def test_func(
test_q,
rank,
E,
p2,
args,
device,
tensorboard_dir,
):
torch.manual_seed(args.seed + rank)
np.random.seed(args.seed + rank)
print("set up Test process env")
temp_dir = os.path.join(tensorboard_dir, "test_{}".format(p2))
if not os.path.exists(temp_dir):
os.makedirs(temp_dir)
writer = SummaryWriter(log_dir=temp_dir)
# non_station evaluation
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif p2 == "Non-station":
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.test_episode,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=p2)
obs_dim = env.observation_space.shape[0]
act_dim = env.action_space.n
ac_kwargs = dict(hidden_sizes=[args.hid] * args.l)
if args.cpc:
local_ac = MLPActorCritic(obs_dim + args.c_dim, act_dim, **ac_kwargs)
else:
local_ac = MLPActorCritic(obs_dim, act_dim, **ac_kwargs)
env.close()
del env
# Main loop: collect experience in env and update/log each epoch
while E.value() <= args.episode:
received_obj = test_q.get()
e = E.value()
print("TEST Process {} loaded new mode".format(rank))
model_dict = deepcopy(received_obj)
local_ac.load_state_dict(model_dict)
del received_obj
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif p2 == "Non-station":
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.test_episode,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=p2)
print("TESTING process {} start to test, opp: {}".format(rank, p2))
m_score, win_rate, steps = test_proc(local_ac, env, args, device)
test_summary(p2, steps, m_score, win_rate, writer, args, e)
env.close()
del env
print("TESTING process {} finished, opp: {}".format(rank, p2))
def test_func(
global_ac,
rank,
e,
p2,
args,
device,
tensorboard_dir,
):
torch.manual_seed(args.seed + rank)
np.random.seed(args.seed + rank)
print("set up Test process env")
temp_dir = os.path.join(tensorboard_dir, "test_{}".format(p2))
if not os.path.exists(temp_dir):
os.makedirs(temp_dir)
writer = SummaryWriter(log_dir=temp_dir)
# Main loop: collect experience in env and update/log each epoch
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif p2 == "Non-station":
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.test_episode,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=p2)
print("TESTING process {} start to test, opp: {}".format(rank, p2))
m_score, win_rate, steps = test_proc(global_ac, env, args, device)
test_summary(p2, steps, m_score, win_rate, writer, args, e)
env.close()
del env
print("TESTING process {} finished, opp: {}".format(rank, p2))
def test(global_model):
env = make_ftg_ram(env_name, p2=p2)
score = 0.0
print_interval = 20
n_epi = 0
while True:
n_epi += 1
done = False
s = env.reset()
while not done:
prob = global_model.pi(torch.from_numpy(s).float())
a = Categorical(prob).sample().item()
s_prime, r, done, info = env.step(a)
s = s_prime
score += r
if n_epi % print_interval == 0 and n_epi != 0:
print("# of episode :{}, avg score : {:.1f}".format(
n_epi, score / print_interval))
score = 0.0
[],
], [[], [], [], []], [[], [], [], []]
for e in range(2):
global_ac.load_state_dict(
torch.load(os.path.join(experiment_dir, model_para[e])))
global_ac.share_memory()
for index, p2 in enumerate(p2_list):
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif p2 == "Non-station":
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.test_episode,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=p2)
m_score, win_rate, steps = test_proc(global_ac, env, args,
torch.device("cpu"))
scores[index].append(m_score)
win_rates[index].append(win_rate)
rounds[index].append(e * 100)
env.close()
del env
print("First Round finished")
torch.save((
scores,
win_rates,
rounds,
), os.path.join(tensorboard_dir, "test_data_{}".format(e * 100)))
for index in range(len(scores)):
def sac_opp(
global_ac,
global_ac_targ,
global_cpc,
rank,
T,
E,
args,
scores,
wins,
buffer,
device=None,
tensorboard_dir=None,
):
torch.manual_seed(args.seed + rank)
np.random.seed(args.seed + rank)
# writer = GlobalSummaryWriter.getSummaryWriter()
tensorboard_dir = os.path.join(tensorboard_dir, str(rank))
if not os.path.exists(tensorboard_dir):
os.makedirs(tensorboard_dir)
writer = SummaryWriter(log_dir=tensorboard_dir)
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif args.non_station:
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.station_rounds,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=args.p2)
obs_dim = env.observation_space.shape[0]
act_dim = env.action_space.n
print("set up child process env")
local_ac = MLPActorCritic(obs_dim + args.c_dim, act_dim,
**dict(hidden_sizes=[args.hid] *
args.l)).to(device)
local_ac.load_state_dict(global_ac.state_dict())
print("local ac load global ac")
# Freeze target networks with respect to optimizers (only update via polyak averaging)
# Async Version
for p in global_ac_targ.parameters():
p.requires_grad = False
# Experience buffer
if args.cpc:
replay_buffer = ReplayBufferOppo(obs_dim=obs_dim,
max_size=args.replay_size,
encoder=global_cpc)
else:
replay_buffer = ReplayBuffer(obs_dim=obs_dim, size=args.replay_size)
# Entropy Tuning
target_entropy = -torch.prod(
torch.Tensor(env.action_space.shape).to(
device)).item() # heuristic value from the paper
alpha = max(local_ac.log_alpha.exp().item(),
args.min_alpha) if not args.fix_alpha else args.min_alpha
# Set up optimizers for policy and q-function
# Async Version
pi_optimizer = Adam(global_ac.pi.parameters(), lr=args.lr, eps=1e-4)
q1_optimizer = Adam(global_ac.q1.parameters(), lr=args.lr, eps=1e-4)
q2_optimizer = Adam(global_ac.q2.parameters(), lr=args.lr, eps=1e-4)
cpc_optimizer = Adam(global_cpc.parameters(), lr=args.lr, eps=1e-4)
alpha_optim = Adam([global_ac.log_alpha], lr=args.lr, eps=1e-4)
# Prepare for interaction with environment
o, ep_ret, ep_len = env.reset(), 0, 0
if args.cpc:
c_hidden = global_cpc.init_hidden(1, args.c_dim, use_gpu=args.cuda)
c1, c_hidden = global_cpc.predict(o, c_hidden)
assert len(c1.shape) == 3
c1 = c1.flatten().cpu().numpy()
all_embeddings = []
meta = []
trajectory = list()
p2 = env.p2
p2_list = [str(p2)]
discard = False
uncertainties = []
local_t, local_e = 0, 0
t = T.value()
e = E.value()
glod_input = list()
glod_target = list()
# Main loop: collect experience in env and update/log each epoch
while e <= args.episode:
with torch.no_grad():
# Until start_steps have elapsed, randomly sample actions
# from a uniform distribution for better exploration. Afterwards,
# use the learned policy.
if t > args.start_steps:
if args.cpc:
a = local_ac.get_action(np.concatenate((o, c1), axis=0),
device=device)
a_prob = local_ac.act(
torch.as_tensor(np.expand_dims(np.concatenate((o, c1),
axis=0),
axis=0),
dtype=torch.float32,
device=device))
else:
a = local_ac.get_action(o, greedy=True, device=device)
a_prob = local_ac.act(
torch.as_tensor(np.expand_dims(o, axis=0),
dtype=torch.float32,
device=device))
else:
a = env.action_space.sample()
a_prob = local_ac.act(
torch.as_tensor(np.expand_dims(o, axis=0),
dtype=torch.float32,
device=device))
uncertainty = ood_scores(a_prob).item()
# Step the env
o2, r, d, info = env.step(a)
if info.get('no_data_receive', False):
discard = True
ep_ret += r
ep_len += 1
# Ignore the "done" signal if it comes from hitting the time
# horizon (that is, when it's an artificial terminal signal
# that isn't based on the agent's state)
d = False if (ep_len == args.max_ep_len) or discard else d
glod_input.append(o), glod_target.append(a)
if args.cpc:
# changed the trace structure for further analysis
c2, c_hidden = global_cpc.predict(o2, c_hidden)
assert len(c2.shape) == 3
c2 = c2.flatten().cpu().numpy()
replay_buffer.store(np.concatenate((o, c1), axis=0), a, r,
np.concatenate((o2, c2), axis=0), d)
trajectory.append([o, a, r, o2, d, c1, c2, ep_len])
all_embeddings.append(c1)
meta.append([env.p2, local_e, ep_len, r, a, uncertainty])
c1 = c2
trajectory.append([o, a, r, o2, d, c1, c2])
else:
replay_buffer.store(o, a, r, o2, d)
# Super critical, easy to overlook step: make sure to update
# most recent observation!
o = o2
T.increment()
t = T.value()
local_t += 1
# End of trajectory handling
if d or (ep_len == args.max_ep_len) or discard:
replay_buffer.store(trajectory)
E.increment()
e = E.value()
local_e += 1
# logger.store(EpRet=ep_ret, EpLen=ep_len)
if info.get('win', False):
wins.append(1)
else:
wins.append(0)
scores.append(ep_ret)
m_score = np.mean(scores[-100:])
win_rate = np.mean(wins[-100:])
print(
"Process {}, opponent:{}, # of global_episode :{}, # of global_steps :{}, round score: {}, mean score : {:.1f}, win_rate:{}, steps: {}, alpha: {}"
.format(rank, args.p2, e, t, ep_ret, m_score, win_rate, ep_len,
alpha))
writer.add_scalar("metrics/round_score", ep_ret, e)
writer.add_scalar("metrics/mean_score", m_score.item(), e)
writer.add_scalar("metrics/win_rate", win_rate.item(), e)
writer.add_scalar("metrics/round_step", ep_len, e)
writer.add_scalar("metrics/alpha", alpha, e)
# CPC update handing
if local_e > args.batch_size and local_e % args.update_every == 0 and args.cpc:
data, indexes, min_len = replay_buffer.sample_traj(
args.batch_size)
global_cpc.train()
cpc_optimizer.zero_grad()
c_hidden = global_cpc.init_hidden(len(data),
args.c_dim,
use_gpu=args.cuda)
acc, loss, latents = global_cpc(data, c_hidden)
replay_buffer.update_latent(indexes, min_len, latents.detach())
loss.backward()
# add gradient clipping
nn.utils.clip_grad_norm_(global_cpc.parameters(), 20)
cpc_optimizer.step()
writer.add_scalar("training/acc", acc, e)
writer.add_scalar("training/cpc_loss", loss.detach().item(), e)
all_embeddings = np.array(all_embeddings)
writer.add_embedding(mat=all_embeddings,
metadata=meta,
metadata_header=[
"opponent", "round", "step", "reward",
"action", "uncertainty"
])
c_hidden = global_cpc.init_hidden(1,
args.c_dim,
use_gpu=args.cuda)
o, ep_ret, ep_len = env.reset(), 0, 0
trajectory = list()
discard = False
# OOD update stage
if (t >= args.ood_update_step and local_t % args.ood_update_step == 0
or replay_buffer.is_full()) and args.ood:
# used all the data collected from the last args.ood_update_steps as the train data
print("Conduct OOD updating")
ood_train = (glod_input, glod_target)
glod_model = convert_to_glod(global_ac.pi,
train_loader=ood_train,
hidden_dim=args.hid,
act_dim=act_dim,
device=device)
glod_scores = retrieve_scores(
glod_model,
replay_buffer.obs_buf[:replay_buffer.size],
device=device,
k=args.ood_K)
glod_scores = glod_scores.detach().cpu().numpy()
print(len(glod_scores))
writer.add_histogram(values=glod_scores,
max_bins=300,
global_step=local_t,
tag="OOD")
drop_points = np.percentile(
a=glod_scores, q=[args.ood_drop_lower, args.ood_drop_upper])
lower, upper = drop_points[0], drop_points[1]
print(lower, upper)
mask = np.logical_and((glod_scores >= lower),
(glod_scores <= upper))
reserved_indexes = np.argwhere(mask).flatten()
print(len(reserved_indexes))
if len(reserved_indexes) > 0:
replay_buffer.ood_drop(reserved_indexes)
glod_input = list()
glod_target = list()
# SAC Update handling
if local_t >= args.update_after and local_t % args.update_every == 0:
for j in range(args.update_every):
batch = replay_buffer.sample_trans(batch_size=args.batch_size,
device=device)
# First run one gradient descent step for Q1 and Q2
q1_optimizer.zero_grad()
q2_optimizer.zero_grad()
loss_q = local_ac.compute_loss_q(batch, global_ac_targ,
args.gamma, alpha)
loss_q.backward()
# Next run one gradient descent step for pi.
pi_optimizer.zero_grad()
loss_pi, entropy = local_ac.compute_loss_pi(batch, alpha)
loss_pi.backward()
alpha_optim.zero_grad()
alpha_loss = -(local_ac.log_alpha *
(entropy + target_entropy).detach()).mean()
alpha_loss.backward(retain_graph=False)
alpha = max(
local_ac.log_alpha.exp().item(),
args.min_alpha) if not args.fix_alpha else args.min_alpha
nn.utils.clip_grad_norm_(local_ac.parameters(), 20)
for global_param, local_param in zip(global_ac.parameters(),
local_ac.parameters()):
global_param._grad = local_param.grad
pi_optimizer.step()
q1_optimizer.step()
q2_optimizer.step()
alpha_optim.step()
state_dict = global_ac.state_dict()
local_ac.load_state_dict(state_dict)
# Finally, update target networks by polyak averaging.
with torch.no_grad():
for p, p_targ in zip(global_ac.parameters(),
global_ac_targ.parameters()):
p_targ.data.copy_((1 - args.polyak) * p.data +
args.polyak * p_targ.data)
writer.add_scalar("training/pi_loss",
loss_pi.detach().item(), t)
writer.add_scalar("training/q_loss", loss_q.detach().item(), t)
writer.add_scalar("training/alpha_loss",
alpha_loss.detach().item(), t)
writer.add_scalar("training/entropy",
entropy.detach().mean().item(), t)
if t % args.save_freq == 0 and t > 0:
torch.save(
global_ac.state_dict(),
os.path.join(args.save_dir, args.exp_name, args.model_para))
torch.save(
global_cpc.state_dict(),
os.path.join(args.save_dir, args.exp_name, args.cpc_para))
state_dict_trans(
global_ac.state_dict(),
os.path.join(args.save_dir, args.exp_name, args.numpy_para))
torch.save((e, t, list(scores), list(wins)),
os.path.join(args.save_dir, args.exp_name,
args.train_indicator))
print("Saving model at episode:{}".format(t))
def sac(
rank,
E,
args,
model_q,
buffer_q,
device=None,
tensorboard_dir=None,
):
torch.manual_seed(args.seed + rank)
np.random.seed(args.seed + rank)
# writer = GlobalSummaryWriter.getSummaryWriter()
tensorboard_dir = os.path.join(tensorboard_dir, str(rank))
if not os.path.exists(tensorboard_dir):
os.makedirs(tensorboard_dir)
writer = SummaryWriter(log_dir=tensorboard_dir)
if args.exp_name == "test":
env = gym.make("CartPole-v0")
elif args.non_station:
env = make_ftg_ram_nonstation(args.env,
p2_list=args.list,
total_episode=args.station_rounds,
stable=args.stable)
else:
env = make_ftg_ram(args.env, p2=args.p2)
obs_dim = env.observation_space.shape[0]
act_dim = env.action_space.n
ac_kwargs = dict(hidden_sizes=[args.hid] * args.l)
local_ac = MLPActorCritic(obs_dim, act_dim, **ac_kwargs)
print("set up child process env")
# Prepare for interaction with environment
scores, wins = [], []
# meta data is purely for experiment analysis
trajectory, meta = [], []
o, ep_ret, ep_len = env.reset(), 0, 0
discard = False
local_t, local_e = 0, 0
if not model_q.empty():
print("Process {}\t Initially LOADING...".format(rank))
received_obj = model_q.get()
model_dict = deepcopy(received_obj)
local_ac.load_state_dict(model_dict)
print("Process {}\t Initially Loading FINISHED!!!".format(rank))
del received_obj
# Main loop: collect experience in env and update/log each epoch
while E.value() <= args.episode:
with torch.no_grad():
if E.value() <= args.update_after:
a = np.random.randint(act_dim)
else:
a = local_ac.get_action(o, device=device)
# print(o)
# Step the env
o2, r, d, info = env.step(a)
if info.get('no_data_receive', False):
discard = True
ep_ret += r
ep_len += 1
d = False if (ep_len == args.max_ep_len) or discard else d
# send the transition to main process
if hasattr(env, 'p2'):
opp = env.p2
else:
opp = None
transition = (o, a, r, o2, d)
trajectory.append(transition)
meta.append([opp, rank, local_e, ep_len, r, a])
o = o2
local_t += 1
# End of trajectory handling
if d or (ep_len == args.max_ep_len) or discard:
e = E.value()
send_data = (trajectory, meta)
buffer_q.put(send_data, )
local_e += 1
# logger.store(EpRet=ep_ret, EpLen=ep_len)
if info.get('win', False):
wins.append(1)
else:
wins.append(0)
scores.append(ep_ret)
m_score = np.mean(scores[-100:])
win_rate = np.mean(wins[-100:])
print(
"Process\t{}\topponent:{},\t# of local episode :{},\tglobal episode {}\tround score: {},\tmean score : {:.1f},\twin rate:{},\tsteps: {}"
.format(rank, opp, local_e, e, ep_ret, m_score, win_rate,
ep_len))
writer.add_scalar("actor/round_score", ep_ret, local_e)
writer.add_scalar("actor/mean_score", m_score.item(), local_e)
writer.add_scalar("actor/win_rate", win_rate.item(), local_e)
writer.add_scalar("actor/round_step", ep_len, local_e)
writer.add_scalar("actor/learner_actor_speed", e, local_e)
o, ep_ret, ep_len = env.reset(), 0, 0
discard = False
trajectory, meta = list(), list()
if not model_q.empty():
print(
"Process {}\tLOADING model at Global\t{},local\t{} EPISODE..."
.format(rank, e, local_e))
received_obj = model_q.get()
model_dict = deepcopy(received_obj)
local_ac.load_state_dict(model_dict)
print("Process {}\tLOADED new mode at Global\t{},local\t{}!!!".
format(rank, e, local_e))
del received_obj
def train(global_model, rank, T, scores):
env = make_ftg_ram(env_name, p2=p2)
state_shape = env.observation_space.shape[0]
action_shape = env.action_space.n
local_model = ActorCritic(state_shape, action_shape, hidden_size)
local_model.load_state_dict(global_model.state_dict())
# MODEL_STATE = "/home/byron/Repos/FTG4.50/OpenAI/ByronAI.numpy"
# test_model = ActorCriticNumpy(MODEL_STATE)
optimizer = optim.Adam(global_model.parameters(), lr=learning_rate)
while True:
discard = False
done = False
s = env.reset()
score = 0
sum_entropy = 0
step = 0
while not done:
s_lst, a_lst, r_lst = [], [], []
for t in range(update_interval):
prob = local_model.pi(torch.from_numpy(s).float())
# test_prob = test_model.pi(s)
# diff = prob.detach().numpy() - test_prob
# print(diff.sum())
m = Categorical(prob)
a = m.sample().item()
s_prime, r, done, info = env.step(a)
if info.get('no_data_receive', False):
discard = True
break
s_lst.append(s)
a_lst.append([a])
# r_lst.append(r/100.0)
r_lst.append(r)
s = s_prime
score += r
sum_entropy += Categorical(probs=prob.detach()).entropy()
step += 1
if done:
break
if discard:
break
s_final = torch.tensor(s_prime, dtype=torch.float)
R = 0.0 if done else local_model.v(s_final).item()
td_target_lst = []
for reward in r_lst[::-1]:
R = gamma * R + reward
td_target_lst.append([R])
td_target_lst.reverse()
s_batch, a_batch, td_target = torch.tensor(s_lst, dtype=torch.float), torch.tensor(a_lst), \
torch.tensor(td_target_lst)
advantage = td_target - local_model.v(s_batch)
pi = local_model.pi(s_batch, softmax_dim=1)
pi_a = pi.gather(1, a_batch)
loss = -torch.log(pi_a) * advantage.detach() + \
F.smooth_l1_loss(local_model.v(s_batch), td_target.detach()) - \
(entropy_weight * -(torch.log(pi) * pi).sum())
optimizer.zero_grad()
loss.mean().backward()
for global_param, local_param in zip(global_model.parameters(),
local_model.parameters()):
global_param._grad = local_param.grad
optimizer.step()
local_model.load_state_dict(global_model.state_dict())
if discard:
continue
T.increment()
t = T.value()
scores.append(score)
m_score = np.mean(scores[-100:])
print(
"Process {}, # of episode :{}, round score: {}, mean score : {:.1f}, entropy: {}, steps: {}"
.format(rank, t, score, m_score, sum_entropy / step, step))
if t % save_interval == 0 and t > 0:
torch.save(global_model.state_dict(),
os.path.join(save_dir, "model"))
state_dict_trans(global_model.state_dict(),
os.path.join(save_dir, numpy_para))
print("Saving model at episode:{}".format(t))
prob = global_model.pi(torch.from_numpy(s).float())
a = Categorical(prob).sample().item()
s_prime, r, done, info = env.step(a)
s = s_prime
score += r
if n_epi % print_interval == 0 and n_epi != 0:
print("# of episode :{}, avg score : {:.1f}".format(
n_epi, score / print_interval))
score = 0.0
if __name__ == '__main__':
if not os.path.exists(save_dir):
os.makedirs(save_dir)
env = make_ftg_ram(env_name, p2=p2)
state_shape = env.observation_space.shape[0]
action_shape = env.action_space.n
global_model = ActorCritic(state_shape, action_shape, hidden_size)
if os.path.exists(os.path.join(save_dir, "model")):
global_model.load_state_dict(
torch.load(os.path.join(save_dir, "model")))
# state_dict_trans(global_model.state_dict(), os.path.join(save_dir, numpy_para))
print("load model")
global_model.share_memory()
T = Counter()
scores = mp.Manager().list()
env.close()
del env
processes = []
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--env', type=str, default="FightingiceDataFrameskip-v0")
parser.add_argument('--p2', type=str, default="Toothless")
parser.add_argument('--hid', type=int, default=256)
parser.add_argument('--l', type=int, default=2)
parser.add_argument('--gamma', type=float, default=0.99)
parser.add_argument('--lr', type=float, default=1e-3)
parser.add_argument('--seed', '-s', type=int, default=0)
parser.add_argument('--epochs', type=int, default=1000)
parser.add_argument('--exp_name', type=str, default='sac')
parser.add_argument('--save_dir', type=str, default='OpenAI/SAC/')
args = parser.parse_args()
if not os.path.exists(args.save_dir):
os.makedirs(args.save_dir)
from spinup.utils.run_utils import setup_logger_kwargs
logger_kwargs = setup_logger_kwargs(args.exp_name, args.seed)
torch.set_num_threads(torch.get_num_threads())
sac(lambda: make_ftg_ram(args.env, p2=args.p2), actor_critic=MLPActorCritic,
ac_kwargs=dict(hidden_sizes=[args.hid] * args.l),
gamma=args.gamma, seed=args.seed, epochs=args.epochs, steps_per_epoch=1000, replay_size=int(1e6),
polyak=0.995, lr=args.lr, alpha=0.2, batch_size=128, start_steps=10000,
update_after=1000, update_every=100, num_test_episodes=5, max_ep_len=1000,save_freq=100,
logger_kwargs=logger_kwargs, save_dir=args.save_dir)