actions[ag] = t.argmax(agents[ag].final_step())
if is_warm_up:
# generate random actions
act_dim = env.get_action_space(group_handle)[0]
actions = np.random.randint(0, act_dim, agent_num, dtype=np.int32)
env.set_action(group_handle, actions)
if __name__ == "__main__":
total_steps = max_epochs * max_episodes * max_steps
# preparations
prep_dirs_default(root_dir)
logger.info("Directories prepared.")
global_board.init(log_dir + "train_log")
writer = global_board.writer
env = magent.GridWorld(generate_combat_config(map_size), map_size=map_size)
agent_num = int(np.sqrt(map_size * map_size * agent_ratio))**2
group1_handle, group2_handle = env.get_handles()
# shape: (act,)
action_dim = env.get_action_space(group1_handle)[0]
# shape: (view_width, view_height, n_channel)
view_space = env.get_view_space(group1_handle)
view_dim = np.prod(view_space)
# shape: (ID embedding + last action + last reward + relative pos)
feature_dim = env.get_feature_space(group1_handle)[0]
def policy_noise(action):
return t.clamp(
add_clipped_normal_noise_to_action(action, c.policy_noise_params), -1,
1)
if __name__ == "__main__":
save_env = SaveEnv(c.root_dir, restart_use_trial=c.restart_from_trial)
prep_args(c, save_env)
# save_env.remove_trials_older_than(diff_hour=1)
global_board.init(save_env.get_trial_train_log_dir())
writer = global_board.writer
logger.info("Directories prepared.")
actor = MW(
Actor(observe_dim, action_dim, 1).to(c.device), c.device, c.device)
actor_t = MW(
Actor(observe_dim, action_dim, 1).to(c.device), c.device, c.device)
critic = MW(
Critic(observe_dim, action_dim).to(c.device), c.device, c.device)
critic_t = MW(
Critic(observe_dim, action_dim).to(c.device), c.device, c.device)
critic2 = MW(
Critic(observe_dim, action_dim).to(c.device), c.device, c.device)
critic2_t = MW(
Critic(observe_dim, action_dim).to(c.device), c.device, c.device)
logger.info("Networks created")
c.learning_rate = 3e-4
c.entropy_weight = None
c.ppo_update_batch_size = 100
c.ppo_update_times = 50
c.ppo_update_int = 5 # = the number of episodes stored in ppo replay buffer
c.model_save_int = c.ppo_update_int * 20 # in episodes
c.profile_int = 50 # in episodes
if __name__ == "__main__":
save_env = SaveEnv(c.root_dir, restart_use_trial=c.restart_from_trial)
prep_args(c, save_env)
# save_env.remove_trials_older_than(diff_hour=1)
global_board.init(save_env.get_trial_train_log_dir())
writer = global_board.writer
logger.info("Directories prepared.")
actor = MW(
Actor(observe_dim, action_dim, 1).to(c.device), c.device, c.device)
critic = MW(Critic(observe_dim).to(c.device), c.device, c.device)
actor.share_memory()
critic.share_memory()
logger.info("Networks created")
# default replay buffer storage is main cpu mem
# when stored in main mem, takes about 0.65e-3 sec to move result from gpu to cpu,
ppo = PPO(actor,
critic,
t.optim.Adam,
nn.MSELoss(reduction='sum'),
replay_device=c.device,
def load_framework(name):
module = imp.import_module(".magent_" + name)
return module.c, module.create_models, module.run_agents
if __name__ == "__main__":
c1, create_models1, run_agents1 = load_framework(load_framework1)
c2, create_models2, run_agents2 = load_framework(load_framework1)
save_env1 = SaveEnv(c1.root_dir, restart_use_trial=load_trial1)
prep_args(c1, save_env1)
save_env2 = SaveEnv(c2.root_dir, restart_use_trial=load_trial2)
prep_args(c2, save_env2)
c1.restart_from_trial = load_trial1
framework1 = create_models1()
logger.info("Framework 1 initialized")
c2.restart_from_trial = load_trial2
framework2 = create_models2()
logger.info("Framework 2 initialized")
operators = [(framework1, run_agents1, load_framework1),
(framework2, run_agents2, load_framework2)]
# testing
# preparations
config = generate_combat_config(map_size)
env = magent.GridWorld(config, map_size=map_size)
env.reset()
global_board.init(test_root_dir)
c.learning_rate = 1e-3
c.entropy_weight = 1e-2
c.ppo_update_batch_size = 100
c.ppo_update_times = 4
c.ppo_update_int = 6 # = the number of episodes stored in ppo replay buffer
c.model_save_int = 100 # in episodes
c.profile_int = 50 # in episodes
if __name__ == "__main__":
save_env = SaveEnv(c.root_dir, restart_use_trial=c.restart_from_trial)
prep_args(c, save_env)
# save_env.remove_trials_older_than(diff_hour=1)
global_board.init(save_env.get_trial_train_log_dir())
writer = global_board.writer
logger.info("Directories prepared.")
actor = MW(Actor(observe_dim, action_dim).to(c.device), c.device, c.device)
critic = MW(Critic(observe_dim).to(c.device), c.device, c.device)
logger.info("Networks created")
# default replay buffer storage is main cpu mem
# when stored in main mem, takes about 0.65e-3 sec to move result from gpu to cpu,
ppo = PPO(actor,
critic,
t.optim.Adam,
nn.MSELoss(reduction='sum'),
replay_device=c.device,
replay_size=c.replay_size,
entropy_weight=c.entropy_weight,
discount=c.discount,
neighbor_num, True, device)
negotiator_t = SwarmNegotiator(observe_dim, action_dim, history_depth,
neighbor_num, True, device)
# currently, all agents share the same two networks
# TODO: implement K-Sub policies
actor = WrappedActorNet(base_actor, negotiator)
actor_t = WrappedActorNet(base_actor_t, negotiator_t)
critic = WrappedCriticNet(
SwarmCritic(observe_dim, action_dim, history_depth, neighbor_num,
device))
critic_t = WrappedCriticNet(
SwarmCritic(observe_dim, action_dim, history_depth, neighbor_num,
device))
logger.info("Networks created")
# only used to load model
ddpg = DDPG(actor, actor_t, critic, critic_t, t.optim.Adam,
nn.MSELoss(reduction='sum'), device)
ddpg.load(load_dir, save_map)
logger.info("DDPG framework initialized")
# evaluation
# preparations
env = BipedalMultiCarrier(agent_num)
agents = [
SwarmAgent(base_actor,
negotiator,
len(neighbors),