def __init__(self,
env_spec,
config_or_config_dict: (DictConfig, dict),
value_func: MLPQValueFunction,
schedule_param_list=None,
name: str = 'dqn',
replay_buffer=None):
ModelFreeAlgo.__init__(self, env_spec=env_spec, name=name)
self.config = construct_dict_config(config_or_config_dict, self)
if replay_buffer:
assert issubclass(replay_buffer, BaseReplayBuffer)
self.replay_buffer = replay_buffer
else:
self.replay_buffer = UniformRandomReplayBuffer(limit=self.config('REPLAY_BUFFER_SIZE'),
action_shape=self.env_spec.action_shape,
observation_shape=self.env_spec.obs_shape)
self.q_value_func = value_func
self.state_input = self.q_value_func.state_input
self.action_input = self.q_value_func.action_input
self.update_target_q_every_train = self.config('UPDATE_TARGET_Q_FREQUENCY') if 'UPDATE_TARGET_Q_FREQUENCY' in \
self.config.config_dict else 1
self.parameters = ParametersWithTensorflowVariable(tf_var_list=[],
rest_parameters=dict(),
to_scheduler_param_tuple=schedule_param_list,
name='{}_param'.format(name),
source_config=self.config,
require_snapshot=False)
with tf.variable_scope(name):
self.reward_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
self.next_state_input = tf.placeholder(shape=[None, self.env_spec.flat_obs_dim], dtype=tf.float32)
self.done_input = tf.placeholder(shape=[None, 1], dtype=tf.bool)
self.target_q_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
done = tf.cast(self.done_input, dtype=tf.float32)
self.target_q_value_func = self.q_value_func.make_copy(name_scope='{}_target_q_value_net'.format(name),
name='{}_target_q_value_net'.format(name),
reuse=False)
self.predict_q_value = (1. - done) * self.config('GAMMA') * self.target_q_input + self.reward_input
self.td_error = self.predict_q_value - self.q_value_func.q_tensor
with tf.variable_scope('train'):
self.q_value_func_loss, self.optimizer, self.update_q_value_func_op = self._set_up_loss()
self.update_target_q_value_func_op = self._set_up_target_update()
# redundant sort operation on var_list
var_list = get_tf_collection_var_list(key=tf.GraphKeys.GLOBAL_VARIABLES,
scope='{}/train'.format(name)) + self.optimizer.variables()
self.parameters.set_tf_var_list(tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[dict(obj=self.q_value_func, attr_name='q_value_func'),
dict(obj=self.target_q_value_func, attr_name='target_q_value_func')],
parameters=self.parameters)
def save(self, global_step, save_path=None, name=None, **kwargs):
save_path = save_path if save_path else GlobalConfig(
).DEFAULT_MODEL_CHECKPOINT_PATH
name = name if name else self.name
MultiPlaceholderInput.save(self,
save_path=save_path,
global_step=global_step,
name=name,
**kwargs)
return dict(check_point_save_path=save_path,
check_point_save_global_step=global_step,
check_point_save_name=name)
def __init__(self,
env_spec: EnvSpec,
stochastic_policy: StochasticPolicy,
config_or_config_dict: (DictConfig, dict),
value_func: VValueFunction,
warm_up_trajectories_number=5,
use_time_index_flag=False,
name='ppo'):
ModelFreeAlgo.__init__(
self,
env_spec=env_spec,
name=name,
warm_up_trajectories_number=warm_up_trajectories_number)
self.use_time_index_flag = use_time_index_flag
self.config = construct_dict_config(config_or_config_dict, self)
self.policy = stochastic_policy
self.value_func = value_func
to_ph_parameter_dict = dict()
self.trajectory_memory = TrajectoryData(env_spec=env_spec)
self.transition_data_for_trajectory = TransitionData(env_spec=env_spec)
self.value_func_train_data_buffer = None
self.scaler = RunningStandardScaler(dims=self.env_spec.flat_obs_dim)
if use_time_index_flag:
scale_last_time_index_mean = self.scaler._mean
scale_last_time_index_mean[-1] = 0
scale_last_time_index_var = self.scaler._var
scale_last_time_index_var[-1] = 1000 * 1000
self.scaler.set_param(mean=scale_last_time_index_mean,
var=scale_last_time_index_var)
with tf.variable_scope(name):
self.advantages_ph = tf.placeholder(tf.float32, (None, ),
'advantages')
self.v_func_val_ph = tf.placeholder(tf.float32, (None, ),
'val_val_func')
dist_info_list = self.policy.get_dist_info()
self.old_dist_tensor = [
(tf.placeholder(**dict(dtype=dist_info['dtype'],
shape=dist_info['shape'],
name=dist_info['name'])),
dist_info['name']) for dist_info in dist_info_list
]
self.old_policy = self.policy.make_copy(
reuse=False,
name_scope='old_{}'.format(self.policy.name),
name='old_{}'.format(self.policy.name),
distribution_tensors_tuple=tuple(self.old_dist_tensor))
to_ph_parameter_dict['beta'] = tf.placeholder(
tf.float32, (), 'beta')
to_ph_parameter_dict['eta'] = tf.placeholder(tf.float32, (), 'eta')
to_ph_parameter_dict['kl_target'] = tf.placeholder(
tf.float32, (), 'kl_target')
to_ph_parameter_dict['lr_multiplier'] = tf.placeholder(
tf.float32, (), 'lr_multiplier')
self.parameters = ParametersWithTensorflowVariable(
tf_var_list=[],
rest_parameters=dict(
advantages_ph=self.advantages_ph,
v_func_val_ph=self.v_func_val_ph,
),
to_ph_parameter_dict=to_ph_parameter_dict,
name='ppo_param',
save_rest_param_flag=False,
source_config=self.config,
require_snapshot=False)
with tf.variable_scope(name):
with tf.variable_scope('train'):
self.kl = tf.reduce_mean(self.old_policy.kl(self.policy))
self.average_entropy = tf.reduce_mean(self.policy.entropy())
self.policy_loss, self.policy_optimizer, self.policy_update_op = self._setup_policy_loss(
)
self.value_func_loss, self.value_func_optimizer, self.value_func_update_op = self._setup_value_func_loss(
)
var_list = get_tf_collection_var_list(
'{}/train'.format(name)) + self.policy_optimizer.variables(
) + self.value_func_optimizer.variables()
self.parameters.set_tf_var_list(
tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[
dict(
obj=self.value_func,
attr_name='value_func',
),
dict(obj=self.policy,
attr_name='policy')
],
parameters=self.parameters)
def load(self, path_to_model, model_name, global_step=None, **kwargs):
MultiPlaceholderInput.load(self, path_to_model, model_name,
global_step, **kwargs)
return dict(check_point_load_path=path_to_model,
check_point_load_global_step=global_step,
check_point_load_name=model_name)
def __init__(self,
env_spec: EnvSpec,
config_or_config_dict: (DictConfig, dict),
value_func: MLPQValueFunction,
policy: DeterministicMLPPolicy,
schedule_param_list=None,
name='ddpg',
replay_buffer=None):
"""
:param env_spec: environment specifications, like action apace or observation space
:param config_or_config_dict: configuraion dictionary, like learning rate or decay, if any
:param value_func: value function
:param policy: agent policy
:param schedule_param_list: schedule parameter list, if any initla final function to schedule learning process
:param name: name of algorithm class instance
:param replay_buffer: replay buffer, if any
"""
ModelFreeAlgo.__init__(self, env_spec=env_spec, name=name)
config = construct_dict_config(config_or_config_dict, self)
self.config = config
self.actor = policy
self.target_actor = self.actor.make_copy(name_scope='{}_target_actor'.format(self.name),
name='{}_target_actor'.format(self.name),
reuse=False)
self.critic = value_func
self.target_critic = self.critic.make_copy(name_scope='{}_target_critic'.format(self.name),
name='{}_target_critic'.format(self.name),
reuse=False)
self.state_input = self.actor.state_input
if replay_buffer:
assert issubclass(replay_buffer, BaseReplayBuffer)
self.replay_buffer = replay_buffer
else:
self.replay_buffer = UniformRandomReplayBuffer(limit=self.config('REPLAY_BUFFER_SIZE'),
action_shape=self.env_spec.action_shape,
observation_shape=self.env_spec.obs_shape)
"""
self.parameters contains all the parameters (variables) of the algorithm
"""
self.parameters = ParametersWithTensorflowVariable(tf_var_list=[],
rest_parameters=dict(),
to_scheduler_param_tuple=schedule_param_list,
name='ddpg_param',
source_config=config,
require_snapshot=False)
self._critic_with_actor_output = self.critic.make_copy(reuse=True,
name='actor_input_{}'.format(self.critic.name),
state_input=self.state_input,
action_input=self.actor.action_tensor)
self._target_critic_with_target_actor_output = self.target_critic.make_copy(reuse=True,
name='target_critic_with_target_actor_output_{}'.format(
self.critic.name),
action_input=self.target_actor.action_tensor)
with tf.variable_scope(name):
self.reward_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
self.next_state_input = tf.placeholder(shape=[None, self.env_spec.flat_obs_dim], dtype=tf.float32)
self.done_input = tf.placeholder(shape=[None, 1], dtype=tf.bool)
self.target_q_input = tf.placeholder(shape=[None, 1], dtype=tf.float32)
done = tf.cast(self.done_input, dtype=tf.float32)
self.predict_q_value = (1. - done) * self.config('GAMMA') * self.target_q_input + self.reward_input
with tf.variable_scope('train'):
self.critic_loss, self.critic_update_op, self.target_critic_update_op, self.critic_optimizer, \
self.critic_grads = self._setup_critic_loss()
self.actor_loss, self.actor_update_op, self.target_actor_update_op, self.action_optimizer, \
self.actor_grads = self._set_up_actor_loss()
var_list = get_tf_collection_var_list(
'{}/train'.format(name)) + self.critic_optimizer.variables() + self.action_optimizer.variables()
self.parameters.set_tf_var_list(tf_var_list=sorted(list(set(var_list)), key=lambda x: x.name))
MultiPlaceholderInput.__init__(self,
sub_placeholder_input_list=[dict(obj=self.target_actor,
attr_name='target_actor',
),
dict(obj=self.actor,
attr_name='actor'),
dict(obj=self.critic,
attr_name='critic'),
dict(obj=self.target_critic,
attr_name='target_critic')
],
parameters=self.parameters)