDPG():
def __init__(self, Env):
self.env = Env
nb_actions = self.env.action_space.shape[0]
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + self.env.observation_space.shape))
actor.add(Dense(5))
actor.add(Activation('relu'))
actor.add(Dense(8))
actor.add(Activation('relu'))
actor.add(Dense(5))
actor.add(Activation('relu'))
# actor.add(Dense(16))
# actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('softmax'))
# print(actor.summary())
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + Env.observation_space.shape, name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation], name = 'concatenate')
x = Dense(5)(x)
x = Activation('relu')(x)
x = Dense(8)(x)
x = Activation('relu')(x)
x = Dense(5)(x)
x = Activation('relu')(x)
# x = Dense(32)(x)
# x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
# print(critic.summary())
memory = SequentialMemory(limit=100000, window_length=1)
# random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
random_process = None
self.agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=32, nb_steps_warmup_actor=32,
random_process=random_process, gamma=0, target_model_update=0.001)
self.agent.processor = ShowActionProcessor(self.agent, self.env)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
def fit(self):
history = self.agent.fit(self.env, action_repetition=1, nb_steps=20000, visualize=False, verbose=1, nb_max_episode_steps=10)
return history
def save_weights(self):
self.agent.save_weights('./store/ddpg_{}_weights2.h5f'.format("porfolio"), overwrite=True)
def test(self):
history = self.agent.test(self.env, nb_episodes=1, visualize=False, nb_max_episode_steps=10)
return history
def load_weights(self):
self.agent.load_weights('./store/ddpg_{}_weights2.h5f'.format("porfolio"))
def build_agent(self):
### Building Agent
log_info("building DDPGAgent ...")
self.agent = DDPGAgent(nb_actions=self.nb_actions, actor=self.networks.actor, critic=self.networks.critic, critic_action_input=self.networks.action_input,
memory=self.networks.memory, nb_steps_warmup_critic=self.nb_steps_warmup_critic, nb_steps_warmup_actor=self.nb_steps_warmup_actor,
random_process=self.networks.random_process, gamma=self.gamma, target_model_update=self.target_model_update,
delta_clip=self.delta_clip)
# self.agent = DDPGAgent(nb_actions=self.nb_actions, actor=self.networks.actor, critic=self.networks.critic, critic_action_input=self.networks.action_input,
# memory=self.networks.memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
# random_process=self.networks.random_process, gamma=.99, target_model_update=1e-3,
# delta_clip=1.)
log_info("Adding optimizer ...")
self.agent.compile(self.optimizer, self.metrics)
log_info("Optimizer added.")
def build_agent(nS, nA, action_min, action_max):
actor = build_actor(nS, nA, action_min, action_max)
action_input, critic = build_critic(nS, nA)
agent = DDPGAgent(nb_actions=nA,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=SequentialMemory(limit=100000,
window_length=1),
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=OrnsteinUhlenbeckProcess(size=nA,
theta=0.15,
sigma=0.3),
gamma=0.99,
target_model_update=0.001)
agent.compile(Adam(lr=0.001, clipnorm=1.), metrics=['mae'])
return agent
def __init__(self, Env):
self.env = Env
nb_actions = self.env.action_space.shape[0]
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + self.env.observation_space.shape))
actor.add(Dense(5))
actor.add(Activation('relu'))
actor.add(Dense(8))
actor.add(Activation('relu'))
actor.add(Dense(5))
actor.add(Activation('relu'))
# actor.add(Dense(16))
# actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('softmax'))
# print(actor.summary())
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + Env.observation_space.shape, name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation], name = 'concatenate')
x = Dense(5)(x)
x = Activation('relu')(x)
x = Dense(8)(x)
x = Activation('relu')(x)
x = Dense(5)(x)
x = Activation('relu')(x)
# x = Dense(32)(x)
# x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
# print(critic.summary())
memory = SequentialMemory(limit=100000, window_length=1)
# random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
random_process = None
self.agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=32, nb_steps_warmup_actor=32,
random_process=random_process, gamma=0, target_model_update=0.001)
self.agent.processor = ShowActionProcessor(self.agent, self.env)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
def compile_agent(self):
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = DistopiaProcessor(self.num_blocks, self.num_actions)
memory = SequentialMemory(limit=50000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.15,
mu=0.,
sigma=.3)
self.agent = DDPGAgent(nb_actions=self.nb_actions,
actor=self.actor,
critic=self.critic,
critic_action_input=self.action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
def create_actor_critic_agent():
# create ddpg agent
memory = SequentialMemory(limit=1000000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions,
theta=.5,
mu=0.,
sigma=.1)
agent = DDPGAgent(nb_actions=nb_actions,
actor=create_actor(),
critic=create_critic(),
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.8,
target_model_update=1e-3,
processor=UnitsProcessor(n_sonars=env.robot.n_sonars))
agent.compile(Adam(lr=.001), metrics=['mse'])
return agent
def __init__(self, env):
# rospack = rospkg.RosPack()
# self.working_dir = rospack.get_path('neuroracer_gym_rl')
# self.weight_backup = os.path.join(self.working_dir, "neuroracer.h5")
self.env = env
self.observation_space = self.env.observation_space
self.action_space = self.env.action_space
self.nb_actions = self.env.action_space.shape[0]
self.batch_size = 16
self.max_buffer = 100000
self.window_length = 16
self.memory = SequentialMemory(limit=self.max_buffer, window_length=self.window_length)
self.learning_rate_actor = 0.0001
self.learning_rate_critic = 0.001
self.gamma = 0.9
self.exploration_rate = 0.95
self.exploration_min = 0.01
self.exploration_decay = 0.995
random_process = OrnsteinUhlenbeckProcess(size=self.nb_actions, theta=.15, mu=0., sigma=.2)
actor = self._create_actor()
critic, critic_action_input = self._create_critic(self.nb_actions)
self.model = DDPGAgent(nb_actions=self.nb_actions,
actor=actor,
critic=critic,
critic_action_input=critic_action_input,
memory=self.memory,
nb_steps_warmup_critic=500,
nb_steps_warmup_actor=500,
random_process=random_process,
gamma=self.gamma,
target_model_update=.001,
# processor=self.processor,
batch_size=self.batch_size)
self.model.compile(
(Adam(lr=self.learning_rate_actor, clipnorm=1.), Adam(lr=self.learning_rate_critic, clipnorm=1.)),
metrics=['mse'])
def test_ddpg():
# TODO: replace this with a simpler environment where we can actually test if it finds a solution
env = gym.make('Pendulum-v0')
np.random.seed(123)
env.seed(123)
random.seed(123)
nb_actions = env.action_space.shape[0]
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + env.observation_space.shape))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('linear'))
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + env.observation_space.shape, name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(16)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=1000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=50, nb_steps_warmup_actor=50,
random_process=random_process, gamma=.99, target_model_update=1e-3)
agent.compile([Adam(lr=1e-3), Adam(lr=1e-3)])
agent.fit(env, nb_steps=400, visualize=False, verbose=0, nb_max_episode_steps=100)
h = agent.test(env, nb_episodes=2, visualize=False, nb_max_episode_steps=100)
def keras_rl(env,
model_name,
saved_model_name="model",
steps=50000,
test_steps=5,
visualize=False,
hidden_layers=3,
critic_hidden_layers=3):
nb_actions = 0
if (model_name == "DQN" or model_name == "SARSA"):
nb_actions = env.action_space.n
elif (model_name == "DDPG"):
nb_actions = env.action_space.shape[0]
model_structure = define_layers(env,
nb_actions,
num_of_hidden_layers=hidden_layers)
memory = define_memory()
policy = define_policy(model_name)
if (model_name == "DQN"):
model = DQNAgent(model=model_structure,
nb_actions=nb_actions,
memory=memory,
nb_steps_warmup=100,
enable_double_dqn=True,
dueling_type='avg',
target_model_update=1e-2)
elif (model_name == "SARSA"):
model = SARSAAgent(model=model_structure,
nb_actions=nb_actions,
nb_steps_warmup=10,
policy=policy)
elif (model_name == "DDPG"):
action_input, critic_layers = define_critic_layers(
env, num_of_hidden_layers=critic_hidden_layers)
random_process = define_random_process(nb_actions)
model = DDPGAgent(nb_actions=nb_actions,
actor=model_structure,
critic=critic_layers,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
model.compile(Adam(lr=1e-3), metrics=['mae'])
model.fit(env, nb_steps=steps, visualize=False, verbose=2)
model.save_weights('{}.h5f'.format(model_name), overwrite=True)
model.test(env, nb_episodes=test_steps, visualize=visualize)
class KerasDDPGAgent(KerasAgent):
"""
An DDPG agent using Keras library with Keras RL.
For more details about Deep Deterministic Policy Gradient algorithm, check
"Continuous control with deep reinforcement learning" by Lillicrap.
https://arxiv.org/abs/1509.02971
"""
def __init__(self, observation_space, action_space, filename='KerasDDPGAgent.h5f'):
#from keras.layers.normalization import BatchNormalization
nb_actions = action_space.shape[0]
# Actor network
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + observation_space.shape))
actor.add(Dense(32),activation='selu'))
actor.add(Dense(32),activation='selu')
actor.add(Dense(32),activation='selu')
actor.add(Dense(nb_actions),activation='sigmoid')
print(actor.summary())
# Critic network
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + observation_space.shape, name='observation_input')
flattened_observation = Flatten()(observation_input)
x = concatenate([action_input, flattened_observation])
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(64)(x)
x = Activation('tanh')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Setup Keras RL's DDPGAgent
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.1, mu=0., sigma=.2,
dt=1e-2,size=nb_actions,sigma_min=.05,n_steps_annealing=1e6)
self.agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.96,
target_model_update=1e-4,
delta_clip=1.)
def create_ddpg_agent(env):
nb_actions = env.action_space.n
policy = BoltzmannQPolicy()
actor = Sequential()
actor.add(Flatten(input_shape=(1,) + (env.observation_space.shape[1],)))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('linear'))
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + (env.observation_space.shape[1],), name='observation_input')
flattened_observation = Flatten()(observation_input)
x = merge([action_input, flattened_observation], mode='concat')
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.99, target_model_update=1e-3)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
def build_agent(num_action, observation_shape):
actor = build_actor_model(num_action, observation_shape)
critic, critic_action_input = build_critic_model(num_action, observation_shape)
memory = SequentialMemory(limit=10**6, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=num_action, theta=0.15, mu=0, sigma=0.3)
agent = DDPGAgent(
num_action,
actor,
critic,
critic_action_input,
memory,
random_process=random_process
)
return agent
def _make_agent(self):
"""Internal helper function to create an actor-critic custom agent model
"""
if self.actor is None:
self._make_actor()
if self.critic is None:
self._make_critic()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=self.n_actions,
theta=.15,
mu=0.,
sigma=.3)
self.agent = DDPGAgent(nb_actions=self.n_actions,
actor=self.actor,
critic=self.critic,
critic_action_input=self.action_input,
memory=memory,
nb_steps_warmup_critic=100,
nb_steps_warmup_actor=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
self.agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
class actor_critic(keras_model):
def __init__(self,shared_object):
log_info('building actor-critic specific parameters ')
self.gamma = shared_object.get('gamma',.99)
self.nb_steps_warmup_critic = shared_object.get('nb_steps_warmup_critic',100)
self.nb_steps_warmup_actor = shared_object.get('nb_steps_warmup_actor',100)
self.target_model_update = shared_object.get('target_model_update',1.0e-3)
self.delta_clip = shared_object.get('delta_clip',1.)
log_info('loading actor critic specific parameters is done')
super(self.__class__,self).__init__(shared_object)
def build_agent(self):
### Building Agent
log_info("building DDPGAgent ...")
self.agent = DDPGAgent(nb_actions=self.nb_actions, actor=self.networks.actor, critic=self.networks.critic, critic_action_input=self.networks.action_input,
memory=self.networks.memory, nb_steps_warmup_critic=self.nb_steps_warmup_critic, nb_steps_warmup_actor=self.nb_steps_warmup_actor,
random_process=self.networks.random_process, gamma=self.gamma, target_model_update=self.target_model_update,
delta_clip=self.delta_clip)
# self.agent = DDPGAgent(nb_actions=self.nb_actions, actor=self.networks.actor, critic=self.networks.critic, critic_action_input=self.networks.action_input,
# memory=self.networks.memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
# random_process=self.networks.random_process, gamma=.99, target_model_update=1e-3,
# delta_clip=1.)
log_info("Adding optimizer ...")
self.agent.compile(self.optimizer, self.metrics)
log_info("Optimizer added.")
def test_ddpg():
# TODO: replace this with a simpler environment where we can actually test if it finds a solution
env = gym.make('Pendulum-v0')
np.random.seed(123)
env.seed(123)
random.seed(123)
nb_actions = env.action_space.shape[0]
actor = Sequential()
actor.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
actor.add(Dense(16))
actor.add(Activation('relu'))
actor.add(Dense(nb_actions))
actor.add(Activation('linear'))
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
flattened_observation = Flatten()(observation_input)
x = Concatenate()([action_input, flattened_observation])
x = Dense(16)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=1000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions,
actor=actor,
critic=critic,
critic_action_input=action_input,
memory=memory,
nb_steps_warmup_critic=50,
nb_steps_warmup_actor=50,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile([Adam(lr=1e-3), Adam(lr=1e-3)])
agent.fit(env,
nb_steps=400,
visualize=False,
verbose=0,
nb_max_episode_steps=100)
h = agent.test(env,
nb_episodes=2,
visualize=False,
nb_max_episode_steps=100)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Set up the agent for training
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.2, size=env.noutput)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.99, target_model_update=1e-3,
delta_clip=1.)
# agent = ContinuousDQNAgent(nb_actions=env.noutput, V_model=V_model, L_model=L_model, mu_model=mu_model,
# memory=memory, nb_steps_warmup=1000, random_process=random_process,
# gamma=.99, target_model_update=0.1)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
if args.train:
agent.fit(env, nb_steps=nallsteps, visualize=False, verbose=1, nb_max_episode_steps=200, log_interval=10000)
# After training is done, we save the final weights.
agent.save_weights(args.model, overwrite=True)
if not args.train:
x = Activation('relu')(x)
# Output Layer
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=2*NUM_STEPS, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
# random_process = OrnsteinUhlenbeckProcess(size=nb_actions, dt = env.tau, theta=1.0, mu=0.0, sigma=0.5, sigma_min=0.3, n_steps_annealing=NUM_STEPS)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.999, target_model_update=1e-3,
delta_clip=1.0)
agent.compile(Adam(lr=3e-4, clipnorm=1.0), metrics=['mae'])
# Optionally, we can reload a previous model's weights and continue training from there
# Remove the _actor or _critic from the filename. The load method automatically
# appends these.
WEIGHTS_FILENAME = 'weights/ddpg_{}_weights.h5f'.format(ENV_NAME)
# agent.load_weights(WEIGHTS_FILENAME)
callbacks = []
x = (Dense(LAYER_SIZE))(x)
x = Activation('relu')(x)
# Output Layer
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=2*NUM_STEPS, window_length=1)
# random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, dt = env.tau, theta=0.6, mu=0.0, sigma=0.5, sigma_min=0.15, n_steps_annealing=NUM_STEPS)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.999, target_model_update=1e-3,
delta_clip=1.0)
agent.compile(Adam(lr=.001, clipnorm=1.0), metrics=['mae'])
# Load the model weights - this method will automatically load the weights for
# both the actor and critic
agent.load_weights(FILENAME)
# Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=5, visualize=True,action_repetition=5) #nb_max_episode_steps=500,
x = Activation('relu')(x)
# Output Layer
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=2*NUM_STEPS, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.3)
# random_process = OrnsteinUhlenbeckProcess(size=nb_actions, dt = env.tau, theta=1.0, mu=0.0, sigma=0.5, sigma_min=0.3, n_steps_annealing=NUM_STEPS)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.999, target_model_update=1e-3,
delta_clip=1.0)
agent.compile(Adam(lr=.001, clipnorm=1.0), metrics=['mae'])
# Optionally, we can reload a previous model's weights and continue training from there
# Remove the _actor or _critic from the filename. The load method automatically
# appends these.
WEIGHTS_FILENAME = 'weights/ddpg_planar_crane_continuous-v0_weights.h5f'
# agent.load_weights(WEIGHTS_FILENAME)
callbacks = []
x = concatenate([action_input, flattened_observation])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
plot_model(critic, to_file='critic.png', show_shapes=True)
# # Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# # even the metrics!
memory = SequentialMemory(limit=10000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=0.15, mu=0., sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.99, target_model_update=1e-3)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# # Okay, now it's time to learn something! We visualize the training here for show, but this
# # slows down training quite a lot. You can always safely abort the training prematurely using
# # Ctrl + C.
agent.fit(env, nb_steps=25000, visualize=False, verbose=1, nb_max_episode_steps=200)
# # After training is done, we save the final weights.
agent.save_weights('ddpg_stokes_weights.h5f', overwrite=True)
# # Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=5, visualize=True, nb_max_episode_steps=200)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(64)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.2, size=env.noutput)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100,
random_process=random_process, gamma=.99, target_model_update=1e-3,
delta_range=(-100., 100.))
# agent = ContinuousDQNAgent(nb_actions=env.noutput, V_model=V_model, L_model=L_model, mu_model=mu_model,
# memory=memory, nb_steps_warmup=1000, random_process=random_process,
# gamma=.99, target_model_update=0.1)
#agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
agent.compile([RMSprop(lr=.001), RMSprop(lr=.001)], metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
if args.train:
agent.fit(env, nb_steps=nallsteps, visualize=True, verbose=1, nb_max_episode_steps=env.timestep_limit, log_interval=10000)
# After training is done, we save the final weights.
agent.save_weights(args.output, overwrite=True)
x = Dense(400)(flattened_observation)
x = Activation('relu')(x)
x = Concatenate()([x, action_input])
x = Dense(300)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(inputs=[action_input, observation_input], outputs=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(size=nb_actions, theta=.15, mu=0., sigma=.1)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=1000, nb_steps_warmup_actor=1000,
random_process=random_process, gamma=.99, target_model_update=1e-3,
processor=MujocoProcessor())
agent.compile([Adam(lr=1e-4), Adam(lr=1e-3)], metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env, nb_steps=1000000, visualize=False, verbose=1)
# After training is done, we save the final weights.
agent.save_weights('ddpg_{}_weights.h5f'.format(ENV_NAME), overwrite=True)
# Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=5, visualize=True, nb_max_episode_steps=200)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(1)(x)
x = Activation('linear')(x)
critic = Model(input=[action_input, observation_input], output=x)
print(critic.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=100000)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3)
agent = DDPGAgent(nb_actions=nb_actions, actor=actor, critic=critic, critic_action_input=action_input,
memory=memory, nb_steps_warmup_critic=100, nb_steps_warmup_actor=100, random_process=random_process,
gamma=.99, target_model_update=1e-3, delta_range=(-10., 10.))
agent.compile([RMSprop(lr=.001), RMSprop(lr=.001)], metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env, nb_steps=1000000, visualize=True, verbose=1, nb_max_episode_steps=200)
# After training is done, we save the final weights.
agent.save_weights('ddpg_{}_weights.h5f'.format(ENV_NAME), overwrite=True)
# Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=5, visualize=True, nb_max_episode_steps=200)
