class DDPG():
def __init__(self, task, sess):
self.sess = sess
self.env = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
self.actor_lr = 0.0001
self.tau = 0.001
self.minibatch_size = 64
self.critic_lr = 0.001
self.gamma = 0.99
self.buffer_size = 1000000
self.random_seed = 1234
self.summary_dir = "/"
#self.max_episode = 100
#self.max_episode_len = 100
self.mu = 0
self.actor = ActorNetwork(self.sess, self.state_size, self.action_size,
self.action_low, self.action_high,
self.actor_lr, self.tau, self.minibatch_size)
self.critic = CriticNetwork(self.sess, self.state_size,
self.action_size, self.critic_lr, self.tau,
self.gamma,
self.actor.get_num_trainable_vars())
# Initialize replay memory
self.replay_buffer = ReplayBuffer(self.buffer_size, self.random_seed)
self.sess.run(tf.global_variables_initializer())
self.actor.update_target_network()
self.critic.update_target_network()
self.noise = OUNoise(self.action_size, self.mu)
self.sess.run(tf.global_variables_initializer())
def reset_episode(self):
#self.actor_noise.reset()
state = self.env.reset()
self.last_state = state
self.ep_ave_max_q = 0
self.ep_reward = 0
return state
def step(self, s, a, r, terminal, s2):
# Save experience / reward
#self.memory.add(self.last_state, action, reward, next_state, done)
#summary_ops, summary_vars = self.build_summaries()
self.replay_buffer.add(np.reshape(s, (self.actor.s_dim, )),
np.reshape(a, (self.actor.a_dim, )), r,
terminal, np.reshape(s2, (self.actor.s_dim, )))
# Learn, if enough samples are available in memory
if self.replay_buffer.size() > self.minibatch_size:
s_batch, a_batch, r_batch, t_batch, s2_batch = self.replay_buffer.sample_batch(
self.minibatch_size)
#self.train(s_batch, a_batch, r_batch, t_batch, s2_batch)
target_q = self.critic.predict_target(
s2_batch, self.actor.predict_target(s2_batch))
y_i = []
for k in range(self.minibatch_size):
if t_batch[k]:
y_i.append(r_batch[k])
else:
y_i.append(r_batch[k] + self.critic.gamma * target_q[k])
# Update the critic given the targets
predicted_q_value, _ = self.critic.train(
s_batch, a_batch, np.reshape(y_i, (self.minibatch_size, 1)))
#self.ep_ave_max_q += np.amax(predicted_q_value)
# Update the actor policy using the sampled gradient
a_outs = self.actor.predict(s_batch)
grads = self.critic.action_gradients(s_batch, a_outs)
self.actor.train(s_batch, grads[0])
# Update target networks
self.actor.update_target_network()
self.critic.update_target_network()
# Roll over last state and action
self.last_state = s2
'''
self.ep_reward +=r
if terminal:
summary_str = self.sess.run(
, feed_dict={summary_vars[0]: self.ep_reward, summary_vars[1]: self.ep_ave_max_q / float(j)})
writer.add_summary(summary_str, i)
#writer.flush()
print('| Reward: {:d} |Qmax: {:.4f}'.format(int(self.ep_reward), \
(self.ep_ave_max_q / float(j))))
'''
def act(self, states):
"""Returns actions for given state(s) as per current policy."""
states = np.reshape(states, [-1, self.state_size])
actions = self.actor.predict(states)[0]
#actornoises = OrnsteinUhlenbeckActionNoise(mu=np.zeros(self.action_size))
#print(actions)
return actions + self.noise.sample() # add some noise for exploration
def train(self, s_batch, a_batch, r_batch, t_batch, s2_batch):
target_q = self.critic.predict_target(
s2_batch, self.actor.predict_target(s2_batch))
y_i = []
for k in range(self.minibatch_size):
if t_batch[k]:
y_i.append(r_batch[k])
else:
y_i.append(r_batch[k] + self.critic.gamma * target_q[k])
# Update the critic given the targets
predicted_q_value, _ = self.critic.train(
s_batch, a_batch, np.reshape(y_i, (self.minibatch_size, 1)))
#self.ep_ave_max_q += np.amax(predicted_q_value)
# Update the actor policy using the sampled gradient
a_outs = self.actor.predict(s_batch)
grads = self.critic.action_gradients(s_batch, a_outs)
self.actor.train(s_batch, grads[0])
# Update target networks
self.actor.update_target_network()
self.critic.update_target_network()
def build_summaries(self):
episode_reward = tf.Variable(0.)
tf.summary.scalar("Reward", episode_reward)
episode_ave_max_q = tf.Variable(0.)
tf.summary.scalar("Qmax Value", episode_ave_max_q)
summary_vars = [episode_reward, episode_ave_max_q]
summary_ops = tf.summary.merge_all()
return summary_ops, summary_vars
K.set_session(sess)
actor = ActorNetwork(sess, num_state, num_action, batch_size, tau, actor_alpha)
critic = CriticNetwork(sess, num_state, num_action, batch_size, tau, critic_alpha)
buff = ReplayBuffer(buffer_size)
with open('actor_model.json', 'w') as json_file:
json_file.write(actor.model.to_json())
with open('critic_model.json', 'w') as json_file:
json_file.write(critic.model.to_json())
print 'start training'
best_r = -10000
actor.update_target_network()
critic.update_target_network()
try:
for i in range(num_episode):
total_reward = 0
s = env.reset()
s_t = np.hstack((s[0], s[1], s[2]))
while True:
#epsilon *= 0.995
loss = 0.0
#epsilon -= 1.0/10000.0
a = actor.model.predict(s_t.reshape(1,s_t.shape[0]))
noise = Ornstein_Uhlenbeck(a[0])
#noise = max(epsilon,0) * noise.function(a[0], 0.0, 0.15, 0.3)
# a = a[0] + noise
a = a[0] + noise()[0]
def trainer(epochs=1000, MINIBATCH_SIZE=40, GAMMA = 0.99, epsilon=1.0, min_epsilon=0.01, BUFFER_SIZE=10000, train_indicator=True, render=False):
with tf.Session() as sess:
# configuring environment
env = gym.make(ENV_NAME)
# configuring the random processes
np.random.seed(RANDOM_SEED)
tf.set_random_seed(RANDOM_SEED)
env.seed(RANDOM_SEED)
# info of the environment to pass to the agent
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.shape[0]
action_bound = np.float64(10) # I choose this number since the mountain continuos does not have a boundary
# Creating agent
ruido = OUNoise(action_dim, mu = 0.4) # this is the Ornstein-Uhlenbeck Noise
actor = ActorNetwork(sess, state_dim, action_dim, action_bound, ACTOR_LEARNING_RATE, TAU, DEVICE)
critic = CriticNetwork(sess, state_dim, action_dim, CRITIC_LEARNING_RATE, TAU, actor.get_num_trainable_vars(), DEVICE)
sess.run(tf.global_variables_initializer())
# Initialize target network weights
actor.update_target_network()
critic.update_target_network()
# Initialize replay memory
replay_buffer = ReplayBuffer(BUFFER_SIZE, RANDOM_SEED)
goal = 0
max_state = -1.
try:
critic.recover_critic()
actor.recover_actor()
print('********************************')
print('models restored succesfully')
print('********************************')
except:
pass
# print('********************************')
# print('Failed to restore models')
# print('********************************')
for i in range(epochs):
state = env.reset()
state = np.hstack(state)
ep_reward = 0
ep_ave_max_q = 0
done = False
step = 0
max_state_episode = -1
epsilon -= (epsilon/EXPLORE)
epsilon = np.maximum(min_epsilon,epsilon)
while (not done):
if render:
env.render()
#print('step', step)
# 1. get action with actor, and add noise
action_original = actor.predict(np.reshape(state,(1,state_dim))) # + (10. / (10. + i))* np.random.randn(1)
action = action_original + max(epsilon,0)*ruido.noise()
# remove comment if you want to see a step by step update
# print(step,'a',action_original, action,'s', state[0], 'max state', max_state_episode)
# 2. take action, see next state and reward :
next_state, reward, done, info = env.step(action)
if train_indicator:
# 3. Save in replay buffer:
replay_buffer.add(np.reshape(state, (actor.s_dim,)), np.reshape(action, (actor.a_dim,)), reward,
done, np.reshape(next_state, (actor.s_dim,)))
# Keep adding experience to the memory until
# there are at least minibatch size samples
if replay_buffer.size() > MINIBATCH_SIZE:
# 4. sample random minibatch of transitions:
s_batch, a_batch, r_batch, t_batch, s2_batch = replay_buffer.sample_batch(MINIBATCH_SIZE)
# Calculate targets
# 5. Train critic Network (states,actions, R + gamma* V(s', a')):
# 5.1 Get critic prediction = V(s', a')
# the a' is obtained using the actor prediction! or in other words : a' = actor(s')
target_q = critic.predict_target(s2_batch, actor.predict_target(s2_batch))
# 5.2 get y_t where:
y_i = []
for k in range(MINIBATCH_SIZE):
if t_batch[k]:
y_i.append(r_batch[k])
else:
y_i.append(r_batch[k] + GAMMA * target_q[k])
# 5.3 Train Critic!
predicted_q_value, _ = critic.train(s_batch, a_batch, np.reshape(y_i, (MINIBATCH_SIZE, 1)))
ep_ave_max_q += np.amax(predicted_q_value)
# 6 Compute Critic gradient (depends on states and actions)
# 6.1 therefore I first need to calculate the actions the current actor would take.
a_outs = actor.predict(s_batch)
# 6.2 I calculate the gradients
grads = critic.action_gradients(s_batch, a_outs)
actor.train(s_batch, grads[0])
# Update target networks
actor.update_target_network()
critic.update_target_network()
state = next_state
if next_state[0] > max_state_episode:
max_state_episode = next_state[0]
ep_reward = ep_reward + reward
step +=1
if done:
ruido.reset()
if state[0] > 0.45:
#print('****************************************')
#print('got it!')
#print('****************************************')
goal += 1
if max_state_episode > max_state:
max_state = max_state_episode
print('th',i+1,'n steps', step,'R:', round(ep_reward,3),'Pos', round(epsilon,3),'Efficiency', round(100.*((goal)/(i+1.)),3) )
# print('Efficiency', 100.*((goal)/(i+1.)))
print('*************************')
print('now we save the model')
critic.save_critic()
actor.save_actor()
print('model saved succesfuly')
print('*************************')
def trainer(env,
outdir,
epochs=100,
MINIBATCH_SIZE=64,
GAMMA=0.99,
epsilon=0.01,
min_epsilon=0.01,
BUFFER_SIZE=10000,
train_indicator=False,
render=False):
tf.reset_default_graph()
with tf.Session(config=config) as sess:
# configuring environment
#env = gym.make(ENV_NAME)
# configuring the random processes
np.random.seed(RANDOM_SEED)
tf.set_random_seed(RANDOM_SEED)
env.seed(RANDOM_SEED)
# info of the environment to pass to the agent
state_dim = env.observation_space
action_dim = env.action_space
action_bound = np.float64(
1
) # I choose this number since the mountain continuos does not have a boundary
# Creating agent
# FOR the RNN
#tf.contrib.rnn.core_rnn_cell.BasicLSTMCell from https://github.com/tensorflow/tensorflow/issues/8771
#cell = tf.contrib.rnn.BasicLSTMCell(num_units=300,state_is_tuple=True, reuse = None)
#cell_target = tf.contrib.rnn.BasicLSTMCell(num_units=300,state_is_tuple=True, reuse = None)
ruido = OUNoise(action_dim,
mu=0.4) # this is the Ornstein-Uhlenbeck Noise
actor = ActorNetwork(sess, state_dim, action_dim, action_bound,
ACTOR_LEARNING_RATE, TAU, outdir)
critic = CriticNetwork(sess, state_dim, action_dim,
CRITIC_LEARNING_RATE, TAU,
actor.get_num_trainable_vars(), outdir)
#sess.run(tf.global_variables_initializer())
# Initialize target network weights
actor.update_target_network()
critic.update_target_network()
# Initialize replay memory
replay_buffer = ReplayBuffer(BUFFER_SIZE, RANDOM_SEED)
replay_buffer.load()
#goal = 0
max_state = -1.
try:
critic.recover_critic()
actor.recover_actor()
print('********************************')
print('models restored succesfully')
print('********************************')
except Exception as e:
print('********************************')
print(e)
print('********************************')
#critic.recover_critic()
#actor.recover_actor()
for i in range(epochs):
state = env.reset()
#state = np.hstack(state)
ep_reward = 0
ep_ave_max_q = 0
done = False
step = 0
max_state_episode = -1
epsilon -= epsilon / EXPLORE
if epsilon < min_epsilon:
epsilon = min_epsilon
while (not done):
if render:
env.render()
#print('step', step)
# 1. get action with actor, and add noise
np.set_printoptions(precision=4)
# remove comment if you want to see a step by step update
#print(step,'a',action_original, action,'s', state[0], 'max state', max_state_episode)
# 2. take action, see next state and reward :
action_original = actor.predict(
np.reshape(state,
(1, actor.s_dim
))) # + (10. / (10. + i))* np.random.randn(1)
action = action_original #+ max(epsilon, 0) * ruido.noise()
'''
for j in range(action.shape[1]):
if abs(action[0,j]) > 1:
act=action[0,j]
action[0,j]=act/abs(act)
else:
continue
'''
action = np.reshape(action, (actor.a_dim, ))
next_state, reward, done, info = env.step(action)
if train_indicator:
# 3. Save in replay buffer:
replay_buffer.add(np.reshape(state, (actor.s_dim, )),
np.reshape(action, (actor.a_dim, )),
reward, done,
np.reshape(next_state, (actor.s_dim, )))
# Keep adding experience to the memory until
# there are at least minibatch size samples
if replay_buffer.size() > MINIBATCH_SIZE:
# 4. sample random minibatch of transitions:
s_batch, a_batch, r_batch, t_batch, s2_batch = replay_buffer.sample_batch(
MINIBATCH_SIZE)
# Calculate targets
# 5. Train critic Network (states,actions, R + gamma* V(s', a')):
# 5.1 Get critic prediction = V(s', a')
# the a' is obtained using the actor prediction! or in other words : a' = actor(s')
target_q = critic.predict_target(
s2_batch, actor.predict_target(s2_batch), 20)
# 5.2 get y_t where:
y_i = []
for k in range(MINIBATCH_SIZE):
if t_batch[k]:
y_i.append(r_batch[k])
else:
y_i.append(r_batch[k] + GAMMA * target_q[k])
# 5.3 Train Critic!
predicted_q_value, _ = critic.train(
s_batch, a_batch,
np.reshape(y_i, (MINIBATCH_SIZE, 1)), 20)
ep_ave_max_q += np.amax(predicted_q_value)
# 6 Compute Critic gradient (depends on states and actions)
# 6.1 therefore I first need to calculate the actions the current actor would take.
a_outs = actor.predict(s_batch)
# 6.2 I calculate the gradients
grads = critic.action_gradients(s_batch, a_outs, 20)
c = np.array(grads)
#print(c.shape)
#print('...')
#print('...',c[0].shape)
#print('...')
actor.train(s_batch, grads[0])
# Update target networks
actor.update_target_network()
critic.update_target_network()
state = next_state
if next_state[0] > max_state_episode:
max_state_episode = next_state[0]
ep_reward = ep_reward + reward
step += 1
if max_state_episode > max_state:
max_state = max_state_episode
print('th', i + 1, 'Step', step, 'Reward:', ep_reward, 'Pos',
next_state[0], next_state[1], 'epsilon', epsilon)
print('*************************')
print('now we save the model')
critic.save_critic()
actor.save_actor()
print('model saved succesfuly')
print('*************************')
replay_buffer.save()
#proc = Popen(['rosclean','purge'],stdout=PIPE, stdin=PIPE, stderr=PIPE,universal_newlines=True)
#out,err = proc.communicate(input="{}\n".format("y"))
#print('maxmimum state reach', max_state)
#print('the reward at the end of the episode,', reward)
#print('Efficiency', 100.*((goal)/(i+1.)))
'''
print('*************************')
print('now we save the model')
critic.save_critic()
actor.save_actor()
print('model saved succesfuly')
print('*************************')
replay_buffer.save()
#env.close()
'''
sess.close()
return 0