def train_eval(
# tensorboard files
root_dir,
# environment
env_name="CartPole-v1",
random_seed=0,
# Params for collect
num_environment_steps=100000,
replay_buffer_capacity=1001, # Per-environment
# Params for eval
num_eval_episodes=30,
eval_interval=200,
# Params for summaries
summary_interval=50,
):
tf.compat.v1.set_random_seed(random_seed)
environment = TFPyEnvironment(suite_gym.load(env_name))
evaluation_environment = TFPyEnvironment(suite_gym.load(env_name))
actor_net = ActorDistributionNetwork(environment.observation_spec(),
environment.action_spec(),
fc_layer_params=(200, 100))
value_net = ValueNetwork(environment.observation_spec(),
fc_layer_params=(200, 100))
global_step = tf.compat.v1.train.get_or_create_global_step()
agent = PPOClipAgent( # should be closer to the paper than PPOAgent...
environment.time_step_spec(),
environment.action_spec(),
optimizer=tf.compat.v1.train.AdamOptimizer(
), # default None does not work
actor_net=actor_net,
value_net=value_net,
importance_ratio_clipping=0.2,
normalize_observations=False,
normalize_rewards=False,
use_gae=True,
lambda_value=0.5,
discount_factor=0.95,
train_step_counter=global_step,
)
agent_trainer = OnPolicyModelFreeAgentTrainer(400)
experiment_harness = ExperimentHarness(
root_dir,
environment,
evaluation_environment,
agent,
agent_trainer,
replay_buffer_capacity,
num_environment_steps,
summary_interval,
eval_interval,
num_eval_episodes,
number_of_initial_random_policy_steps=0,
use_tf_function=True,
)
experiment_harness.run()
def test_incorrect_termination_model():
"""
The generic model-based agent should only allow a ConstantFalseTermination model.
"""
# setup arguments for the model-based agent constructor
py_env = suite_gym.load("MountainCarContinuous-v0")
tf_env = TFPyEnvironment(py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = tf_env.observation_spec()
action_spec = tf_env.action_spec()
network = LinearTransitionNetwork(observation_spec)
transition_model = KerasTransitionModel([network], observation_spec, action_spec)
reward_model = MountainCarReward(observation_spec, action_spec)
initial_state_distribution_model = MountainCarInitialState(observation_spec)
termination_model = MountainCarTermination(observation_spec)
policy = RandomTFPolicy(time_step_spec, action_spec)
with pytest.raises(AssertionError) as excinfo:
ModelBasedAgent(
time_step_spec,
action_spec,
transition_model,
reward_model,
termination_model,
initial_state_distribution_model,
policy,
policy,
)
assert "Only constant false termination supported" in str(excinfo.value)
def test_planning_policy_batch_environment_model():
"""
Ensure that planning policy is operational.
"""
# number of trajectories for planning and planning horizon
population_size = 3
planner_horizon = 5
number_of_particles = 1
# setup the environment and a model of it
py_env = suite_gym.load("MountainCar-v0")
tf_env = TFPyEnvironment(py_env)
reward = MountainCarReward(tf_env.observation_spec(), tf_env.action_spec())
terminates = MountainCarTermination(tf_env.observation_spec())
network = LinearTransitionNetwork(tf_env.observation_spec())
transition_model = KerasTransitionModel(
[network],
tf_env.observation_spec(),
tf_env.action_spec(),
)
initial_state = MountainCarInitialState(tf_env.observation_spec())
environment_model = EnvironmentModel(
transition_model=transition_model,
reward_model=reward,
termination_model=terminates,
initial_state_distribution_model=initial_state,
)
# setup the trajectory optimiser
random_policy = RandomTFPolicy(tf_env.time_step_spec(),
tf_env.action_spec())
trajectory_optimiser = PolicyTrajectoryOptimiser(random_policy,
planner_horizon,
population_size,
number_of_particles)
planning_policy = PlanningPolicy(environment_model, trajectory_optimiser)
# test whether it runs
collect_driver_planning_policy = DynamicEpisodeDriver(tf_env,
planning_policy,
num_episodes=1)
time_step = tf_env.reset()
collect_driver_planning_policy.run(time_step)
def generic_dqn_agent(env: TFPyEnvironment) -> (dqn_agent.DqnAgent, q_network.QNetwork):
""" Function that returns a generic dqn agent
args:
env (TFPyEnvironment) : The environment the agent will live in
Returns:
dqn_agent.DqnAgent: The agent to train
q_network.QNetwork: The network used in the agent
"""
inp = env.observation_spec().shape[0]
q_net = q_network.QNetwork(
env.observation_spec(),
env.action_spec(),
fc_layer_params=(20,20,20,20,20),
activation_fn=tf.keras.activations.relu)
optimizer = tf.keras.optimizers.Adam(learning_rate=0.0005)
agent = dqn_agent.DqnAgent(
env.time_step_spec(),
env.action_spec(),
q_network=q_net,
optimizer=optimizer,
td_errors_loss_fn=common.element_wise_squared_loss,
train_step_counter=tf.Variable(0),
epsilon_greedy=0.1
)
"""def observation_and_action_constraint_splitter(observation):
action_mask = [1,1]
if observation[0][-1] > 5:
action_mask[0] = 1
return observation, tf.convert_to_tensor(action_mask, dtype=np.int32)
agent.policy._observation_and_action_constraint_splitter = (
observation_and_action_constraint_splitter
)"""
#tf_agents.policies.greedy_policy.GreedyPolicy
agent.initialize()
return agent, q_net
def test_unknown_transition_model():
"""
Pets Agent has prespecified transition model, RuntimeError should raise on unknown model.
"""
# setup the environment and a prespecified model components
py_env = suite_gym.load("MountainCarContinuous-v0")
tf_env = TFPyEnvironment(py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = tf_env.observation_spec()
action_spec = tf_env.action_spec()
reward_model = MountainCarReward(observation_spec, action_spec)
initial_state_distribution_model = MountainCarInitialState(
observation_spec)
# trajectory optimiser
trajectory_optimiser_type = TrajectoryOptimizationType.CrossEntropyMethod
transition_model_type = "unknown_model"
trajectory_sampler_type = TrajectorySamplerType.TS1
# some parameters need to be set correctly
ensemble_size = 2
num_elites = 10
learning_rate = 0.9
max_iterations = 5
population_size = num_elites + 10
number_of_particles = 1
horizon = 1
with pytest.raises(RuntimeError) as excinfo:
PetsAgent(
time_step_spec,
action_spec,
transition_model_type,
1,
10,
tf.nn.relu,
ensemble_size,
False,
1,
1,
[tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)],
reward_model,
initial_state_distribution_model,
trajectory_sampler_type,
trajectory_optimiser_type,
horizon,
population_size,
number_of_particles,
num_elites,
learning_rate,
max_iterations,
)
assert "Unknown transition model" in str(excinfo.value)
def test_ensemble_size_set_correctly():
"""
For ensemble transition models ensemble size needs to be larger than 1.
"""
# setup the environment and a prespecified model components
py_env = suite_gym.load("MountainCarContinuous-v0")
tf_env = TFPyEnvironment(py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = tf_env.observation_spec()
action_spec = tf_env.action_spec()
reward_model = MountainCarReward(observation_spec, action_spec)
initial_state_distribution_model = MountainCarInitialState(observation_spec)
# transition model and model-free agent
transition_model_type = TransitionModelType.DeterministicEnsemble
trajectory_sampler_type = TrajectorySamplerType.TS1
model_free_agent_type = ModelFreeAgentType.Ppo
# some parameters need to be set correctly
ensemble_size = 1
population_size = 10
horizon = 1
# define agent, many transition model and trajectory optimiser parameters can
# be arbitrary
with pytest.raises(AssertionError) as excinfo:
MbpoAgent(
time_step_spec,
action_spec,
transition_model_type,
1,
10,
tf.nn.relu,
ensemble_size,
False,
1,
1,
[tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)],
reward_model,
initial_state_distribution_model,
trajectory_sampler_type,
horizon,
population_size,
model_free_agent_type,
1,
10,
tf.nn.relu,
2,
1,
)
assert "ensemble_size should be > 1" in str(excinfo.value)
def test_unknown_transition_model():
"""
Mepo Agent has prespecified transition model, RuntimeError should raise on unknown model.
"""
# setup the environment and a prespecified model components
py_env = suite_gym.load("MountainCarContinuous-v0")
tf_env = TFPyEnvironment(py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = tf_env.observation_spec()
action_spec = tf_env.action_spec()
reward_model = MountainCarReward(observation_spec, action_spec)
initial_state_distribution_model = MountainCarInitialState(observation_spec)
# transition model and model-free agent
transition_model_type = "unknown_model"
trajectory_sampler_type = TrajectorySamplerType.TS1
model_free_agent_type = ModelFreeAgentType.Ppo
# some parameters need to be set correctly
ensemble_size = 2
num_elites = 10
population_size = num_elites + 10
horizon = 1
with pytest.raises(RuntimeError) as excinfo:
MbpoAgent(
time_step_spec,
action_spec,
transition_model_type,
1,
10,
tf.nn.relu,
ensemble_size,
False,
1,
1,
[tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)],
reward_model,
initial_state_distribution_model,
trajectory_sampler_type,
horizon,
population_size,
model_free_agent_type,
1,
10,
tf.nn.relu,
2,
1,
)
assert "Unknown transition model" in str(excinfo.value)
def initialize_tf_agent(model_class: ABCMeta,
train_env: TFPyEnvironment) -> TFAgent:
optimizer = Adam(learning_rate=1e-3)
if model_class in [agents.PPOAgent]:
actor_net = actor_distribution_network.ActorDistributionNetwork(
train_env.observation_spec(),
train_env.action_spec(),
fc_layer_params=(200, 100),
activation_fn=tf.keras.activations.tanh,
)
value_net = value_network.ValueNetwork(
train_env.observation_spec(),
fc_layer_params=(200, 100),
activation_fn=tf.keras.activations.tanh,
)
model = model_class(
time_step_spec=train_env.time_step_spec(),
action_spec=train_env.action_spec(),
actor_net=actor_net,
value_net=value_net,
optimizer=optimizer,
)
elif model_class in [agents.DqnAgent]:
action_spec = train_env.action_spec()
num_actions = action_spec.maximum - action_spec.minimum + 1
q_network = create_feedforward_network(fc_layer_units=(100, ),
num_actions=num_actions)
model = model_class(
time_step_spec=train_env.time_step_spec(),
action_spec=train_env.action_spec(),
q_network=q_network,
optimizer=optimizer,
)
elif model_class in [agents.ReinforceAgent]:
optimizer = tf.compat.v1.train.AdamOptimizer(learning_rate=1e-3)
actor_net = actor_distribution_network.ActorDistributionNetwork(
train_env.time_step_spec().observation,
train_env.action_spec(),
fc_layer_params=(100, ))
model = model_class(
time_step_spec=train_env.time_step_spec(),
action_spec=train_env.action_spec(),
actor_network=actor_net,
optimizer=optimizer,
)
elif model_class in [agents.SacAgent]:
time_step_spec = train_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = train_env.action_spec()
critic_joint_fc_layers = (256, 256)
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=(256, 256),
continuous_projection_net=TanhNormalProjectionNetwork,
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer="glorot_uniform",
last_kernel_initializer="glorot_uniform",
)
model = agents.SacAgent(
time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(3e-4),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(3e-4),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(3e-4),
)
else:
raise ValueError(
f"Class of class `{model_class.__name__}` is not supported")
model.initialize()
return model
class DQNAgent:
def __init__(self) -> None:
"""
A class for training a TF-agent
based on https://www.tensorflow.org/agents/tutorials/1_dqn_tutorial
"""
self.train_env = None # Training environment
self.agent = None # The algorithm used to solve an RL problem is represented by a TF-Agent
self.replay_buffer = None # The replay buffer keeps track of data collected from the environment
self.dataset = None # The agent needs access to the replay buffer via an iterable tf.data.Dataset
self.iterator = None # The iterator of self.dataset
def compile(self, X_train: np.ndarray, y_train: np.ndarray, lr: float, epsilon: float, gamma: float, imb_ratio: float,
replay_buffer_max_length: int, layers: dict) -> None:
"""
Create the Q-network, agent and policy
Args:
X_train: A np.ndarray for training samples.
y_train: A np.ndarray for the class labels of the training samples.
lr: learn rate for the optimizer (default Adam)
epsilon: Used for the default epsilon greedy policy for choosing a random action.
gamma: The discount factor for learning Q-values
imb_ratio: ratio of imbalance. Used to specifiy reward in the environment
replay_buffer_max_length: Maximum lenght of replay memory.
layers: A dict containing the layers of the Q-Network (eg, conv, dense, rnn, dropout).
"""
dense_layers = layers.get("dense")
conv_layers = layers.get("conv")
dropout_layers = layers.get("dropout")
self.train_env = TFPyEnvironment(ClassifyEnv(X_train, y_train, imb_ratio)) # create a custom environment
q_net = QNetwork(self.train_env.observation_spec(), self.train_env.action_spec(), conv_layer_params=conv_layers,
fc_layer_params=dense_layers, dropout_layer_params=dropout_layers)
optimizer = tf.compat.v1.train.AdamOptimizer(learning_rate=lr)
train_step_counter = tf.Variable(0)
self.agent = DqnAgent(
self.train_env.time_step_spec(),
self.train_env.action_spec(),
q_network=q_net,
optimizer=optimizer,
td_errors_loss_fn=common.element_wise_squared_loss,
train_step_counter=train_step_counter,
gamma=gamma,
epsilon_greedy=epsilon,
)
self.agent.initialize()
self.replay_buffer = TFUniformReplayBuffer(
data_spec=self.agent.collect_data_spec,
batch_size=self.train_env.batch_size,
max_length=replay_buffer_max_length)
def fit(self, X_train: np.ndarray, y_train: np.ndarray, epochs: int, batch_size: int, eval_step: int, log_step: int,
collect_steps_per_episode: int) -> None:
"""
Starts the training of the Agent.
Args:
X_train: A np.ndarray for training samples.
y_train: A np.ndarray for the class labels of the training samples.
epochs: Number of epochs to train Agent
batch_size: The Batch Size
eval_step: Evaluate Model each 'eval_step'
log_step: Monitor results of model each 'log_step'
collect_steps_per_episode: Collect a few steps using collect_policy and save to the replay buffer.
"""
self.dataset = self.replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
self.iterator = iter(self.dataset)
def collect_step(environment, policy, buffer):
time_step = environment.current_time_step()
action_step = policy.action(time_step)
next_time_step = environment.step(action_step.action)
traj = trajectory.from_transition(time_step, action_step, next_time_step)
# Add trajectory to the replay buffer
buffer.add_batch(traj)
def collect_data(env, policy, buffer, steps):
for _ in range(steps):
collect_step(env, policy, buffer)
# (Optional) Optimize by wrapping some of the code in a graph using TF function.
self.agent.train = common.function(self.agent.train)
# Reset the train step
self.agent.train_step_counter.assign(0)
for _ in range(epochs):
#print("epoch: ", _)
# Collect a few steps using collect_policy and save to the replay buffer.
collect_data(self.train_env, self.agent.collect_policy, self.replay_buffer, collect_steps_per_episode)
# Sample a batch of data from the buffer and update the agent's network.
experience, _ = next(self.iterator)
train_loss = self.agent.train(experience).loss
step = self.agent.train_step_counter.numpy()
if step % log_step == 0:
print('step = {0}: loss = {1}'.format(step, train_loss))
if step % eval_step == 0:
metrics = self.compute_metrics(X_train, y_train)
print(metrics)
def compute_metrics(self, X: np.ndarray, y_true: list) -> dict:
"""Compute Metrics for Evaluation"""
# TODO: apply softmax layer for q logits?
q, _ = self.agent._target_q_network (X, training=False)
# y_scores = np.max(q.numpy(), axis=1) # predicted scores (Q-Values)
y_pred = np.argmax(q.numpy(), axis=1) # predicted class label
metrics = custom_metrics(y_true, y_pred)
return metrics
def evaluate(self, X: np.ndarray, y: list, X_train=None, y_train=None) -> dict:
"""
Evaluation of trained Q-network
"""
metrics = self.compute_metrics(X, y)
print("evaluation: ", metrics)
return metrics
def create_reinforce_agent(
env: TFPyEnvironment,
gamma: float = 0.99,
agent_name: str = 'reinforce_agent',
debug: bool = False,
training_step_counter: Optional[Any] = None,
agent_params: Optional[Dict[str, Any]] = None) -> ReinforceAgent:
"""
Function for creating a REINFORCE agent in line with the TensorFlow Agents implementation.
This function builds an action network and uses this to instantiate the agent which is returned.
:param env: TensorFlow Environment implementing the ControlledRandomWalk.
:param gamma: Discount factor.
:param agent_name: Name for the agent to aid in identifying TensorFlow variables etc. when
debugging.
:param debug: Flag which toggles debugging in the REINFORCE agent.
:param training_step_counter: An optional counter to increment every time the train op of the
agent is run. If None if provided it defaults to the global_step.
:param agent_params: A dictionary of possible overrides for the default TF-Agents agent set up.
:return: An instance of TensorFlow Agents REINFORCE agent.
"""
# Process the action specification to attain the dimensions of the action subspaces to ensure
# that in the case that there is only one resource set (and therefore only one action subspace)
# the tuple of action specifications of length one is replaced by a single action specification.
# This is to align with the fact that the actor network is implemented to return a tuple of
# (OneHotCategorical) distributions (one for each resource set) where there are multiple action
# subspaces and a single distribution (tfp.distributions.OneHotCategorical) otherwise.
# First attain the action spec.
action_spec = env.action_spec()
# Extract the shape of the subspaces from the action specification tuple.
# Action spaces are defined with shape (1, num_actions_for_resource_set) so take the -1th entry.
action_subspace_dimensions = tuple(
int(subspace.shape[-1]) for subspace in action_spec)
# Then test if there is only one action subspace.
if len(action_spec) == 1:
# Pull out the only action spec.
action_spec = action_spec[0]
if agent_params is None:
agent_params = dict()
# Set up the action network. See `multi_headed_softmax_policy.py` for details.
actor_network = MultiHeadedCategoricalActionNetwork(
input_tensor_spec=env.observation_spec(),
output_tensor_spec=action_spec,
action_subspace_dimensions=action_subspace_dimensions,
hidden_units=agent_params.get('hidden_units', (64, )))
# Set up the REINFORCE agent in line with standard tf_agents.
agent = ReinforceAgent(
time_step_spec=env.time_step_spec(),
action_spec=action_spec,
actor_network=actor_network,
optimizer=tf.compat.v1.train.AdamOptimizer(),
value_network=agent_params.get('value_network', None),
value_estimation_loss_coef=agent_params.get(
'value_estimation_loss_coef', 0.2),
advantage_fn=agent_params.get('advantage_fn', None),
use_advantage_loss=agent_params.get('use_advantage_loss', True),
gamma=gamma,
normalize_returns=agent_params.get('normalize_returns', True),
gradient_clipping=agent_params.get('gradient_clipping', None),
debug_summaries=debug,
summarize_grads_and_vars=debug,
entropy_regularization=agent_params.get('entropy_regulariztion', None),
train_step_counter=training_step_counter,
name=agent_name)
return agent
def main(_):
# Environment
env_name = "Breakout-v4"
train_num_parallel_environments = 5
max_steps_per_episode = 1000
# Replay buffer
replay_buffer_capacity = 50000
init_replay_buffer = 500
# Driver
collect_steps_per_iteration = 1 * train_num_parallel_environments
# Training
train_batch_size = 32
train_iterations = 100000
train_summary_interval = 200
train_checkpoint_interval = 200
# Evaluation
eval_num_parallel_environments = 5
eval_summary_interval = 500
eval_num_episodes = 20
# File paths
path = pathlib.Path(__file__)
parent_dir = path.parent.resolve()
folder_name = path.stem + time.strftime("_%Y%m%d_%H%M%S")
train_checkpoint_dir = str(parent_dir / folder_name / "train_checkpoint")
train_summary_dir = str(parent_dir / folder_name / "train_summary")
eval_summary_dir = str(parent_dir / folder_name / "eval_summary")
# Parallel training environment
tf_env = TFPyEnvironment(
ParallelPyEnvironment([
lambda: suite_atari.load(
env_name,
env_wrappers=
[lambda env: TimeLimit(env, duration=max_steps_per_episode)],
gym_env_wrappers=[AtariPreprocessing, FrameStack4],
)
] * train_num_parallel_environments))
tf_env.seed([42] * tf_env.batch_size)
tf_env.reset()
# Parallel evaluation environment
eval_tf_env = TFPyEnvironment(
ParallelPyEnvironment([
lambda: suite_atari.load(
env_name,
env_wrappers=
[lambda env: TimeLimit(env, duration=max_steps_per_episode)],
gym_env_wrappers=[AtariPreprocessing, FrameStack4],
)
] * eval_num_parallel_environments))
eval_tf_env.seed([42] * eval_tf_env.batch_size)
eval_tf_env.reset()
# Creating the Deep Q-Network
preprocessing_layer = keras.layers.Lambda(
lambda obs: tf.cast(obs, np.float32) / 255.)
conv_layer_params = [(32, (8, 8), 4), (64, (4, 4), 2), (64, (3, 3), 1)]
fc_layer_params = [512]
q_net = QNetwork(tf_env.observation_spec(),
tf_env.action_spec(),
preprocessing_layers=preprocessing_layer,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params)
# Creating the DQN Agent
optimizer = keras.optimizers.RMSprop(lr=2.5e-4,
rho=0.95,
momentum=0.0,
epsilon=0.00001,
centered=True)
epsilon_fn = keras.optimizers.schedules.PolynomialDecay(
initial_learning_rate=1.0, # initial ε
decay_steps=2500000,
end_learning_rate=0.01) # final ε
global_step = tf.compat.v1.train.get_or_create_global_step()
agent = DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
optimizer=optimizer,
target_update_period=200,
td_errors_loss_fn=keras.losses.Huber(reduction="none"),
gamma=0.99, # discount factor
train_step_counter=global_step,
epsilon_greedy=lambda: epsilon_fn(global_step))
agent.initialize()
# Creating the Replay Buffer
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
# Observer: Replay Buffer Observer
replay_buffer_observer = replay_buffer.add_batch
# Observer: Training Metrics
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(batch_size=tf_env.batch_size),
]
# Creating the Collect Driver
collect_driver = DynamicStepDriver(tf_env,
agent.collect_policy,
observers=[replay_buffer_observer] +
train_metrics,
num_steps=collect_steps_per_iteration)
# Initialize replay buffer
initial_collect_policy = RandomTFPolicy(tf_env.time_step_spec(),
tf_env.action_spec())
init_driver = DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer_observer,
ShowProgress()],
num_steps=init_replay_buffer)
final_time_step, final_policy_state = init_driver.run()
# Creating the Dataset
dataset = replay_buffer.as_dataset(sample_batch_size=train_batch_size,
num_steps=2,
num_parallel_calls=3).prefetch(3)
# Optimize by wrapping some of the code in a graph using TF function.
collect_driver.run = function(collect_driver.run)
agent.train = function(agent.train)
print("\n\n++++++++++++++++++++++++++++++++++\n")
# Create checkpoint
train_checkpointer = Checkpointer(
ckpt_dir=train_checkpoint_dir,
max_to_keep=1,
agent=agent,
# replay_buffer=replay_buffer,
global_step=global_step,
# metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics')
)
# Restore checkpoint
# train_checkpointer.initialize_or_restore()
# Summary writers and metrics
train_summary_writer = tf.summary.create_file_writer(train_summary_dir)
eval_summary_writer = tf.summary.create_file_writer(eval_summary_dir)
eval_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(batch_size=eval_tf_env.batch_size,
buffer_size=eval_num_episodes),
tf_metrics.AverageEpisodeLengthMetric(
batch_size=eval_tf_env.batch_size, buffer_size=eval_num_episodes)
]
# Create evaluate callback function
eval_callback = evaluate(eval_metrics=eval_metrics,
eval_tf_env=eval_tf_env,
eval_policy=agent.policy,
eval_num_episodes=eval_num_episodes,
train_step=global_step,
eval_summary_writer=eval_summary_writer)
# Train agent
train_agent(tf_env=tf_env,
train_iterations=train_iterations,
global_step=global_step,
agent=agent,
dataset=dataset,
collect_driver=collect_driver,
train_metrics=train_metrics,
train_checkpointer=train_checkpointer,
train_checkpoint_interval=train_checkpoint_interval,
train_summary_writer=train_summary_writer,
train_summary_interval=train_summary_interval,
eval_summary_interval=eval_summary_interval,
eval_callback=eval_callback)
print("\n\n++++++++++ END OF TF_AGENTS RL TRAINING ++++++++++\n\n")
def train_eval(
# tensorboard files
root_dir,
# environment
env_name="Pendulum-v0",
random_seed=0,
# Params for collect
num_environment_steps=100000,
replay_buffer_capacity=1001, # Per-environment
# Params for eval
num_eval_episodes=30,
eval_interval=200,
# Params for summaries
summary_interval=50,
):
tf.compat.v1.set_random_seed(random_seed)
environment = TFPyEnvironment(suite_gym.load(env_name))
evaluation_environment = TFPyEnvironment(suite_gym.load(env_name))
critic_network = CriticNetwork(
input_tensor_spec=(environment.observation_spec(),
environment.action_spec()),
observation_fc_layer_params=None,
action_fc_layer_params=None,
joint_fc_layer_params=(200, 100),
)
actor_network = ActorNetwork(
input_tensor_spec=environment.observation_spec(),
output_tensor_spec=environment.action_spec(),
fc_layer_params=(200, 100),
)
global_step = tf.compat.v1.train.get_or_create_global_step()
agent = DdpgAgent(
time_step_spec=environment.time_step_spec(),
action_spec=environment.action_spec(),
critic_network=critic_network,
actor_network=actor_network,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(),
train_step_counter=global_step,
)
agent_trainer = OffPolicyModelFreeAgentTrainer(1, 256)
experiment_harness = ExperimentHarness(
root_dir,
environment,
evaluation_environment,
agent,
agent_trainer,
replay_buffer_capacity,
num_environment_steps,
summary_interval,
eval_interval,
num_eval_episodes,
number_of_initial_random_policy_steps=0,
use_tf_function=True,
)
experiment_harness.run()
class TrainDDQN():
"""Wrapper for DDQN training, validation, saving etc."""
def __init__(self,
episodes: int,
warmup_steps: int,
learning_rate: float,
gamma: float,
min_epsilon: float,
decay_episodes: int,
model_path: str = None,
log_dir: str = None,
batch_size: int = 64,
memory_length: int = None,
collect_steps_per_episode: int = 1,
val_every: int = None,
target_update_period: int = 1,
target_update_tau: float = 1.0,
progressbar: bool = True,
n_step_update: int = 1,
gradient_clipping: float = 1.0,
collect_every: int = 1) -> None:
"""
Wrapper to make training easier.
Code is partly based of https://www.tensorflow.org/agents/tutorials/1_dqn_tutorial
:param episodes: Number of training episodes
:type episodes: int
:param warmup_steps: Number of episodes to fill Replay Buffer with random state-action pairs before training starts
:type warmup_steps: int
:param learning_rate: Learning Rate for the Adam Optimizer
:type learning_rate: float
:param gamma: Discount factor for the Q-values
:type gamma: float
:param min_epsilon: Lowest and final value for epsilon
:type min_epsilon: float
:param decay_episodes: Amount of episodes to decay from 1 to `min_epsilon`
:type decay_episodes: int
:param model_path: Location to save the trained model
:type model_path: str
:param log_dir: Location to save the logs, usefull for TensorBoard
:type log_dir: str
:param batch_size: Number of samples in minibatch to train on each step
:type batch_size: int
:param memory_length: Maximum size of the Replay Buffer
:type memory_length: int
:param collect_steps_per_episode: Amount of data to collect for Replay Buffer each episiode
:type collect_steps_per_episode: int
:param collect_every: Step interval to collect data during training
:type collect_every: int
:param val_every: Validate the model every X episodes using the `collect_metrics()` function
:type val_every: int
:param target_update_period: Update the target Q-network every X episodes
:type target_update_period: int
:param target_update_tau: Parameter for softening the `target_update_period`
:type target_update_tau: float
:param progressbar: Enable or disable the progressbar for collecting data and training
:type progressbar: bool
:return: None
:rtype: NoneType
"""
self.episodes = episodes # Total episodes
self.warmup_steps = warmup_steps # Amount of warmup steps before training
self.batch_size = batch_size # Batch size of Replay Memory
self.collect_steps_per_episode = collect_steps_per_episode # Amount of steps to collect data each episode
self.collect_every = collect_every # Step interval to collect data during training
self.learning_rate = learning_rate # Learning Rate
self.gamma = gamma # Discount factor
self.min_epsilon = min_epsilon # Minimal chance of choosing random action
self.decay_episodes = decay_episodes # Number of episodes to decay from 1.0 to `EPSILON`
self.target_update_period = target_update_period # Period for soft updates
self.target_update_tau = target_update_tau
self.progressbar = progressbar # Enable or disable the progressbar for collecting data and training
self.n_step_update = n_step_update
self.gradient_clipping = gradient_clipping # Clip the loss
self.compiled = False
NOW = datetime.now().strftime("%Y%m%d_%H%M%S")
if memory_length is not None:
self.memory_length = memory_length # Max Replay Memory length
else:
self.memory_length = warmup_steps
if val_every is not None:
self.val_every = val_every # Validate the policy every `val_every` episodes
else:
self.val_every = self.episodes // min(
50, self.episodes
) # Can't validate the model 50 times if self.episodes < 50
if model_path is not None:
self.model_path = model_path
else:
self.model_path = "./models/" + NOW + ".pkl"
if log_dir is None:
log_dir = "./logs/" + NOW
self.writer = tf.summary.create_file_writer(log_dir)
def compile_model(self,
X_train,
y_train,
layers: list = [],
imb_ratio: float = None,
loss_fn=common.element_wise_squared_loss) -> None:
"""Initializes the neural networks, DDQN-agent, collect policies and replay buffer.
:param X_train: Training data for the model.
:type X_train: np.ndarray
:param y_train: Labels corresponding to `X_train`. 1 for the positive class, 0 for the negative class.
:param y_train: np.ndarray
:param layers: List of layers to feed into the TF-agents custom Sequential(!) layer.
:type layers: list
:param imb_ratio: The imbalance ratio of the data.
:type imb_ratio: float
:param loss_fn: Callable loss function
:type loss_fn: tf.compat.v1.losses
:return: None
:rtype: NoneType
"""
if imb_ratio is None:
imb_ratio = imbalance_ratio(y_train)
self.train_env = TFPyEnvironment(
ClassifierEnv(X_train, y_train, imb_ratio))
self.global_episode = tf.Variable(
0, name="global_episode", dtype=np.int64,
trainable=False) # Global train episode counter
# Custom epsilon decay: https://github.com/tensorflow/agents/issues/339
epsilon_decay = tf.compat.v1.train.polynomial_decay(
1.0,
self.global_episode,
self.decay_episodes,
end_learning_rate=self.min_epsilon)
self.q_net = Sequential(layers, self.train_env.observation_spec())
self.agent = DdqnAgent(
self.train_env.time_step_spec(),
self.train_env.action_spec(),
q_network=self.q_net,
optimizer=Adam(learning_rate=self.learning_rate),
td_errors_loss_fn=loss_fn,
train_step_counter=self.global_episode,
target_update_period=self.target_update_period,
target_update_tau=self.target_update_tau,
gamma=self.gamma,
epsilon_greedy=epsilon_decay,
n_step_update=self.n_step_update,
gradient_clipping=self.gradient_clipping)
self.agent.initialize()
self.random_policy = RandomTFPolicy(self.train_env.time_step_spec(),
self.train_env.action_spec())
self.replay_buffer = TFUniformReplayBuffer(
data_spec=self.agent.collect_data_spec,
batch_size=self.train_env.batch_size,
max_length=self.memory_length)
self.warmup_driver = DynamicStepDriver(
self.train_env,
self.random_policy,
observers=[self.replay_buffer.add_batch],
num_steps=self.warmup_steps) # Uses a random policy
self.collect_driver = DynamicStepDriver(
self.train_env,
self.agent.collect_policy,
observers=[self.replay_buffer.add_batch],
num_steps=self.collect_steps_per_episode
) # Uses the epsilon-greedy policy of the agent
self.agent.train = common.function(self.agent.train) # Optimalization
self.warmup_driver.run = common.function(self.warmup_driver.run)
self.collect_driver.run = common.function(self.collect_driver.run)
self.compiled = True
def train(self, *args) -> None:
"""Starts the training of the model. Includes warmup period, metrics collection and model saving.
:param *args: All arguments will be passed to `collect_metrics()`.
This can be usefull to pass callables, testing environments or validation data.
Overwrite the TrainDDQN.collect_metrics() function to use your own *args.
:type *args: Any
:return: None
:rtype: NoneType, last step is saving the model as a side-effect
"""
assert self.compiled, "Model must be compiled with model.compile_model(X_train, y_train, layers) before training."
# Warmup period, fill memory with random actions
if self.progressbar:
print(
f"\033[92mCollecting data for {self.warmup_steps:_} steps... This might take a few minutes...\033[0m"
)
self.warmup_driver.run(
time_step=None,
policy_state=self.random_policy.get_initial_state(
self.train_env.batch_size))
if self.progressbar:
print(
f"\033[92m{self.replay_buffer.num_frames():_} frames collected!\033[0m"
)
dataset = self.replay_buffer.as_dataset(
sample_batch_size=self.batch_size,
num_steps=self.n_step_update + 1,
num_parallel_calls=data.experimental.AUTOTUNE).prefetch(
data.experimental.AUTOTUNE)
iterator = iter(dataset)
def _train():
experiences, _ = next(iterator)
return self.agent.train(experiences).loss
_train = common.function(_train) # Optimalization
ts = None
policy_state = self.agent.collect_policy.get_initial_state(
self.train_env.batch_size)
self.collect_metrics(*args) # Initial collection for step 0
pbar = tqdm(total=self.episodes,
disable=(not self.progressbar),
desc="Training the DDQN") # TQDM progressbar
for _ in range(self.episodes):
if not self.global_episode % self.collect_every:
# Collect a few steps using collect_policy and save to `replay_buffer`
if self.collect_steps_per_episode != 0:
ts, policy_state = self.collect_driver.run(
time_step=ts, policy_state=policy_state)
pbar.update(
self.collect_every
) # More stable TQDM updates, collecting could take some time
# Sample a batch of data from `replay_buffer` and update the agent's network
train_loss = _train()
if not self.global_episode % self.val_every:
with self.writer.as_default():
tf.summary.scalar("train_loss",
train_loss,
step=self.global_episode)
self.collect_metrics(*args)
pbar.close()
def collect_metrics(self,
X_val: np.ndarray,
y_val: np.ndarray,
save_best: str = None):
"""Collects metrics using the trained Q-network.
:param X_val: Features of validation data, same shape as X_train
:type X_val: np.ndarray
:param y_val: Labels of validation data, same shape as y_train
:type y_val: np.ndarray
:param save_best: Saving the best model of all validation runs based on given metric:
Choose one of: {Gmean, F1, Precision, Recall, TP, TN, FP, FN}
This improves stability since the model at the last episode is not guaranteed to be the best model.
:type save_best: str
"""
y_pred = network_predictions(self.agent._target_q_network, X_val)
stats = classification_metrics(y_val, y_pred)
avgQ = np.mean(decision_function(self.agent._target_q_network,
X_val)) # Max action for each x in X
if save_best is not None:
if not hasattr(self, "best_score"): # If no best model yet
self.best_score = 0.0
if stats.get(save_best) >= self.best_score: # Overwrite best model
self.save_network(
) # Saving directly to avoid shallow copy without trained weights
self.best_score = stats.get(save_best)
with self.writer.as_default():
tf.summary.scalar(
"AverageQ", avgQ,
step=self.global_episode) # Average Q-value for this epoch
for k, v in stats.items():
tf.summary.scalar(k, v, step=self.global_episode)
def evaluate(self, X_test, y_test, X_train=None, y_train=None):
"""
Final evaluation of trained Q-network with X_test and y_test.
Optional PR and ROC curve comparison to X_train, y_train to ensure no overfitting is taking place.
:param X_test: Features of test data, same shape as X_train
:type X_test: np.ndarray
:param y_test: Labels of test data, same shape as y_train
:type y_test: np.ndarray
:param X_train: Features of train data
:type X_train: np.ndarray
:param y_train: Labels of train data
:type y_train: np.ndarray
"""
if hasattr(self, "best_score"):
print(f"\033[92mBest score: {self.best_score:6f}!\033[0m")
network = self.load_network(
self.model_path) # Load best saved model
else:
network = self.agent._target_q_network # Load latest target model
if (X_train is not None) and (y_train is not None):
plot_pr_curve(network, X_test, y_test, X_train, y_train)
plot_roc_curve(network, X_test, y_test, X_train, y_train)
y_pred = network_predictions(network, X_test)
return classification_metrics(y_test, y_pred)
def save_network(self):
"""Saves Q-network as pickle to `model_path`."""
with open(self.model_path, "wb") as f: # Save Q-network as pickle
pickle.dump(self.agent._target_q_network, f)
@staticmethod
def load_network(fp: str):
"""Static method to load Q-network pickle from given filepath.
:param fp: Filepath to the saved pickle of the network
:type fp: str
:returns: The network-object loaded from a pickle file.
:rtype: tensorflow.keras.models.Model
"""
with open(fp, "rb") as f: # Load the Q-network
network = pickle.load(f)
return network
def create_bellman_pets_agent(
env: TFPyEnvironment,
agent_name: str = 'PETS_Agent',
debug: bool = False, # REQUIRED?
reward_model_class: RewardModel = None,
initial_state_distribution_model_class:
InitialStateDistributionModel = None,
training_step_counter: Optional[Any] = None,
agent_params: Optional[Dict[str, Any]] = None) -> PetsAgent:
"""
Function for creating a Bellman PETS agent in line with the Bellman
implementation.
This function builds an action network and uses this to instantiate the agent which is returned.
:param env: TensorFlow Environment implementing the ControlledRandomWalk.
:param num_epochs: Number of epochs for computing policy updates.
:param agent_name: Name for the agent to aid in identifying TensorFlow variables etc. when
debugging.
:param debug: Flag which toggles debugging in the PETS agent.
:param reward_model_class: CRWRewardModel, dummy variable, currently extracted from env
:param initial_state_distribution_model_class: CRWStateInitialiser, dummy variable, currently extracted from env
:param training_step_counter: An optional counter to increment every time the train op of the
agent is run. If None if provided it defaults to the global_step.
:param agent_params: A dictionary of possible overrides for the default TF-Agents agent set up.
:return: An instance of Bellman PETS agent.
"""
# Process the action specification to attain the dimensions of the action subspaces to ensure
# that in the case that there is only one resource set (and therefore only one action subspace)
# the tuple of action specifications of length one is replaced by a single action specification.
# This is to align with the fact that the actor network is implemented to return a tuple of
# (OneHotCategorical) distributions (one for each resource set) where there are multiple action
# subspaces and a single distribution (tfp.distributions.OneHotCategorical) otherwise.
# First attain the action spec.
# action_spec = env.action_spec()
# Extract the shape of the subspaces from the action specification tuple.
# Action spaces are defined with shape (1, num_actions_for_resource_set) so take the -1th entry.
# action_subspace_dimensions = tuple(int(subspace.shape[-1]) for subspace in action_spec)
# # Then test if there is only one action subspace.
# if len(action_spec) == 1:
# # Pull out the only action spec.
# action_spec = action_spec[0]
if agent_params is None:
agent_params = dict()
callbacks = [tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)]
# initializing given MDP components
# NOTE: hacked for the time being, using quantities directly from the environment for now
reward_model = reward_model_class(env.observation_spec(),
env.action_spec(), env)
initial_state_distribution_model = initial_state_distribution_model_class(
env)
# Set up the PETS agent in line with Bellman toolbox
agent = PetsAgent(
time_step_spec=env.time_step_spec(),
action_spec=env.action_spec(),
transition_model_type=agent_params.get(
'transition_model_type',
TransitionModelType.DeterministicEnsemble),
num_hidden_layers=agent_params.get('num_hidden_layers', 3),
num_hidden_nodes=agent_params.get('num_hidden_nodes', 250),
activation_function=agent_params.get('activation_function',
tf.nn.relu),
ensemble_size=agent_params.get('ensemble_size', 5),
predict_state_difference=agent_params.get('predict_state_difference',
True),
epochs=agent_params.get('epochs', 100),
training_batch_size=agent_params.get('training_batch_size', 32),
callbacks=agent_params.get('callbacks', callbacks),
reward_model=reward_model,
initial_state_distribution_model=initial_state_distribution_model,
trajectory_sampler_type=gent_params.get('trajectory_sampler_type',
TrajectorySamplerType.TS1),
trajectory_optimization_type=agent_params.get(
'trajectory_optimization_type',
TrajectoryOptimizationType.RandomShooting),
horizon=agent_params.get('horizon', 25),
population_size=agent_params.get('population_size', 2500),
number_of_particles=agent_params.get('number_of_particles', 1),
num_elites=agent_params.get('num_elites', 40),
learning_rate=agent_params.get('learning_rate', 0.9),
max_iterations=agent_params.get('max_iterations', 5),
train_step_counter=training_step_counter,
)
return agent
max_episode_steps = 27000 # <=> 108k ALE fromes since 1 step = 4 frames
environment_name = "BreakoutNoFrameskip-v4"
env = suite_gym.load(
environment_name,
max_episode_steps=max_episode_steps,
gym_env_wrappers=[AtariPreprocessing, FrameStack4])
tf_env = TFPyEnvironment(env)
preprocessing_layer = keras.layers.Lambda(lambda obs: tf.cast(obs, np.float32) / 255.)
conv_layer_params = [(32,(8,8),4), (64,(4,4), 2), (64, (3,3), 1)]
fc_layer_params = [512]
q_net = QNetwork(
tf_env.observation_spec(),
tf_env.action_spec(),
preprocessing_layers=preprocessing_layer,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params)
train_step = tf.Variable(0)
update_period = 4 # train the model every 4 steps
optimizer = keras.optimizers.RMSprop(lr=2.5e-4, rho=0.95, momentum=0.0, epsilon=0.00001, centered=True)
epsilon_fn = keras.optimizers.schedules.PolynomialDecay(initial_learning_rate=1.0, decay_steps= 250000, end_learning_rate=0.01)
agent = DqnAgent(tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
optimizer=optimizer,
target_update_period=2000,
gpu = tf.config.experimental.list_physical_devices('GPU')[0]
tf.config.experimental.set_memory_growth(gpu, True)
# 1. Creating the tf-environment for training.
carla_environment = CarlaEnvironment()
train_env = TFPyEnvironment(environment=carla_environment)
# 2. Constructing the Categorical QNetworks: Online & Target.
# Default Activation Function: "Gelu".
# Default Weight Initialization: "He (Xavier) Initialization".
fc_layer_units = [128, 128]
conv_layer_units = [ (4, 3, 1) ]
num_atoms = 51
online_q_net = CategoricalQNetwork(
input_tensor_spec=train_env.observation_spec(),
action_spec=train_env.action_spec(),
num_atoms=num_atoms,
conv_layer_params=conv_layer_units,
fc_layer_params=fc_layer_units,
activation_fn=GELU()
)
target_q_net = CategoricalQNetwork(
input_tensor_spec=train_env.observation_spec(),
action_spec=train_env.action_spec(),
num_atoms=num_atoms,
conv_layer_params=conv_layer_units,
fc_layer_params=fc_layer_units,
activation_fn=GELU()
)
def create_ppo_agent(
env: TFPyEnvironment,
num_epochs: int = 10,
gamma: float = 0.99,
agent_name: str = 'PPO_Agent',
debug: bool = False,
training_step_counter: Optional[Any] = None,
agent_params: Optional[Dict[str, Any]] = None) -> PPOAgent:
"""
Function for creating a Proximal Policy Optimisation agent in line with the TensorFlow Agents
implementation.
This function builds an action network and uses this to instantiate the agent which is returned.
:param env: TensorFlow Environment implementing the ControlledRandomWalk.
:param num_epochs: Number of epochs for computing policy updates.
:param gamma: Discount factor.
:param agent_name: Name for the agent to aid in identifying TensorFlow variables etc. when
debugging.
:param debug: Flag which toggles debugging in the PPO agent.
:param training_step_counter: An optional counter to increment every time the train op of the
agent is run. If None if provided it defaults to the global_step.
:param agent_params: A dictionary of possible overrides for the default TF-Agents agent set up.
:return: An instance of TensorFlow Agents PPO agent.
"""
# Process the action specification to attain the dimensions of the action subspaces to ensure
# that in the case that there is only one resource set (and therefore only one action subspace)
# the tuple of action specifications of length one is replaced by a single action specification.
# This is to align with the fact that the actor network is implemented to return a tuple of
# (OneHotCategorical) distributions (one for each resource set) where there are multiple action
# subspaces and a single distribution (tfp.distributions.OneHotCategorical) otherwise.
# First attain the action spec.
action_spec = env.action_spec()
# Extract the shape of the subspaces from the action specification tuple.
# Action spaces are defined with shape (1, num_actions_for_resource_set) so take the -1th entry.
action_subspace_dimensions = tuple(
int(subspace.shape[-1]) for subspace in action_spec)
# Then test if there is only one action subspace.
if len(action_spec) == 1:
# Pull out the only action spec.
action_spec = action_spec[0]
if agent_params is None:
agent_params = dict()
# Set up the action network. See `multi_headed_softmax_policy.py` for details.
actor_network = MultiHeadedCategoricalActionNetwork(
input_tensor_spec=env.observation_spec(),
output_tensor_spec=action_spec,
action_subspace_dimensions=action_subspace_dimensions,
hidden_units=agent_params.get('hidden_units', (64, )))
# PPO Requires a value network, we set one up using the default tf_agents set up.
value_network = tf_agents.networks.value_network.ValueNetwork(
env.observation_spec(),
fc_layer_params=agent_params.get('value_fc_layer_params', (128, 64)),
activation_fn=agent_params.get('value_net_activation_fn', tf.nn.tanh))
# Set up the PPO agent in line with standard tf_agents.
agent = PPOAgent(
time_step_spec=env.time_step_spec(),
action_spec=action_spec,
actor_net=actor_network,
optimizer=tf.compat.v1.train.AdamOptimizer(
agent_params.get('learning_rate', 0.001)),
value_net=value_network,
importance_ratio_clipping=agent_params.get('importance_ratio_clipping',
0.0),
lambda_value=agent_params.get('lambda_value', 0.95),
discount_factor=gamma,
policy_l2_reg=agent_params.get('policy_l2_reg', 0.0),
value_function_l2_reg=agent_params.get('value_function_l2_reg', 0.0),
value_pred_loss_coef=agent_params.get('value_pred_loss_coef', 0.5),
num_epochs=num_epochs,
use_gae=agent_params.get('use_gae', False),
use_td_lambda_return=agent_params.get('use_td_lambda_return', False),
normalize_rewards=agent_params.get('normalise_rewards', True),
reward_norm_clipping=agent_params.get('reward_norm_clipping', 10),
kl_cutoff_factor=agent_params.get('kl_cutoff_factor', 2.0),
kl_cutoff_coef=agent_params.get('kl_cutoff_coef', 1000),
initial_adaptive_kl_beta=agent_params.get('initial_adaptive_kl_beta',
1.0),
adaptive_kl_target=agent_params.get('adaptive_kl_target', 0.01),
adaptive_kl_tolerance=agent_params.get('adaptive_kl_tolerance', 0.3),
normalize_observations=agent_params.get('normalize_observations',
True),
gradient_clipping=agent_params.get('gradient_clipping', None),
debug_summaries=debug,
summarize_grads_and_vars=debug,
check_numerics=agent_params.get('check_numerics', False),
entropy_regularization=agent_params.get('entropy_regularization', 0.0),
train_step_counter=training_step_counter,
name=agent_name)
return agent
BATCH_SIZE = 256 # Batch size (for replay buffer)
BUFFER_LENGTH = 131072 # Maximum number of steps in the buffer
STEPS_PER_ITER = 4096 # Steps collected per iteration (driver)
N_ITERATIONS = 1000 # Number of training iterations per session
EVAL_MAX_STEPS = 1000 # Maximum number of env steps during evaluation
COLLECT_RANDOM = True # Use random policy to collect data
if __name__ == '__main__':
# Create global step counter
global_step = tf.compat.v1.train.get_or_create_global_step()
# Create a dummy environment with no policy, just to extract the specs
dummy_env = TFPyEnvironment(NineMensMorris(None, discount=DISCOUNT))
# Create Q Network
q_net = QNetwork(input_tensor_spec=dummy_env.observation_spec(),
action_spec=dummy_env.action_spec(),
fc_layer_params=(100, 600, 600, 1200, 1200, 1200, 1200, 1200, 1200, 1200, 600, 600),
dropout_layer_params=(None, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.3, 0.3, 0.2, 0.1, None))
# Create agent
agent = DdqnAgent(time_step_spec=dummy_env.time_step_spec(),
action_spec=dummy_env.action_spec(),
q_network=q_net,
optimizer=Adam(learning_rate=1e-4),
td_errors_loss_fn=common.element_wise_squared_loss,
epsilon_greedy=0.1,
train_step_counter=global_step)
# Initialize agent
agent.initialize()
# Wrap the training function in a TF graph
# timestep = tf_env.step(np.array(np.random.choice([0,1,2,3]), dtype= np.int32))
# if(timestep.is_last()):
# print("game over", i)
# break
# tf_env.render(mode = "human")
# time.sleep(0.2)
preprocessing_layers = keras.layers.Lambda(
lambda obs: tf.cast(obs, np.float32) / 255.)
print("after preprocessing layer")
conv_layer_params = [(32, (8, 8), 4), (64, (4, 4), 2), (64, (3, 3), 1)]
fc_layer_params = [512]
q_net = QNetwork(tf_env.observation_spec(),
tf_env.action_spec(),
preprocessing_layers=preprocessing_layers,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params)
train_step = tf.Variable(0)
update_period = 4
optimizer = keras.optimizers.RMSprop(lr=2.5e-4,
rho=0.95,
momentum=0.0,
epsilon=0.00001,
centered=True)
print("Before Epsilon function")
epsilon_fn = keras.optimizers.schedules.PolynomialDecay(
# env = suite_gym.load(env_name)
# print(env.type)
def create_env():
return suite_gym.load(env_name)
parallel_env = ParallelPyEnvironment(
[create_env] * 4
)
train_env = TFPyEnvironment(parallel_env)
# train_env = TFPyEnvironment(suite_gym.load(env_name))
eval_env = TFPyEnvironment(suite_gym.load(env_name))
fc_layer_params = (100,)
q_net = QNetwork(
train_env.observation_spec(),
train_env.action_spec(),
fc_layer_params=fc_layer_params
)
train_step_counter = tf.Variable(0)
agent = DqnAgent(
train_env.time_step_spec(),
train_env.action_spec(),
q_network=q_net,
optimizer=Adam(learning_rate=LEARNING_RATE),
td_errors_loss_fn=common.element_wise_squared_loss,
train_step_counter=train_step_counter
)
agent.initialize()
- no impule: red
- right impulse: green
In these state-space plots, the x-axis is the agents position and the y-axis is the velocity.
"""
# %%
batch_size = 64
training_spec = KerasTrainingSpec(
epochs=5000,
training_batch_size=256,
callbacks=[tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)],
verbose=0,
)
linear_transition_network = LinearTransitionNetwork(tf_env.observation_spec())
trajectory_sampling_strategy = InfiniteHorizonTrajectorySampling(batch_size, 1)
transition_model = KerasTransitionModel(
[linear_transition_network],
tf_env.observation_spec(),
tf_env.action_spec(),
)
reward_model = ConstantReward(tf_env.observation_spec(), tf_env.action_spec())
sample_transitions = sample_uniformly_distributed_transitions(
transition_model, 1000, reward_model
)
# %%
plot_mountain_car_transitions(
sample_transitions.observation.numpy(),
sample_transitions.action.numpy(),
def test_all_mepo_variants_work(transition_model, trajectory_sampler,
model_free_agent_type):
"""
Mepo Agent has prespecified transition model, trajectory sampler and model-free agent
types. Here we check that all combinations execute without errors.
"""
# setup the environment and a prespecified model components
py_env = suite_gym.load("MountainCarContinuous-v0")
tf_env = TFPyEnvironment(py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = tf_env.observation_spec()
action_spec = tf_env.action_spec()
reward_model = MountainCarReward(observation_spec, action_spec)
initial_state_distribution_model = MountainCarInitialState(
observation_spec)
# some parameters need to be set correctly
ensemble_size = 2
num_elites = 10
population_size = num_elites + 10
horizon = 1
# define agent, many transition model and trajectory optimiser parameters can
# be arbitrary
agent = MepoAgent(
time_step_spec,
action_spec,
transition_model,
1,
10,
tf.nn.relu,
ensemble_size,
False,
1,
1,
[tf.keras.callbacks.EarlyStopping(monitor="loss", patience=3)],
reward_model,
initial_state_distribution_model,
trajectory_sampler,
horizon,
population_size,
model_free_agent_type,
1,
10,
tf.nn.relu,
2,
)
# we need some training data
random_policy = RandomTFPolicy(
time_step_spec,
action_spec,
info_spec=agent.collect_policy.info_spec,
)
model_training_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
random_policy.trajectory_spec, batch_size=1, max_length=1000)
collect_driver_random_policy = TFDriver(
tf_env,
random_policy,
observers=[model_training_buffer.add_batch],
max_steps=10,
disable_tf_function=True,
)
initial_time_step = tf_env.reset()
collect_driver_random_policy.run(initial_time_step)
pets_agent_trainer = BackgroundPlanningAgentTrainer(10, 10)
tf_training_scheduler = pets_agent_trainer.create_training_scheduler(
agent, model_training_buffer)
training_losses = tf_training_scheduler.maybe_train(
tf.constant(10, dtype=tf.int64))
assert EnvironmentModelComponents.TRANSITION in training_losses
# test the agent
collect_driver_planning_policy = TFDriver(
tf_env,
agent.collect_policy,
observers=[model_training_buffer.add_batch],
max_steps=10,
disable_tf_function=True,
)
time_step = tf_env.reset()
collect_driver_planning_policy.run(time_step)
carla_environment = CarlaEnvironment(log_dir='validation_log4/')
eval_env = TFPyEnvironment(environment=carla_environment)
# Allowing tensorflow to expand in physical memory, if it fails to allocate memory in GPU.
gpu = tf.config.experimental.list_physical_devices('GPU')[0]
tf.config.experimental.set_memory_growth(gpu, True)
# 2. Constructing the Categorical QNetworks: Online & Target.
# Default Activation Function: "Gelu".
# Default Weight Initialization: "He (Xavier) Initialization".
fc_layer_units = [128, 128]
conv_layer_units = [(4, 3, 1)]
num_atoms = 51
online_q_net = CategoricalQNetwork(
input_tensor_spec=eval_env.observation_spec(),
action_spec=eval_env.action_spec(),
num_atoms=num_atoms,
conv_layer_params=conv_layer_units,
fc_layer_params=fc_layer_units,
activation_fn=GELU())
target_q_net = CategoricalQNetwork(
input_tensor_spec=eval_env.observation_spec(),
action_spec=eval_env.action_spec(),
num_atoms=num_atoms,
conv_layer_params=conv_layer_units,
fc_layer_params=fc_layer_units,
activation_fn=GELU())
# Defining train_step, which will be used to store the current step.
train_step = tf.Variable(initial_value=0)
def breakout_v4(seed=42):
env = suite_gym.load("Breakout-v4")
env.seed(seed)
env.reset()
repeating_env = ActionRepeat(env, times=4)
for name in dir(tf_agents.environments.wrappers):
obj = getattr(tf_agents.environments.wrappers, name)
if hasattr(obj, "__base__") and issubclass(
obj, tf_agents.environments.wrappers.PyEnvironmentBaseWrapper):
print("{:27s} {}".format(name, obj.__doc__.split("\n")[0]))
limited_repeating_env = suite_gym.load(
"Breakout-v4",
gym_env_wrappers=[partial(TimeLimit, max_episode_steps=10000)],
env_wrappers=[partial(ActionRepeat, times=4)],
)
max_episode_steps = 27000 # <=> 108k ALE frames since 1 step = 4 frames
environment_name = "BreakoutNoFrameskip-v4"
env = suite_atari.load(
environment_name,
max_episode_steps=max_episode_steps,
gym_env_wrappers=[AtariPreprocessing, FrameStack4],
)
env.seed(42)
env.reset()
time_step = env.step(np.array(1)) # FIRE
for _ in range(4):
time_step = env.step(np.array(3)) # LEFT
def plot_observation(obs):
# Since there are only 3 color channels, you cannot display 4 frames
# with one primary color per frame. So this code computes the delta between
# the current frame and the mean of the other frames, and it adds this delta
# to the red and blue channels to get a pink color for the current frame.
obs = obs.astype(np.float32)
img_ = obs[..., :3]
current_frame_delta = np.maximum(
obs[..., 3] - obs[..., :3].mean(axis=-1), 0.0)
img_[..., 0] += current_frame_delta
img_[..., 2] += current_frame_delta
img_ = np.clip(img_ / 150, 0, 1)
plt.imshow(img_)
plt.axis("off")
plt.figure(figsize=(6, 6))
plot_observation(time_step.observation)
plt.tight_layout()
plt.savefig("./images/preprocessed_breakout_plot.png",
format="png",
dpi=300)
plt.show()
tf_env = TFPyEnvironment(env)
preprocessing_layer = keras.layers.Lambda(
lambda obs: tf.cast(obs, np.float32) / 255.0)
conv_layer_params = [(32, (8, 8), 4), (64, (4, 4), 2), (64, (3, 3), 1)]
fc_layer_params = [512]
q_net = QNetwork(
tf_env.observation_spec(),
tf_env.action_spec(),
preprocessing_layers=preprocessing_layer,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params,
)
# see TF-agents issue #113
# optimizer = keras.optimizers.RMSprop(lr=2.5e-4, rho=0.95, momentum=0.0,
# epsilon=0.00001, centered=True)
train_step = tf.Variable(0)
update_period = 4 # run a training step every 4 collect steps
optimizer = tf.compat.v1.train.RMSPropOptimizer(learning_rate=2.5e-4,
decay=0.95,
momentum=0.0,
epsilon=0.00001,
centered=True)
epsilon_fn = keras.optimizers.schedules.PolynomialDecay(
initial_learning_rate=1.0, # initial ε
decay_steps=250000 // update_period, # <=> 1,000,000 ALE frames
end_learning_rate=0.01,
) # final ε
agent = DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
optimizer=optimizer,
target_update_period=2000, # <=> 32,000 ALE frames
td_errors_loss_fn=keras.losses.Huber(reduction="none"),
gamma=0.99, # discount factor
train_step_counter=train_step,
epsilon_greedy=lambda: epsilon_fn(train_step),
)
agent.initialize()
from tf_agents.replay_buffers import tf_uniform_replay_buffer
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=1000000)
replay_buffer_observer = replay_buffer.add_batch
class ShowProgress:
def __init__(self, total):
self.counter = 0
self.total = total
def __call__(self, trajectory):
if not trajectory.is_boundary():
self.counter += 1
if self.counter % 100 == 0:
print("\r{}/{}".format(self.counter, self.total), end="")
from tf_agents.metrics import tf_metrics
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
from tf_agents.eval.metric_utils import log_metrics
import logging
logging.getLogger().setLevel(logging.INFO)
log_metrics(train_metrics)
from tf_agents.drivers.dynamic_step_driver import DynamicStepDriver
collect_driver = DynamicStepDriver(
tf_env,
agent.collect_policy,
observers=[replay_buffer_observer] + train_metrics,
num_steps=update_period,
) # collect 4 steps for each training iteration
from tf_agents.policies.random_tf_policy import RandomTFPolicy
initial_collect_policy = RandomTFPolicy(tf_env.time_step_spec(),
tf_env.action_spec())
init_driver = DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer.add_batch,
ShowProgress(20000)],
num_steps=20000,
) # <=> 80,000 ALE frames
final_time_step, final_policy_state = init_driver.run()
def get_env_specs(c):
dummy_env= TFPyEnvironment(StockEnvBasic(**c.default_env))
return dummy_env.observation_spec(),dummy_env.action_spec()
eval_interval = 100
if __name__ == '__main__':
# Load the environments
eval_py_env = get_env()
eval_env = TFPyEnvironment(eval_py_env)
train_env = TFPyEnvironment(
ParallelPyEnvironment([get_env] * 4, start_serially=False))
# Create a global step
global_step = tf.compat.v1.train.get_or_create_global_step()
# Create the actor network (with the normal distribution)
actor_net = ActorDistributionNetwork(
input_tensor_spec=train_env.observation_spec(),
output_tensor_spec=train_env.action_spec(),
fc_layer_params=(128, 256, 512, 512, 256),
continuous_projection_net=normal_net)
# Create the value network
value_net = ValueNetwork(input_tensor_spec=train_env.observation_spec(),
fc_layer_params=(256, 512, 512))
# Create the PPO agent
ppo_agent = PPOClipAgent(time_step_spec=train_env.time_step_spec(),
action_spec=train_env.action_spec(),
optimizer=Adam(learning_rate=5e-4),
actor_net=actor_net,
value_net=value_net,
importance_ratio_clipping=0.2,