class EpisodicReplayBuffer(AbstractEpisodicReplayBuffer):
def __init__(self, capacity=None):
self.current_episode = []
self.episodic_memory = RandomAccessQueue()
self.memory = RandomAccessQueue()
self.capacity = capacity
def append(self, state, action, reward, next_state=None, next_action=None,
is_state_terminal=False, **kwargs):
experience = dict(state=state, action=action, reward=reward,
next_state=next_state, next_action=next_action,
is_state_terminal=is_state_terminal,
**kwargs)
self.current_episode.append(experience)
if is_state_terminal:
self.stop_current_episode()
def sample(self, n):
assert len(self.memory) >= n
return self.memory.sample(n)
def sample_episodes(self, n_episodes, max_len=None):
assert len(self.episodic_memory) >= n_episodes
episodes = self.episodic_memory.sample(n_episodes)
if max_len is not None:
return [random_subseq(ep, max_len) for ep in episodes]
else:
return episodes
def __len__(self):
return len(self.memory)
@property
def n_episodes(self):
return len(self.episodic_memory)
def save(self, filename):
with open(filename, 'wb') as f:
pickle.dump((self.memory, self.episodic_memory), f)
def load(self, filename):
with open(filename, 'rb') as f:
memory = pickle.load(f)
if isinstance(memory, tuple):
self.memory, self.episodic_memory = memory
else:
# Load v0.2
# FIXME: The code works with EpisodicReplayBuffer
# but not with PrioritizedEpisodicReplayBuffer
self.memory = RandomAccessQueue(memory)
self.episodic_memory = RandomAccessQueue()
# Recover episodic_memory with best effort.
episode = []
for item in self.memory:
episode.append(item)
if item['is_state_terminal']:
self.episodic_memory.append(episode)
episode = []
def stop_current_episode(self):
if self.current_episode:
self.episodic_memory.append(self.current_episode)
self.memory.extend(self.current_episode)
self.current_episode = []
while self.capacity is not None and \
len(self.memory) > self.capacity:
discarded_episode = self.episodic_memory.popleft()
for _ in range(len(discarded_episode)):
self.memory.popleft()
assert not self.current_episode
class ValueBuffer(with_metaclass(ABCMeta, object)):
"""non-parametricQ値を出力するためのbuffer"""
def __init__(self, capacity = 2000, lookup_k = 5, n_action = None,
key_size = 256, xp = np):
self.capacity = capacity
self.memory = RandomAccessQueue(maxlen=capacity)
self.lookup_k = lookup_k
self.xp = xp
self.num_action = n_action
self.key_size = key_size
assert self.num_action
self.tmp_emb_arr = self.xp.empty((0, self.key_size),
dtype='float32')
self.knn = knn.ArgsortKnn(capacity = self.capacity,
dimension=key_size, xp = self.xp)
def __len__(self):
return len(self.memory)
def store(self, embedding, q_np):
# value bufferに保存する
self._store(dict(embedding = embedding, action_value = q_np))
#knnにembeddingを送る
self.knn.add(embedding)
assert len(self.knn) == len(self.memory)
assert self.memory[0]['embedding'][0,0] == self.knn.head_emb()
if len(self.memory) == self.capacity:
assert self.memory[-1]['embedding'][-1,0] == self.knn.end_emb()
# 戻り値はなし (必要ならつける)
return
def _store(self, dictionaries):
# 蓄える(容量いっぱいのときなどの処理は場合分け)
self.memory.append(dictionaries)
while self.capacity is not None and \
len(self.memory) > self.capacity:
self.memory.popleft()
def compute_q(self, embedding):
"""
if len(self.memory) < self.lookup_k:
k = len(self.memory)
else:
k = self.lookup_k
"""
index_list = self.knn.search(embedding, self.lookup_k)
tmp_vbuf = self.xp.asarray([self.memory[i]['action_value'] for i in index_list], dtype=self.xp.float32)
q_np = self.xp.average(tmp_vbuf, axis=0)
return q_np
class TestRandomAccessQueue(unittest.TestCase):
def setUp(self):
if self.init_seq:
self.y_queue = RandomAccessQueue(self.init_seq, maxlen=self.maxlen)
self.t_queue = collections.deque(self.init_seq, maxlen=self.maxlen)
else:
self.y_queue = RandomAccessQueue(maxlen=self.maxlen)
self.t_queue = collections.deque(maxlen=self.maxlen)
def test1(self):
self.check_all()
self.check_popleft()
self.do_append(10)
self.check_all()
self.check_popleft()
self.check_popleft()
self.do_append(11)
self.check_all()
# test negative indices
n = len(self.t_queue)
for i in range(-n, 0):
self.check_getitem(i)
for k in range(4):
self.do_extend(range(k))
self.check_all()
for k in range(4):
self.check_popleft()
self.do_extend(range(k))
self.check_all()
for k in range(10):
self.do_append(20 + k)
self.check_popleft()
self.check_popleft()
self.check_all()
for _ in range(100):
self.check_popleft()
def check_all(self):
self.check_len()
n = len(self.t_queue)
for i in range(n):
self.check_getitem(i)
def check_len(self):
self.assertEqual(len(self.y_queue), len(self.t_queue))
def check_getitem(self, i):
self.assertEqual(self.y_queue[i], self.t_queue[i])
def do_setitem(self, i, x):
self.y_queue[i] = x
self.t_queue[i] = x
def do_append(self, x):
self.y_queue.append(x)
self.t_queue.append(x)
def do_extend(self, xs):
self.y_queue.extend(xs)
self.t_queue.extend(xs)
def check_popleft(self):
try:
t = self.t_queue.popleft()
except IndexError:
with self.assertRaises(IndexError):
self.y_queue.popleft()
else:
self.assertEqual(self.y_queue.popleft(), t)
class EpisodicReplayBuffer(object):
def __init__(self, capacity=None):
self.current_episode = []
self.episodic_memory = RandomAccessQueue()
self.memory = RandomAccessQueue()
self.capacity = capacity
def append(self,
state,
action,
reward,
next_state=None,
next_action=None,
is_state_terminal=False,
**kwargs):
"""Append a transition to this replay buffer
Args:
state: s_t
action: a_t
reward: r_t
next_state: s_{t+1} (can be None if terminal)
next_action: a_{t+1} (can be None for off-policy algorithms)
is_state_terminal (bool)
"""
experience = dict(state=state,
action=action,
reward=reward,
next_state=next_state,
next_action=next_action,
is_state_terminal=is_state_terminal,
**kwargs)
self.current_episode.append(experience)
if is_state_terminal:
self.stop_current_episode()
def sample(self, n):
"""Sample n unique samples from this replay buffer"""
assert len(self.memory) >= n
return self.memory.sample(n)
def sample_episodes(self, n_episodes, max_len=None):
"""Sample n unique samples from this replay buffer"""
assert len(self.episodic_memory) >= n_episodes
episodes = self.episodic_memory.sample(n_episodes)
if max_len is not None:
return [random_subseq(ep, max_len) for ep in episodes]
else:
return episodes
def __len__(self):
return len(self.episodic_memory)
def save(self, filename):
with open(filename, 'wb') as f:
pickle.dump((self.memory, self.episodic_memory), f)
def load(self, filename):
with open(filename, 'rb') as f:
self.memory, self.episodic_memory = pickle.load(f)
def stop_current_episode(self):
if self.current_episode:
self.episodic_memory.append(self.current_episode)
self.memory.extend(self.current_episode)
self.current_episode = []
while self.capacity is not None and \
len(self.memory) > self.capacity:
discarded_episode = self.episodic_memory.popleft()
for _ in range(len(discarded_episode)):
self.memory.popleft()
assert not self.current_episode