def trainNetwork(s, readout, h_fc1, sess):
# 定义损失函数
a = tf.placeholder("float", [None, ACTIONS])
y = tf.placeholder("float", [None])
readout_action = tf.reduce_sum(tf.multiply(readout, a),
reduction_indices=1)
cost = tf.reduce_mean(tf.square(y - readout_action))
train_step = tf.train.AdamOptimizer(1e-6).minimize(cost)
# 开启游戏模拟器，会打开一个模拟器的窗口，实时显示游戏的信息
game_state = game.GameState()
# 创建双端队列用于存放replay memory
D = deque()
# 获取游戏的初始状态，设置动作为空操作，并将初始状态修改成80*80*4大小
do_nothing = np.zeros(ACTIONS)
do_nothing[0] = 1
x_t, r_0, terminal = game_state.frame_step(do_nothing)
x_t = cv2.cvtColor(cv2.resize(x_t, (80, 80)), cv2.COLOR_BGR2GRAY)
ret, x_t = cv2.threshold(x_t, 1, 255, cv2.THRESH_BINARY)
s_t = np.stack((x_t, x_t, x_t, x_t), axis=2)
# 用于加载或保存网络参数
saver = tf.train.Saver()
sess.run(tf.initialize_all_variables())
checkpoint = tf.train.get_checkpoint_state("saved_networks")
if checkpoint and checkpoint.model_checkpoint_path:
saver.restore(sess, checkpoint.model_checkpoint_path)
print("Successfully loaded:", checkpoint.model_checkpoint_path)
else:
print("Could not find old network weights")
# 开始训练
epsilon = INITIAL_EPSILON
t = 0
# 这个是个死循环吧...
while "flappy bird" != "angry bird":
# 使用epsilon贪心策略选择一个动作
readout_t = readout.eval(feed_dict={s: [s_t]})[0]
a_t = np.zeros([ACTIONS])
action_index = 0
if t % FRAME_PER_ACTION == 0:
# 执行一个随机动作
if random.random() <= epsilon:
print("----------Random Action----------")
action_index = random.randrange(ACTIONS)
a_t[random.randrange(ACTIONS)] = 1
# 由神经网络计算的Q(s,a)值选择对应的动作
else:
action_index = np.argmax(readout_t)
a_t[action_index] = 1
else:
a_t[0] = 1 # 不执行跳跃动作
# 随游戏的进行，不断降低epsilon，减少随机动作
if epsilon > FINAL_EPSILON and t > OBSERVE:
epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / EXPLORE
# 执行选择的动作，并获得下一状态及回报
x_t1_colored, r_t, terminal = game_state.frame_step(a_t)
x_t1 = cv2.cvtColor(cv2.resize(x_t1_colored, (80, 80)),
cv2.COLOR_BGR2GRAY)
ret, x_t1 = cv2.threshold(x_t1, 1, 255, cv2.THRESH_BINARY)
x_t1 = np.reshape(x_t1, (80, 80, 1))
s_t1 = np.append(x_t1, s_t[:, :, :3], axis=2)
# 将状态转移过程存储到D中，用于更新参数时采样
D.append((s_t, a_t, r_t, s_t1, terminal))
if len(D) > REPLAY_MEMORY:
D.popleft()
# 过了观察期，才会进行网络参数的更新
if t > OBSERVE:
# 从D中随机采样，用于参数更新
minibatch = random.sample(D, BATCH)
# 分别将当前状态、采取的动作、获得的回报、下一状态分组存放
s_j_batch = [d[0] for d in minibatch]
a_batch = [d[1] for d in minibatch]
r_batch = [d[2] for d in minibatch]
s_j1_batch = [d[3] for d in minibatch]
# 计算Q(s,a)的新值
y_batch = []
readout_j1_batch = readout.eval(feed_dict={s: s_j1_batch})
for i in range(0, len(minibatch)):
terminal = minibatch[i][4]
# 如果游戏结束，则只有反馈值
if terminal:
y_batch.append(r_batch[i])
else:
y_batch.append(r_batch[i] +
GAMMA * np.max(readout_j1_batch[i]))
# 使用梯度下降更新网络参数
train_step.run(feed_dict={y: y_batch, a: a_batch, s: s_j_batch})
# 状态发生改变，用于下次循环
s_t = s_t1
t += 1
# 每进行10000次迭代，保留一下网络参数
if t % 10000 == 0:
saver.save(sess, 'saved_networks/' + GAME + '-dqn', global_step=t)
# 打印游戏信息
state = ""
if t <= OBSERVE:
state = "observe"
elif t > OBSERVE and t <= OBSERVE + EXPLORE:
state = "explore"
else:
state = "train"
print("TIMESTEP", t, "/ STATE", state, "/ EPSILON", epsilon, \
"/ ACTION", action_index, "/ REWARD", r_t, "/ Q_MAX %e" % np.max(readout_t))
def trainNetwork(s, readout, h_fc1, sess):
# define the cost function
a = tf.placeholder("float", [None, ACTIONS])
y = tf.placeholder("float", [None])
readout_action = tf.reduce_sum(tf.mul(readout, a), reduction_indices=1)
cost = tf.reduce_mean(tf.square(y - readout_action))
#train_step = tf.train.RMSPropOptimizer(0.00025, 0.95, 0.95, 0.01).minimize(cost)
train_step = tf.train.AdamOptimizer(1e-6).minimize(cost)
# open up a game state to communicate with emulator
game_state = game.GameState()
# store the previous observations in replay memory
D = []
# printing
'''
a_file = open("logs_" + GAME + "/readout.txt", 'w')
h_file = open("logs_" + GAME + "/hidden.txt", 'w')
'''
# get the first state by doing nothing and preprocess the image to 80x80x4
do_nothing = np.zeros(ACTIONS)
do_nothing[0] = 1
x_t, r_0, terminal = game_state.frame_step(do_nothing)
x_t = cv2.cvtColor(cv2.resize(x_t, (80, 80)), cv2.COLOR_BGR2GRAY)
s_t = np.stack((x_t, x_t, x_t, x_t), axis=2)
# saving and loading networks
saver = tf.train.Saver()
sess.run(tf.initialize_all_variables())
checkpoint = tf.train.get_checkpoint_state("saved_networks")
if checkpoint and checkpoint.model_checkpoint_path:
saver.restore(sess, checkpoint.model_checkpoint_path)
print "Successfully loaded:", checkpoint.model_checkpoint_path
else:
print "Could not find old network weights"
epsilon = INITIAL_EPSILON
t = 0
while "pigs" != "fly":
# choose an action epsilon greedily
readout_t = readout.eval(feed_dict={s: [s_t]})[0]
a_t = np.zeros([ACTIONS])
action_index = 0
if random.random() <= epsilon or t <= OBSERVE:
action_index = random.randrange(ACTIONS)
a_t[random.randrange(ACTIONS)] = 1
else:
action_index = np.argmax(readout_t)
a_t[action_index] = 1
# scale down epsilon
if epsilon > FINAL_EPSILON and t > OBSERVE:
epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / EXPLORE
for i in range(0, K):
# run the selected action and observe next state and reward
x_t1_col, r_t, terminal = game_state.frame_step(a_t)
x_t1 = cv2.cvtColor(cv2.resize(x_t1_col, (80, 80)),
cv2.COLOR_BGR2GRAY)
x_t1 = np.reshape(x_t1, (80, 80, 1))
s_t1 = np.append(x_t1, s_t[:, :, 1:], axis=2)
# store the transition in D
D.append((s_t, a_t, r_t, s_t1, terminal))
if len(D) > REPLAY_MEMORY:
D.pop(0)
# only train if done observing
if t > OBSERVE:
# sample a minibatch to train on
minibatch = random.sample(D, BATCH)
# get the batch variables
s_j_batch = [d[0] for d in minibatch]
a_batch = [d[1] for d in minibatch]
r_batch = [d[2] for d in minibatch]
s_j1_batch = [d[3] for d in minibatch]
y_batch = []
readout_j1_batch = readout.eval(feed_dict={s: s_j1_batch})
for i in range(0, len(minibatch)):
# if terminal only equals reward
if minibatch[i][4]:
y_batch.append(r_batch[i])
else:
y_batch.append(r_batch[i] +
GAMMA * np.max(readout_j1_batch[i]))
# perform gradient step
train_step.run(feed_dict={y: y_batch, a: a_batch, s: s_j_batch})
# update the old values
s_t = s_t1
t += 1
# save progress every 10000 iterations
if t % 10000 == 0:
saver.save(sess, 'saved_networks/' + GAME + '-dqn', global_step=t)
# print info
state = ""
if t <= OBSERVE:
state = "observe"
elif t > OBSERVE and t <= OBSERVE + EXPLORE:
state = "explore"
else:
state = "train"
print "TIMESTEP", t, "/ STATE", state, "/ EPSILON", epsilon, "/ ACTION", action_index, "/ REWARD", r_t, "/ Q_MAX %e" % np.max(
readout_t)
# write info to files
'''
def trainNetwork(s, readout, h_fc1, sess):
# define the cost function
a = tf.placeholder(
"float",
[None, ACTIONS]) #placeholder actions. Vector que tendra el Q valor
y = tf.placeholder(
"float",
[None]) # placeholder who really maxs la accion. Seraa el Q valor
# readout, is the output of the network
readout_action = tf.reduce_sum(
tf.multiply(readout, a), reduction_indices=1
) #Q valor de acciones * acciones elegidas -> Q valor de accions elegidas
#Entrenas para que readout sea el valor Q
cost = tf.reduce_mean(tf.square(y - readout_action))
#El coste es el cuadrado de la resta del valor Q (el valor de la accion, cuanto mayor mejor) de la verdadera, menos el valor Q de la que has elegido
train_step = tf.train.AdamOptimizer(1e-6).minimize(cost)
# open up a game state to communicate with emulator
game_state = game.GameState()
# store the previous observations in replay memory
D = deque()
# printing
a_file = open("logs_" + GAME + "/readout.txt", 'w')
h_file = open("logs_" + GAME + "/hidden.txt", 'w')
# get the first state by doing nothing and preprocess the image to 80x80x4
do_nothing = np.zeros(ACTIONS)
do_nothing[
0] = 1 # Primera acion sera no hacer nada, que es el primer valor
x_t, r_0, terminal = game_state.frame_step(
do_nothing
) # Cuadno el das una accion al juego, te da el estado (el siguiente frame, la recompensa y si es terminal)
x_t = cv2.cvtColor(
cv2.resize(x_t, (80, 80)),
cv2.COLOR_BGR2GRAY) #x_T es el frame hecho resize y en blanco y negro
ret, x_t = cv2.threshold(x_t, 1, 255, cv2.THRESH_BINARY)
s_t = np.stack((x_t, x_t, x_t, x_t), axis=2)
# s_t es el stack de 4 frames que tienes que ar de input pero al princpio no tienes y tienes que pasarle 4 iguales
# saving and loading networks
saver = tf.train.Saver()
tf.global_variables_initializer().run()
checkpoint = tf.train.get_checkpoint_state("saved_networks")
if checkpoint and checkpoint.model_checkpoint_path:
saver.restore(sess, checkpoint.model_checkpoint_path)
print "Successfully loaded:", checkpoint.model_checkpoint_path
else:
print "Could not find old network weights"
start = time.time()
epsilon = INITIAL_EPSILON
t = 0 #timestep=frames
while "pigs" != "fly":
# choose an action epsilon greedily
readout_t = readout.eval(feed_dict={s: [s_t]})[
0] #evaluas la red sobre el primer input y te da el valor esprado
a_t = np.zeros([ACTIONS]) #accion a tomar
action_index = 0
if random.random() <= epsilon or t <= OBSERVE: # EXPLORAR
action_index = random.randrange(ACTIONS)
a_t[action_index] = 1
else: # EXPLOTACION
action_index = np.argmax(readout_t)
a_t[action_index] = 1
# Aqui esta a_t, la accion a tomar [0,0,1,0,0,0] cone xplotacion o exploracion segun el valor de epsilon
# scale down epsilon
if epsilon > FINAL_EPSILON and t > OBSERVE:
epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / EXPLORE
#si estamos en observacion, ir decremtnando epsilon cada vez mas
for i in range(
0, K
): #Esto tendria que ser solo un paso, es aplicar K veces la accion seleccionada
# run the selected action and observe next state and reward
x_t1_col, r_t, terminal = game_state.frame_step(a_t)
x_t1 = cv2.cvtColor(cv2.resize(x_t1_col, (80, 80)),
cv2.COLOR_BGR2GRAY)
ret, x_t1 = cv2.threshold(x_t1, 1, 255, cv2.THRESH_BINARY)
x_t1 = np.reshape(x_t1, (80, 80, 1))
s_t1 = np.append(x_t1, s_t[:, :, 0:3], axis=2)
# AHORA TENEMOS NUEVO s_t1 PARA EL SIGUIENTE ESTADO
# store the transition in D, DE LA CUAL SACARAS AL AZAR
D.append((s_t, a_t, r_t, s_t1, terminal))
if len(D) > REPLAY_MEMORY:
D.popleft()
# only train if done observing SI ESTAS EXPLORANDO O ENTRENANADO,
if t > OBSERVE:
# sample a minibatch to train on (MINIBATCH DE LA MEMORIA)
minibatch = random.sample(D, BATCH)
# get the batch variables
s_j_batch = [d[0] for d in minibatch] # el s_t
a_batch = [d[1] for d in minibatch] # el a_t (accion)
r_batch = [d[2] for d in minibatch] # r_t :reward
s_j1_batch = [d[3] for d in minibatch
] # s_t1 : resultado despues de ejecutarlo
y_batch = [] #L
readout_j1_batch = readout.eval(feed_dict={s: s_j1_batch})
for i in range(0, len(minibatch)): # CALCULAR VALOR Y (RECOMPENSA)
# if terminal only equals reward
if minibatch[i][4]:
y_batch.append(r_batch[i])
else:
y_batch.append(r_batch[i] +
GAMMA * np.max(readout_j1_batch[i]))
# perform gradient step
train_step.run(
feed_dict={
y:
y_batch, # si es estado final, y=recompensa del estado final. si no, y= recomepnsa de ese estado +GAMMA*recompensamaxima del siguiente estado
a:
a_batch, # Accion a tomar (0,0,0,1,0,0). La que ha dado el sampleo de minibaatch
s: s_j_batch
}
) #s: input images, las que ha dado directamente el sampleo de minibatch
# update the old values
s_t = s_t1
t += 1
# save progress every 10000 iterations
if t % 10000 == 0:
saver.save(sess, 'saved_networks/' + GAME + '-dqn', global_step=t)
if t % 1000 == 0:
print(time.time() - start)
# print info
state = ""
if t <= OBSERVE:
state = "observe"
elif t > OBSERVE and t <= OBSERVE + EXPLORE:
state = "explore"
else:
state = "train"
print "TIMESTEP", t, "/ STATE", state, "/ LINES", game_state.total_lines, "/ EPSILON", epsilon, "/ ACTION", action_index, "/ REWARD", r_t, "/ Q_MAX %e" % np.max(
readout_t)
# write info to files
'''
