def init_env(self):
env = ImgObsWrapper(self.init())
env.reset()
print("agent pos: {}".format(env.agent_pos))
self.action_space = env.action_space
self.action_dim = env.action_space.n
self.obs_dim = env.observation_space.shape
return env
sampler = Sampler(env)
optimizer = optim.Adam(q_network.parameters(), lr=args.learning_rate)
loss_fn = nn.MSELoss()
print(device.__repr__())
print(q_network)
print(f"Using {torch.cuda.device_count()} GPUS")
n_params = sum([p.numel() for p in q_network.parameters()])
writer.add_scalar("n_params", n_params)
print("Number of parameters:", n_params)
# TRY NOT TO MODIFY: start the game
obs = env.reset()
episode_reward = 0
n = torch.zeros((1, 1))
for global_step in range(args.total_timesteps):
# ALGO LOGIC: put action logic here
epsilon = linear_schedule(args.start_e, args.end_e,
args.exploration_fraction * args.total_timesteps,
global_step)
obs = np.array(obs)
env.render()
# action, logits, _, = sampler.sample(q_network, obs, device, n, epsilon)
logits = q_network.forward(obs.reshape((1, ) + obs.shape), device)
if random.random() < epsilon:
action = env.action_space.sample()
else:
def main(args):
env = gym.make(args.env)
if 'MiniGrid' in args.env:
env = ImgObsWrapper(env)
path = args.base_path + args.env
os.makedirs(path, exist_ok=True)
# obs_shape = np.prod(env.observation_space.shape).astype(int)
obs_shape = env.observation_space.shape
act_shape = env.action_space.n
q = QNetwork(obs_shape, act_shape)
q_target = QNetwork(obs_shape, act_shape)
opt = optim.Adam(lr=args.lr, params=q.parameters())
memory = Memory(capacity=args.memory)
scheduler = LinearSchedule(schedule_timesteps=int(args.max_steps * 0.1), final_p=0.01)
avg_rw = deque(maxlen=40)
avg_len = deque(maxlen=40)
def get_action(s, t):
s = torch.Tensor(s[None,:])
_q = q(s)
if np.random.sample() > scheduler.value:
best_action = np.argmax(_q.detach(), axis=-1).item()
else:
best_action = np.random.randint(0, act_shape)
scheduler.update(t)
return best_action
def train(batch):
batch = Transition(*zip(*batch))
s = torch.Tensor(batch.state)
a = torch.Tensor(one_hot(np.array(batch.action), num_classes=act_shape))
r = torch.Tensor(batch.reward)
d = torch.Tensor(batch.done)
s1 = torch.Tensor(batch.next_state)
value = (q(s) * a).sum(dim=-1)
next_value = r + args.gamma * (1. - d) * torch.max(q_target(s1), dim=-1)[0]
loss = (.5 * (next_value - value) ** 2).mean()
opt.zero_grad()
loss.backward()
opt.step()
state = env.reset()
q_target.load_state_dict(q.state_dict())
ep_rw = 0
ep_len = 0
ep = 0
for t in range(args.max_steps):
action = get_action(state, t)
next_state, reward, done, _ = env.step(action)
memory.push(state, action, next_state, reward, done)
ep_rw += reward
ep_len += 1
state = next_state.copy()
if done:
ep += 1
avg_rw.append(ep_rw)
avg_len.append(ep_len)
ep_rw = 0
ep_len = 0
state = env.reset()
if t % args.train_every == 0 and len(memory) > args.batch_size:
batch = memory.sample(batch_size=args.batch_size)
train(batch)
if t % args.update_every == 0:
q_target.load_state_dict(q.state_dict())
print(f't:{t}\tep:{ep}\tavg_rw:{np.mean(avg_rw)}\tavg_len:{np.mean(avg_len)}\teps:{scheduler.value}')
env = Monitor(env, directory=path)
for ep in range(4):
s = env.reset()
while True:
a = get_action(s, t=0)
s1, r, d, _ = env.step(a)
s = s1.copy()
if d:
break
class GridEnvironment(Environment):
def __init__(self,
env_id,
is_render,
env_idx,
child_conn,
history_size=1,
h=84,
w=84,
life_done=True,
sticky_action=False,
p=0.25):
super(GridEnvironment, self).__init__()
self.daemon = True
self.env = ImgObsWrapper(
RGBImgObsWrapper(ReseedWrapper(gym.make(env_id))))
self.env_id = env_id
self.is_render = is_render
self.env_idx = env_idx
self.steps = 0
self.episode = 0
self.rall = 0
self.recent_rlist = deque(maxlen=100)
self.child_conn = child_conn
self.sticky_action = sticky_action
self.last_action = 0
self.p = p
self.history_size = history_size
self.history = np.zeros([history_size, h, w])
self.h = h
self.w = w
self.reset()
def run(self):
super(GridEnvironment, self).run()
while True:
action = self.child_conn.recv()
# sticky action
if self.sticky_action:
if np.random.rand() <= self.p:
action = self.last_action
self.last_action = action
s, reward, done, info = self.env.step(action)
if max_step_per_episode < self.steps:
done = True
log_reward = reward
force_done = done
self.history[0, :, :] = self.pre_proc(s)
self.rall += reward
self.steps += 1
if done:
self.recent_rlist.append(self.rall)
print(
"[Episode {}({})] Step: {} Reward: {} Recent Reward: {} Visited Room: [{}]"
.format(self.episode, self.env_idx, self.steps, self.rall,
np.mean(self.recent_rlist),
info.get('episode', {}).get('visited_rooms', {})))
self.history = self.reset()
self.child_conn.send([
self.history[:, :, :], reward, force_done, done, log_reward,
[self.rall, self.steps]
])
def reset(self):
self.last_action = 0
self.steps = 0
self.episode += 1
self.rall = 0
s = self.env.reset()
self.get_init_state(self.pre_proc(s))
return self.history[:, :, :]
def pre_proc(self, X):
X = np.array(Image.fromarray(X).convert('L')).astype('float32')
x = cv2.resize(X, (self.h, self.w))
return x
def get_init_state(self, s):
for i in range(self.history_size):
self.history[i, :, :] = self.pre_proc(s)