def __init__(self, num_inputs, action_space, args):
self.num_inputs = num_inputs
self.action_space = action_space.shape[0]
self.gamma = args.gamma
self.tau = args.tau
self.scale_R = args.scale_R
self.reparam = args.reparam
self.deterministic = args.deterministic
self.target_update_interval = args.target_update_interval
self.policy = GaussianPolicy(self.num_inputs, self.action_space,
args.hidden_size)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.critic = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
self.critic_optim = Adam(self.critic.parameters(), lr=args.lr)
if self.deterministic == False:
self.value = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_target = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_optim = Adam(self.value.parameters(), lr=args.lr)
hard_update(self.value_target, self.value)
self.value_criterion = nn.MSELoss()
else:
self.critic_target = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
hard_update(self.critic_target, self.critic)
self.soft_q_criterion = nn.MSELoss()
def __init__(self, cfg):
self.device = cfg.device
self.gamma = cfg.gamma
self.batch_size = cfg.batch_size
self.value_net = ValueNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.policy_net = PolicyNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_value_net = ValueNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_value_net.load_state_dict(self.value_net.state_dict())
self.target_policy_net = PolicyNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_policy_net.load_state_dict(self.policy_net.state_dict())
self.soft_tau = cfg.soft_tau
self.value_lr = cfg.value_lr
self.policy_lr = cfg.policy_lr
self.value_optimizer = optim.Adam(self.value_net.parameters(),
lr=self.value_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.policy_lr)
# mean squared error
self.value_criterion = nn.MSELoss()
self.replay_buffer = ReplayBuffer(cfg.replay_buffer_size)
def __init__(self, state_size, action_size, num_agents):
state_dim = state_size
#agent_input_state_dim = state_size*2 # Previos state is passed in with with the current state.
action_dim = action_size
self.num_agents = num_agents
max_size = 100000 ###
self.replay = Replay(max_size)
hidden_dim = 128
self.critic_net = ValueNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.target_critic_net = ValueNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.actor_net = PolicyNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.target_actor_net = PolicyNetwork(state_dim, action_dim,
hidden_dim).to(device)
for target_param, param in zip(self.target_critic_net.parameters(),
self.critic_net.parameters()):
target_param.data.copy_(param.data)
for target_param, param in zip(self.target_actor_net.parameters(),
self.actor_net.parameters()):
target_param.data.copy_(param.data)
self.critic_optimizer = optim.Adam(self.critic_net.parameters(),
lr=CRITIC_LEARNING_RATE)
self.actor_optimizer = optim.Adam(self.actor_net.parameters(),
lr=ACTOR_LEARNING_RATE)
def __init__(self, config, env):
self.device = config.device
self.gamma = config.gamma # 折扣因子
self.tau = config.tau
# 学习率
self.value_lr = config.value_lr
self.soft_q_lr = config.soft_q_lr
self.policy_lr = config.policy_lr
self.replace_target_iter = config.replace_target_iter # 目标网络更新频率
self.replay_size = config.replay_size # 经验池大小
self.batch_size = config.batch_size # 批样本数
self.num_states = env.observation_space.shape[0] # 状态空间维度
self.num_actions = env.action_space.shape[0] # 动作空间维度
self.learn_start = self.batch_size * 3 # 控制学习的参数
self.learn_step_counter = 0 # 学习的总步数
self.memory = ReplayMemory(self.replay_size) # 初始化经验池
# 初始化V网络
self.value_net = ValueNetwork(self.num_states, 256).to(self.device)
# 初始化V目标网络
self.target_value_net = ValueNetwork(self.num_states,
256).to(self.device)
# V目标网络和V网络初始时参数一致
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(param.data)
# 初始化Q网络
self.soft_q_net = SoftQNetwork(self.num_states, self.num_actions,
256).to(self.device)
# 初始化策略网络
self.policy_net = PolicyNetwork(self.num_states, self.num_actions,
256).to(self.device)
# 训练的优化器
self.value_optimizer = optim.Adam(self.value_net.parameters(),
lr=self.value_lr)
self.soft_q_optimizer = optim.Adam(self.soft_q_net.parameters(),
lr=self.soft_q_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.policy_lr)
# 均方损失函数
self.value_criterion = nn.MSELoss()
self.soft_q_criterion = nn.MSELoss()
def __init__(self, num_inputs, action_space, args):
self.num_inputs = num_inputs
self.action_space = action_space.shape[0]
self.gamma = args.gamma
self.tau = args.tau
self.policy_type = args.policy
self.target_update_interval = args.target_update_interval
self.automatic_entropy_tuning = args.automatic_entropy_tuning
self.device = torch.device("cuda" if args.cuda else "cpu")
self.critic = QNetwork(self.num_inputs, self.action_space,
args.hidden_size).to(device=self.device)
self.critic_optim = Adam(self.critic.parameters(), lr=args.lr)
if self.policy_type == "Gaussian":
self.alpha = args.alpha
# Target Entropy = −dim(A) (e.g. , -6 for HalfCheetah-v2) as given in the paper
if self.automatic_entropy_tuning == True:
self.target_entropy = -torch.prod(
torch.Tensor(action_space.shape).to(self.device)).item()
self.log_alpha = torch.zeros(1,
requires_grad=True,
device=self.device)
self.alpha_optim = Adam([self.log_alpha], lr=args.lr)
else:
pass
self.policy = GaussianPolicy(self.num_inputs, self.action_space,
args.hidden_size).to(self.device)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.value = ValueNetwork(self.num_inputs,
args.hidden_size).to(self.device)
self.value_target = ValueNetwork(self.num_inputs,
args.hidden_size).to(self.device)
self.value_optim = Adam(self.value.parameters(), lr=args.lr)
hard_update(self.value_target, self.value)
else:
self.policy = DeterministicPolicy(self.num_inputs,
self.action_space,
args.hidden_size).to(self.device)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.critic_target = QNetwork(self.num_inputs, self.action_space,
args.hidden_size).to(self.device)
hard_update(self.critic_target, self.critic)
def __init__(self, env, gamma, lr):
self.env = env
self.obs_dim = env.observation_space.shape[0]
self.action_dim = env.action_space.n
self.gamma = gamma
self.lr = lr
self.value_network = ValueNetwork(self.obs_dim, 1)
self.policy_network = PolicyNetwork(self.obs_dim, self.action_dim)
self.value_optimizer = optim.Adam(self.value_network.parameters(),
lr=self.lr)
self.policy_optimizer = optim.Adam(self.policy_network.parameters(),
lr=self.lr)
def main():
parser = argparse.ArgumentParser('Parse configuration file')
parser.add_argument('--config', type=str, default='configs/model.config')
parser.add_argument('--gpu', default=False, action='store_true')
args = parser.parse_args()
config_file = args.config
model_config = configparser.RawConfigParser()
model_config.read(config_file)
env_config = configparser.RawConfigParser()
env_config.read('configs/env.config')
# configure paths
output_dir = os.path.splitext(os.path.basename(args.config))[0]
output_dir = os.path.join('data', output_dir)
if os.path.exists(output_dir):
# raise FileExistsError('Output folder already exists')
print('Output folder already exists')
else:
os.mkdir(output_dir)
log_file = os.path.join(output_dir, 'output.log')
shutil.copy(args.config, output_dir)
initialized_weights = os.path.join(output_dir, 'initialized_model.pth')
trained_weights = os.path.join(output_dir, 'trained_model.pth')
# configure logging
file_handler = logging.FileHandler(log_file, mode='w')
stdout_handler = logging.StreamHandler(sys.stdout)
logging.basicConfig(level=logging.INFO, handlers=[stdout_handler, file_handler],
format='%(asctime)s, %(levelname)s: %(message)s', datefmt="%Y-%m-%d %H:%M:%S")
# configure device
device = torch.device("cuda:0" if torch.cuda.is_available() and args.gpu else "cpu")
logging.info('Using device: {}'.format(device))
# configure model
state_dim = model_config.getint('model', 'state_dim')
kinematic = env_config.getboolean('agent', 'kinematic')
model = ValueNetwork(state_dim=state_dim, fc_layers=[100, 100, 100], kinematic=kinematic).to(device)
logging.debug('Trainable parameters: {}'.format([name for name, p in model.named_parameters() if p.requires_grad]))
# load simulated data from ORCA
traj_dir = model_config.get('init', 'traj_dir')
gamma = model_config.getfloat('model', 'gamma')
capacity = model_config.getint('train', 'capacity')
memory = initialize_memory(traj_dir, gamma, capacity, kinematic, device)
# initialize model
if os.path.exists(initialized_weights):
model.load_state_dict(torch.load(initialized_weights))
logging.info('Load initialized model weights')
else:
initialize_model(model, memory, model_config, device)
torch.save(model.state_dict(), initialized_weights)
logging.info('Finish initializing model. Model saved')
# train the model
train(model, memory, model_config, env_config, device, trained_weights)
torch.save(model.state_dict(), trained_weights)
logging.info('Finish initializing training model. Model saved')
def __init__(self, env_name, n_states, n_actions, memory_size, batch_size,
gamma, alpha, lr, action_bounds, reward_scale):
self.env_name = env_name
self.n_states = n_states
self.n_actions = n_actions
self.memory_size = memory_size
self.batch_size = batch_size
self.gamma = gamma
self.alpha = alpha
self.lr = lr
self.action_bounds = action_bounds
self.reward_scale = reward_scale
self.memory = Memory(memory_size=self.memory_size)
self.device = "cuda" if torch.cuda.is_available() else "cpu"
self.policy_network = PolicyNetwork(
n_states=self.n_states,
n_actions=self.n_actions,
action_bounds=self.action_bounds).to(self.device)
self.q_value_network1 = QvalueNetwork(n_states=self.n_states,
n_actions=self.n_actions).to(
self.device)
self.q_value_network2 = QvalueNetwork(n_states=self.n_states,
n_actions=self.n_actions).to(
self.device)
self.value_network = ValueNetwork(n_states=self.n_states).to(
self.device)
self.value_target_network = ValueNetwork(n_states=self.n_states).to(
self.device)
self.value_target_network.load_state_dict(
self.value_network.state_dict())
self.value_target_network.eval()
self.value_loss = torch.nn.MSELoss()
self.q_value_loss = torch.nn.MSELoss()
self.value_opt = Adam(self.value_network.parameters(), lr=self.lr)
self.q_value1_opt = Adam(self.q_value_network1.parameters(),
lr=self.lr)
self.q_value2_opt = Adam(self.q_value_network2.parameters(),
lr=self.lr)
self.policy_opt = Adam(self.policy_network.parameters(), lr=self.lr)
def __init__(self, input_size, action_size, gamma, tau, alpha, hidden_size,
lr, device):
self.gamma = gamma
self.tau = tau
self.alpha = alpha
self.device = device
self.policy = Actor(input_size, hidden_size,
action_size).to(self.device)
self.critic = Critic(input_size, hidden_size,
action_size).to(self.device)
self.value = ValueNetwork(input_size, hidden_size).to(self.device)
self.policy_optim = torch.optim.Adam(self.policy.parameters(), lr=lr)
self.critic_optim = torch.optim.Adam(self.critic.parameters(), lr=lr)
self.value_optim = torch.optim.Adam(self.value.parameters(), lr=lr)
self.value_target = copy.deepcopy(self.value)
self.value_target.requires_grad_(False)
def __init__(self, env, gamma, tau, v_lr, q_lr, policy_lr, buffer_maxlen):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.env = env
# self.action_range = [env.action_space.low, env.action_space.high]
# TODO: as a simple demo, I changed here; for the implementation, we should pass this as parameters
self.action_range = [[-1, 1], [-1, 1]]
self.obs_dim = env.observation_space.shape[0]
self.action_dim = 2
# self.action_dim = 1
# hyperparameters
self.gamma = gamma
self.tau = tau
self.update_step = 0
self.delay_step = 2
# initialize networks
self.value_net = ValueNetwork(self.obs_dim, 1).to(self.device)
self.target_value_net = ValueNetwork(self.obs_dim, 1).to(self.device)
self.q_net1 = SoftQNetwork(self.obs_dim,
self.action_dim).to(self.device)
self.q_net2 = SoftQNetwork(self.obs_dim,
self.action_dim).to(self.device)
self.policy_net = PolicyNetwork(self.obs_dim,
self.action_dim).to(self.device)
# copy params to target param
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(param)
# initialize optimizers
self.value_optimizer = optim.Adam(self.value_net.parameters(), lr=v_lr)
self.q1_optimizer = optim.Adam(self.q_net1.parameters(), lr=q_lr)
self.q2_optimizer = optim.Adam(self.q_net2.parameters(), lr=q_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=policy_lr)
self.replay_buffer = BasicBuffer(buffer_maxlen)
def __init__(self, env, args, work_dir):
self.env = env
self.args = args
self.work_dir = work_dir
self.n_action = self.env.action_space.n
self.arr_actions = np.arange(self.n_action)
self.memory = ReplayMemory(self.args.buffer_size, self.args.device)
self.qNetwork = ValueNetwork(self.n_action,
self.env).to(self.args.device)
self.targetNetwork = ValueNetwork(self.n_action,
self.env).to(self.args.device)
self.qNetwork.train()
self.targetNetwork.eval()
self.optimizer = optim.RMSprop(self.qNetwork.parameters(),
lr=0.00025,
eps=0.001,
alpha=0.95)
self.crit = nn.MSELoss()
self.eps = max(self.args.eps, self.args.eps_min)
self.eps_delta = (
self.eps - self.args.eps_min) / self.args.exploration_decay_speed
def test_rotate():
vn = ValueNetwork(14, [150, 150, 100], kinematic=False)
state = JointState(2, 2, 0, 1, 0.3, 2, 4, 1, 0, 4, 2, 2, 0, 0.3)
state = torch.Tensor(state).expand(1, 14)
rotated_state = vn.rotate(state, torch.device('cpu')).squeeze().numpy()
assert np.allclose(rotated_state,
[2, 1, 1, 0, 0.3, 0, 0, -2, 0, -2, 0.3, 0.6, 1, 0, 2],
atol=1e-06)
vn = ValueNetwork(14, [150, 150, 100], kinematic=True)
state = JointState(2, 2, 0, 1, 0.3, 2, 4, 1, 0, 4, 2, 2, 0, 0.3)
state = torch.Tensor(state).expand(1, 14)
rotated_state = vn.rotate(state, torch.device('cpu')).squeeze().numpy()
assert np.allclose(
rotated_state,
[2, 1, 1, 0, 0.3, -np.pi / 2, 0, -2, 0, -2, 0.3, 0.6, 0, -1, 2],
atol=1e-06)
class A2CAgent():
"""
init function
input: env, which is the CartPole-v0
gamma, 0.99 in this case
lr, learning rate is 1e-4
define: env = env, which is the CartPole-v0
obs_dim: 4 obervations
Observation:
Type: Box(4)
Num Observation Min Max
0 Cart Position -4.8 4.8
1 Cart Velocity -Inf Inf
2 Pole Angle -24 deg 24 deg
3 Pole Velocity At Tip -Inf Inf
action_dim: 2 actions
Actions:
Type: Discrete(2)
Num Action
0 Push cart to the left
1 Push cart to the right
value_network: two layer network with input 4 (observation dim) and output 1 (reward?)
policy_network: two layer network with input 4 (observation dim) and output 2 (action dim)
value and policy optimizer using default Adam and learning rate
"""
def __init__(self, env, gamma, lr):
self.env = env
self.obs_dim = env.observation_space.shape[0]
self.action_dim = env.action_space.n
self.gamma = gamma
self.lr = lr
self.value_network = ValueNetwork(self.obs_dim, 1)
self.policy_network = PolicyNetwork(self.obs_dim, self.action_dim)
self.value_optimizer = optim.Adam(self.value_network.parameters(),
lr=self.lr)
self.policy_optimizer = optim.Adam(self.policy_network.parameters(),
lr=self.lr)
"""
input state to get the next action
using policy network to get the next state by using softmax
"""
def get_action(self, state):
state = torch.FloatTensor(state)
logits = self.policy_network.forward(state)
dist = F.softmax(logits, dim=0)
probs = Categorical(dist)
return probs.sample().cpu().detach().item()
"""
form trajectory get all of the information, and calculated the discounted_rewards
use value network to train the states with new values and compute the loss between the value and target value by using MSE
same logic for policy network
FloatTensor = FLOAT TYPE ARRAY
t
tensor([[1, 2, 3],
[4, 5, 6]])
t.view(-1,1)
tensor([[1],
[2],
[3],
[4],
[5],
[6]])
"""
def compute_loss(self, trajectory):
states = torch.FloatTensor([sars[0] for sars in trajectory])
actions = torch.LongTensor([sars[1]
for sars in trajectory]).view(-1, 1)
rewards = torch.FloatTensor([sars[2] for sars in trajectory])
next_states = torch.FloatTensor([sars[3] for sars in trajectory])
dones = torch.FloatTensor([sars[4] for sars in trajectory]).view(-1, 1)
# compute value target
## Two for loop to calculate the discounted reward for each one
discounted_rewards = [torch.sum(torch.FloatTensor([self.gamma ** i for i in range(rewards[j:].size(0))]) \
* rewards[j:]) for j in
range(rewards.size(0))] # sorry, not the most readable code.
value_targets = rewards.view(
-1, 1) + torch.FloatTensor(discounted_rewards).view(-1, 1)
# compute value loss
values = self.value_network.forward(states)
value_loss = F.mse_loss(values, value_targets.detach())
# compute policy loss with entropy bonus
logits = self.policy_network.forward(states)
dists = F.softmax(logits, dim=1)
probs = Categorical(dists)
# compute entropy bonus
entropy = []
for dist in dists:
entropy.append(-torch.sum(dist.mean() * torch.log(dist)))
entropy = torch.stack(entropy).sum()
advantage = value_targets - values
policy_loss = -probs.log_prob(actions.view(actions.size(0))).view(
-1, 1) * advantage.detach()
policy_loss = policy_loss.mean() - 0.001 * entropy
return value_loss, policy_loss
"""
zero_grad clears old gradients from the last step (otherwise you’d just accumulate the gradients from all loss.backward() calls).
loss.backward() computes the derivative of the loss w.r.t. the parameters (or anything requiring gradients) using backpropagation.
opt.step() causes the optimizer to take a step based on the gradients of the parameters.
"""
def update(self, trajectory):
value_loss, policy_loss = self.compute_loss(trajectory)
self.value_optimizer.zero_grad()
value_loss.backward()
self.value_optimizer.step()
self.policy_optimizer.zero_grad()
policy_loss.backward()
self.policy_optimizer.step()
class SACAgent:
def __init__(self, env, gamma, tau, v_lr, q_lr, policy_lr, buffer_maxlen):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.env = env
# self.action_range = [env.action_space.low, env.action_space.high]
# TODO: as a simple demo, I changed here; for the implementation, we should pass this as parameters
self.action_range = [[-1, 1], [-1, 1]]
self.obs_dim = env.observation_space.shape[0]
self.action_dim = 2
# self.action_dim = 1
# hyperparameters
self.gamma = gamma
self.tau = tau
self.update_step = 0
self.delay_step = 2
# initialize networks
self.value_net = ValueNetwork(self.obs_dim, 1).to(self.device)
self.target_value_net = ValueNetwork(self.obs_dim, 1).to(self.device)
self.q_net1 = SoftQNetwork(self.obs_dim,
self.action_dim).to(self.device)
self.q_net2 = SoftQNetwork(self.obs_dim,
self.action_dim).to(self.device)
self.policy_net = PolicyNetwork(self.obs_dim,
self.action_dim).to(self.device)
# copy params to target param
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(param)
# initialize optimizers
self.value_optimizer = optim.Adam(self.value_net.parameters(), lr=v_lr)
self.q1_optimizer = optim.Adam(self.q_net1.parameters(), lr=q_lr)
self.q2_optimizer = optim.Adam(self.q_net2.parameters(), lr=q_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=policy_lr)
self.replay_buffer = BasicBuffer(buffer_maxlen)
# pi: state -> acton
def get_action(self, state):
state = torch.FloatTensor(state).unsqueeze(0).to(self.device)
mean, log_std = self.policy_net.forward(state)
std = log_std.exp()
normal = Normal(mean, std)
z = normal.sample()
action = torch.tanh(z)
action = action.cpu().detach().squeeze(0).numpy()
return self.rescale_action(action)
def rescale_action(self, action):
'''if action < 0.5:
return 0
else:
return 1'''
scaled_action = []
for idx, a in enumerate(action):
action_range = self.action_range[idx]
a = (action_range[1] - action_range[0]) / 2.0 + (
action_range[1] + action_range[0]) / 2.0
scaled_action.append(a)
return scaled_action
def update(self, batch_size):
states, actions, rewards, next_states, dones = self.replay_buffer.sample(
batch_size)
states = torch.FloatTensor(states).to(self.device)
actions = torch.FloatTensor(actions).to(self.device)
rewards = torch.FloatTensor(rewards).to(self.device)
next_states = torch.FloatTensor(next_states).to(self.device)
dones = torch.FloatTensor(dones).to(self.device)
dones = dones.view(dones.size(0), -1)
next_actions, next_log_pi = self.policy_net.sample(next_states)
next_q1 = self.q_net1(next_states, next_actions)
next_q2 = self.q_net2(next_states, next_actions)
next_v = self.target_value_net(next_states)
# value Loss
next_v_target = torch.min(next_q1, next_q2) - next_log_pi
curr_v = self.value_net.forward(states)
v_loss = F.mse_loss(curr_v, next_v_target.detach())
#TODO: Question: why using 2 Q-networks?
# To reduce bias in training.
# q loss
curr_q1 = self.q_net1.forward(states, actions)
curr_q2 = self.q_net2.forward(states, actions)
expected_q = rewards + (1 - dones) * self.gamma * next_v
q1_loss = F.mse_loss(curr_q1, expected_q.detach())
q2_loss = F.mse_loss(curr_q2, expected_q.detach())
# update value network and q networks
self.value_optimizer.zero_grad()
v_loss.backward()
self.value_optimizer.step()
self.q1_optimizer.zero_grad()
q1_loss.backward()
self.q1_optimizer.step()
self.q2_optimizer.zero_grad()
q2_loss.backward()
self.q2_optimizer.step()
# delayed update for policy net and target value nets
# TODO: Question: what does this part do?
# The original paper mentioned 2 methods for approximating the value function
# 1. the EMA of policy weights to update the Q network
# 2. periodical update of the policy network, which is used in this code
if self.update_step % self.delay_step == 0:
new_actions, log_pi = self.policy_net.sample(states)
min_q = torch.min(self.q_net1.forward(states, new_actions),
self.q_net2.forward(states, new_actions))
policy_loss = (log_pi - min_q).mean()
self.policy_optimizer.zero_grad()
policy_loss.backward()
self.policy_optimizer.step()
# target networks
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(self.tau * param +
(1 - self.tau) * target_param)
self.update_step += 1
class Agent():
def __init__(self, state_size, action_size, num_agents):
state_dim = state_size
#agent_input_state_dim = state_size*2 # Previos state is passed in with with the current state.
action_dim = action_size
self.num_agents = num_agents
max_size = 100000 ###
self.replay = Replay(max_size)
hidden_dim = 128
self.critic_net = ValueNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.target_critic_net = ValueNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.actor_net = PolicyNetwork(state_dim, action_dim,
hidden_dim).to(device)
self.target_actor_net = PolicyNetwork(state_dim, action_dim,
hidden_dim).to(device)
for target_param, param in zip(self.target_critic_net.parameters(),
self.critic_net.parameters()):
target_param.data.copy_(param.data)
for target_param, param in zip(self.target_actor_net.parameters(),
self.actor_net.parameters()):
target_param.data.copy_(param.data)
self.critic_optimizer = optim.Adam(self.critic_net.parameters(),
lr=CRITIC_LEARNING_RATE)
self.actor_optimizer = optim.Adam(self.actor_net.parameters(),
lr=ACTOR_LEARNING_RATE)
def get_action(self, state):
return self.actor_net.get_action(state)[0]
def add_replay(self, state, action, reward, next_state, done):
for i in range(self.num_agents):
self.replay.add(state[i], action[i], reward[i], next_state[i],
done[i])
def learning_step(self):
#Check if relay buffer contains enough samples for 1 batch
if (self.replay.cursize < BATCH_SIZE):
return
#Get Samples
state, action, reward, next_state, done = self.replay.get(BATCH_SIZE)
#calculate loss
actor_loss = self.critic_net(state, self.actor_net(state))
actor_loss = -actor_loss.mean()
next_action = self.target_actor_net(next_state)
target_value = self.target_critic_net(next_state, next_action.detach())
expected_value = reward + (1.0 - done) * DISCOUNT_RATE * target_value
value = self.critic_net(state, action)
critic_loss = F.mse_loss(value, expected_value.detach())
#backprop
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
#soft update
self.soft_update(self.critic_net, self.target_critic_net, TAU)
self.soft_update(self.actor_net, self.target_actor_net, TAU)
def save(self, name):
torch.save(self.critic_net.state_dict(), name + "_critic")
torch.save(self.actor_net.state_dict(), name + "_actor")
def load(self, name):
self.critic_net.load_state_dict(torch.load(name + "_critic"))
self.critic_net.eval()
self.actor_net.load_state_dict(torch.load(name + "_actor"))
self.actor_net.eval()
for target_param, param in zip(self.target_critic_net.parameters(),
self.critic_net.parameters()):
target_param.data.copy_(param.data)
for target_param, param in zip(self.target_actor_net.parameters(),
self.actor_net.parameters()):
target_param.data.copy_(param.data)
def soft_update(self, local_model, target_model, tau):
"""Soft update model parameters.
θ_target = τ*θ_local + (1 - τ)*θ_target
Params
======
local_model (PyTorch model): weights will be copied from
target_model (PyTorch model): weights will be copied to
tau (float): interpolation parameter
"""
for target_param, local_param in zip(target_model.parameters(),
local_model.parameters()):
target_param.data.copy_(tau * local_param.data +
(1.0 - tau) * target_param.data)
bxmax = env_config.getfloat('sim', 'xmax')
bymin = env_config.getfloat('sim', 'ymin')
bymax = env_config.getfloat('sim', 'ymax')
xmin = env_config.getfloat('visualization', 'xmin')
xmax = env_config.getfloat('visualization', 'xmax')
ymin = env_config.getfloat('visualization', 'ymin')
ymax = env_config.getfloat('visualization', 'ymax')
crossing_radius = env_config.getfloat('sim', 'crossing_radius')
kinematic = env_config.getboolean('agent', 'kinematic')
radius = env_config.getfloat('agent', 'radius')
device = torch.device('cpu')
test_env = ENV(config=env_config, phase='test')
test_env.reset(case)
model = ValueNetwork(state_dim=state_dim,
fc_layers=[100, 100, 100],
kinematic=kinematic)
model.load_state_dict(
torch.load(weight_path, map_location=lambda storage, loc: storage))
_, state_sequences, _, _ = run_one_episode(model, 'test', test_env, gamma,
None, kinematic, device)
positions = list()
colors = list()
counter = list()
line_positions = list()
for i in range(len(state_sequences[0])):
counter.append(i)
if state_sequences[0][i] is None:
p0 = positions[-4][0]
c0 = 'tab:red'
class DQNAgent(object):
def __init__(self, env, args, work_dir):
self.env = env
self.args = args
self.work_dir = work_dir
self.n_action = self.env.action_space.n
self.arr_actions = np.arange(self.n_action)
self.memory = ReplayMemory(self.args.buffer_size, self.args.device)
self.qNetwork = ValueNetwork(self.n_action,
self.env).to(self.args.device)
self.targetNetwork = ValueNetwork(self.n_action,
self.env).to(self.args.device)
self.qNetwork.train()
self.targetNetwork.eval()
self.optimizer = optim.RMSprop(self.qNetwork.parameters(),
lr=0.00025,
eps=0.001,
alpha=0.95)
self.crit = nn.MSELoss()
self.eps = max(self.args.eps, self.args.eps_min)
self.eps_delta = (
self.eps - self.args.eps_min) / self.args.exploration_decay_speed
def reset(self):
return torch.cat([preprocess_state(self.env.reset(), self.env)] * 4, 1)
def select_action(self, state):
action_prob = np.zeros(self.n_action, np.float32)
action_prob.fill(self.eps / self.n_action)
max_q, max_q_index = self.qNetwork(Variable(state.to(
self.args.device))).data.cpu().max(1)
action_prob[max_q_index[0]] += 1 - self.eps
action = np.random.choice(self.arr_actions, p=action_prob)
next_state, reward, done, _ = self.env.step(action)
next_state = torch.cat(
[state.narrow(1, 1, 3),
preprocess_state(next_state, self.env)], 1)
self.memory.push(
(state, torch.LongTensor([int(action)]), torch.Tensor([reward]),
next_state, torch.Tensor([done])))
return next_state, reward, done, max_q[0]
def run(self):
state = self.reset()
# init buffer
for _ in range(self.args.buffer_init_size):
next_state, _, done, _ = self.select_action(state)
state = self.reset() if done else next_state
total_frame = 0
reward_list = np.zeros(self.args.log_size, np.float32)
qval_list = np.zeros(self.args.log_size, np.float32)
start_time = time.time()
for epi in count():
reward_list[epi % self.args.log_size] = 0
qval_list[epi % self.args.log_size] = -1e9
state = self.reset()
done = False
ep_len = 0
if epi % self.args.save_freq == 0:
model_file = os.path.join(self.work_dir, 'model.th')
with open(model_file, 'wb') as f:
torch.save(self.qNetwork, f)
while not done:
if total_frame % self.args.sync_period == 0:
self.targetNetwork.load_state_dict(
self.qNetwork.state_dict())
self.eps = max(self.args.eps_min, self.eps - self.eps_delta)
next_state, reward, done, qval = self.select_action(state)
reward_list[epi % self.args.log_size] += reward
qval_list[epi % self.args.log_size] = max(
qval_list[epi % self.args.log_size], qval)
state = next_state
total_frame += 1
ep_len += 1
if ep_len % self.args.learn_freq == 0:
batch_state, batch_action, batch_reward, batch_next_state, batch_done = self.memory.sample(
self.args.batch_size)
batch_q = self.qNetwork(batch_state).gather(
1, batch_action.unsqueeze(1)).squeeze(1)
batch_next_q = self.targetNetwork(batch_next_state).detach(
).max(1)[0] * self.args.gamma * (1 - batch_done)
loss = self.crit(batch_q, batch_reward + batch_next_q)
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
output_str = 'episode %d frame %d time %.2fs cur_rew %.3f mean_rew %.3f cur_maxq %.3f mean_maxq %.3f' % (
epi, total_frame, time.time() - start_time,
reward_list[epi % self.args.log_size], np.mean(reward_list),
qval_list[epi % self.args.log_size], np.mean(qval_list))
print(output_str)
logging.info(output_str)
class SAC(object):
def __init__(self, num_inputs, action_space, args):
self.num_inputs = num_inputs
self.action_space = action_space.shape[0]
self.gamma = args.gamma
self.tau = args.tau
self.policy_type = args.policy
self.target_update_interval = args.target_update_interval
self.automatic_entropy_tuning = args.automatic_entropy_tuning
self.critic = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
self.critic_optim = Adam(self.critic.parameters(), lr=args.lr)
if self.policy_type == "Gaussian":
self.alpha = args.alpha
# Target Entropy = −dim(A) (e.g. , -6 for HalfCheetah-v2) as given in the paper
if self.automatic_entropy_tuning == True:
self.target_entropy = -torch.prod(
torch.Tensor(action_space.shape)).item()
self.log_alpha = torch.zeros(1, requires_grad=True)
self.alpha_optim = Adam([self.log_alpha], lr=args.lr)
else:
pass
self.policy = GaussianPolicy(self.num_inputs, self.action_space,
args.hidden_size)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.value = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_target = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_optim = Adam(self.value.parameters(), lr=args.lr)
hard_update(self.value_target, self.value)
else:
self.policy = DeterministicPolicy(self.num_inputs,
self.action_space,
args.hidden_size)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.critic_target = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
hard_update(self.critic_target, self.critic)
def select_action(self, state, eval=False):
state = torch.FloatTensor(state).unsqueeze(0)
if eval == False:
self.policy.train()
action, _, _, _, _ = self.policy.sample(state)
else:
self.policy.eval()
_, _, _, action, _ = self.policy.sample(state)
if self.policy_type == "Gaussian":
action = torch.tanh(action)
else:
pass
#action = torch.tanh(action)
action = action.detach().cpu().numpy()
return action[0]
def update_parameters(self, state_batch, action_batch, reward_batch,
next_state_batch, mask_batch, updates):
state_batch = torch.FloatTensor(state_batch)
next_state_batch = torch.FloatTensor(next_state_batch)
action_batch = torch.FloatTensor(action_batch)
reward_batch = torch.FloatTensor(reward_batch).unsqueeze(1)
mask_batch = torch.FloatTensor(np.float32(mask_batch)).unsqueeze(1)
"""
Use two Q-functions to mitigate positive bias in the policy improvement step that is known
to degrade performance of value based methods. Two Q-functions also significantly speed
up training, especially on harder task.
"""
expected_q1_value, expected_q2_value = self.critic(
state_batch, action_batch)
new_action, log_prob, _, mean, log_std = self.policy.sample(
state_batch)
if self.policy_type == "Gaussian":
if self.automatic_entropy_tuning:
"""
Alpha Loss
"""
alpha_loss = -(
self.log_alpha *
(log_prob + self.target_entropy).detach()).mean()
self.alpha_optim.zero_grad()
alpha_loss.backward()
self.alpha_optim.step()
self.alpha = self.log_alpha.exp()
alpha_logs = self.alpha.clone() # For TensorboardX logs
else:
alpha_loss = torch.tensor(0.)
alpha_logs = self.alpha # For TensorboardX logs
"""
Including a separate function approximator for the soft value can stabilize training.
"""
expected_value = self.value(state_batch)
target_value = self.value_target(next_state_batch)
next_q_value = reward_batch + mask_batch * self.gamma * (
target_value).detach()
else:
"""
There is no need in principle to include a separate function approximator for the state value.
We use a target critic network for deterministic policy and eradicate the value value network completely.
"""
alpha_loss = torch.tensor(0.)
alpha_logs = self.alpha # For TensorboardX logs
next_state_action, _, _, _, _, = self.policy.sample(
next_state_batch)
target_critic_1, target_critic_2 = self.critic_target(
next_state_batch, next_state_action)
target_critic = torch.min(target_critic_1, target_critic_2)
next_q_value = reward_batch + mask_batch * self.gamma * (
target_critic).detach()
"""
Soft Q-function parameters can be trained to minimize the soft Bellman residual
JQ = 𝔼(st,at)~D[0.5(Q1(st,at) - r(st,at) - γ(𝔼st+1~p[V(st+1)]))^2]
∇JQ = ∇Q(st,at)(Q(st,at) - r(st,at) - γV(target)(st+1))
"""
q1_value_loss = F.mse_loss(expected_q1_value, next_q_value)
q2_value_loss = F.mse_loss(expected_q2_value, next_q_value)
q1_new, q2_new = self.critic(state_batch, new_action)
expected_new_q_value = torch.min(q1_new, q2_new)
if self.policy_type == "Gaussian":
"""
Including a separate function approximator for the soft value can stabilize training and is convenient to
train simultaneously with the other networks
Update the V towards the min of two Q-functions in order to reduce overestimation bias from function approximation error.
JV = 𝔼st~D[0.5(V(st) - (𝔼at~π[Qmin(st,at) - α * log π(at|st)]))^2]
∇JV = ∇V(st)(V(st) - Q(st,at) + (α * logπ(at|st)))
"""
next_value = expected_new_q_value - (self.alpha * log_prob)
value_loss = F.mse_loss(expected_value, next_value.detach())
else:
pass
"""
Reparameterization trick is used to get a low variance estimator
f(εt;st) = action sampled from the policy
εt is an input noise vector, sampled from some fixed distribution
Jπ = 𝔼st∼D,εt∼N[α * logπ(f(εt;st)|st) − Q(st,f(εt;st))]
∇Jπ = ∇log π + ([∇at (α * logπ(at|st)) − ∇at Q(st,at)])∇f(εt;st)
"""
policy_loss = ((self.alpha * log_prob) - expected_new_q_value).mean()
# Regularization Loss
mean_loss = 0.001 * mean.pow(2).mean()
std_loss = 0.001 * log_std.pow(2).mean()
policy_loss += mean_loss + std_loss
self.critic_optim.zero_grad()
q1_value_loss.backward()
self.critic_optim.step()
self.critic_optim.zero_grad()
q2_value_loss.backward()
self.critic_optim.step()
if self.policy_type == "Gaussian":
self.value_optim.zero_grad()
value_loss.backward()
self.value_optim.step()
else:
value_loss = torch.tensor(0.)
self.policy_optim.zero_grad()
policy_loss.backward()
self.policy_optim.step()
"""
We update the target weights to match the current value function weights periodically
Update target parameter after every n(args.target_update_interval) updates
"""
if updates % self.target_update_interval == 0 and self.policy_type == "Deterministic":
soft_update(self.critic_target, self.critic, self.tau)
elif updates % self.target_update_interval == 0 and self.policy_type == "Gaussian":
soft_update(self.value_target, self.value, self.tau)
return value_loss.item(), q1_value_loss.item(), q2_value_loss.item(
), policy_loss.item(), alpha_loss.item(), alpha_logs
# Save model parameters
def save_model(self,
env_name,
suffix="",
actor_path=None,
critic_path=None,
value_path=None):
if not os.path.exists('models/'):
os.makedirs('models/')
if actor_path is None:
actor_path = "models/sac_actor_{}_{}".format(env_name, suffix)
if critic_path is None:
critic_path = "models/sac_critic_{}_{}".format(env_name, suffix)
if value_path is None:
value_path = "models/sac_value_{}_{}".format(env_name, suffix)
print('Saving models to {}, {} and {}'.format(actor_path, critic_path,
value_path))
torch.save(self.value.state_dict(), value_path)
torch.save(self.policy.state_dict(), actor_path)
torch.save(self.critic.state_dict(), critic_path)
# Load model parameters
def load_model(self, actor_path, critic_path, value_path):
print('Loading models from {}, {} and {}'.format(
actor_path, critic_path, value_path))
if actor_path is not None:
self.policy.load_state_dict(torch.load(actor_path))
if critic_path is not None:
self.critic.load_state_dict(torch.load(critic_path))
if value_path is not None:
self.value.load_state_dict(torch.load(value_path))
class SAC(object):
def __init__(self, num_inputs, action_space, args):
self.num_inputs = num_inputs
self.action_space = action_space.shape[0]
self.gamma = args.gamma
self.tau = args.tau
self.policy_type = args.policy
self.target_update_interval = args.target_update_interval
self.automatic_entropy_tuning = args.automatic_entropy_tuning
self.device = torch.device("cuda" if args.cuda else "cpu")
self.critic = QNetwork(self.num_inputs, self.action_space,
args.hidden_size).to(device=self.device)
self.critic_optim = Adam(self.critic.parameters(), lr=args.lr)
if self.policy_type == "Gaussian":
self.alpha = args.alpha
# Target Entropy = −dim(A) (e.g. , -6 for HalfCheetah-v2) as given in the paper
if self.automatic_entropy_tuning == True:
self.target_entropy = -torch.prod(
torch.Tensor(action_space.shape).to(self.device)).item()
self.log_alpha = torch.zeros(1,
requires_grad=True,
device=self.device)
self.alpha_optim = Adam([self.log_alpha], lr=args.lr)
self.policy = GaussianPolicy(self.num_inputs, self.action_space,
args.hidden_size).to(self.device)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.value = ValueNetwork(self.num_inputs,
args.hidden_size).to(self.device)
self.value_target = ValueNetwork(self.num_inputs,
args.hidden_size).to(self.device)
self.value_optim = Adam(self.value.parameters(), lr=args.lr)
hard_update(self.value_target, self.value)
else:
self.policy = DeterministicPolicy(self.num_inputs,
self.action_space,
args.hidden_size).to(self.device)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.critic_target = QNetwork(self.num_inputs, self.action_space,
args.hidden_size).to(self.device)
hard_update(self.critic_target, self.critic)
def select_action(self, state, eval=False):
state = torch.FloatTensor(state).to(self.device).unsqueeze(0)
if eval == False:
self.policy.train()
action, _, _ = self.policy.sample(state)
else:
self.policy.eval()
_, _, action = self.policy.sample(state)
action = action.detach().cpu().numpy()
return action[0]
def update_parameters(self, state_batch, action_batch, reward_batch,
next_state_batch, mask_batch, updates):
state_batch = torch.FloatTensor(state_batch).to(self.device)
next_state_batch = torch.FloatTensor(next_state_batch).to(self.device)
action_batch = torch.FloatTensor(action_batch).to(self.device)
reward_batch = torch.FloatTensor(reward_batch).to(
self.device).unsqueeze(1)
mask_batch = torch.FloatTensor(mask_batch).to(self.device).unsqueeze(1)
qf1, qf2 = self.critic(
state_batch, action_batch
) # Two Q-functions to mitigate positive bias in the policy improvement step
pi, log_pi, _ = self.policy.sample(state_batch)
if self.policy_type == "Gaussian":
if self.automatic_entropy_tuning:
alpha_loss = -(self.log_alpha *
(log_pi + self.target_entropy).detach()).mean()
self.alpha_optim.zero_grad()
alpha_loss.backward()
self.alpha_optim.step()
self.alpha = self.log_alpha.exp()
alpha_logs = torch.tensor(self.alpha) # For TensorboardX logs
else:
alpha_loss = torch.tensor(0.).to(self.device)
alpha_logs = torch.tensor(self.alpha) # For TensorboardX logs
vf = self.value(
state_batch
) # separate function approximator for the soft value can stabilize training.
with torch.no_grad():
vf_next_target = self.value_target(next_state_batch)
next_q_value = reward_batch + mask_batch * self.gamma * (
vf_next_target)
else:
alpha_loss = torch.tensor(0.).to(self.device)
alpha_logs = self.alpha # For TensorboardX logs
with torch.no_grad():
next_state_action, _, _, _, _, = self.policy.sample(
next_state_batch)
# Use a target critic network for deterministic policy and eradicate the value value network completely.
qf1_next_target, qf2_next_target = self.critic_target(
next_state_batch, next_state_action)
min_qf_next_target = torch.min(qf1_next_target,
qf2_next_target)
next_q_value = reward_batch + mask_batch * self.gamma * (
min_qf_next_target)
qf1_loss = F.mse_loss(
qf1, next_q_value
) # JQ = 𝔼(st,at)~D[0.5(Q1(st,at) - r(st,at) - γ(𝔼st+1~p[V(st+1)]))^2]
qf2_loss = F.mse_loss(
qf2, next_q_value
) # JQ = 𝔼(st,at)~D[0.5(Q1(st,at) - r(st,at) - γ(𝔼st+1~p[V(st+1)]))^2]
qf1_pi, qf2_pi = self.critic(state_batch, pi)
min_qf_pi = torch.min(qf1_pi, qf2_pi)
if self.policy_type == "Gaussian":
vf_target = min_qf_pi - (self.alpha * log_pi)
value_loss = F.mse_loss(
vf, vf_target.detach()
) # JV = 𝔼st~D[0.5(V(st) - (𝔼at~π[Qmin(st,at) - α * log π(at|st)]))^2]
policy_loss = ((self.alpha * log_pi) - min_qf_pi).mean(
) # Jπ = 𝔼st∼D,εt∼N[α * logπ(f(εt;st)|st) − Q(st,f(εt;st))]
# Regularization Loss
# mean_loss = 0.001 * mean.pow(2).mean()
# std_loss = 0.001 * log_std.pow(2).mean()
# policy_loss += mean_loss + std_loss
self.critic_optim.zero_grad()
qf1_loss.backward()
self.critic_optim.step()
self.critic_optim.zero_grad()
qf2_loss.backward()
self.critic_optim.step()
if self.policy_type == "Gaussian":
self.value_optim.zero_grad()
value_loss.backward()
self.value_optim.step()
else:
value_loss = torch.tensor(0.).to(self.device)
self.policy_optim.zero_grad()
policy_loss.backward()
self.policy_optim.step()
"""
We update the target weights to match the current value function weights periodically
Update target parameter after every n(args.target_update_interval) updates
"""
if updates % self.target_update_interval == 0 and self.policy_type == "Deterministic":
soft_update(self.critic_target, self.critic, self.tau)
elif updates % self.target_update_interval == 0 and self.policy_type == "Gaussian":
soft_update(self.value_target, self.value, self.tau)
return value_loss.item(), qf1_loss.item(), qf2_loss.item(
), policy_loss.item(), alpha_loss.item(), alpha_logs.item()
# Save model parameters
def save_model(self,
env_name,
suffix="",
actor_path=None,
critic_path=None,
value_path=None):
if not os.path.exists('models/'):
os.makedirs('models/')
if actor_path is None:
actor_path = "models/sac_actor_{}_{}".format(env_name, suffix)
if critic_path is None:
critic_path = "models/sac_critic_{}_{}".format(env_name, suffix)
if value_path is None:
value_path = "models/sac_value_{}_{}".format(env_name, suffix)
print('Saving models to {}, {} and {}'.format(actor_path, critic_path,
value_path))
torch.save(self.value.state_dict(), value_path)
torch.save(self.policy.state_dict(), actor_path)
torch.save(self.critic.state_dict(), critic_path)
# Load model parameters
def load_model(self, actor_path, critic_path, value_path):
print('Loading models from {}, {} and {}'.format(
actor_path, critic_path, value_path))
if actor_path is not None:
self.policy.load_state_dict(torch.load(actor_path))
if critic_path is not None:
self.critic.load_state_dict(torch.load(critic_path))
if value_path is not None:
self.value.load_state_dict(torch.load(value_path))
class SAC:
def __init__(self, env_name, n_states, n_actions, memory_size, batch_size,
gamma, alpha, lr, action_bounds, reward_scale):
self.env_name = env_name
self.n_states = n_states
self.n_actions = n_actions
self.memory_size = memory_size
self.batch_size = batch_size
self.gamma = gamma
self.alpha = alpha
self.lr = lr
self.action_bounds = action_bounds
self.reward_scale = reward_scale
self.memory = Memory(memory_size=self.memory_size)
self.device = "cuda" if torch.cuda.is_available() else "cpu"
self.policy_network = PolicyNetwork(
n_states=self.n_states,
n_actions=self.n_actions,
action_bounds=self.action_bounds).to(self.device)
self.q_value_network1 = QvalueNetwork(n_states=self.n_states,
n_actions=self.n_actions).to(
self.device)
self.q_value_network2 = QvalueNetwork(n_states=self.n_states,
n_actions=self.n_actions).to(
self.device)
self.value_network = ValueNetwork(n_states=self.n_states).to(
self.device)
self.value_target_network = ValueNetwork(n_states=self.n_states).to(
self.device)
self.value_target_network.load_state_dict(
self.value_network.state_dict())
self.value_target_network.eval()
self.value_loss = torch.nn.MSELoss()
self.q_value_loss = torch.nn.MSELoss()
self.value_opt = Adam(self.value_network.parameters(), lr=self.lr)
self.q_value1_opt = Adam(self.q_value_network1.parameters(),
lr=self.lr)
self.q_value2_opt = Adam(self.q_value_network2.parameters(),
lr=self.lr)
self.policy_opt = Adam(self.policy_network.parameters(), lr=self.lr)
def store(self, state, reward, done, action, next_state):
state = from_numpy(state).float().to("cpu")
reward = torch.Tensor([reward]).to("cpu")
done = torch.Tensor([done]).to("cpu")
action = torch.Tensor([action]).to("cpu")
next_state = from_numpy(next_state).float().to("cpu")
self.memory.add(state, reward, done, action, next_state)
def unpack(self, batch):
batch = Transition(*zip(*batch))
states = torch.cat(batch.state).view(self.batch_size,
self.n_states).to(self.device)
rewards = torch.cat(batch.reward).view(self.batch_size,
1).to(self.device)
dones = torch.cat(batch.done).view(self.batch_size, 1).to(self.device)
actions = torch.cat(batch.action).view(-1,
self.n_actions).to(self.device)
next_states = torch.cat(batch.next_state).view(
self.batch_size, self.n_states).to(self.device)
return states, rewards, dones, actions, next_states
def train(self):
if len(self.memory) < self.batch_size:
return 0, 0, 0
else:
batch = self.memory.sample(self.batch_size)
states, rewards, dones, actions, next_states = self.unpack(batch)
# Calculating the value target
reparam_actions, log_probs = self.policy_network.sample_or_likelihood(
states)
q1 = self.q_value_network1(states, reparam_actions)
q2 = self.q_value_network2(states, reparam_actions)
q = torch.min(q1, q2)
target_value = q.detach() - self.alpha * log_probs.detach()
value = self.value_network(states)
value_loss = self.value_loss(value, target_value)
# Calculating the Q-Value target
with torch.no_grad():
target_q = self.reward_scale * rewards + \
self.gamma * self.value_target_network(next_states) * (1 - dones)
q1 = self.q_value_network1(states, actions)
q2 = self.q_value_network2(states, actions)
q1_loss = self.q_value_loss(q1, target_q)
q2_loss = self.q_value_loss(q2, target_q)
policy_loss = (self.alpha * log_probs - q).mean()
self.policy_opt.zero_grad()
policy_loss.backward()
self.policy_opt.step()
self.value_opt.zero_grad()
value_loss.backward()
self.value_opt.step()
self.q_value1_opt.zero_grad()
q1_loss.backward()
self.q_value1_opt.step()
self.q_value2_opt.zero_grad()
q2_loss.backward()
self.q_value2_opt.step()
self.soft_update_target_network(self.value_network,
self.value_target_network)
return value_loss.item(), 0.5 * (
q1_loss + q2_loss).item(), policy_loss.item()
def choose_action(self, states):
states = np.expand_dims(states, axis=0)
states = from_numpy(states).float().to(self.device)
action, _ = self.policy_network.sample_or_likelihood(states)
return action.detach().cpu().numpy()[0]
@staticmethod
def soft_update_target_network(local_network, target_network, tau=0.005):
for target_param, local_param in zip(target_network.parameters(),
local_network.parameters()):
target_param.data.copy_(tau * local_param.data +
(1 - tau) * target_param.data)
def save_weights(self):
torch.save(self.policy_network.state_dict(),
self.env_name + "_weights.pth")
def load_weights(self):
self.policy_network.load_state_dict(
torch.load(self.env_name + "_weights.pth"))
def set_to_eval_mode(self):
self.policy_network.eval()
class DDPG:
def __init__(self, cfg):
self.device = cfg.device
self.gamma = cfg.gamma
self.batch_size = cfg.batch_size
self.value_net = ValueNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.policy_net = PolicyNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_value_net = ValueNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_value_net.load_state_dict(self.value_net.state_dict())
self.target_policy_net = PolicyNetwork(cfg.state_dim, cfg.action_dim,
cfg.hidden_dim).to(self.device)
self.target_policy_net.load_state_dict(self.policy_net.state_dict())
self.soft_tau = cfg.soft_tau
self.value_lr = cfg.value_lr
self.policy_lr = cfg.policy_lr
self.value_optimizer = optim.Adam(self.value_net.parameters(),
lr=self.value_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.policy_lr)
# mean squared error
self.value_criterion = nn.MSELoss()
self.replay_buffer = ReplayBuffer(cfg.replay_buffer_size)
def update(self, cfg):
state, action, reward, next_state, done = self.replay_buffer.sample(
cfg.batch_size)
# print(np.shape(state), np.shape(action), np.shape(reward), np.shape(next_state), np.shape(done))
# (128, 3) (128, 1) (128,) (128, 3) (128,)
state = torch.FloatTensor(state).to(cfg.device)
action = torch.FloatTensor(action).to(cfg.device)
reward = torch.FloatTensor(reward).unsqueeze(1).to(cfg.device)
next_state = torch.FloatTensor(next_state).to(cfg.device)
done = torch.FloatTensor(done).unsqueeze(1).to(cfg.device)
self.value_net(state, self.policy_net(state))
# Actor Loss
policy_loss = self.value_net(state, self.policy_net(state))
policy_loss = -policy_loss.mean()
next_action = self.target_policy_net(next_state)
target_value = self.target_value_net(next_state, next_action.detach())
TD_target = reward + (1.0 - done) * self.gamma * target_value
TD_target = torch.clamp(TD_target, -np.inf, np.inf)
value = self.value_net(state, action)
# Critic Loss
value_loss = self.value_criterion(value, TD_target.detach())
self.policy_optimizer.zero_grad()
policy_loss.backward()
self.policy_optimizer.step()
self.value_optimizer.zero_grad()
value_loss.backward()
self.value_optimizer.step()
# Update target network
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(target_param.data * (1.0 - self.soft_tau) +
param.data * self.soft_tau)
for target_param, param in zip(self.target_policy_net.parameters(),
self.policy_net.parameters()):
target_param.data.copy_(target_param.data * (1.0 - self.soft_tau) +
param.data * self.soft_tau)
class SAC(object):
def __init__(self, num_inputs, action_space, args):
self.num_inputs = num_inputs
self.action_space = action_space.shape[0]
self.gamma = args.gamma
self.tau = args.tau
self.scale_R = args.scale_R
self.reparam = args.reparam
self.deterministic = args.deterministic
self.target_update_interval = args.target_update_interval
self.policy = GaussianPolicy(self.num_inputs, self.action_space,
args.hidden_size)
self.policy_optim = Adam(self.policy.parameters(), lr=args.lr)
self.critic = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
self.critic_optim = Adam(self.critic.parameters(), lr=args.lr)
if self.deterministic == False:
self.value = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_target = ValueNetwork(self.num_inputs, args.hidden_size)
self.value_optim = Adam(self.value.parameters(), lr=args.lr)
hard_update(self.value_target, self.value)
self.value_criterion = nn.MSELoss()
else:
self.critic_target = QNetwork(self.num_inputs, self.action_space,
args.hidden_size)
hard_update(self.critic_target, self.critic)
self.soft_q_criterion = nn.MSELoss()
def select_action(self, state, eval=False):
state = torch.FloatTensor(state).unsqueeze(0)
if eval == False:
self.policy.train()
_, _, action, _, _ = self.policy.evaluate(state)
else:
self.policy.eval()
_, _, _, action, _ = self.policy.evaluate(state)
action = torch.tanh(action)
action = action.detach().cpu().numpy()
return action[0]
def update_parameters(self, state_batch, action_batch, reward_batch,
next_state_batch, mask_batch, updates):
state_batch = torch.FloatTensor(state_batch)
next_state_batch = torch.FloatTensor(next_state_batch)
action_batch = torch.FloatTensor(action_batch)
reward_batch = torch.FloatTensor(reward_batch)
mask_batch = torch.FloatTensor(np.float32(mask_batch))
reward_batch = reward_batch.unsqueeze(
1) # reward_batch = [batch_size, 1]
mask_batch = mask_batch.unsqueeze(1) # mask_batch = [batch_size, 1]
"""
Use two Q-functions to mitigate positive bias in the policy improvement step that is known
to degrade performance of value based methods. Two Q-functions also significantly speed
up training, especially on harder task.
"""
expected_q1_value, expected_q2_value = self.critic(
state_batch, action_batch)
new_action, log_prob, x_t, mean, log_std = self.policy.evaluate(
state_batch, reparam=self.reparam)
"""
Including a separate function approximator for the soft value can stabilize training.
"""
expected_value = self.value(state_batch)
target_value = self.value_target(next_state_batch)
next_q_value = self.scale_R * reward_batch + mask_batch * self.gamma * target_value # Reward Scale * r(st,at) - γV(target)(st+1))
"""
Soft Q-function parameters can be trained to minimize the soft Bellman residual
JQ = 𝔼(st,at)~D[0.5(Q1(st,at) - r(st,at) - γ(𝔼st+1~p[V(st+1)]))^2]
∇JQ = ∇Q(st,at)(Q(st,at) - r(st,at) - γV(target)(st+1))
"""
q1_value_loss = self.soft_q_criterion(expected_q1_value,
next_q_value.detach())
q2_value_loss = self.soft_q_criterion(expected_q2_value,
next_q_value.detach())
q1_new, q2_new = self.critic(state_batch, new_action)
expected_new_q_value = torch.min(q1_new, q2_new)
"""
Including a separate function approximator for the soft value can stabilize training and is convenient to
train simultaneously with the other networks
Update the V towards the min of two Q-functions in order to reduce overestimation bias from function approximation error.
JV = 𝔼st~D[0.5(V(st) - (𝔼at~π[Qmin(st,at) - log π(at|st)]))^2]
∇JV = ∇V(st)(V(st) - Q(st,at) + logπ(at|st))
"""
next_value = expected_new_q_value - log_prob
value_loss = self.value_criterion(expected_value, next_value.detach())
log_prob_target = expected_new_q_value - expected_value
if self.reparam == True:
"""
Reparameterization trick is used to get a low variance estimator
f(εt;st) = action sampled from the policy
εt is an input noise vector, sampled from some fixed distribution
Jπ = 𝔼st∼D,εt∼N[logπ(f(εt;st)|st)−Q(st,f(εt;st))]
∇Jπ =∇log π + ([∇at log π(at|st) − ∇at Q(st,at)])∇f(εt;st)
"""
policy_loss = (log_prob - expected_new_q_value).mean()
else:
policy_loss = (log_prob * (log_prob - log_prob_target).detach()
).mean() # likelihood ratio gradient estimator
# Regularization Loss
mean_loss = 0.001 * mean.pow(2).mean()
std_loss = 0.001 * log_std.pow(2).mean()
policy_loss += mean_loss + std_loss
self.critic_optim.zero_grad()
q1_value_loss.backward()
self.critic_optim.step()
self.critic_optim.zero_grad()
q2_value_loss.backward()
self.critic_optim.step()
if self.deterministic == False:
self.value_optim.zero_grad()
value_loss.backward()
self.value_optim.step()
self.policy_optim.zero_grad()
policy_loss.backward()
self.policy_optim.step()
"""
We update the target weights to match the current value function weights periodically
Update target parameter after every n(args.target_update_interval) updates
"""
if updates % self.target_update_interval == 0 and self.deterministic == True:
soft_update(self.critic_target, self.critic, self.tau)
return 0, q1_value_loss.item(), q2_value_loss.item(
), policy_loss.item()
elif updates % self.target_update_interval == 0 and self.deterministic == False:
soft_update(self.value_target, self.value, self.tau)
return value_loss.item(), q1_value_loss.item(), q2_value_loss.item(
), policy_loss.item()
# Save model parameters
def save_model(self,
env_name,
suffix="",
actor_path=None,
critic_path=None,
value_path=None):
if not os.path.exists('models/'):
os.makedirs('models/')
if actor_path is None:
actor_path = "models/sac_actor_{}_{}".format(env_name, suffix)
if critic_path is None:
critic_path = "models/sac_critic_{}_{}".format(env_name, suffix)
if value_path is None:
value_path = "models/sac_value_{}_{}".format(env_name, suffix)
print('Saving models to {}, {} and {}'.format(actor_path, critic_path,
value_path))
torch.save(self.value.state_dict(), value_path)
torch.save(self.policy.state_dict(), actor_path)
torch.save(self.critic.state_dict(), critic_path)
# Load model parameters
def load_model(self, actor_path, critic_path, value_path):
print('Loading models from {}, {} and {}'.format(
actor_path, critic_path, value_path))
if actor_path is not None:
self.policy.load_state_dict(torch.load(actor_path))
if critic_path is not None:
self.critic.load_state_dict(torch.load(critic_path))
if value_path is not None:
self.value.load_state_dict(torch.load(value_path))
class SAC(object):
def __init__(self, config, env):
self.device = config.device
self.gamma = config.gamma # 折扣因子
self.tau = config.tau
# 学习率
self.value_lr = config.value_lr
self.soft_q_lr = config.soft_q_lr
self.policy_lr = config.policy_lr
self.replace_target_iter = config.replace_target_iter # 目标网络更新频率
self.replay_size = config.replay_size # 经验池大小
self.batch_size = config.batch_size # 批样本数
self.num_states = env.observation_space.shape[0] # 状态空间维度
self.num_actions = env.action_space.shape[0] # 动作空间维度
self.learn_start = self.batch_size * 3 # 控制学习的参数
self.learn_step_counter = 0 # 学习的总步数
self.memory = ReplayMemory(self.replay_size) # 初始化经验池
# 初始化V网络
self.value_net = ValueNetwork(self.num_states, 256).to(self.device)
# 初始化V目标网络
self.target_value_net = ValueNetwork(self.num_states,
256).to(self.device)
# V目标网络和V网络初始时参数一致
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(param.data)
# 初始化Q网络
self.soft_q_net = SoftQNetwork(self.num_states, self.num_actions,
256).to(self.device)
# 初始化策略网络
self.policy_net = PolicyNetwork(self.num_states, self.num_actions,
256).to(self.device)
# 训练的优化器
self.value_optimizer = optim.Adam(self.value_net.parameters(),
lr=self.value_lr)
self.soft_q_optimizer = optim.Adam(self.soft_q_net.parameters(),
lr=self.soft_q_lr)
self.policy_optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.policy_lr)
# 均方损失函数
self.value_criterion = nn.MSELoss()
self.soft_q_criterion = nn.MSELoss()
# 储存记忆
def store_transition(self, state, action, reward, next_state, done):
self.memory.push((state, action, reward, next_state, done))
# 选择动作
def choose_action(self, s):
s = torch.FloatTensor(s).to(self.device)
mean, log_std = self.policy_net(s)
std = log_std.exp()
normal = Normal(mean, std)
z = normal.sample()
action = torch.tanh(z)
action = action.detach().cpu().numpy()
return action[0]
# 获取动作的log_prob
def get_action_log_prob(self, s, epsilon=1e-6):
mean, log_std = self.policy_net(s)
std = log_std.exp()
normal = Normal(mean, std)
z = normal.sample()
action = torch.tanh(z)
log_prob = normal.log_prob(z) - torch.log(1 - action.pow(2) + epsilon)
log_prob = log_prob.sum(-1, keepdim=True)
# log_prob = Normal(mean, std).log_prob(mean + std * z.to(self.device)) - torch.log(1 - action.pow(2) + epsilon) # reparameterization
return action, log_prob, z, mean, log_std
# 从经验池中选取样本
def get_batch(self):
transitions, _, _ = self.memory.sample(self.batch_size) # 批样本
# 解压批样本
# 例如zipped为[(1, 4), (2, 5), (3, 6)]，zip(*zipped)解压为[(1, 2, 3), (4, 5, 6)]
batch_state, batch_action, batch_reward, batch_next_state, batch_done = zip(
*transitions)
# 将样本转化为tensor
batch_state = torch.tensor(batch_state,
device=self.device,
dtype=torch.float)
batch_action = torch.tensor(batch_action,
device=self.device,
dtype=torch.float).squeeze().view(
-1, 1) # view转换为列tensor
batch_reward = torch.tensor(batch_reward,
device=self.device,
dtype=torch.float).squeeze().view(-1, 1)
batch_next_state = torch.tensor(batch_next_state,
device=self.device,
dtype=torch.float)
batch_done = torch.tensor(batch_done,
device=self.device,
dtype=torch.float).squeeze().view(-1, 1)
# print("状态:", batch_state.shape) 128,4
# print("动作:", batch_action.shape)
# print("奖励:", batch_reward.shape)
# print("done:", batch_done.shape)
#
return batch_state, batch_action, batch_reward, batch_next_state, batch_done, _, _
# 学习
def learn(self):
# 获取批样本
batch_state, batch_action, batch_reward, batch_next_state, batch_done, _, _ = self.get_batch(
)
# print("状态:", batch_state)
# print("动作:", batch_action)
# print("done:", batch_done)
expected_q_value = self.soft_q_net(batch_state, batch_action) # q(s,a)
expected_value = self.value_net(batch_state) # v(s)
new_action, log_prob, z, mean, log_std = self.get_action_log_prob(
batch_state) # a~, logpi(a~|s), dist, 均值，标准差
target_value = self.target_value_net(batch_next_state) # vtar(s')
next_q_value = batch_reward + (
1 -
batch_done) * self.gamma * target_value # r + gamma*(1-d)*vtar(s')
q_value_loss = self.soft_q_criterion(expected_q_value,
next_q_value.detach()).mean()
expected_new_q_value = self.soft_q_net(batch_state,
new_action) # q(s,a~)
next_value = expected_new_q_value - log_prob
value_loss = self.value_criterion(expected_value,
next_value.detach()).mean()
log_prob_target = expected_new_q_value - expected_value # q(s,a) - v(s)
policy_loss = (log_prob * (log_prob - log_prob_target).detach()).mean()
self.soft_q_optimizer.zero_grad()
q_value_loss.backward()
self.soft_q_optimizer.step()
self.value_optimizer.zero_grad()
value_loss.backward()
self.value_optimizer.step()
self.policy_optimizer.zero_grad()
policy_loss.backward()
self.policy_optimizer.step()
for target_param, param in zip(self.target_value_net.parameters(),
self.value_net.parameters()):
target_param.data.copy_(target_param.data * (1.0 - self.tau) +
param.data * self.tau)
# 学习的步数加一
self.learn_step_counter += 1
# 保存模型
def save(self):
torch.save(self.soft_q_net, 'sac1_q.pkl')
torch.save(self.value_net, 'sac1_v.pkl')
torch.save(self.policy_net, 'sac1_policy.pkl')
# 加载模型
def load(self):
self.soft_q_net = torch.load('sac1_q.pkl')
self.value_net = torch.load('sac1_v.pkl')
self.policy_net = torch.load('sac1_policy.pkl')
class SACV(object):
def __init__(self, input_size, action_size, gamma, tau, alpha, hidden_size,
lr, device):
self.gamma = gamma
self.tau = tau
self.alpha = alpha
self.device = device
self.policy = Actor(input_size, hidden_size,
action_size).to(self.device)
self.critic = Critic(input_size, hidden_size,
action_size).to(self.device)
self.value = ValueNetwork(input_size, hidden_size).to(self.device)
self.policy_optim = torch.optim.Adam(self.policy.parameters(), lr=lr)
self.critic_optim = torch.optim.Adam(self.critic.parameters(), lr=lr)
self.value_optim = torch.optim.Adam(self.value.parameters(), lr=lr)
self.value_target = copy.deepcopy(self.value)
self.value_target.requires_grad_(False)
def select_action(self, obs, sample=True):
obs = torch.FloatTensor(obs).to(self.device).unsqueeze(0)
policy = TanhGaussian(*self.policy(obs))
action = policy.sample(sample)
action = action.detach().cpu().numpy()[0]
return action
def update_parameters(self, batch):
obs, act, rew, done, obs_next = batch
obs = torch.FloatTensor(obs).to(self.device)
act = torch.FloatTensor(act).to(self.device)
rew = torch.FloatTensor(rew).unsqueeze(-1).to(self.device)
done = torch.BoolTensor(done).unsqueeze(-1).to(self.device)
obs_next = torch.FloatTensor(obs_next).to(self.device)
with torch.no_grad():
next_v = self.value_target(obs_next).masked_fill(done, 0.)
q_targ = rew + self.gamma * next_v
self.critic_optim.zero_grad()
q1, q2 = self.critic(obs, act)
critic_loss = (q1 - q_targ).pow(2.).mul(0.5) + (
q2 - q_targ).pow(2.).mul(0.5)
critic_loss = critic_loss.mean()
critic_loss.backward()
self.critic_optim.step()
with torch.no_grad():
critic_loss = (torch.min(q1, q2) - q_targ).pow(2).mul(0.5).mean()
self.policy_optim.zero_grad()
policy = TanhGaussian(*self.policy(obs))
action = policy.sample()
log_pi = policy.log_prob(action, param_grad=False).sum(dim=-1,
keepdim=True)
action_value = torch.min(*self.critic(obs, action))
with torch.no_grad():
v_targ = action_value - self.alpha * log_pi
self.value_optim.zero_grad()
v = self.value(obs)
value_loss = (v - v_targ).pow(2.).mul(0.5)
value_loss = value_loss.mean()
value_loss.backward()
self.value_optim.step()
policy_loss = self.alpha * log_pi - action_value
policy_loss = policy_loss.mean()
policy_loss.backward()
self.policy_optim.step()
soft_update(self.value_target, self.value, self.tau)
loss_info = {
'critic_loss': critic_loss.item(),
'policy_loss': policy_loss.item(),
'value_loss': value_loss.item(),
'policy_entropy': -log_pi.mean().item()
}
return loss_info
