def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the PPO2 model must be " \
"an instance of common.policies.ActorCriticPolicy."
self.n_batch = self.n_envs * self.n_steps
self.graph = tf.Graph()
with self.graph.as_default():
self.set_random_seed(self.seed)
self.sess = tf_util.make_session(num_cpu=self.n_cpu_tf_sess,
graph=self.graph)
n_batch_step = None
n_batch_train = None
if issubclass(self.policy, RecurrentActorCriticPolicy):
assert self.n_envs % self.nminibatches == 0, "For recurrent policies, "\
"the number of environments run in parallel should be a multiple of nminibatches."
n_batch_step = self.n_envs
n_batch_train = self.n_batch // self.nminibatches
act_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs // self.nminibatches,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.action_ph = train_model.pdtype.sample_placeholder(
[None], name="action_ph")
self.advs_ph = tf.placeholder(tf.float32, [None],
name="advs_ph")
self.rewards_ph = tf.placeholder(tf.float32, [None],
name="rewards_ph")
self.old_neglog_pac_ph = tf.placeholder(
tf.float32, [None], name="old_neglog_pac_ph")
self.old_vpred_ph = tf.placeholder(tf.float32, [None],
name="old_vpred_ph")
self.learning_rate_ph = tf.placeholder(
tf.float32, [], name="learning_rate_ph")
self.clip_range_ph = tf.placeholder(tf.float32, [],
name="clip_range_ph")
neglogpac = train_model.proba_distribution.neglogp(
self.action_ph)
self.entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
vpred = train_model.value_flat
# Value function clipping: not present in the original PPO
if self.cliprange_vf is None:
# Default behavior (legacy from OpenAI baselines):
# use the same clipping as for the policy
self.clip_range_vf_ph = self.clip_range_ph
self.cliprange_vf = self.cliprange
elif isinstance(self.cliprange_vf,
(float, int)) and self.cliprange_vf < 0:
# Original PPO implementation: no value function clipping
self.clip_range_vf_ph = None
else:
# Last possible behavior: clipping range
# specific to the value function
self.clip_range_vf_ph = tf.placeholder(
tf.float32, [], name="clip_range_vf_ph")
if self.clip_range_vf_ph is None:
# No clipping
vpred_clipped = train_model.value_flat
else:
# Clip the different between old and new value
# NOTE: this depends on the reward scaling
vpred_clipped = self.old_vpred_ph + \
tf.clip_by_value(train_model.value_flat - self.old_vpred_ph,
- self.clip_range_vf_ph, self.clip_range_vf_ph)
vf_losses1 = tf.square(vpred - self.rewards_ph)
vf_losses2 = tf.square(vpred_clipped - self.rewards_ph)
self.vf_loss = .5 * tf.reduce_mean(
tf.maximum(vf_losses1, vf_losses2))
ratio = tf.exp(self.old_neglog_pac_ph - neglogpac)
pg_losses = -self.advs_ph * ratio
pg_losses2 = -self.advs_ph * tf.clip_by_value(
ratio, 1.0 - self.clip_range_ph,
1.0 + self.clip_range_ph)
self.pg_loss = tf.reduce_mean(
tf.maximum(pg_losses, pg_losses2))
self.approxkl = .5 * tf.reduce_mean(
tf.square(neglogpac - self.old_neglog_pac_ph))
self.clipfrac = tf.reduce_mean(
tf.cast(
tf.greater(tf.abs(ratio - 1.0),
self.clip_range_ph), tf.float32))
loss = self.pg_loss - self.entropy * self.ent_coef + self.vf_loss * self.vf_coef
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', self.pg_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('approximate_kullback-leibler',
self.approxkl)
tf.summary.scalar('clip_factor', self.clipfrac)
tf.summary.scalar('loss', loss)
with tf.variable_scope('model'):
self.params = tf.trainable_variables()
if self.full_tensorboard_log:
for var in self.params:
tf.summary.histogram(var.name, var)
grads = tf.gradients(loss, self.params)
if self.max_grad_norm is not None:
grads, _grad_norm = tf.clip_by_global_norm(
grads, self.max_grad_norm)
grads = list(zip(grads, self.params))
trainer = tf.train.AdamOptimizer(
learning_rate=self.learning_rate_ph, epsilon=1e-5)
self._train = trainer.apply_gradients(grads)
self.loss_names = [
'policy_loss', 'value_loss', 'policy_entropy', 'approxkl',
'clipfrac'
]
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate_ph))
tf.summary.scalar('advantage',
tf.reduce_mean(self.advs_ph))
tf.summary.scalar('clip_range',
tf.reduce_mean(self.clip_range_ph))
if self.clip_range_vf_ph is not None:
tf.summary.scalar(
'clip_range_vf',
tf.reduce_mean(self.clip_range_vf_ph))
tf.summary.scalar('old_neglog_action_probability',
tf.reduce_mean(self.old_neglog_pac_ph))
tf.summary.scalar('old_value_pred',
tf.reduce_mean(self.old_vpred_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards',
self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate_ph)
tf.summary.histogram('advantage', self.advs_ph)
tf.summary.histogram('clip_range', self.clip_range_ph)
tf.summary.histogram('old_neglog_action_probability',
self.old_neglog_pac_ph)
tf.summary.histogram('old_value_pred',
self.old_vpred_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
self.train_model = train_model
self.act_model = act_model
self.step = act_model.step
self.proba_step = act_model.proba_step
self.value = act_model.value
self.initial_state = act_model.initial_state
tf.global_variables_initializer().run(session=self.sess) # pylint: disable=E1101
self.summary = tf.summary.merge_all()
def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the A2C model must be an " \
"instance of common.policies.ActorCriticPolicy."
self.graph = tf.Graph()
with self.graph.as_default():
self.set_random_seed(self.seed)
self.sess = tf_util.make_session(num_cpu=self.n_cpu_tf_sess,
graph=self.graph)
self.n_batch = self.n_envs * self.n_steps
n_batch_step = None
n_batch_train = None
if issubclass(self.policy, RecurrentActorCriticPolicy):
n_batch_step = self.n_envs
n_batch_train = self.n_envs * self.n_steps
step_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.actions_ph = train_model.pdtype.sample_placeholder(
[None], name="action_ph")
self.advs_ph = tf.placeholder(tf.float32, [None],
name="advs_ph")
self.rewards_ph = tf.placeholder(tf.float32, [None],
name="rewards_ph")
self.learning_rate_ph = tf.placeholder(
tf.float32, [], name="learning_rate_ph")
neglogpac = train_model.proba_distribution.neglogp(
self.actions_ph)
self.entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
self.pg_loss = tf.reduce_mean(self.advs_ph * neglogpac)
self.vf_loss = mse(tf.squeeze(train_model.value_flat),
self.rewards_ph)
# https://arxiv.org/pdf/1708.04782.pdf#page=9, https://arxiv.org/pdf/1602.01783.pdf#page=4
# and https://github.com/dennybritz/reinforcement-learning/issues/34
# suggest to add an entropy component in order to improve exploration.
loss = self.pg_loss - self.entropy * self.ent_coef + self.vf_loss * self.vf_coef
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', self.pg_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('loss', loss)
self.params = tf_util.get_trainable_vars("model")
grads = tf.gradients(loss, self.params)
if self.max_grad_norm is not None:
grads, _ = tf.clip_by_global_norm(
grads, self.max_grad_norm)
grads = list(zip(grads, self.params))
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate_ph))
tf.summary.scalar('advantage',
tf.reduce_mean(self.advs_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards',
self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate_ph)
tf.summary.histogram('advantage', self.advs_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
trainer = tf.train.RMSPropOptimizer(
learning_rate=self.learning_rate_ph,
decay=self.alpha,
epsilon=self.epsilon,
momentum=self.momentum)
self.apply_backprop = trainer.apply_gradients(grads)
self.train_model = train_model
self.step_model = step_model
self.step = step_model.step
self.proba_step = step_model.proba_step
self.value = step_model.value
self.initial_state = step_model.initial_state
tf.global_variables_initializer().run(session=self.sess)
self.summary = tf.summary.merge_all()
def setup_entire_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, LatentSkillsPolicy), "Error: the input policy for the PlannedPPO model " \
"must be an instance of LatentSkillsPolicy."
self.n_batch = self.n_envs * self.n_steps
n_cpu = multiprocessing.cpu_count()
if sys.platform == 'darwin':
n_cpu //= 2
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.make_session(num_cpu=n_cpu,
graph=self.graph)
n_batch_step = None
n_batch_train = None
act_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.z_dim,
self.goal_dim,
self.traj_len,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.z_dim,
self.goal_dim,
self.traj_len,
self.n_envs // self.nminibatches,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.action_ph = train_model.pdtype.sample_placeholder(
[None], name="action_ph")
self.advs_ph = tf.placeholder(tf.float32, [None],
name="advs_ph")
self.rewards_ph = tf.placeholder(tf.float32, [None],
name="rewards_ph")
self.old_neglog_pac_ph = tf.placeholder(
tf.float32, [None], name="old_neglog_pac_ph")
self.old_vpred_ph = tf.placeholder(tf.float32, [None],
name="old_vpred_ph")
self.learning_rate_ph = tf.placeholder(
tf.float32, [], name="learning_rate_ph")
self.clip_range_ph = tf.placeholder(tf.float32, [],
name="clip_range_ph")
#TODO: add placeholders for vae and cvae loss functions
self.trajectory_ph = tf.placeholder(tf.float32, [None],
name="trajectory_ph")
self.trajectory_hat_ph = tf.placeholder(
tf.float32, [None], name="trajectory_hat_ph")
self.z_mean_ph = tf.placeholder(tf.float32, [None],
name="z_mean_ph")
self.z_stddev_ph = tf.placeholder(tf.float32, [None],
"z_stddev_ph")
neglogpac = train_model.proba_distribution.neglogp(
self.action_ph)
self.entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
vpred = train_model._value
vpredclipped = self.old_vpred_ph + tf.clip_by_value(
train_model._value - self.old_vpred_ph,
-self.clip_range_ph, self.clip_range_ph)
vf_losses1 = tf.square(vpred - self.rewards_ph)
vf_losses2 = tf.square(vpredclipped - self.rewards_ph)
self.vf_loss = 0.5 * tf.reduce_mean(
tf.maximum(vf_losses1, vf_losses2))
ratio = tf.exp(self.old_neglog_pac_ph - neglogpac)
pg_losses = -self.advs_ph * ratio
pg_losses2 = -self.advs_ph * tf.clip_by_value(
ratio, 1.0 - self.clip_range_ph,
1.0 + self.clip_range_ph)
self.pg_loss = tf.reduce_mean(
tf.maximum(pg_losses, pg_losses2))
self.approxkl = 0.5 * tf.reduce_mean(
tf.square(neglogpac - self.old_neglog_pac_ph))
self.clipfrac = tf.reduce_mean(
tf.to_float(
tf.greater(tf.abs(ratio - 1.0),
self.clip_range_ph)))
loss = self.pg_loss - self.entropy * self.ent_coef + self.vf_loss * self.vf_coef
#TODO: add loss terms from vae and cvae to loss expression above
traj_loss = tf.reduce_sum(
tf.squared_difference(self.trajectory_ph,
self.trajectory_hat_ph), 1)
latent_skill_loss = -0.5 * tf.reduce_sum(1.0 + 2.0 * self.z_stddev_ph - tf.square(self.z_mean_ph) - \
tf.exp(2.0 * self.z_stddev_ph), 1)
self.skill_vae_loss = tf.reduce_mean(traj_loss +
latent_skill_loss)
loss += self.skill_vae_loss
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', self.pg_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('approximate_kullback-leiber',
self.approxkl)
tf.summary.scalar('clip_factor', self.clipfrac)
tf.summary.scalar('loss', loss)
#TODO: confirm all trainable variables are captured in scope "model"
with tf.variable_scope("model"):
self.params = tf.trainable_variables()
if self.full_tensorboard_log:
for var in self.params:
tf.summary.histogram(var.name, var)
grads = tf.gradients(loss, self.params)
if self.max_grad_norm is not None:
grads, _grad_norm = tf.clip_by_global_norm(
grads, self.max_grad_norm)
grads = list(zip(grads, self.params))
trainer = tf.train.AdamOptimizer(
learning_rate=self.learning_rate_ph, epsilon=1e-5)
self._train = trainer.apply_gradients(grads)
#TODO: include vae and cvae losses
self.loss_names = [
'policy_loss', 'value_loss', 'policy_entropy', 'approxkl',
'clipfrac'
]
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate_ph))
tf.summary.scalar('advantage', tf.reduce_mean(self.advs_ph))
tf.summary.scalar('clip_range',
tf.reduce_mean(self.clip_range_ph))
tf.summary.scalar('old_neglog_action_probabilty',
tf.reduce_mean(self.old_neglog_pac_ph))
tf.summary.scalar('old_value_pred',
tf.reduce_mean(self.old_vpred_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards', self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate_ph)
tf.summary.histogram('advantage', self.advs_ph)
tf.summary.histogram('clip_range', self.clip_range_ph)
tf.summary.histogram('old_neglog_action_probabilty',
self.old_neglog_pac_ph)
tf.summary.histogram('old_value_pred', self.old_vpred_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation', train_model.obs_ph)
self.train_model = train_model
self.act_model = act_model
self.step = act_model.step
self.proba_step = act_model.proba_step
self.value = act_model.value
self.initial_state = act_model.initial_state
tf.global_variables_initializer().run(session=self.sess)
#TODO: consider saving other quantities to "self"
self.summary = tf.summary.merge_all()
def build_train(q_func,
ob_space,
ac_space,
optimizer,
sess,
grad_norm_clipping=None,
gamma=1.0,
kappa=1.0,
double_q=True,
scope="deepq",
reuse=None,
param_noise=False,
param_noise_filter_func=None,
full_tensorboard_log=False):
"""
Creates the train function:
:param q_func: (DQNPolicy) the policy
:param ob_space: (Gym Space) The observation space of the environment
:param ac_space: (Gym Space) The action space of the environment
:param reuse: (bool) whether or not to reuse the graph variables
:param optimizer: (tf.train.Optimizer) optimizer to use for the Q-learning objective.
:param sess: (TensorFlow session) The current TensorFlow session
:param grad_norm_clipping: (float) clip gradient norms to this value. If None no clipping is performed.
:param gamma: (float) discount rate.
:param double_q: (bool) if true will use Double Q Learning (https://arxiv.org/abs/1509.06461). In general it is a
good idea to keep it enabled.
:param scope: (str or VariableScope) optional scope for variable_scope.
:param reuse: (bool) whether or not the variables should be reused. To be able to reuse the scope must be given.
:param param_noise: (bool) whether or not to use parameter space noise (https://arxiv.org/abs/1706.01905)
:param param_noise_filter_func: (function (TensorFlow Tensor): bool) function that decides whether or not a
variable should be perturbed. Only applicable if param_noise is True. If set to None, default_param_noise_filter
is used by default.
:param full_tensorboard_log: (bool) enable additional logging when using tensorboard
WARNING: this logging can take a lot of space quickly
:return: (tuple)
act: (function (TensorFlow Tensor, bool, float): TensorFlow Tensor) function to select and action given
observation. See the top of the file for details.
train: (function (Any, numpy float, numpy float, Any, numpy bool, numpy float): numpy float)
optimize the error in Bellman's equation. See the top of the file for details.
update_target: (function) copy the parameters from optimized Q function to the target Q function.
See the top of the file for details.
step_model: (DQNPolicy) Policy for evaluation
"""
n_actions = ac_space.nvec if isinstance(ac_space,
MultiDiscrete) else ac_space.n
with tf.variable_scope("input", reuse=reuse):
stochastic_ph = tf.placeholder(tf.bool, (), name="stochastic")
update_eps_ph = tf.placeholder(tf.float32, (), name="update_eps")
with tf.variable_scope(scope, reuse=reuse):
if param_noise:
act_f, obs_phs = build_act_with_param_noise(
q_func,
ob_space,
ac_space,
stochastic_ph,
update_eps_ph,
sess,
param_noise_filter_func=param_noise_filter_func)
else:
act_f, obs_phs = build_act(q_func, ob_space, ac_space,
stochastic_ph, update_eps_ph, sess)
# q network evaluation
with tf.variable_scope(
"step_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter("step_model")):
step_model = q_func(sess,
ob_space,
ac_space,
1,
1,
None,
reuse=True,
obs_phs=obs_phs)
q_func_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES,
scope=tf.get_variable_scope().name +
"/model")
# target q network evaluation
with tf.variable_scope("target_q_func", reuse=False):
target_policy = q_func(sess,
ob_space,
ac_space,
1,
1,
None,
reuse=False)
target_q_func_vars = tf.get_collection(
tf.GraphKeys.GLOBAL_VARIABLES,
scope=tf.get_variable_scope().name + "/target_q_func")
# compute estimate of best possible value starting from state at t + 1
double_q_values = None
double_obs_ph = target_policy.obs_ph
if double_q:
with tf.variable_scope(
"double_q",
reuse=True,
custom_getter=tf_util.outer_scope_getter("double_q")):
double_policy = q_func(sess,
ob_space,
ac_space,
1,
1,
None,
reuse=True)
double_q_values = double_policy.q_values
double_obs_ph = double_policy.obs_ph
with tf.variable_scope("loss", reuse=reuse):
# set up placeholders
act_t_ph = tf.placeholder(tf.int32, [None], name="action")
rew_t_ph = tf.placeholder(tf.float32, [None], name="reward")
done_mask_ph = tf.placeholder(tf.float32, [None], name="done")
importance_weights_ph = tf.placeholder(tf.float32, [None],
name="weight")
# q scores for actions which we know were selected in the given state.
q_t_selected = tf.reduce_sum(step_model.q_values *
tf.one_hot(act_t_ph, n_actions),
axis=1)
# compute estimate of best possible value starting from state at t + 1
if double_q:
q_tp1_best_using_online_net = tf.argmax(double_q_values, axis=1)
q_tp1_best = tf.reduce_sum(
target_policy.q_values *
tf.one_hot(q_tp1_best_using_online_net, n_actions),
axis=1)
else:
q_tp1_best = tf.reduce_max(target_policy.q_values, axis=1)
q_tp1_best_masked = (1.0 - done_mask_ph) * q_tp1_best
# compute kappa-reward #TODO
act_policy_t_ph = self.act()
q_t_policy = tf.reduce_sum(step_model.q_values *
tf.one_hot(act_t_ph, n_actions),
axis=1)
rew_kappa_t_ph = rew_t_ph + gamma * (1 - kappa) * q_t_policy
# compute RHS of bellman equation
q_t_selected_target = rew_t_ph + gamma * q_tp1_best_masked
# compute the error (potentially clipped)
td_error = q_t_selected - tf.stop_gradient(q_t_selected_target)
errors = tf_util.huber_loss(td_error)
weighted_error = tf.reduce_mean(importance_weights_ph * errors)
tf.summary.scalar("td_error", tf.reduce_mean(td_error))
tf.summary.scalar("loss", weighted_error)
if full_tensorboard_log:
tf.summary.histogram("td_error", td_error)
# update_target_fn will be called periodically to copy Q network to target Q network
update_target_expr = []
for var, var_target in zip(
sorted(q_func_vars, key=lambda v: v.name),
sorted(target_q_func_vars, key=lambda v: v.name)):
update_target_expr.append(var_target.assign(var))
update_target_expr = tf.group(*update_target_expr)
# compute optimization op (potentially with gradient clipping)
gradients = optimizer.compute_gradients(weighted_error,
var_list=q_func_vars)
if grad_norm_clipping is not None:
for i, (grad, var) in enumerate(gradients):
if grad is not None:
gradients[i] = (tf.clip_by_norm(grad,
grad_norm_clipping), var)
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('rewards', tf.reduce_mean(rew_t_ph))
tf.summary.scalar('importance_weights',
tf.reduce_mean(importance_weights_ph))
if full_tensorboard_log:
tf.summary.histogram('rewards', rew_t_ph)
tf.summary.histogram('importance_weights', importance_weights_ph)
if tf_util.is_image(obs_phs[0]):
tf.summary.image('observation', obs_phs[0])
elif len(obs_phs[0].shape) == 1:
tf.summary.histogram('observation', obs_phs[0])
optimize_expr = optimizer.apply_gradients(gradients)
summary = tf.summary.merge_all()
# Create callable functions
train = tf_util.function(inputs=[
obs_phs[0], act_t_ph, rew_t_ph, target_policy.obs_ph, double_obs_ph,
done_mask_ph, importance_weights_ph
],
outputs=[summary, td_error],
updates=[optimize_expr])
update_target = tf_util.function([], [], updates=[update_target_expr])
return act_f, train, update_target, step_model
def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the PPO2 model must be " \
"an instance of common.policies.ActorCriticPolicy."
self.n_batch = self.n_envs * self.n_steps
n_cpu = multiprocessing.cpu_count()
if sys.platform == 'darwin':
n_cpu //= 2
self.graph = tf.Graph()
with self.graph.as_default():
set_global_seeds(seed=self.seed)
self.sess = tf_util.make_session(num_cpu=n_cpu,
graph=self.graph)
n_batch_step = None
n_batch_train = None
if issubclass(self.policy, LstmPolicy):
assert self.n_envs % self.nminibatches == 0, "For recurrent policies, " \
"the number of environments run in parallel should be a multiple of nminibatches."
n_batch_step = self.n_envs
n_batch_train = self.n_batch // self.nminibatches
act_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs // self.nminibatches,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.action_ph = train_model.pdtype.sample_placeholder(
[None], name="action_ph")
self.advs_ph = tf.placeholder(tf.float32, [None],
name="advs_ph")
self.rewards_ph = tf.placeholder(tf.float32, [None],
name="rewards_ph")
self.old_neglog_pac_ph = tf.placeholder(
tf.float32, [None], name="old_neglog_pac_ph")
self.old_vpred_ph = tf.placeholder(tf.float32, [None],
name="old_vpred_ph")
self.learning_rate_ph = tf.placeholder(
tf.float32, [], name="learning_rate_ph")
self.clip_range_ph = tf.placeholder(tf.float32, [],
name="clip_range_ph")
neglogpac = train_model.proba_distribution.neglogp(
self.action_ph)
self.entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
vpred = train_model._value
vpredclipped = self.old_vpred_ph + tf.clip_by_value(
train_model._value - self.old_vpred_ph,
-self.clip_range_ph, self.clip_range_ph)
vf_losses1 = tf.square(vpred - self.rewards_ph)
vf_losses2 = tf.square(vpredclipped - self.rewards_ph)
self.vf_loss = .5 * tf.reduce_mean(
tf.maximum(vf_losses1, vf_losses2))
ratio = tf.exp(self.old_neglog_pac_ph - neglogpac)
pg_losses = -self.advs_ph * ratio
pg_losses2 = -self.advs_ph * tf.clip_by_value(
ratio, 1.0 - self.clip_range_ph,
1.0 + self.clip_range_ph)
self.pg_loss = tf.reduce_mean(
tf.maximum(pg_losses, pg_losses2))
self.approxkl = .5 * tf.reduce_mean(
tf.square(neglogpac - self.old_neglog_pac_ph))
self.clipfrac = tf.reduce_mean(
tf.to_float(
tf.greater(tf.abs(ratio - 1.0),
self.clip_range_ph)))
loss = self.pg_loss - self.entropy * self.ent_coef + self.vf_loss * self.vf_coef
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', self.pg_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('approximate_kullback-leiber',
self.approxkl)
tf.summary.scalar('clip_factor', self.clipfrac)
tf.summary.scalar('loss', loss)
with tf.variable_scope('model'):
self.params = tf.trainable_variables()
self.pi_params = [
p for p in self.params if "model/pi" in p.name
]
self.vf_params = [
p for p in self.params if "model/pi" not in p.name
]
assert len(self.pi_params) + len(
self.vf_params) == len(self.params)
self.get_vf_flat = tf_util.GetFlat(self.vf_params,
sess=self.sess)
self.get_pi_flat = tf_util.GetFlat(self.pi_params,
sess=self.sess)
self.set_vf_from_flat = tf_util.SetFromFlat(
self.vf_params, sess=self.sess)
self.set_pi_from_flat = tf_util.SetFromFlat(
self.pi_params, sess=self.sess)
if self.full_tensorboard_log:
for var in self.params:
tf.summary.histogram(var.name, var)
grads = tf.gradients(loss, self.params)
if self.max_grad_norm is not None:
grads, _grad_norm = tf.clip_by_global_norm(
grads, self.max_grad_norm)
self.flat_grads = tf.concat(
axis=0,
values=[
tf.reshape(
grad if grad is not None else tf.zeros_like(v),
[numel(v)])
for (v, grad) in zip(self.params, grads)
])
grads = list(zip(grads, self.params))
if self.optimizer_type == 'adam':
trainer = tf.train.AdamOptimizer(
learning_rate=self.learning_rate_ph, epsilon=1e-5)
else:
trainer = tf.train.GradientDescentOptimizer(
learning_rate=self.learning_rate_ph)
self._train = trainer.apply_gradients(grads)
self.loss_names = [
'policy_loss', 'value_loss', 'policy_entropy', 'approxkl',
'clipfrac'
]
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate_ph))
tf.summary.scalar('advantage',
tf.reduce_mean(self.advs_ph))
tf.summary.scalar('clip_range',
tf.reduce_mean(self.clip_range_ph))
tf.summary.scalar('old_neglog_action_probabilty',
tf.reduce_mean(self.old_neglog_pac_ph))
tf.summary.scalar('old_value_pred',
tf.reduce_mean(self.old_vpred_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards',
self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate_ph)
tf.summary.histogram('advantage', self.advs_ph)
tf.summary.histogram('clip_range', self.clip_range_ph)
tf.summary.histogram('old_neglog_action_probabilty',
self.old_neglog_pac_ph)
tf.summary.histogram('old_value_pred',
self.old_vpred_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
self.train_model = train_model
self.act_model = act_model
self.step = act_model.step
self.step_with_neurons = act_model.step_with_neurons
self.proba_step = act_model.proba_step
self.value = act_model.value
self.initial_state = act_model.initial_state
self.give_neuron_values = act_model.give_neuron_values
self.get_weight_values = act_model.get_weight_values
self.get_all_weight_values = act_model.get_all_weight_values
tf.global_variables_initializer().run(session=self.sess) # pylint: disable=E1101
self.summary = tf.summary.merge_all()
def setup_model(self):
# prevent import loops
from stable_baselines.gail.adversary import TransitionClassifier
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the TRPO model must be " \
"an instance of common.policies.ActorCriticPolicy."
self.nworkers = MPI.COMM_WORLD.Get_size()
self.rank = MPI.COMM_WORLD.Get_rank()
np.set_printoptions(precision=3)
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.single_threaded_session(graph=self.graph)
if self.using_gail:
self.reward_giver = TransitionClassifier(
self.observation_space,
self.action_space,
self.hidden_size_adversary,
entcoeff=self.adversary_entcoeff)
# Construct network for new policy
self.policy_pi = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
# Network for old policy
with tf.variable_scope("oldpi", reuse=False):
old_policy = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
atarg = tf.placeholder(dtype=tf.float32, shape=[
None
]) # Target advantage function (if applicable)
ret = tf.placeholder(dtype=tf.float32,
shape=[None]) # Empirical return
observation = self.policy_pi.obs_ph
action = self.policy_pi.pdtype.sample_placeholder([None])
kloldnew = old_policy.proba_distribution.kl(
self.policy_pi.proba_distribution)
ent = self.policy_pi.proba_distribution.entropy()
meankl = tf.reduce_mean(kloldnew)
meanent = tf.reduce_mean(ent)
entbonus = self.entcoeff * meanent
vferr = tf.reduce_mean(
tf.square(self.policy_pi.value_flat - ret))
# advantage * pnew / pold
ratio = tf.exp(
self.policy_pi.proba_distribution.logp(action) -
old_policy.proba_distribution.logp(action))
surrgain = tf.reduce_mean(ratio * atarg)
optimgain = surrgain + entbonus
losses = [optimgain, meankl, entbonus, surrgain, meanent]
self.loss_names = [
"optimgain", "meankl", "entloss", "surrgain", "entropy"
]
dist = meankl
all_var_list = tf_util.get_trainable_vars("model")
var_list = [
v for v in all_var_list
if "/vf" not in v.name and "/q/" not in v.name
]
vf_var_list = [
v for v in all_var_list
if "/pi" not in v.name and "/logstd" not in v.name
]
self.get_flat = tf_util.GetFlat(var_list, sess=self.sess)
self.set_from_flat = tf_util.SetFromFlat(var_list,
sess=self.sess)
klgrads = tf.gradients(dist, var_list)
flat_tangent = tf.placeholder(dtype=tf.float32,
shape=[None],
name="flat_tan")
shapes = [var.get_shape().as_list() for var in var_list]
start = 0
tangents = []
for shape in shapes:
var_size = tf_util.intprod(shape)
tangents.append(
tf.reshape(flat_tangent[start:start + var_size],
shape))
start += var_size
gvp = tf.add_n([
tf.reduce_sum(grad * tangent)
for (grad, tangent) in zipsame(klgrads, tangents)
]) # pylint: disable=E1111
# Fisher vector products
fvp = tf_util.flatgrad(gvp, var_list)
tf.summary.scalar('entropy_loss', meanent)
tf.summary.scalar('policy_gradient_loss', optimgain)
tf.summary.scalar('value_function_loss', surrgain)
tf.summary.scalar('approximate_kullback-leibler', meankl)
tf.summary.scalar(
'loss',
optimgain + meankl + entbonus + surrgain + meanent)
self.assign_old_eq_new = \
tf_util.function([], [], updates=[tf.assign(oldv, newv) for (oldv, newv) in
zipsame(tf_util.get_globals_vars("oldpi"),
tf_util.get_globals_vars("model"))])
self.compute_losses = tf_util.function(
[observation, old_policy.obs_ph, action, atarg],
losses)
self.compute_fvp = tf_util.function([
flat_tangent, observation, old_policy.obs_ph, action,
atarg
], fvp)
self.compute_vflossandgrad = tf_util.function(
[observation, old_policy.obs_ph, ret],
tf_util.flatgrad(vferr, vf_var_list))
@contextmanager
def timed(msg):
if self.rank == 0 and self.verbose >= 1:
print(colorize(msg, color='magenta'))
start_time = time.time()
yield
print(
colorize("done in {:.3f} seconds".format(
(time.time() - start_time)),
color='magenta'))
else:
yield
def allmean(arr):
assert isinstance(arr, np.ndarray)
out = np.empty_like(arr)
MPI.COMM_WORLD.Allreduce(arr, out, op=MPI.SUM)
out /= self.nworkers
return out
tf_util.initialize(sess=self.sess)
th_init = self.get_flat()
MPI.COMM_WORLD.Bcast(th_init, root=0)
self.set_from_flat(th_init)
with tf.variable_scope("Adam_mpi", reuse=False):
self.vfadam = MpiAdam(vf_var_list, sess=self.sess)
if self.using_gail:
self.d_adam = MpiAdam(
self.reward_giver.get_trainable_variables(),
sess=self.sess)
self.d_adam.sync()
self.vfadam.sync()
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(ret))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.vf_stepsize))
tf.summary.scalar('advantage', tf.reduce_mean(atarg))
tf.summary.scalar('kl_clip_range',
tf.reduce_mean(self.max_kl))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards', ret)
tf.summary.histogram('learning_rate', self.vf_stepsize)
tf.summary.histogram('advantage', atarg)
tf.summary.histogram('kl_clip_range', self.max_kl)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', observation)
else:
tf.summary.histogram('observation', observation)
self.timed = timed
self.allmean = allmean
self.step = self.policy_pi.step
self.proba_step = self.policy_pi.proba_step
self.initial_state = self.policy_pi.initial_state
self.params = tf_util.get_trainable_vars(
"model") + tf_util.get_trainable_vars("oldpi")
if self.using_gail:
self.params.extend(
self.reward_giver.get_trainable_variables())
self.summary = tf.summary.merge_all()
self.compute_lossandgrad = \
tf_util.function([observation, old_policy.obs_ph, action, atarg, ret],
[self.summary, tf_util.flatgrad(optimgain, var_list)] + losses)
def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the ACKTR model must be " \
"an instance of common.policies.ActorCriticPolicy."
# Enable continuous actions tricks (normalized advantage)
self.continuous_actions = isinstance(self.action_space, Box)
self.graph = tf.Graph()
with self.graph.as_default():
self.set_random_seed(self.seed)
self.sess = tf_util.make_session(num_cpu=self.n_cpu_tf_sess,
graph=self.graph)
n_batch_step = None
n_batch_train = None
if issubclass(self.policy, RecurrentActorCriticPolicy):
n_batch_step = self.n_envs
n_batch_train = self.n_envs * self.n_steps
step_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
self.params = params = tf_util.get_trainable_vars("model")
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope(
"loss",
reuse=False,
custom_getter=tf_util.outer_scope_getter("loss")):
self.advs_ph = advs_ph = tf.placeholder(tf.float32, [None])
self.rewards_ph = rewards_ph = tf.placeholder(
tf.float32, [None])
self.learning_rate_ph = learning_rate_ph = tf.placeholder(
tf.float32, [])
self.actions_ph = train_model.pdtype.sample_placeholder(
[None])
neg_log_prob = train_model.proba_distribution.neglogp(
self.actions_ph)
# training loss
pg_loss = tf.reduce_mean(advs_ph * neg_log_prob)
self.entropy = entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
self.pg_loss = pg_loss = pg_loss - self.ent_coef * entropy
self.vf_loss = vf_loss = mse(
tf.squeeze(train_model.value_fn), rewards_ph)
train_loss = pg_loss + self.vf_coef * vf_loss
# Fisher loss construction
self.pg_fisher = pg_fisher_loss = -tf.reduce_mean(
neg_log_prob)
sample_net = train_model.value_fn + tf.random_normal(
tf.shape(train_model.value_fn))
self.vf_fisher = vf_fisher_loss = -self.vf_fisher_coef * tf.reduce_mean(
tf.pow(
train_model.value_fn -
tf.stop_gradient(sample_net), 2))
self.joint_fisher = pg_fisher_loss + vf_fisher_loss
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', pg_loss)
tf.summary.scalar('policy_gradient_fisher_loss',
pg_fisher_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('value_function_fisher_loss',
vf_fisher_loss)
tf.summary.scalar('loss', train_loss)
self.grads_check = tf.gradients(train_loss, params)
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate_ph))
tf.summary.scalar('advantage',
tf.reduce_mean(self.advs_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards',
self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate_ph)
tf.summary.histogram('advantage', self.advs_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
with tf.variable_scope(
"kfac",
reuse=False,
custom_getter=tf_util.outer_scope_getter("kfac")):
with tf.device('/gpu:0'):
self.optim = optim = kfac.KfacOptimizer(
learning_rate=learning_rate_ph,
clip_kl=self.kfac_clip,
momentum=0.9,
kfac_update=self.kfac_update,
epsilon=0.01,
stats_decay=0.99,
async_eigen_decomp=self.async_eigen_decomp,
cold_iter=10,
max_grad_norm=self.max_grad_norm,
verbose=self.verbose)
optim.compute_and_apply_stats(self.joint_fisher,
var_list=params)
self.train_model = train_model
self.step_model = step_model
self.step = step_model.step
self.proba_step = step_model.proba_step
self.value = step_model.value
self.initial_state = step_model.initial_state
tf.global_variables_initializer().run(session=self.sess)
self.summary = tf.summary.merge_all()
def setup_model(self):
with SetVerbosity(self.verbose):
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.single_threaded_session(graph=self.graph)
# Construct network for new policy
self.policy_pi = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
# Network for old policy
with tf.variable_scope("oldpi", reuse=False):
old_pi = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
# Target advantage function (if applicable)
atarg = tf.placeholder(dtype=tf.float32, shape=[None])
# Empirical return
ret = tf.placeholder(dtype=tf.float32, shape=[None])
# learning rate multiplier, updated with schedule
lrmult = tf.placeholder(name='lrmult',
dtype=tf.float32,
shape=[])
# Annealed cliping parameter epislon
clip_param = self.clip_param * lrmult
obs_ph = self.policy_pi.obs_ph
action_ph = self.policy_pi.pdtype.sample_placeholder(
[None])
kloldnew = old_pi.proba_distribution.kl(
self.policy_pi.proba_distribution)
ent = self.policy_pi.proba_distribution.entropy()
meankl = tf.reduce_mean(kloldnew)
meanent = tf.reduce_mean(ent)
pol_entpen = (-self.entcoeff) * meanent
# pnew / pold
ratio = tf.exp(
self.policy_pi.proba_distribution.logp(action_ph) -
old_pi.proba_distribution.logp(action_ph))
# surrogate from conservative policy iteration
surr1 = ratio * atarg
surr2 = tf.clip_by_value(ratio, 1.0 - clip_param,
1.0 + clip_param) * atarg
# PPO's pessimistic surrogate (L^CLIP)
pol_surr = -tf.reduce_mean(tf.minimum(surr1, surr2))
vf_loss = tf.reduce_mean(
tf.square(self.policy_pi.value_flat - ret))
total_loss = pol_surr + pol_entpen + vf_loss
losses = [pol_surr, pol_entpen, vf_loss, meankl, meanent]
self.loss_names = [
"pol_surr", "pol_entpen", "vf_loss", "kl", "ent"
]
tf.summary.scalar('entropy_loss', pol_entpen)
tf.summary.scalar('policy_gradient_loss', pol_surr)
tf.summary.scalar('value_function_loss', vf_loss)
tf.summary.scalar('approximate_kullback-leiber', meankl)
tf.summary.scalar('clip_factor', clip_param)
tf.summary.scalar('loss', total_loss)
self.params = tf_util.get_trainable_vars("model")
self.assign_old_eq_new = tf_util.function(
[], [],
updates=[
tf.assign(oldv, newv) for (oldv, newv) in zipsame(
tf_util.get_globals_vars("oldpi"),
tf_util.get_globals_vars("model"))
])
with tf.variable_scope("Adam_mpi", reuse=False):
self.adam = MpiAdam(self.params,
epsilon=self.adam_epsilon,
sess=self.sess)
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(ret))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.optim_stepsize))
tf.summary.scalar('advantage', tf.reduce_mean(atarg))
tf.summary.scalar('clip_range',
tf.reduce_mean(self.clip_param))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards', ret)
tf.summary.histogram('learning_rate',
self.optim_stepsize)
tf.summary.histogram('advantage', atarg)
tf.summary.histogram('clip_range', self.clip_param)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', obs_ph)
else:
tf.summary.histogram('observation', obs_ph)
self.step = self.policy_pi.step
self.proba_step = self.policy_pi.proba_step
self.initial_state = self.policy_pi.initial_state
tf_util.initialize(sess=self.sess)
self.summary = tf.summary.merge_all()
self.lossandgrad = tf_util.function(
[obs_ph, old_pi.obs_ph, action_ph, atarg, ret, lrmult],
[self.summary,
tf_util.flatgrad(total_loss, self.params)] + losses)
self.compute_losses = tf_util.function(
[obs_ph, old_pi.obs_ph, action_ph, atarg, ret, lrmult],
losses)
def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the ACER model must be " \
"an instance of common.policies.ActorCriticPolicy."
if isinstance(self.action_space, Discrete):
self.n_act = self.action_space.n
continuous = False
elif isinstance(self.action_space, Box):
# self.n_act = self.action_space.shape[-1]
# continuous = True
raise NotImplementedError(
"WIP: Acer does not support Continuous actions yet.")
else:
raise ValueError(
"Error: ACER does not work with {} actions space.".format(
self.action_space))
self.n_batch = self.n_envs * self.n_steps
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.make_session(num_cpu=self.num_procs,
graph=self.graph)
n_batch_step = None
if issubclass(self.policy, RecurrentActorCriticPolicy):
n_batch_step = self.n_envs
n_batch_train = self.n_envs * (self.n_steps + 1)
step_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
self.params = find_trainable_variables("model")
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
self.n_steps + 1,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("moving_average"):
# create averaged model
ema = tf.train.ExponentialMovingAverage(self.alpha)
ema_apply_op = ema.apply(self.params)
def custom_getter(getter, name, *args, **kwargs):
name = name.replace("polyak_model/", "")
val = ema.average(getter(name, *args, **kwargs))
return val
with tf.variable_scope("polyak_model",
reuse=True,
custom_getter=custom_getter):
self.polyak_model = polyak_model = self.policy(
self.sess,
self.observation_space,
self.action_space,
self.n_envs,
self.n_steps + 1,
self.n_envs * (self.n_steps + 1),
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.done_ph = tf.placeholder(tf.float32,
[self.n_batch]) # dones
self.reward_ph = tf.placeholder(
tf.float32, [self.n_batch]) # rewards, not returns
self.mu_ph = tf.placeholder(
tf.float32, [self.n_batch, self.n_act]) # mu's
self.action_ph = train_model.pdtype.sample_placeholder(
[self.n_batch])
self.learning_rate_ph = tf.placeholder(tf.float32, [])
eps = 1e-6
# Notation: (var) = batch variable, (var)s = sequence variable,
# (var)_i = variable index by action at step i
# shape is [n_envs * (n_steps + 1)]
if continuous:
value = train_model.value_flat
else:
value = tf.reduce_sum(train_model.policy_proba *
train_model.q_value,
axis=-1)
rho, rho_i_ = None, None
if continuous:
action_ = strip(
train_model.proba_distribution.sample(),
self.n_envs, self.n_steps)
distribution_f = tf.contrib.distributions.MultivariateNormalDiag(
loc=strip(train_model.proba_distribution.mean,
self.n_envs, self.n_steps),
scale_diag=strip(
train_model.proba_distribution.logstd,
self.n_envs, self.n_steps))
f_polyak = tf.contrib.distributions.MultivariateNormalDiag(
loc=strip(polyak_model.proba_distribution.mean,
self.n_envs, self.n_steps),
scale_diag=strip(
polyak_model.proba_distribution.logstd,
self.n_envs, self.n_steps))
f_i = distribution_f.prob(self.action_ph)
f_i_ = distribution_f.prob(action_)
f_polyak_i = f_polyak.prob(self.action_ph)
phi_i = strip(train_model.proba_distribution.mean,
self.n_envs, self.n_steps)
q_value = strip(train_model.value_fn, self.n_envs,
self.n_steps)
q_i = q_value[:, 0]
rho_i = tf.reshape(f_i, [-1, 1]) / (self.mu_ph + eps)
rho_i_ = tf.reshape(f_i_, [-1, 1]) / (self.mu_ph + eps)
qret = q_retrace(self.reward_ph, self.done_ph, q_i,
value, tf.pow(rho_i, 1 / self.n_act),
self.n_envs, self.n_steps, self.gamma)
else:
# strip off last step
# f is a distribution, chosen to be Gaussian distributions
# with fixed diagonal covariance and mean \phi(x)
# in the paper
distribution_f, f_polyak, q_value = \
map(lambda variables: strip(variables, self.n_envs, self.n_steps),
[train_model.policy_proba, polyak_model.policy_proba, train_model.q_value])
# Get pi and q values for actions taken
f_i = get_by_index(distribution_f, self.action_ph)
f_i_ = distribution_f
phi_i = distribution_f
f_polyak_i = f_polyak
q_i = get_by_index(q_value, self.action_ph)
# Compute ratios for importance truncation
rho = distribution_f / (self.mu_ph + eps)
rho_i = get_by_index(rho, self.action_ph)
# Calculate Q_retrace targets
qret = q_retrace(self.reward_ph, self.done_ph, q_i,
value, rho_i, self.n_envs,
self.n_steps, self.gamma)
# Calculate losses
# Entropy
entropy = tf.reduce_sum(
train_model.proba_distribution.entropy())
# Policy Gradient loss, with truncated importance sampling & bias correction
value = strip(value, self.n_envs, self.n_steps, True)
# check_shape([qret, value, rho_i, f_i], [[self.n_envs * self.n_steps]] * 4)
# check_shape([rho, distribution_f, q_value], [[self.n_envs * self.n_steps, self.n_act]] * 2)
# Truncated importance sampling
adv = qret - value
log_f = tf.log(f_i + eps)
# [n_envs * n_steps]
gain_f = log_f * tf.stop_gradient(
adv * tf.minimum(self.correction_term, rho_i))
loss_f = -tf.reduce_mean(gain_f)
# Bias correction for the truncation
adv_bc = (
q_value -
tf.reshape(value, [self.n_envs * self.n_steps, 1])
) # [n_envs * n_steps, n_act]
# check_shape([adv_bc, log_f_bc], [[self.n_envs * self.n_steps, self.n_act]] * 2)
if continuous:
gain_bc = tf.stop_gradient(
adv_bc * tf.nn.relu(1.0 - (self.correction_term /
(rho_i_ + eps))) * f_i_)
else:
log_f_bc = tf.log(f_i_ + eps) # / (f_old + eps)
gain_bc = tf.reduce_sum(log_f_bc * tf.stop_gradient(
adv_bc * tf.nn.relu(1.0 - (self.correction_term /
(rho + eps))) * f_i_),
axis=1)
# IMP: This is sum, as expectation wrt f
loss_bc = -tf.reduce_mean(gain_bc)
loss_policy = loss_f + loss_bc
# Value/Q function loss, and explained variance
check_shape([qret, q_i],
[[self.n_envs * self.n_steps]] * 2)
explained_variance = q_explained_variance(
tf.reshape(q_i, [self.n_envs, self.n_steps]),
tf.reshape(qret, [self.n_envs, self.n_steps]))
loss_q = tf.reduce_mean(
tf.square(tf.stop_gradient(qret) - q_i) * 0.5)
# Net loss
check_shape([loss_policy, loss_q, entropy], [[]] * 3)
loss = loss_policy + self.q_coef * loss_q - self.ent_coef * entropy
tf.summary.scalar('entropy_loss', entropy)
tf.summary.scalar('policy_gradient_loss', loss_policy)
tf.summary.scalar('value_function_loss', loss_q)
tf.summary.scalar('loss', loss)
norm_grads_q, norm_grads_policy, avg_norm_grads_f = None, None, None
avg_norm_k, avg_norm_g, avg_norm_k_dot_g, avg_norm_adj = None, None, None, None
if self.trust_region:
# [n_envs * n_steps, n_act]
grad = tf.gradients(
-(loss_policy - self.ent_coef * entropy) *
self.n_steps * self.n_envs, phi_i)
# [n_envs * n_steps, n_act] # Directly computed gradient of KL divergence wrt f
kl_grad = -f_polyak_i / (f_i_ + eps)
k_dot_g = tf.reduce_sum(kl_grad * grad, axis=-1)
adj = tf.maximum(
0.0, (tf.reduce_sum(kl_grad * grad, axis=-1) -
self.delta) /
(tf.reduce_sum(tf.square(kl_grad), axis=-1) +
eps)) # [n_envs * n_steps]
# Calculate stats (before doing adjustment) for logging.
avg_norm_k = avg_norm(kl_grad)
avg_norm_g = avg_norm(grad)
avg_norm_k_dot_g = tf.reduce_mean(tf.abs(k_dot_g))
avg_norm_adj = tf.reduce_mean(tf.abs(adj))
grad = grad - tf.reshape(
adj, [self.n_envs * self.n_steps, 1]) * kl_grad
# These are turst region adjusted gradients wrt f ie statistics of policy pi
grads_f = -grad / (self.n_envs * self.n_steps)
grads_policy = tf.gradients(f_i_, self.params, grads_f)
grads_q = tf.gradients(loss_q * self.q_coef,
self.params)
grads = [
gradient_add(g1, g2, param, verbose=self.verbose)
for (g1, g2, param
) in zip(grads_policy, grads_q, self.params)
]
avg_norm_grads_f = avg_norm(grads_f) * (self.n_steps *
self.n_envs)
norm_grads_q = tf.global_norm(grads_q)
norm_grads_policy = tf.global_norm(grads_policy)
else:
grads = tf.gradients(loss, self.params)
norm_grads = None
if self.max_grad_norm is not None:
grads, norm_grads = tf.clip_by_global_norm(
grads, self.max_grad_norm)
grads = list(zip(grads, self.params))
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('rewards',
tf.reduce_mean(self.reward_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate))
tf.summary.scalar('advantage', tf.reduce_mean(adv))
tf.summary.scalar('action_probabilty',
tf.reduce_mean(self.mu_ph))
if self.full_tensorboard_log:
tf.summary.histogram('rewards', self.reward_ph)
tf.summary.histogram('learning_rate',
self.learning_rate)
tf.summary.histogram('advantage', adv)
tf.summary.histogram('action_probabilty', self.mu_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
trainer = tf.train.RMSPropOptimizer(
learning_rate=self.learning_rate_ph,
decay=self.rprop_alpha,
epsilon=self.rprop_epsilon)
_opt_op = trainer.apply_gradients(grads)
# so when you call _train, you first do the gradient step, then you apply ema
with tf.control_dependencies([_opt_op]):
_train = tf.group(ema_apply_op)
# Ops/Summaries to run, and their names for logging
assert norm_grads is not None
run_ops = [
_train, loss, loss_q, entropy, loss_policy, loss_f,
loss_bc, explained_variance, norm_grads
]
names_ops = [
'loss', 'loss_q', 'entropy', 'loss_policy', 'loss_f',
'loss_bc', 'explained_variance', 'norm_grads'
]
if self.trust_region:
self.run_ops = run_ops + [
norm_grads_q, norm_grads_policy, avg_norm_grads_f,
avg_norm_k, avg_norm_g, avg_norm_k_dot_g, avg_norm_adj
]
self.names_ops = names_ops + [
'norm_grads_q', 'norm_grads_policy',
'avg_norm_grads_f', 'avg_norm_k', 'avg_norm_g',
'avg_norm_k_dot_g', 'avg_norm_adj'
]
self.train_model = train_model
self.step_model = step_model
self.step = step_model.step
self.proba_step = step_model.proba_step
self.initial_state = step_model.initial_state
tf.global_variables_initializer().run(session=self.sess)
self.summary = tf.summary.merge_all()
def setup_model(self):
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the A2C model must be an " \
"instance of common.policies.ActorCriticPolicy."
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.make_session(graph=self.graph)
self.n_batch = self.n_envs * self.n_steps
n_batch_step = None
n_batch_train = None
if issubclass(self.policy, LstmPolicy):
n_batch_step = self.n_envs
n_batch_train = self.n_envs * self.n_steps
step_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
n_batch_step,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope(
"train_model",
reuse=True,
custom_getter=tf_util.outer_scope_getter(
"train_model")):
train_model = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
self.n_steps,
n_batch_train,
reuse=True,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.actions_ph = train_model.pdtype.sample_placeholder(
[None], name="action_ph")
self.advs_ph = tf.placeholder(tf.float32, [None],
name="advs_ph")
self.rewards_ph = tf.placeholder(tf.float32, [None],
name="rewards_ph")
self.learning_rate_ph = tf.placeholder(
tf.float32, [], name="learning_rate_ph")
neglogpac = train_model.proba_distribution.neglogp(
self.actions_ph)
self.entropy = tf.reduce_mean(
train_model.proba_distribution.entropy())
self.pg_loss = tf.reduce_mean(self.advs_ph * neglogpac)
self.vf_loss = mse(tf.squeeze(train_model.value_fn),
self.rewards_ph)
loss = self.pg_loss - self.entropy * self.ent_coef + self.vf_loss * self.vf_coef
tf.summary.scalar('entropy_loss', self.entropy)
tf.summary.scalar('policy_gradient_loss', self.pg_loss)
tf.summary.scalar('value_function_loss', self.vf_loss)
tf.summary.scalar('loss', loss)
self.params = find_trainable_variables("model")
grads = tf.gradients(loss, self.params)
if self.max_grad_norm is not None:
grads, _ = tf.clip_by_global_norm(
grads, self.max_grad_norm)
grads = list(zip(grads, self.params))
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(self.rewards_ph))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.learning_rate))
tf.summary.scalar('advantage',
tf.reduce_mean(self.advs_ph))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards',
self.rewards_ph)
tf.summary.histogram('learning_rate',
self.learning_rate)
tf.summary.histogram('advantage', self.advs_ph)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', train_model.obs_ph)
else:
tf.summary.histogram('observation',
train_model.obs_ph)
trainer = tf.train.RMSPropOptimizer(
learning_rate=self.learning_rate_ph,
decay=self.alpha,
epsilon=self.epsilon)
self.apply_backprop = trainer.apply_gradients(grads)
self.train_model = train_model
self.step_model = step_model
self.step = step_model.step
self.proba_step = step_model.proba_step
self.value = step_model.value
self.initial_state = step_model.initial_state
tf.global_variables_initializer().run(session=self.sess)
self.summary = tf.summary.merge_all()
def setup_model(self):
with SetVerbosity(self.verbose):
self.graph = tf.Graph()
with self.graph.as_default():
self.set_random_seed(self.seed)
self.sess = tf_util.make_session(num_cpu=self.n_cpu_tf_sess,
graph=self.graph)
# Construct network for new policy
self.policy_pi = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
# Network for old policy
with tf.variable_scope("oldpi", reuse=False):
old_pi = self.policy(self.sess,
self.observation_space,
self.action_space,
self.n_envs,
1,
None,
reuse=False,
**self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.grad_inverter = grad_inverter(
[self.action_space.high, self.action_space.low])
# Target advantage function (if applicable)
atarg = tf.placeholder(dtype=tf.float32, shape=[None])
# Empirical return
ret = tf.placeholder(dtype=tf.float32, shape=[None])
# learning rate multiplier, updated with schedule
lrmult = tf.placeholder(name='lrmult',
dtype=tf.float32,
shape=[])
# Annealed cliping parameter epislon
clip_param = self.clip_param * lrmult
obs_ph = self.policy_pi.obs_ph
action_ph = self.policy_pi.pdtype.sample_placeholder(
[None])
if debug:
action_ph_val = tf.Print(
action_ph, [
action_ph,
],
'\n\n ====================Unclipped action in: \n',
summarize=-1)
action_ph_val = tf.Print(
action_ph_val, [],
'\n ======================================== \n',
summarize=-1)
kloldnew = old_pi.proba_distribution.kl(
self.policy_pi.proba_distribution)
# old_logstd = old_pi.proba_distribution.logstd
# new_logstd = self.policy_pi.proba_distribution.logstd
# old_std = old_pi.proba_distribution.std
# new_std = self.policy_pi.proba_distribution.std
ent = self.policy_pi.proba_distribution.entropy()
meankl = tf.reduce_mean(kloldnew)
# meankl = tf.Print(meankl, [meankl,], "kl value: ")
# meankl_log = tf.Print(meankl, [old_logstd,], "high kl, old logstd value: ", summarize=-1)
# meankl_log = tf.Print(meankl_log, [new_logstd,], "high kl, new logstd value: ", summarize=-1)
# meankl_log = tf.Print(meankl_log, [old_std,], "high kl, old std value: ", summarize=-1)
# meankl_log = tf.Print(meankl_log, [new_std,], "high kl, new std value: ", summarize=-1)
# meanklvalue_ = tf.where(
# tf.greater(meankl, tf.constant(1, dtype = tf.float32)),
# meankl_log,
# meankl)
meanent = tf.reduce_mean(ent)
pol_entpen = (-self.entcoeff) * meanent
# pnew / pold
if debug:
old_logp = old_pi.proba_distribution.logp(
action_ph_val)
old_mean = old_pi.proba_distribution.mode()
old_std = old_pi.proba_distribution.std
old_logp = tf.Print(old_logp, [
old_logp,
],
'====== OLD logp: \n',
summarize=-1)
old_logp = tf.Print(old_logp, [], '\n', summarize=-1)
old_logp = tf.Print(old_logp, [
old_mean,
],
'====== OLD mean: \n',
summarize=-1)
old_logp = tf.Print(old_logp, [], '\n', summarize=-1)
old_logp = tf.Print(old_logp, [
old_std,
],
'====== OLD std: \n',
summarize=-1)
old_logp = tf.Print(old_logp, [], '\n', summarize=-1)
now_logp = self.policy_pi.proba_distribution.logp(
action_ph_val)
now_mean = self.policy_pi.proba_distribution.mode()
now_std = self.policy_pi.proba_distribution.std
now_logp = tf.Print(now_logp, [
now_logp,
],
'====== NOW logp: \n',
summarize=-1)
now_logp = tf.Print(now_logp, [], '\n', summarize=-1)
now_logp = tf.Print(now_logp, [
now_mean,
],
'====== NOW mean: \n',
summarize=-1)
now_logp = tf.Print(now_logp, [], '\n', summarize=-1)
now_logp = tf.Print(now_logp, [
now_std,
],
'====== NOW std: \n',
summarize=-1)
now_logp = tf.Print(now_logp, [], '\n', summarize=-1)
else:
now_logp = self.policy_pi.proba_distribution.logp(
action_ph)
old_logp = old_pi.proba_distribution.logp(action_ph)
ratio = tf.exp(now_logp - old_logp)
if debug:
ratio = tf.Print(ratio, [
ratio,
],
'ratio: \n',
summarize=-1)
ratio = tf.Print(ratio, [], '\n', summarize=-1)
# surrogate from conservative policy iteration
surr1 = ratio * atarg
surr2 = tf.clip_by_value(ratio, 1.0 - clip_param,
1.0 + clip_param) * atarg
# PPO's pessimistic surrogate (L^CLIP)
pol_surr = -tf.reduce_mean(tf.minimum(surr1, surr2))
vf_loss = tf.reduce_mean(
tf.square(self.policy_pi.value_flat - ret))
total_loss = pol_surr + pol_entpen + vf_loss
losses = [pol_surr, pol_entpen, vf_loss, meankl, meanent]
# losses = [pol_surr, pol_entpen, vf_loss, meanklvalue_, meanent]
self.loss_names = [
"pol_surr", "pol_entpen", "vf_loss", "kl", "ent"
]
tf.summary.scalar('entropy_loss', pol_entpen)
tf.summary.scalar('policy_gradient_loss', pol_surr)
tf.summary.scalar('value_function_loss', vf_loss)
tf.summary.scalar('approximate_kullback-leibler', meankl)
tf.summary.scalar('clip_factor', clip_param)
tf.summary.scalar('loss', total_loss)
self.params = tf_util.get_trainable_vars("model")
self.assign_old_eq_new = tf_util.function(
[], [],
updates=[
tf.assign(oldv, newv) for (oldv, newv) in zipsame(
tf_util.get_globals_vars("oldpi"),
tf_util.get_globals_vars("model"))
])
with tf.variable_scope("Adam_mpi", reuse=False):
self.adam = MpiAdam(self.params,
epsilon=self.adam_epsilon,
sess=self.sess)
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards',
tf.reduce_mean(ret))
tf.summary.scalar('learning_rate',
tf.reduce_mean(self.optim_stepsize))
tf.summary.scalar('advantage', tf.reduce_mean(atarg))
tf.summary.scalar('clip_range',
tf.reduce_mean(self.clip_param))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards', ret)
tf.summary.histogram('learning_rate',
self.optim_stepsize)
tf.summary.histogram('advantage', atarg)
tf.summary.histogram('clip_range', self.clip_param)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', obs_ph)
else:
tf.summary.histogram('observation', obs_ph)
self.step = self.policy_pi.step
self.proba_step = self.policy_pi.proba_step
self.initial_state = self.policy_pi.initial_state
tf_util.initialize(sess=self.sess)
self.summary = tf.summary.merge_all()
self.lossandgrad = tf_util.function(
[obs_ph, old_pi.obs_ph, action_ph, atarg, ret, lrmult],
[self.summary,
tf_util.flatgrad(total_loss, self.params)] + losses)
self.compute_losses = tf_util.function(
[obs_ph, old_pi.obs_ph, action_ph, atarg, ret, lrmult],
losses)
def setup_model(self):
# prevent import loops
from stable_baselines.gail.adversary import TransitionClassifier
from stable_baselines.mdal.adversary import TabularAdversaryTF, NeuralAdversaryTRPO
with SetVerbosity(self.verbose):
assert issubclass(self.policy, ActorCriticPolicy), "Error: the input policy for the MDPO model must be " \
"an instance of common.policies.ActorCriticPolicy."
self.nworkers = MPI.COMM_WORLD.Get_size()
self.rank = MPI.COMM_WORLD.Get_rank()
np.set_printoptions(precision=3)
self.graph = tf.Graph()
with self.graph.as_default():
self.sess = tf_util.single_threaded_session(graph=self.graph)
# self._setup_learn(self.seed)
self._setup_learn()
if self.using_gail:
self.reward_giver = TransitionClassifier(self.observation_space, self.action_space,
self.hidden_size_adversary,
entcoeff=self.adversary_entcoeff)
elif self.using_mdal:
if self.neural:
self.reward_giver = NeuralAdversaryTRPO(self.sess, self.observation_space, self.action_space,
self.hidden_size_adversary,
entcoeff=self.adversary_entcoeff)
else:
self.reward_giver = TabularAdversaryTF(self.sess, self.observation_space, self.action_space,
self.hidden_size_adversary,
entcoeff=self.adversary_entcoeff,
expert_features=self.expert_dataset.successor_features,
exploration_bonus=self.exploration_bonus,
bonus_coef=self.bonus_coef,
t_c=self.t_c,
is_action_features=self.is_action_features)
# Construct network for new policy
self.policy_pi = self.policy(self.sess, self.observation_space, self.action_space, self.n_envs, 1,
None, reuse=False, **self.policy_kwargs)
# Network for old policy
with tf.variable_scope("oldpi", reuse=False):
self.old_policy = self.policy(self.sess, self.observation_space, self.action_space, self.n_envs, 1,
None, reuse=False, **self.policy_kwargs)
# Network for fitting closed form
with tf.variable_scope("closedpi", reuse=False):
self.closed_policy = self.policy(self.sess, self.observation_space, self.action_space, self.n_envs, 1,
None, reuse=False, **self.policy_kwargs)
with tf.variable_scope("loss", reuse=False):
self.atarg = tf.placeholder(dtype=tf.float32, shape=[None]) # Target advantage function (if applicable)
self.vtarg = tf.placeholder(dtype=tf.float32, shape=[None])
self.ret = tf.placeholder(dtype=tf.float32, shape=[None]) # Empirical return
self.learning_rate_ph = tf.placeholder(dtype=tf.float32, shape=[], name="learning_rate_ph")
self.outer_learning_rate_ph = tf.placeholder(dtype=tf.float32, shape=[], name="outer_learning_rate_ph")
self.old_vpred_ph = tf.placeholder(dtype=tf.float32, shape=[None], name="old_vpred_ph")
self.clip_range_vf_ph = tf.placeholder(dtype=tf.float32, shape=[], name="clip_range_ph")
observation = self.policy_pi.obs_ph
self.action = self.policy_pi.pdtype.sample_placeholder([None])
if self.tsallis_q == 1.0:
kloldnew = self.policy_pi.proba_distribution.kl(self.old_policy.proba_distribution)
ent = self.policy_pi.proba_distribution.entropy()
meankl = tf.reduce_mean(kloldnew)
else:
logp_pi = self.policy_pi.proba_distribution.logp(self.action)
logp_pi_old = self.old_policy.proba_distribution.logp(self.action)
ent = self.policy_pi.proba_distribution.entropy()
#kloldnew = self.policy_pi.proba_distribution.kl_tsallis(self.old_policy.proba_distribution, self.tsallis_q)
tsallis_q = 2.0 - self.tsallis_q
meankl = tf.reduce_mean(tf_log_q(tf.exp(logp_pi), tsallis_q) - tf_log_q(tf.exp(logp_pi_old), tsallis_q)) #tf.reduce_mean(kloldnew)
meanent = tf.reduce_mean(ent)
entbonus = self.entcoeff * meanent
if self.cliprange_vf is None:
vpred_clipped = self.policy_pi.value_flat
else:
vpred_clipped = self.old_vpred_ph + \
tf.clip_by_value(self.policy_pi.value_flat - self.old_vpred_ph,
- self.clip_range_vf_ph, self.clip_range_vf_ph)
vf_losses1 = tf.square(self.policy_pi.value_flat - self.ret)
vf_losses2 = tf.square(vpred_clipped - self.ret)
vferr = tf.reduce_mean(tf.maximum(vf_losses1, vf_losses2))
# advantage * pnew / pold
ratio = tf.exp(self.policy_pi.proba_distribution.logp(self.action) -
self.old_policy.proba_distribution.logp(self.action))
if self.method == "multistep-SGD":
surrgain = tf.reduce_mean(ratio * self.atarg) - meankl / self.learning_rate_ph
elif self.method == "closedreverse-KL":
surrgain = tf.reduce_mean(tf.exp(self.atarg) * self.policy_pi.proba_distribution.logp(self.action))
else:
policygain = tf.reduce_mean(tf.exp(self.atarg) * tf.log(self.closed_policy.proba_distribution.mean))
surrgain = tf.reduce_mean(ratio * self.atarg) - tf.reduce_mean(self.learning_rate_ph * ratio * self.policy_pi.proba_distribution.logp(self.action))
optimgain = surrgain #+ entbonus - self.learning_rate_ph * meankl
losses = [optimgain, meankl, entbonus, surrgain, meanent]
self.loss_names = ["optimgain", "meankl", "entloss", "surrgain", "entropy"]
dist = meankl
all_var_list = tf_util.get_trainable_vars("model")
var_list = [v for v in all_var_list if "/vf" not in v.name and "/q/" not in v.name]
vf_var_list = [v for v in all_var_list if "/pi" not in v.name and "/logstd" not in v.name]
print("policy vars", var_list)
all_closed_var_list = tf_util.get_trainable_vars("closedpi")
closed_var_list = [v for v in all_closed_var_list if "/vf" not in v.name and "/q" not in v.name]
self.get_flat = tf_util.GetFlat(var_list, sess=self.sess)
self.set_from_flat = tf_util.SetFromFlat(var_list, sess=self.sess)
klgrads = tf.gradients(dist, var_list)
flat_tangent = tf.placeholder(dtype=tf.float32, shape=[None], name="flat_tan")
shapes = [var.get_shape().as_list() for var in var_list]
start = 0
tangents = []
for shape in shapes:
var_size = tf_util.intprod(shape)
tangents.append(tf.reshape(flat_tangent[start: start + var_size], shape))
start += var_size
gvp = tf.add_n([tf.reduce_sum(grad * tangent)
for (grad, tangent) in zipsame(klgrads, tangents)]) # pylint: disable=E1111
fvp = tf_util.flatgrad(gvp, var_list)
# tf.summary.scalar('entropy_loss', meanent)
# tf.summary.scalar('policy_gradient_loss', optimgain)
# tf.summary.scalar('value_function_loss', surrgain)
# tf.summary.scalar('approximate_kullback-leibler', meankl)
# tf.summary.scalar('loss', optimgain + meankl + entbonus + surrgain + meanent)
self.assign_old_eq_new = \
tf_util.function([], [], updates=[tf.assign(oldv, newv) for (oldv, newv) in
zipsame(tf_util.get_globals_vars("oldpi"),
tf_util.get_globals_vars("model"))])
self.compute_losses = tf_util.function([observation, self.old_policy.obs_ph, self.action, self.atarg, self.learning_rate_ph, self.vtarg], losses)
self.compute_fvp = tf_util.function([flat_tangent, observation, self.old_policy.obs_ph, self.action, self.atarg],
fvp)
self.compute_vflossandgrad = tf_util.function([observation, self.old_policy.obs_ph, self.ret, self.old_vpred_ph, self.clip_range_vf_ph],
tf_util.flatgrad(vferr, vf_var_list))
grads = tf.gradients(-optimgain, var_list)
grads, _grad_norm = tf.clip_by_global_norm(grads, 0.5)
trainer = tf.train.AdamOptimizer(learning_rate=self.outer_learning_rate_ph, epsilon=1e-5)
# trainer = tf.train.AdamOptimizer(learning_rate=3e-4, epsilon=1e-5)
grads = list(zip(grads, var_list))
self._train = trainer.apply_gradients(grads)
@contextmanager
def timed(msg):
if self.rank == 0 and self.verbose >= 1:
# print(colorize(msg, color='magenta'))
# start_time = time.time()
yield
# print(colorize("done in {:.3f} seconds".format((time.time() - start_time)),
# color='magenta'))
else:
yield
def allmean(arr):
assert isinstance(arr, np.ndarray)
out = np.empty_like(arr)
MPI.COMM_WORLD.Allreduce(arr, out, op=MPI.SUM)
out /= self.nworkers
return out
tf_util.initialize(sess=self.sess)
th_init = self.get_flat()
MPI.COMM_WORLD.Bcast(th_init, root=0)
self.set_from_flat(th_init)
with tf.variable_scope("Adam_mpi", reuse=False):
self.vfadam = MpiAdam(vf_var_list, sess=self.sess)
if self.using_gail or self.using_mdal:
self.d_adam = MpiAdam(self.reward_giver.get_trainable_variables(), sess=self.sess)
self.d_adam.sync()
self.vfadam.sync()
with tf.variable_scope("input_info", reuse=False):
tf.summary.scalar('discounted_rewards', tf.reduce_mean(self.ret))
tf.summary.scalar('learning_rate', tf.reduce_mean(self.vf_stepsize))
tf.summary.scalar('advantage', tf.reduce_mean(self.atarg))
tf.summary.scalar('kl_clip_range', tf.reduce_mean(self.max_kl))
if self.full_tensorboard_log:
tf.summary.histogram('discounted_rewards', self.ret)
tf.summary.histogram('learning_rate', self.vf_stepsize)
tf.summary.histogram('advantage', self.atarg)
tf.summary.histogram('kl_clip_range', self.max_kl)
if tf_util.is_image(self.observation_space):
tf.summary.image('observation', observation)
else:
tf.summary.histogram('observation', observation)
self.timed = timed
self.allmean = allmean
self.step = self.policy_pi.step
self.proba_step = self.policy_pi.proba_step
self.initial_state = self.policy_pi.initial_state
self.params = tf_util.get_trainable_vars("model") + tf_util.get_trainable_vars("oldpi")
if self.using_gail:
self.params.extend(self.reward_giver.get_trainable_variables())
self.summary = tf.summary.merge_all()
self.compute_lossandgrad = \
tf_util.function([observation, self.old_policy.obs_ph, self.action, self.atarg, self.ret, self.learning_rate_ph, self.vtarg, self.closed_policy.obs_ph],
[self.summary, tf_util.flatgrad(optimgain, var_list)] + losses)
