def __init__(self,
state_shape,
action_space,
tasks,
shared_layers,
task_specific_layers,
state_transformer,
alpha=0.0001,
entropy_regularization=0.1,
q_network: QNetwork = None,
fixed_steps=1000):
"""
A Tasked policy network
:param state_shape: The shape of the state variable WITHOUT the batch dimension
:param action_space: The Action space
:param tasks: A list of Tasks
:param shared_layers: The shared/common layers of the network as a function (using the keras functional API)
:param task_specific_layers: The task specific layers of the network as a function (using the keras functional API)
:param state_transformer: A function that takes a state object and transforms it to a network input
:param alpha: The learning rate
:param entropy_regularization: The entropy regularization factor for the loss function
:param q_network: The related Q Network instance.
This can be left None if it's set later (for instance by the SACU actor)
:param fixed_steps: The number of training steps that the fixed network is kept fixed.
After these steps it's updated and the step counter is reset.
"""
self.fixed_steps = fixed_steps
self.steps = 0
self.state_shape = state_shape
self.action_space = action_space
self.q_network = q_network
self.tasks = tasks
self.model = TaskedDualNeuralNet(
state_shape, shared_layers, task_specific_layers,
lambda model: model.compile(
optimizer=ks.optimizers.Adam(alpha, clipnorm=1.0),
loss=make_policy_loss(entropy_regularization)), tasks)
self.state_transformer = state_transformer
def __init__(self,
state_shape,
action_space,
tasks,
shared_layers,
task_specific_layers,
state_transformer,
alpha=0.0001,
gamma=0.9,
p_network: PolicyNetwork = None,
fixed_steps=1000,
reward_scale=1.0,
lambd=0.9,
lambd_min=0.0):
"""
Initializes a Tasked Q Network. This Q network uses retrace for Q-value calculation
:param state_shape: The shape of the state variable WITHOUT the batch dimension
:param action_space: The Action space
:param tasks: A list of Tasks
:param shared_layers: The shared/common layers of the network as a function (using the keras functional API)
:param task_specific_layers: The task specific layers of the network as a function (using the keras functional API)
:param state_transformer: A function that takes a state object and transforms it to a network input
:param alpha: The learning rate
:param gamma: The discount factor
:param p_network: The Policy Network, this can be None at init as long as it's set later (This is done by the SACU agent)
:param fixed_steps: The number of training steps that the fixed network is kept fixed.
After these steps it's updated and the step counter is reset.
:param reward_scale: A float that is used to scale rewards
:param lambd: The lambda value used by the retrace algorithm. Similar to its use in SARSA lambda.
:param lambd_min: A cap on the lambda value similar to the one used in our SARSA lambda implementation.
It cuts off trajectories when lambda^k goes below this value. Given that SAC-X often operates on
trajectories with a mean length of ~500 (where lambda^k could easily be 1e-20), using this value
yields massive speed improvements without large costs.
"""
self.lambd = lambd
self.lambda_min = lambd_min
self.max_trajectory_length = None
if self.lambda_min != 0:
self.max_trajectory_length = int(math.log(self.lambda_min, lambd))
print("Capping trajectories at a max length of ",
self.max_trajectory_length)
self.reward_scale = reward_scale
self.fixed_steps = fixed_steps
self.steps = 0
self.state_transformer = state_transformer
self.task_specific_layers = task_specific_layers
self.shared_layers = shared_layers
self.p_network = p_network
self.tasks = tasks
self.action_space = action_space
self.inverse_action_lookup = dict()
for i, a in enumerate(action_space):
self.inverse_action_lookup[a] = i
self.state_shape = state_shape
self.gamma = gamma
self.model = TaskedDualNeuralNet(
state_shape, shared_layers, task_specific_layers,
lambda model: model.compile(optimizer=ks.optimizers.Adam(alpha),
loss=ks.losses.mean_squared_error),
tasks)
class PolicyNetwork:
def __init__(self,
state_shape,
action_space,
tasks,
shared_layers,
task_specific_layers,
state_transformer,
alpha=0.0001,
entropy_regularization=0.1,
q_network: QNetwork = None,
fixed_steps=1000):
"""
A Tasked policy network
:param state_shape: The shape of the state variable WITHOUT the batch dimension
:param action_space: The Action space
:param tasks: A list of Tasks
:param shared_layers: The shared/common layers of the network as a function (using the keras functional API)
:param task_specific_layers: The task specific layers of the network as a function (using the keras functional API)
:param state_transformer: A function that takes a state object and transforms it to a network input
:param alpha: The learning rate
:param entropy_regularization: The entropy regularization factor for the loss function
:param q_network: The related Q Network instance.
This can be left None if it's set later (for instance by the SACU actor)
:param fixed_steps: The number of training steps that the fixed network is kept fixed.
After these steps it's updated and the step counter is reset.
"""
self.fixed_steps = fixed_steps
self.steps = 0
self.state_shape = state_shape
self.action_space = action_space
self.q_network = q_network
self.tasks = tasks
self.model = TaskedDualNeuralNet(
state_shape, shared_layers, task_specific_layers,
lambda model: model.compile(
optimizer=ks.optimizers.Adam(alpha, clipnorm=1.0),
loss=make_policy_loss(entropy_regularization)), tasks)
self.state_transformer = state_transformer
def distribution(self, state: State, task: Task) -> dict:
s = self.state_transformer(state)
s = np.expand_dims(s, axis=0)
return self.model.predict(s, task)[0]
def distribution_array(self, states, task: Task, live=True):
# Expects transformed states
return self.model.predict(states, task, live=live)
def train(self, trajectories):
# Creates a list of all "initial" states and respective Q-values and fits the policy network
# TODO: It should actually iterate over all states in trajectory, but this is not implemented in the Q-network
for task in self.tasks:
xs = []
#q_values = []
for trajectory in trajectories:
states = np.array(
[self.state_transformer(t[0]) for t in trajectory[:1]])
xs.append(states)
#qs = self.q_network.Qp_array(states, task)
#q_values.append(qs)
xs = np.concatenate(xs, axis=0)
q_values = self.q_network.Qp_array(xs, task)
self.model.fit(xs, q_values, task)
# Related to the fixed parameter update
self.steps += 1
if self.steps > self.fixed_steps:
self.steps = 0
self.sync()
def sample(self, state: State, task: Task, dist=None) -> Action:
if dist is None:
dist = self.distribution(state, task)
choice = np.random.random()
p_cumulative = 0
index = 0
for i, p in enumerate(dist):
p_cumulative += p
if p_cumulative > choice:
index = i
break
return self.action_space[index]
def sample_greedy(self, state: State, task: Task) -> Action:
raise NotImplementedError
def sample_epsilon_greedy(self, state: State, task: Task) -> Action:
raise NotImplementedError
def sample_distribution(self, state: State, task: Task) -> tuple:
dist = self.distribution(state, task)
a = self.sample(state, task, dist)
return a, dist
def sync(self):
self.model.sync()
class QNetwork(generic.QNetwork):
def __init__(self,
state_shape,
action_space,
tasks,
shared_layers,
task_specific_layers,
state_transformer,
alpha=0.0001,
gamma=0.9,
p_network: PolicyNetwork = None,
fixed_steps=1000,
reward_scale=1.0,
lambd=0.9,
lambd_min=0.0):
"""
Initializes a Tasked Q Network. This Q network uses retrace for Q-value calculation
:param state_shape: The shape of the state variable WITHOUT the batch dimension
:param action_space: The Action space
:param tasks: A list of Tasks
:param shared_layers: The shared/common layers of the network as a function (using the keras functional API)
:param task_specific_layers: The task specific layers of the network as a function (using the keras functional API)
:param state_transformer: A function that takes a state object and transforms it to a network input
:param alpha: The learning rate
:param gamma: The discount factor
:param p_network: The Policy Network, this can be None at init as long as it's set later (This is done by the SACU agent)
:param fixed_steps: The number of training steps that the fixed network is kept fixed.
After these steps it's updated and the step counter is reset.
:param reward_scale: A float that is used to scale rewards
:param lambd: The lambda value used by the retrace algorithm. Similar to its use in SARSA lambda.
:param lambd_min: A cap on the lambda value similar to the one used in our SARSA lambda implementation.
It cuts off trajectories when lambda^k goes below this value. Given that SAC-X often operates on
trajectories with a mean length of ~500 (where lambda^k could easily be 1e-20), using this value
yields massive speed improvements without large costs.
"""
self.lambd = lambd
self.lambda_min = lambd_min
self.max_trajectory_length = None
if self.lambda_min != 0:
self.max_trajectory_length = int(math.log(self.lambda_min, lambd))
print("Capping trajectories at a max length of ",
self.max_trajectory_length)
self.reward_scale = reward_scale
self.fixed_steps = fixed_steps
self.steps = 0
self.state_transformer = state_transformer
self.task_specific_layers = task_specific_layers
self.shared_layers = shared_layers
self.p_network = p_network
self.tasks = tasks
self.action_space = action_space
self.inverse_action_lookup = dict()
for i, a in enumerate(action_space):
self.inverse_action_lookup[a] = i
self.state_shape = state_shape
self.gamma = gamma
self.model = TaskedDualNeuralNet(
state_shape, shared_layers, task_specific_layers,
lambda model: model.compile(optimizer=ks.optimizers.Adam(alpha),
loss=ks.losses.mean_squared_error),
tasks)
def Qs(self, state: State, task: Task):
return self.model.predict(
np.expand_dims(self.state_transformer(state), axis=0), task)[0]
def Q(self, state: State, action: Action, task: Task):
pass # TODO
def Q_array(self, states, task: Task):
return self.model.predict(states, task, live=True)
def Qp_array(self, states, task: Task):
return self.model.predict(states, task, live=False)
def train(self, trajectories):
for task in self.tasks:
initial_states = np.stack(
[self.state_transformer(t[0][0]) for t in trajectories],
axis=0)
ys = self.model.predict(initial_states, task)
for i, trajectory in enumerate(trajectories):
_, a, _, _ = trajectory[0]
ys[i, self.inverse_action_lookup[a]] += self.get_q_delta(
trajectory, task)
self.model.fit(initial_states, ys, task)
self.steps += 1
if self.steps > self.fixed_steps:
self.steps = 0
self.sync()
def get_q_delta(self, trajectory, task):
"""
Calculate the Q-delta according to the Retrace algorithm
(the implementation is based on the Retrace paper, not the SAC-X paper)
:param trajectory: The trajectory to calculate the delta on
:param task: The task to calculate the delta for
:param sess: The TF session
:return: (The Q delta, the target q-value)
Here the target q-value is the fixed q-values + the q-delta
"""
# Initialize the q_delta variable and get all Qsa values for the trajectory
q_delta = 0
if self.max_trajectory_length is None:
states = np.array(
[self.state_transformer(e[0]) for e in trajectory])
else:
states = np.array([
self.state_transformer(e[0])
for e in trajectory[:self.max_trajectory_length + 1]
])
q_values = self.model.predict(states, task, live=True)
q_fixed_values = self.model.predict(states, task, live=False)
# Calculate all values of π(* | state, task_id) for the trajectory for out current task
# (using the fixed network)
policies = self.p_network.distribution_array(states, task, live=False)
# Pick all π(a_t | state, task_id) from π(* | state, task_id) for every action taken in the trajectory
all_action_probabilities = np.array([
a[self.inverse_action_lookup[i]]
for i, a in zip([e[1] for e in trajectory], policies)
])
# Pick all b(a_t | state, B) from the trajectory
if self.max_trajectory_length is None:
all_b_action_probabilities = np.array(([
experience[3][self.inverse_action_lookup[experience[1]]]
for experience in trajectory
]))
else:
all_b_action_probabilities = np.array(([
experience[3][self.inverse_action_lookup[experience[1]]]
for experience in trajectory[:self.max_trajectory_length + 1]
]))
# Calculate the value of c_k for the whole trajectory
c = all_action_probabilities / all_b_action_probabilities
# Make sure that c is capped on 1, so c_k = min(1, c_k)
c[c > 1] = 1
c[0] = 1 # According to the retrace paper
# Keep the product of c_k values in a variable
c_product = 1
iterations = len(trajectory)
if self.max_trajectory_length is not None:
iterations = min(iterations, self.max_trajectory_length)
# Iterate over the trajectory to calculate the expected returns
for j, (s, a, r, _) in enumerate(trajectory[:iterations]):
# Multiply the c_product with the next c-value,
# this makes any move done after a "dumb" move (according to our policy) less significant
c_product *= c[j] * self.lambd
a_index = self.inverse_action_lookup[a]
# Check if we're at the end of the trajectory
if j != len(trajectory) - 1:
# If we're not: calculate the next difference and use the Q for j+1 as well
# The Expected value of the Q(s_j+1, *) under the policy
expected_q_tp1 = np.sum(policies[j + 1] *
q_fixed_values[j + 1])
# The delta for this lookahead
delta = self.reward_scale * r[
task] + self.gamma * expected_q_tp1 - q_values[j, a_index]
else:
# If this is the last entry, we'll assume the Q(s_j+1, *) to be fixed on 0 as the state is terminal
delta = self.reward_scale * r[task] - q_values[j, a_index]
# if task == self.tasks[0]:
# print("Calculated last delta for main task, old_Q and delta:", q_values[j, a_index], q_delta + c_product * self.gamma ** j * delta)
# Add this to the sum of q_deltas, where the term is multiplied by gamma and delta
q_delta += c_product * self.gamma**j * delta
return q_delta
def sync(self):
self.model.sync()