def test(args, shared_model):
ptitle('Test Agent')
log = {}
setup_logger('{}_log'.format(args.env),
r'{0}{1}_log'.format(args.log_dir, args.env))
log['{}_log'.format(args.env)] = logging.getLogger('{}_log'.format(
args.env))
d_args = vars(args)
for k in d_args.keys():
log['{}_log'.format(args.env)].info('{0}: {1}'.format(k, d_args[k]))
torch.manual_seed(args.seed)
env = create_env(args.env)
reward_sum = 0
start_time = time.time()
num_tests = 0
reward_total_sum = 0
player = Agent(None, env, args, None)
player.model = A3C_MLP(player.env.observation_space.shape[0],
player.env.action_space)
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
player.model.eval()
max_score = 0
while True:
if player.done:
player.model.load_state_dict(shared_model.state_dict())
player.action_test()
reward_sum += player.reward
if player.done:
num_tests += 1
reward_total_sum += reward_sum
reward_mean = reward_total_sum / num_tests
log['{}_log'.format(args.env)].info(
"Time {0}, episode reward {1}, episode length {2}, reward mean {3:.4f}"
.format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
reward_sum, player.eps_len, reward_mean))
if args.save_max and reward_sum >= max_score:
max_score = reward_sum
state_to_save = player.model.state_dict()
torch.save(state_to_save,
'{0}{1}.dat'.format(args.save_model_dir, args.env))
reward_sum = 0
player.eps_len = 0
state = player.env.reset()
time.sleep(60)
player.state = torch.from_numpy(state).float()
def test(self, iteration, show='none', save_max=False):
env = create_env(self.args)
player = Agent(None, env, self.args, None)
player.gpu_id = self.gpu_id
if self.args.model == 'MLP':
player.model = A3C_MLP(
player.env.observation_space.shape[0], player.env.action_space, self.args.stack_frames)
if self.args.model == 'CONV':
player.model = A3C_CONV(self.args.stack_frames, player.env.action_space)
# load the input model
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
player.model.load_state_dict(self.shared_model.state_dict())
else:
player.model.load_state_dict(self.shared_model.state_dict())
player.state = player.env.reset(self.args)
player.state = torch.from_numpy(player.state).float()
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
player.model = player.model.cuda()
player.state = player.state.cuda()
player.model.eval()
while True:
player.action_test()
if self.args.show != 'none' or show != 'none':
player.env.render()
self.reward_sum += player.reward
if player.done:
self.num_tests += 1
self.reward_total_sum += self.reward_sum
reward_mean = self.reward_total_sum / self.num_tests
self.reward_sum = 0
player.eps_len = 0
state = player.env.reset(self.args)
player.state = torch.from_numpy(state).float()
if self.gpu_id >= 0:
with torch.cuda.device(self.gpu_id):
player.state = player.state.cuda()
if self.args.show != 'none' or show != 'none':
player.env.close()
break
return self.reward_total_sum
def _init_model(self,
model_type,
env,
stack_frames=0,
load=False,
load_file="./model.bin"):
if model_type == 'MLP':
model = A3C_MLP(env.observation_space.shape[0], env.action_space,
stack_frames)
if model_type == 'CONV':
model = A3C_CONV(stack_frames, env.action_space)
if load:
saved_state = torch.load(load_file,
map_location=lambda storage, loc: storage)
model.load_state_dict(saved_state)
return model
def train(rank, args, shared_model, optimizer):
ptitle('Training Agent: {}'.format(rank))
gpu_id = args.gpu_ids[rank % len(args.gpu_ids)]
torch.manual_seed(args.seed + rank)
if gpu_id >= 0:
torch.cuda.manual_seed(args.seed + rank)
env = create_env(args.env, args)
if optimizer is None:
if args.optimizer == 'RMSprop':
optimizer = optim.RMSprop(shared_model.parameters(), lr=args.lr)
if args.optimizer == 'Adam':
optimizer = optim.Adam(shared_model.parameters(), lr=args.lr)
env.seed(args.seed + rank)
player = Agent(None, env, args, None)
player.gpu_id = gpu_id
if args.model == 'MLP':
player.model = A3C_MLP(player.env.observation_space.shape[0],
player.env.action_space, args.stack_frames)
if args.model == 'CONV':
player.model = A3C_CONV(args.stack_frames, player.env.action_space)
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.state = player.state.cuda()
player.model = player.model.cuda()
player.model.train()
while True:
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.model.load_state_dict(shared_model.state_dict())
else:
player.model.load_state_dict(shared_model.state_dict())
if player.done:
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.cx = Variable(torch.zeros(1, 128).cuda())
player.hx = Variable(torch.zeros(1, 128).cuda())
else:
player.cx = Variable(torch.zeros(1, 128))
player.hx = Variable(torch.zeros(1, 128))
else:
player.cx = Variable(player.cx.data)
player.hx = Variable(player.hx.data)
for step in range(args.num_steps):
player.action_train()
if player.done:
break
if player.done:
player.eps_len = 0
state = player.env.reset()
player.state = torch.from_numpy(state).float()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.state = player.state.cuda()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
R = torch.zeros(1, 1).cuda()
else:
R = torch.zeros(1, 1)
if not player.done:
state = player.state
if args.model == 'CONV':
state = state.unsqueeze(0)
value, _, _, _ = player.model(
(Variable(state), (player.hx, player.cx)))
R = value.data
player.values.append(Variable(R))
policy_loss = 0
value_loss = 0
R = Variable(R)
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
gae = torch.zeros(1, 1).cuda()
else:
gae = torch.zeros(1, 1)
for i in reversed(range(len(player.rewards))):
R = args.gamma * R + player.rewards[i]
advantage = R - player.values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimataion
# print(player.rewards[i])
delta_t = player.rewards[i] + args.gamma * \
player.values[i + 1].data - player.values[i].data
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - \
(player.log_probs[i].sum() * Variable(gae)) - \
(0.01 * player.entropies[i].sum())
player.model.zero_grad()
(policy_loss + 0.5 * value_loss).backward()
ensure_shared_grads(player.model, shared_model, gpu=gpu_id >= 0)
optimizer.step()
player.clear_actions()
# https://github.com/pytorch/examples/tree/master/mnist_hogwild
# Training settings
# Implemented multiprocessing using locks but was not beneficial. Hogwild
# training was far superior
if __name__ == '__main__':
args = parser.parse_args()
torch.manual_seed(args.seed)
if args.gpu_ids == -1:
args.gpu_ids = [-1]
else:
torch.cuda.manual_seed(args.seed)
mp.set_start_method('spawn')
env = create_env(args.env, args)
if args.model == 'MLP':
shared_model = A3C_MLP(env.observation_space.shape[0],
env.action_space, args.stack_frames)
if args.model == 'CONV':
shared_model = A3C_CONV(args.stack_frames, env.action_space)
if args.load:
saved_state = torch.load('{0}{1}.dat'.format(args.load_model_dir,
args.env),
map_location=lambda storage, loc: storage)
shared_model.load_state_dict(saved_state)
shared_model.share_memory()
if args.shared_optimizer:
if args.optimizer == 'RMSprop':
optimizer = SharedRMSprop(shared_model.parameters(), lr=args.lr)
if args.optimizer == 'Adam':
optimizer = SharedAdam(shared_model.parameters(),
lr=args.lr,
torch.set_default_tensor_type('torch.FloatTensor')
print("begin loading models")
saved_state = torch.load(
'{0}{1}.dat'.format(args.load_model_dir, args.env),
map_location=lambda storage, loc: storage)
print("finished loading models")
torch.manual_seed(args.seed)
env = create_env(args.env, -1)
num_tests = 0
reward_total_sum = 0
player = Agent(None, env, args, None, -1)
player.model = A3C_MLP(env.observation_space, env.action_space, args.stack_frames)
if args.new_gym_eval:
player.env = gym.wrappers.Monitor(
player.env, "{}_monitor".format(args.env), force=True)
player.model.load_state_dict(saved_state)
player.model.eval()
for i_episode in range(1):
speed = []
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
player.eps_len = 0
reward_sum = 0
while True:
def test(args, shared_model):
ptitle('Test Agent')
gpu_id = args.gpu_ids[-1]
log = {}
setup_logger('{}_log'.format(args.env),
r'{0}{1}_log'.format(args.log_dir, args.env))
log['{}_log'.format(args.env)] = logging.getLogger(
'{}_log'.format(args.env))
d_args = vars(args)
for k in d_args.keys():
log['{}_log'.format(args.env)].info('{0}: {1}'.format(k, d_args[k]))
torch.manual_seed(args.seed)
if gpu_id >= 0:
torch.cuda.manual_seed(args.seed)
env = create_env(args.env, args)
reward_sum = 0
start_time = time.time()
num_tests = 0
reward_total_sum = 0
player = Agent(None, env, args, None)
player.gpu_id = gpu_id
if args.model == 'MLP':
player.model = A3C_MLP(
player.env.observation_space.shape[0], player.env.action_space, args.stack_frames)
if args.model == 'CONV':
player.model = A3C_CONV(args.stack_frames, player.env.action_space)
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.model = player.model.cuda()
player.state = player.state.cuda()
player.model.eval()
while True:
if player.done:
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.model.load_state_dict(shared_model.state_dict())
else:
player.model.load_state_dict(shared_model.state_dict())
player.action_test()
reward_sum += player.reward
if player.done:
num_tests += 1
reward_total_sum += reward_sum
reward_mean = reward_total_sum / num_tests
log['{}_log'.format(args.env)].info(
"Time {0}, episode reward {1}, episode length {2}, reward mean {3:.4f}".
format(
time.strftime("%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
reward_sum, player.eps_len, reward_mean))
if reward_sum > args.save_score_level:
player.model.load_state_dict(shared_model.state_dict())
state_to_save = player.model.state_dict()
torch.save(state_to_save, '{0}{1}.dat'.format(
args.save_model_dir, args.env))
reward_sum = 0
player.eps_len = 0
state = player.env.reset()
time.sleep(60)
player.state = torch.from_numpy(state).float()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.state = player.state.cuda()
def test(rank, args, shared_model):
writer = SummaryWriter('8_27_test')
model_buffer = Model_Buffer(args)
test_episodes = args.test_episodes
ptitle('Test Agent')
log = {}
setup_logger('{}_log'.format(args.env),
r'{0}{1}_log'.format(args.log_dir, args.env))
print("logfile check", r'{0} {1}_log'.format(args.log_dir, args.env))
print("logs in test", args.log_dir)
log['{}_log'.format(args.env)] = logging.getLogger( # 将logger放进字典
'{}_log'.format(args.env))
d_args = vars(args) # vars() 函数返回对象object的属性和属性值的字典对象。
for k in d_args.keys():
log['{}_log'.format(args.env)].info('{0}: {1}'.format(
k, d_args[k])) # 输出参数信息
# for i in range(100):
# log['{}_log'.format(args.env)].info('{0}'.format(i))
# print('we prefix seed = -1 when testing')
# args.seed = -1
torch.manual_seed(args.seed)
env = create_env(args.env, args.seed)
# env = gym.make(args.env)
# env.seed(args.seed)
start_time = time.time()
num_tests = 0 # 当前玩的回合数
player = Agent(None, env, args, None, rank)
player.model = A3C_MLP(player.env.observation_space,
player.env.action_space,
args.stack_frames) # 设置model
player.state = player.env.reset() # 设置state
player.state = torch.from_numpy(player.state).float()
player.done = True
player.model.eval() # 设为eval模式
is_model_empty = True
is_testing = False
while True:
model_buffer.put(shared_model)
# 测试够一大回合,初始化
if player.done and np.mod(num_tests,
test_episodes) == 0 and not is_testing:
reward_episode = 0
success_rate = 0
load_model = model_buffer.get() # 获取公共model
model_queue_size = model_buffer.qsize()
if load_model:
is_testing = True
is_model_empty = False
training_steps = load_model[1]
training_episodes = load_model[2]
# 用公共model实例化player_model(传入参数) load_model[0]保存的参数
player.model.load_state_dict(load_model[0])
else:
is_model_empty = True # 未获取到model
time.sleep(10)
if not is_model_empty:
player.action_test()
# log['{}_log'.format(args.env)].info("test steps {}".format(1))
reward_episode += player.reward
if 'is_success' in player.info.keys(): # 判断是否因成功而done
success_rate += 1
if player.done: # 到达目标位置或撞毁或太远时为done，一回合结束
# print("crash detected")
# eps_len_temp = player.eps_len #?
num_tests += 1 # done时test回合数加一
player.eps_len = 0 # player这一回合所走的步数归零
state = player.env.reset()
player.state = torch.from_numpy(state).float()
if np.mod(num_tests, test_episodes) == 0: # 测试够一大回合，开始统计信息
is_testing = False
reward_episode = reward_episode / test_episodes
writer.add_scalar('success_num/Test', success_rate,
training_steps)
success_rate = success_rate / test_episodes
log['{}_log'.format(args.env)].info(
"Time {0}, training episodes {1}, training steps {2}, reward episode {3}, success_rate {4}, "
"model cached {5}".format(
time.strftime(
"%Hh %Mm %Ss",
time.gmtime(time.time() - start_time)),
training_episodes, training_steps, reward_episode,
success_rate, model_queue_size))
writer.add_scalar('success_rate/Test', success_rate,
training_steps)
# save model:
state_to_save = player.model.state_dict()
# torch.save(state_to_save, '{0}{1}.dat'.format(args.save_model_dir, args.env))
# torch.save(state_to_save, '{0}{1}_pre.dat'.format(args.save_model_dir, args.env))
torch.save(state_to_save,
'{0}{1}.dat'.format(args.log_dir, args.env))
torch.save(state_to_save,
'{0}{1}_pre.dat'.format(args.log_dir, args.env))
if training_steps > args.training_steps:
break
def train(rank,
args,
input_model=None,
max_iter=100000,
step_test=-1,
log=False):
if rank >= 0:
torch.manual_seed(args.seed + rank)
gpu_id = args.gpu_ids[rank % len(args.gpu_ids)]
torch.manual_seed(args.seed + rank)
if gpu_id >= 0:
torch.cuda.manual_seed(args.seed + rank)
env = create_env(args)
env.seed(args.seed + rank)
if log:
log = setup_logger("{0}_{1}_log".format(args.scale_legs, rank),
"logs/{0}_{1}_log".format(args.scale_legs, rank))
# player initialization
player = Agent(None, env, args, None)
player.gpu_id = gpu_id
if args.model == 'MLP':
player.model = A3C_MLP(player.env.observation_space.shape[0],
player.env.action_space, args.stack_frames)
if args.model == 'CONV':
player.model = A3C_CONV(args.stack_frames, player.env.action_space)
# load the input model to the player
if input_model != None:
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.model.load_state_dict(input_model.state_dict())
else:
player.model.load_state_dict(input_model.state_dict())
# initialize the player optimizer
optimizer = None
if args.optimizer == 'RMSprop':
optimizer = optim.RMSprop(player.model.dictForOptimizer(), lr=args.lr)
if args.optimizer == 'Adam':
optimizer = optim.Adam(player.model.dictForOptimizer(), lr=args.lr)
else:
optimizer = optim.SGD(player.model.dictForOptimizer(), lr=args.lr)
# reset the environment and initialize the player state
player.state = player.env.reset(args)
player.state = torch.from_numpy(player.state).float()
# If on GPU, do as GPU
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.state = player.state.cuda()
player.model = player.model.cuda()
player.model.train()
last_iter = 0
mean_buf = Buffer(5)
# Start looping over episodes
for iteration in range(max_iter):
last_iter += iteration
# reset cx and hx if the enlvironmnent is over.
if player.done:
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.cx = Variable(torch.zeros(1, 128).cuda())
player.hx = Variable(torch.zeros(1, 128).cuda())
else:
player.cx = Variable(torch.zeros(1, 128))
player.hx = Variable(torch.zeros(1, 128))
else:
player.cx = Variable(player.cx.data)
player.hx = Variable(player.hx.data)
# Roll out actions and collect reward for one episode
for step in range(args.num_steps):
player.action_train()
if player.done:
break
if player.done:
player.eps_len = 0
# reset state
state = player.env.reset(args)
player.state = torch.from_numpy(state).float()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
player.state = player.state.cuda()
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
R = torch.zeros(1, 1).cuda()
else:
R = torch.zeros(1, 1)
if not player.done:
state = player.state
if args.model == 'CONV':
state = state.unsqueeze(0)
value, _, _, _ = player.model(
(Variable(state), (player.hx, player.cx)))
R = value.data
player.values.append(Variable(R))
policy_loss = 0
value_loss = 0
R = Variable(R)
if gpu_id >= 0:
with torch.cuda.device(gpu_id):
gae = torch.zeros(1, 1).cuda()
else:
gae = torch.zeros(1, 1)
for i in reversed(range(len(player.rewards))):
R = args.gamma * R + player.rewards[i]
advantage = R - player.values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimataion
delta_t = player.rewards[i] + args.gamma * \
player.values[i + 1].data - player.values[i].data
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - \
(player.log_probs[i].sum() * Variable(gae)) - \
(0.01 * player.entropies[i].sum())
player.model.zero_grad()
(policy_loss + 0.5 * value_loss).backward()
optimizer.step()
player.clear_actions()
if step_test > 0 and iteration % step_test == 0:
tester = Tester(args, player.model)
score = tester.test(last_iter)
mean_buf.push(score)
recent_mean = sum(mean_buf.bf) / mean_buf.current_size
text = "Iteration {0}, episode reward {1}, recent reward mean {2}".format(
iteration, score, recent_mean)
log.info(text)
tester = Tester(args, player.model)
fitness = tester.test(last_iter)
return fitness
parser.add_argument('--amsgrad',
default=True,
metavar='AM',
help='Adam optimizer amsgrad parameter')
# Based on
# https://github.com/pytorch/examples/tree/master/mnist_hogwild
# Training settings
# Implemented multiprocessing using locks but was not beneficial. Hogwild
# training was far superior
if __name__ == '__main__':
args = parser.parse_args()
torch.manual_seed(args.seed)
env = create_env(args.env)
shared_model = A3C_MLP(env.observation_space.shape[0], env.action_space)
if args.load:
saved_state = torch.load('{0}{1}.dat'.format(args.load_model_dir,
args.env),
map_location=lambda storage, loc: storage)
shared_model.load_state_dict(saved_state)
shared_model.share_memory()
if args.shared_optimizer:
optimizer = SharedAdam(shared_model.parameters(),
lr=args.lr,
amsgrad=args.amsgrad)
optimizer.share_memory()
else:
optimizer = None
setup_logger('{}_mon_log'.format(args.env),
r'{0}{1}_mon_log'.format(args.log_dir, args.env))
log['{}_mon_log'.format(args.env)] = logging.getLogger('{}_mon_log'.format(
args.env))
torch.manual_seed(args.seed)
d_args = vars(args)
for k in d_args.keys():
log['{}_mon_log'.format(args.env)].info('{0}: {1}'.format(k, d_args[k]))
env = create_env("{}".format(args.env))
num_tests = 0
reward_total_sum = 0
player = Agent(None, env, args, None)
player.model = A3C_MLP(env.observation_space.shape[0], env.action_space)
if args.new_gym_eval:
player.env = gym.wrappers.Monitor(player.env,
"{}_monitor".format(args.env),
force=True)
player.model.load_state_dict(saved_state)
player.model.eval()
best_reward = 0
best_speed = 0
for i_episode in range(args.num_episodes):
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
player.eps_len = 0
def train(rank, args, shared_model, optimizer): # optimizer为shared_model的
init = True
ptitle('Training Agent: {}'.format(rank))
torch.manual_seed(args.seed + rank)
env = create_env(args.env, args.seed + rank)
# env = gym.make(args.env)
# env.seed(args.seed + rank)
if optimizer is None:
if args.optimizer == 'RMSprop':
optimizer = optim.RMSprop(shared_model.parameters(), lr=args.lr)
if args.optimizer == 'Adam':
optimizer = optim.Adam(shared_model.parameters(), lr=args.lr)
player = Agent(None, env, args, None, rank)
player.model = A3C_MLP(player.env.observation_space,
player.env.action_space, args.stack_frames)
player.state = player.env.reset()
player.state = torch.from_numpy(player.state).float()
player.model.train() #固定使用场景为train
if rank == 1:
# file = open(os.path.join(args.log_dir, 'TD_Error.txt'), 'w+')
writer = SummaryWriter('8_27_train')
local_step_counter = 0
while True:
if init: # 初始化
shared_model.training_steps.weight.data \
.copy_(torch.Tensor([0]))
shared_model.training_steps.bias.data \
.copy_(torch.Tensor([0]))
init = False
player.model.load_state_dict(
shared_model.state_dict()) # synchronize parameters
for step in range(args.num_steps):
# print("thread", rank, local_step_counter, shared_model.training_steps.weight.data.cpu().numpy())
local_step_counter += 1 # update step counters
shared_model.training_steps.weight.data \
.copy_(torch.Tensor([1]) + shared_model.training_steps.weight.data) # 总步骤（各个worker所走步数之和）T每次加一
player.action_train() # core
if player.done:
break
terminal = False
if player.done or player.eps_len >= args.max_episode_length: # 玩家完成或者超出最大迭代次数
terminal = True
shared_model.done_nums += 1
if 'is_success' in player.info.keys():
shared_model.success_num += 1
R = torch.zeros(1)
if not player.done: # 结算
state = player.state
# A3C，value和policy net是用的同一个网络
value, _, _ = player.model(Variable(state))
R = value.data
if terminal: #重置
shared_model.training_steps.bias.data \
.copy_(torch.Tensor([1]) + shared_model.training_steps.bias.data) # 总步数加一
player.eps_len = 0
state = player.env.reset()
player.state = torch.from_numpy(state).float()
player.reset_flag = True
player.values.append(Variable(R))
policy_loss = 0
value_loss = 0
R = Variable(R)
gae = torch.zeros(1, 1)
for i in reversed(range(len(player.rewards))):
R = args.gamma * R + np.float(player.rewards[i]) # reward
advantage = R - player.values[i] # advantage
value_loss = value_loss + 0.5 * advantage.pow(2) # 公式(10) 更新w
if rank == 1:
# file.write(str(advantage.pow(2).data.cpu().numpy()[0]))
# file.write(' ')
# file.write(
# str(int(shared_model.training_steps.weight.data.cpu().numpy()[0])))
# file.write('\n')
writer.add_scalar(
'TD-error/train',
advantage.pow(2).data.cpu().numpy()[0],
shared_model.training_steps.weight.data.cpu().numpy()[0])
player.values[i] = player.values[i].float()
player.values[i + 1] = player.values[i + 1].float()
delta_t = player.rewards[i] + args.gamma * \
player.values[i + 1].data - \
player.values[i].data # a2c计算td-error
# GAE算法
gae = gae * args.gamma * args.tau + delta_t
policy_loss = policy_loss - \
(player.log_probs[i].sum() * Variable(gae)) - \
(0.01 * player.entropies[i].sum()) # 更新theta 公式(9)
"""
每个线程和环境交互到一定量的数据后，就计算在自己线程里的神经网络损失函数的梯度，
但是这些梯度却并不更新自己线程里的神经网络，而是去更新公共的神经网络。
也就是n个线程会独立的使用累积的梯度分别更新公共部分的神经网络模型参数。
每隔一段时间，线程会将自己的神经网络的参数更新为公共神经网络的参数，进而指导后面的环境交互。
"""
player.model.zero_grad()
# policy_loss + 0.5 * value_loss即为loss
if rank == 1:
writer.add_scalar(
'VLoss/train', value_loss,
shared_model.training_steps.weight.data.cpu().numpy()[0])
writer.add_scalar(
'PLoss/train', policy_loss,
shared_model.training_steps.weight.data.cpu().numpy()[0])
(policy_loss + 0.5 * value_loss).backward() # 计算该worder的损失函数梯度
ensure_shared_grads(player.model, shared_model) # 该worker将自己的参数传给公用的模型
optimizer.step(
) # optimizer为shared_model的 step()将参数更新值施加到shared_model的parameters 上
player.clear_actions()
if shared_model.training_steps.weight.data.cpu().numpy(
) > args.training_steps:
print('num of success={0},training episodes={1},success_rate={2}'.
format(shared_model.success_num, shared_model.done_nums,
shared_model.success_num / shared_model.done_nums))
break