def make_network(env):
is_train = env.phase is env.Phase.TRAIN
if is_train:
slave_devices = env.slave_devices
env.set_slave_devices([])
with env.create_network() as net:
h, w, c = get_input_shape()
dpc = env.create_dpcontroller()
with dpc.activate():
def inputs():
state = O.placeholder('state', shape=(None, h, w, c))
return [state]
def forward(x):
_ = x / 255.0
with O.argscope(O.conv2d, nonlin=O.relu):
_ = O.conv2d('conv0', _, 32, 5)
_ = O.max_pooling2d('pool0', _, 2)
_ = O.conv2d('conv1', _, 32, 5)
_ = O.max_pooling2d('pool1', _, 2)
_ = O.conv2d('conv2', _, 64, 4)
_ = O.max_pooling2d('pool2', _, 2)
_ = O.conv2d('conv3', _, 64, 3)
dpc.add_output(_, name='feature')
dpc.set_input_maker(inputs).set_forward_func(forward)
_ = dpc.outputs['feature']
_ = O.fc('fc0', _, 512, nonlin=O.p_relu)
policy = O.fc('fc_policy', _, get_player_nr_actions())
value = O.fc('fc_value', _, 1)
expf = O.scalar('explore_factor', 1, trainable=False)
policy_explore = O.softmax(policy * expf, name='policy_explore')
policy = O.softmax(policy, name='policy')
value = value.remove_axis(1, name='value')
net.add_output(policy_explore, name='policy_explore')
net.add_output(policy, name='policy')
net.add_output(value, name='value')
if is_train:
action = O.placeholder('action', shape=(None, ), dtype='int64')
future_reward = O.placeholder('future_reward', shape=(None, ))
log_policy = O.log(policy + 1e-6)
log_pi_a_given_s = (
log_policy *
O.one_hot(action, get_player_nr_actions())).sum(axis=1)
advantage = (future_reward -
O.zero_grad(value)).rename('advantage')
policy_cost = (log_pi_a_given_s *
advantage).mean(name='policy_cost')
xentropy_cost = (-policy *
log_policy).sum(axis=1).mean(name='xentropy_cost')
value_loss = O.raw_l2_loss('raw_value_loss', future_reward,
value).mean(name='value_loss')
entropy_beta = O.scalar('entropy_beta', 0.01, trainable=False)
loss = O.add_n(
[-policy_cost, -xentropy_cost * entropy_beta, value_loss],
name='loss')
net.set_loss(loss)
for v in [
policy_cost, xentropy_cost, value_loss,
value.mean(name='predict_value'),
advantage.rms(name='rms_advantage'), loss
]:
summary.scalar(v)
if is_train:
env.set_slave_devices(slave_devices)
def make_network(env):
is_train = env.phase is env.Phase.TRAIN
# device control: always use master device only for training session
if is_train:
slave_devices = env.slave_devices
env.set_slave_devices([])
with env.create_network() as net:
input_length, = get_input_shape()
action_length, = get_action_shape()
dpc = env.create_dpcontroller()
with dpc.activate():
def inputs():
state = O.placeholder('state', shape=(None, input_length))
return [state]
# forward policy network and value network separately (actor-critic)
def forward(x):
_ = x
_ = O.fc('fcp1', _, 512, nonlin=O.relu)
_ = O.fc('fcp2', _, 256, nonlin=O.relu)
dpc.add_output(_, name='feature_p')
_ = x
_ = O.fc('fcv1', _, 512, nonlin=O.relu)
_ = O.fc('fcv2', _, 256, nonlin=O.relu)
dpc.add_output(_, name='feature_v')
dpc.set_input_maker(inputs).set_forward_func(forward)
_ = dpc.outputs['feature_p']
# mu and std, assuming spherical covariance
policy_mu = O.fc('fc_policy_mu', _, action_length)
# In this example, we do not use variance. instead, we use fixed value.
# policy_var = O.fc('fc_policy_var', _, 1, nonlin=O.softplus)
# policy_var = O.tile(policy_var, [1, action_length], name='policy_var')
# policy_std = O.sqrt(policy_var, name='policy_std')
actor_space = get_env('a3c.actor_space')
nr_bins = actor_space.shape[1]
# Instead of using normal distribution, we use Laplacian distribution for policy.
# And also, we are sampling from a truncated Laplacian distribution (only care the value in the
# action space). To simplify the computation, we discretize the action space.
actor_space = O.constant(actor_space)
actor_space = O.tile(actor_space.add_axis(0), [policy_mu.shape[0], 1, 1])
policy_mu3 = O.tile(policy_mu.add_axis(2), [1, 1, nr_bins])
# policy_std3 = O.tile(policy_std.add_axis(2), [1, 1, nr_bins])
# logits = O.abs(actor_space - policy_mu3) / (policy_std3 + 1e-2)
# Here, we force the std of the policy to be 1.
logits_explore = -O.abs(actor_space - policy_mu3)
policy_explore = O.softmax(logits_explore)
# Clip the policy for output
action_range = get_action_range()
action_range = tuple(map(O.constant, action_range))
action_range = tuple(map(lambda x: O.tile(x.add_axis(0), [policy_mu.shape[0], 1]), action_range))
policy_output = O.clip_by_value(policy_mu, *action_range)
_ = dpc.outputs['feature_v']
value = O.fc('fc_value', _, 1)
value = value.remove_axis(1, name='value')
# Note that, here the policy_explore is a discrete policy,
# and policy is actually the continuous one.
net.add_output(policy_explore, name='policy_explore')
net.add_output(policy_output, name='policy')
net.add_output(value, name='value')
if is_train:
action = O.placeholder('action', shape=(None, action_length), dtype='int64')
future_reward = O.placeholder('future_reward', shape=(None, ))
entropy_beta = O.scalar('entropy_beta', 0.1, trainable=False)
# Since we discretized the action space, use cross entropy here.
log_policy = O.log(policy_explore + 1e-4)
log_pi_a_given_s = (log_policy * O.one_hot(action, nr_bins)).sum(axis=2).sum(axis=1)
advantage = (future_reward - O.zero_grad(value)).rename('advantage')
# Important trick: using only positive advantage to perform gradient assent. This stabilizes the training.
advantage = advantage * O.zero_grad((advantage > 0.).astype('float32'))
policy_loss = O.identity(-(log_pi_a_given_s * advantage).mean(), name='policy_loss')
# As mentioned, there is no trainable variance.
# entropy_loss = O.identity(-entropy_beta * (policy_std ** 2.).sum(axis=1).mean(), name='entropy_loss')
value_loss = O.raw_smooth_l1_loss('raw_value_loss', future_reward, value).mean(name='value_loss')
loss = O.add_n([policy_cost, value_loss], name='loss')
net.set_loss(loss)
for v in [policy_cost, value_loss,
value.mean(name='predict_value'), advantage.rms(name='rms_advantage'), loss]:
summary.scalar(v)
if is_train:
env.set_slave_devices(slave_devices)
def make_network(env):
is_train = env.phase is env.Phase.TRAIN
with env.create_network() as net:
h, w, c = get_input_shape()
dpc = env.create_dpcontroller()
with dpc.activate():
def inputs():
state = O.placeholder('state', shape=(None, h, w, c))
next_state = O.placeholder('next_state', shape=(None, h, w, c))
return [state, next_state]
@O.auto_reuse
def phi(x):
_ = x / 255.0
# Nature structure
with O.argscope(O.conv2d, nonlin=O.relu):
_ = O.conv2d('conv1', _, 32, 8, stride=4)
_ = O.conv2d('conv2', _, 64, 4, stride=2)
_ = O.conv2d('conv3', _, 64, 3, stride=1)
return _
def forward(state, next_state):
dpc.add_output(phi(state), name='feature')
dpc.add_output(phi(next_state), name='next_feature')
dpc.set_input_maker(inputs).set_forward_func(forward)
@O.auto_reuse
def phi_fc(feature):
_ = feature
_ = O.fc('fc0',
_,
512,
nonlin=functools.partial(O.leaky_relu, alpha=0.01))
q_pred = O.fc('fcq', _, get_player_nr_actions())
q_max = q_pred.max(axis=1)
q_argmax = q_pred.argmax(axis=1)
return q_pred, q_max, q_argmax
_ = dpc.outputs['feature']
q_pred, q_max, q_argmax = phi_fc(_)
_ = dpc.outputs['next_feature']
next_q_pred, next_q_max, _ = phi_fc(_)
net.add_output(q_pred, name='q_pred')
net.add_output(q_max, name='q_max')
net.add_output(q_argmax, name='q_argmax')
if is_train:
reward = O.placeholder('reward', shape=(None, ), dtype='float32')
action = O.placeholder('action', shape=(None, ), dtype='int64')
is_over = O.placeholder('is_over', shape=(None, ), dtype='bool')
assert get_env('dqn.nr_td_steps') == 1
this_q_pred = (q_pred *
O.one_hot(action, get_player_nr_actions())).sum(
axis=1)
this_q_label = reward + get_env('dqn.gamma') * (
1 - is_over.astype('float32')) * O.zero_grad(next_q_max)
summary.scalar('this_q_pred', this_q_pred.mean())
summary.scalar('this_q_label', this_q_label.mean())
summary.scalar('reward', reward.mean())
summary.scalar('is_over', is_over.astype('float32').mean())
q_loss = O.raw_smooth_l1_loss('raw_q_loss', this_q_pred,
this_q_label).mean(name='q_loss')
net.set_loss(q_loss)
def make_network(env):
use_linear_vr = get_env('trpo.use_linear_vr')
with env.create_network() as net:
net.dist = O.distrib.GaussianDistribution('policy',
size=get_action_shape()[0],
fixed_std=False)
if use_linear_vr:
from tartist.app.rl.utils.math import LinearValueRegressor
net.value_regressor = LinearValueRegressor()
state = O.placeholder('state', shape=(None, ) + get_input_shape())
# state = O.moving_average(state)
# state = O.clip_by_value(state, -10, 10)
batch_size = state.shape[0]
# We have to define variable scope here for later optimization.
with env.variable_scope('policy'):
_ = state
with O.argscope(O.fc):
_ = O.fc('fc1', _, 64, nonlin=O.relu)
_ = O.fc('fc2', _, 64, nonlin=O.relu)
mu = O.fc('fc_mu', _, net.dist.sample_size, nonlin=O.tanh)
logstd = O.variable(
'logstd',
O.truncated_normal_initializer(stddev=0.01),
shape=(net.dist.sample_size, ),
trainable=True)
logstd = O.tile(logstd.add_axis(0), [batch_size, 1])
theta = O.concat([mu, logstd], axis=1)
policy = net.dist.sample(batch_size=batch_size,
theta=theta,
process_theta=True)
policy = O.clip_by_value(policy, -1, 1)
net.add_output(theta, name='theta')
net.add_output(policy, name='policy')
if env.phase == env.Phase.TRAIN:
theta_old = O.placeholder('theta_old',
shape=(None, net.dist.param_size))
action = O.placeholder('action',
shape=(None, net.dist.sample_size))
advantage = O.placeholder('advantage', shape=(None, ))
log_prob = net.dist.log_likelihood(action,
theta,
process_theta=True)
log_prob_old = net.dist.log_likelihood(action,
theta_old,
process_theta=True)
# Importance sampling of surrogate loss (L in paper).
ratio = O.exp(log_prob - log_prob_old)
policy_loss = -O.reduce_mean(ratio * advantage)
kl = net.dist.kl(theta_p=theta_old,
theta_q=theta,
process_theta=True).mean()
kl_self = net.dist.kl(theta_p=O.zero_grad(theta),
theta_q=theta,
process_theta=True).mean()
entropy = net.dist.entropy(theta, process_theta=True).mean()
net.add_output(policy_loss, name='policy_loss')
net.add_output(kl, name='kl')
net.add_output(kl_self, name='kl_self')
summary.scalar('policy_entropy',
entropy,
collections=[rl.train.ACGraphKeys.POLICY_SUMMARIES])
if not use_linear_vr:
with env.variable_scope('value'):
value = O.fc('fcv', state, 1)
net.add_output(value, name='value')
if env.phase == env.Phase.TRAIN:
value_label = O.placeholder('value_label', shape=(None, ))
value_loss = O.raw_l2_loss('raw_value_loss', value,
value_label).mean(name='value_loss')
net.add_output(value_loss, name='value_loss')