def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
val_offset, val_scale = self._calc_val_offset_scale(self.discount)
self.val_norm = TFNormalizer(self.sess, 'val_norm', 1)
self.val_norm.set_mean_std(-val_offset, 1.0 / val_scale)
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self._amp_obs_norm = TFNormalizer(
self.sess, "amp_obs_norm", self._get_amp_obs_size(),
self._get_amp_obs_norm_group())
self._amp_obs_norm.set_mean_std(-self._get_amp_obs_offset(),
1 / self._get_amp_obs_scale())
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
val_offset, val_scale = self._calc_val_offset_scale(self.discount)
self.val_norm = TFNormalizer(self.sess, 'val_norm', 1)
self.val_norm.set_mean_std(-val_offset, 1.0 / val_scale)
return
def _build_normalizers(self):
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(self.sess, 's_norm', self.get_state_size(), self.world.env.build_state_norm_groups(self.id))
state_offset = -self.world.env.build_state_offset(self.id)
print("state_offset=",state_offset)
state_scale = 1 / self.world.env.build_state_scale(self.id)
print("state_scale=",state_scale)
self.s_norm.set_mean_std(-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(self.sess, 'g_norm', self.get_goal_size(), self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm', self.get_action_size())
self.a_norm.set_mean_std(-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
return
def build(self, input_shape):
self.w = self.add_weight(shape=input_shape[1:],
dtype=tf.float32,
initializer=tf.keras.initializers.ones(),
regularizer=tf.keras.regularizers.l2(0.02),
trainable=True)
with tf.device('cpu:0'):
with self.sess.as_default(): #, self.graph.as_default():
# with scope agent
# with scope resource
#with tf.variable_scope(self.RESOURCE_SCOPE):
#with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(
self.sess, 's_norm', self.get_state_size(),
self.world.env.build_state_norm_groups(self.id))
self.s_norm.set_mean_std(
-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(
self.sess, 'g_norm', self.get_goal_size(),
self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(
-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm',
self.get_action_size())
self.a_norm.set_mean_std(
-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
def _build_normalizers(self):
Logger.print(
'[TFAgent] Build normalizers -> TFNormalizer (s_norm, g_norm, a_norm) called.'
)
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
#with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(
self.sess, 's_norm', self.get_state_size(),
self.world.env.build_state_norm_groups(self.id))
self.s_norm.set_mean_std(
-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(
self.sess, 'g_norm', self.get_goal_size(),
self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(
-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm',
self.get_action_size())
self.a_norm.set_mean_std(
-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
return
class AgentLayer(tf.keras.layers.Layer):
def __init__(self, *args, **kwargs):
argi = 0
for arg in args:
if (argi == 0):
self.sess = arg
if (argi == 1):
self.get_state_size = arg
if (argi == 2):
self.get_goal_size = arg
if (argi == 3):
self.get_action_size = arg
Logger.print("argi: " + str(argi))
argi = argi + 1
super(AgentLayer, self).__init__(*args, **kwargs)
def build(self, input_shape):
self.w = self.add_weight(shape=input_shape[1:],
dtype=tf.float32,
initializer=tf.keras.initializers.ones(),
regularizer=tf.keras.regularizers.l2(0.02),
trainable=True)
with tf.device('cpu:0'):
with self.sess.as_default(): #, self.graph.as_default():
# with scope agent
# with scope resource
#with tf.variable_scope(self.RESOURCE_SCOPE):
#with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(
self.sess, 's_norm', self.get_state_size(),
self.world.env.build_state_norm_groups(self.id))
self.s_norm.set_mean_std(
-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(
self.sess, 'g_norm', self.get_goal_size(),
self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(
-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm',
self.get_action_size())
self.a_norm.set_mean_std(
-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
# Call method will sometimes get used in graph mode,
# training will get turned into a tensor
@tf.function
def call(self, inputs, training=None):
if training:
return inputs + self.w
else:
return inputs + self.w * 0.5
def _build_normalizers(self):
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(
self.sess, 's_norm', self.get_state_size(),
self.world.env.build_state_norm_groups(self.id))
state_offset = -self.world.env.build_state_offset(self.id)
print("state_offset=", state_offset)
state_scale = 1 / self.world.env.build_state_scale(self.id)
print("state_scale=", state_scale)
self.s_norm.set_mean_std(
-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(
self.sess, 'g_norm', self.get_goal_size(),
self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(
-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm',
self.get_action_size())
self.a_norm.set_mean_std(
-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
return
def _build_normalizers(self):
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(self.sess, 's_norm', self.get_state_size())
self.s_norm.set_mean_std(np.zeros(self.get_state_size()), np.ones(self.get_state_size()))
self.g_norm = TFNormalizer(self.sess, 'g_norm', self.get_goal_size())
self.g_norm.set_mean_std(np.zeros(self.get_goal_size()), np.ones(self.get_goal_size()))
self.a_norm = TFNormalizer(self.sess, 'a_norm', self.get_action_size())
self.a_norm.set_mean_std(np.zeros(self.get_action_size()), np.ones(self.get_action_size()))
return
class PGAgent(TFAgent):
NAME = 'PG'
ACTOR_NET_KEY = 'ActorNet'
ACTOR_STEPSIZE_KEY = 'ActorStepsize'
ACTOR_MOMENTUM_KEY = 'ActorMomentum'
ACTOR_WEIGHT_DECAY_KEY = 'ActorWeightDecay'
ACTOR_INIT_OUTPUT_SCALE_KEY = 'ActorInitOutputScale'
CRITIC_NET_KEY = 'CriticNet'
CRITIC_STEPSIZE_KEY = 'CriticStepsize'
CRITIC_MOMENTUM_KEY = 'CriticMomentum'
CRITIC_WEIGHT_DECAY_KEY = 'CriticWeightDecay'
EXP_ACTION_FLAG = 1 << 0
def __init__(self, world, id, json_data):
self._exp_action = False
super().__init__(world, id, json_data)
return
def reset(self):
super().reset()
self._exp_action = False
return
def _check_action_space(self):
action_space = self.get_action_space()
return action_space == ActionSpace.Continuous
def _load_params(self, json_data):
super()._load_params(json_data)
self.val_min, self.val_max = self._calc_val_bounds(self.discount)
self.val_fail, self.val_succ = self._calc_term_vals(self.discount)
return
def _build_nets(self, json_data):
assert self.ACTOR_NET_KEY in json_data
assert self.CRITIC_NET_KEY in json_data
actor_net_name = json_data[self.ACTOR_NET_KEY]
critic_net_name = json_data[self.CRITIC_NET_KEY]
actor_init_output_scale = 1 if (
self.ACTOR_INIT_OUTPUT_SCALE_KEY
not in json_data) else json_data[self.ACTOR_INIT_OUTPUT_SCALE_KEY]
s_size = self.get_state_size()
g_size = self.get_goal_size()
a_size = self.get_action_size()
# setup input tensors
self.s_tf = tf.placeholder(tf.float32, shape=[None, s_size],
name="s") # observations
self.tar_val_tf = tf.placeholder(tf.float32,
shape=[None],
name="tar_val") # target value s
self.adv_tf = tf.placeholder(tf.float32, shape=[None],
name="adv") # advantage
self.a_tf = tf.placeholder(tf.float32, shape=[None, a_size],
name="a") # target actions
self.g_tf = tf.placeholder(
tf.float32,
shape=([None, g_size] if self.has_goal() else None),
name="g") # goals
with tf.variable_scope('main'):
with tf.variable_scope('actor'):
self.actor_tf = self._build_net_actor(actor_net_name,
actor_init_output_scale)
with tf.variable_scope('critic'):
self.critic_tf = self._build_net_critic(critic_net_name)
if (self.actor_tf != None):
Logger.print('Built actor net: ' + actor_net_name)
if (self.critic_tf != None):
Logger.print('Built critic net: ' + critic_net_name)
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
val_offset, val_scale = self._calc_val_offset_scale(
self.discount)
self.val_norm = TFNormalizer(self.sess, 'val_norm', 1)
self.val_norm.set_mean_std(-val_offset, 1.0 / val_scale)
return
def _init_normalizers(self):
super()._init_normalizers()
with self.sess.as_default(), self.graph.as_default():
self.val_norm.update()
return
def _load_normalizers(self):
super()._load_normalizers()
self.val_norm.load()
return
def _build_losses(self, json_data):
actor_weight_decay = 0 if (
self.ACTOR_WEIGHT_DECAY_KEY
not in json_data) else json_data[self.ACTOR_WEIGHT_DECAY_KEY]
critic_weight_decay = 0 if (
self.CRITIC_WEIGHT_DECAY_KEY
not in json_data) else json_data[self.CRITIC_WEIGHT_DECAY_KEY]
norm_val_diff = self.val_norm.normalize_tf(
self.tar_val_tf) - self.val_norm.normalize_tf(self.critic_tf)
self.critic_loss_tf = 0.5 * tf.reduce_mean(tf.square(norm_val_diff))
if (critic_weight_decay != 0):
self.critic_loss_tf += critic_weight_decay * self._weight_decay_loss(
'main/critic')
norm_a_mean_tf = self.a_norm.normalize_tf(self.actor_tf)
norm_a_diff = self.a_norm.normalize_tf(self.a_tf) - norm_a_mean_tf
self.actor_loss_tf = tf.reduce_sum(tf.square(norm_a_diff), axis=-1)
self.actor_loss_tf *= self.adv_tf
self.actor_loss_tf = 0.5 * tf.reduce_mean(self.actor_loss_tf)
norm_a_bound_min = self.a_norm.normalize(self.a_bound_min)
norm_a_bound_max = self.a_norm.normalize(self.a_bound_max)
a_bound_loss = TFUtil.calc_bound_loss(norm_a_mean_tf, norm_a_bound_min,
norm_a_bound_max)
a_bound_loss /= self.exp_params_curr.noise
self.actor_loss_tf += a_bound_loss
if (actor_weight_decay != 0):
self.actor_loss_tf += actor_weight_decay * self._weight_decay_loss(
'main/actor')
return
def _build_solvers(self, json_data):
actor_stepsize = 0.001 if (self.ACTOR_STEPSIZE_KEY not in json_data
) else json_data[self.ACTOR_STEPSIZE_KEY]
actor_momentum = 0.9 if (self.ACTOR_MOMENTUM_KEY not in json_data
) else json_data[self.ACTOR_MOMENTUM_KEY]
critic_stepsize = 0.01 if (self.CRITIC_STEPSIZE_KEY not in json_data
) else json_data[self.CRITIC_STEPSIZE_KEY]
critic_momentum = 0.9 if (self.CRITIC_MOMENTUM_KEY not in json_data
) else json_data[self.CRITIC_MOMENTUM_KEY]
critic_vars = self._tf_vars('main/critic')
critic_opt = tf.train.MomentumOptimizer(learning_rate=critic_stepsize,
momentum=critic_momentum)
self.critic_grad_tf = tf.gradients(self.critic_loss_tf, critic_vars)
self.critic_solver = MPISolver(self.sess, critic_opt, critic_vars)
actor_vars = self._tf_vars('main/actor')
actor_opt = tf.train.MomentumOptimizer(learning_rate=actor_stepsize,
momentum=actor_momentum)
self.actor_grad_tf = tf.gradients(self.actor_loss_tf, actor_vars)
self.actor_solver = MPISolver(self.sess, actor_opt, actor_vars)
return
def _build_net_actor(self, net_name, init_output_scale):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_a_tf = tf.layers.dense(
inputs=h,
units=self.get_action_size(),
activation=None,
kernel_initializer=tf.random_uniform_initializer(
minval=-init_output_scale, maxval=init_output_scale))
a_tf = self.a_norm.unnormalize_tf(norm_a_tf)
return a_tf
def _build_net_critic(self, net_name):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_val_tf = tf.layers.dense(
inputs=h,
units=1,
activation=None,
kernel_initializer=TFUtil.xavier_initializer)
norm_val_tf = tf.reshape(norm_val_tf, [-1])
val_tf = self.val_norm.unnormalize_tf(norm_val_tf)
return val_tf
def _initialize_vars(self):
super()._initialize_vars()
self._sync_solvers()
return
def _sync_solvers(self):
self.actor_solver.sync()
self.critic_solver.sync()
return
def _decide_action(self, s, g):
with self.sess.as_default(), self.graph.as_default():
self._exp_action = False
a = self._eval_actor(s, g)[0]
logp = 0
if self._enable_stoch_policy():
# epsilon-greedy
rand_action = MathUtil.flip_coin(self.exp_params_curr.rate)
if rand_action:
norm_exp_noise = np.random.randn(*a.shape)
norm_exp_noise *= self.exp_params_curr.noise
exp_noise = norm_exp_noise * self.a_norm.std
a += exp_noise
logp = self._calc_action_logp(norm_exp_noise)
self._exp_action = True
return a, logp
def _enable_stoch_policy(self):
return self.enable_training and (self._mode == self.Mode.TRAIN
or self._mode == self.Mode.TRAIN_END)
def _eval_actor(self, s, g):
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(g,
[-1, self.get_goal_size()]) if self.has_goal() else None
feed = {self.s_tf: s, self.g_tf: g}
a = self.actor_tf.eval(feed)
return a
def _eval_critic(self, s, g):
with self.sess.as_default(), self.graph.as_default():
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(
g, [-1, self.get_goal_size()]) if self.has_goal() else None
feed = {self.s_tf: s, self.g_tf: g}
val = self.critic_tf.eval(feed)
return val
def _record_flags(self):
flags = int(0)
if (self._exp_action):
flags = flags | self.EXP_ACTION_FLAG
return flags
def _train_step(self):
super()._train_step()
critic_loss = self._update_critic()
actor_loss = self._update_actor()
critic_loss = MPIUtil.reduce_avg(critic_loss)
actor_loss = MPIUtil.reduce_avg(actor_loss)
critic_stepsize = self.critic_solver.get_stepsize()
actor_stepsize = self.actor_solver.get_stepsize()
self.logger.log_tabular('Critic_Loss', critic_loss)
self.logger.log_tabular('Critic_Stepsize', critic_stepsize)
self.logger.log_tabular('Actor_Loss', actor_loss)
self.logger.log_tabular('Actor_Stepsize', actor_stepsize)
return
def _update_critic(self):
idx = self.replay_buffer.sample(self._local_mini_batch_size)
s = self.replay_buffer.get('states', idx)
g = self.replay_buffer.get('goals', idx) if self.has_goal() else None
tar_V = self._calc_updated_vals(idx)
tar_V = np.clip(tar_V, self.val_min, self.val_max)
feed = {self.s_tf: s, self.g_tf: g, self.tar_val_tf: tar_V}
loss, grads = self.sess.run([self.critic_loss_tf, self.critic_grad_tf],
feed)
self.critic_solver.update(grads)
return loss
def _update_actor(self):
key = self.EXP_ACTION_FLAG
idx = self.replay_buffer.sample_filtered(self._local_mini_batch_size,
key)
has_goal = self.has_goal()
s = self.replay_buffer.get('states', idx)
g = self.replay_buffer.get('goals', idx) if has_goal else None
a = self.replay_buffer.get('actions', idx)
V_new = self._calc_updated_vals(idx)
V_old = self._eval_critic(s, g)
adv = V_new - V_old
feed = {self.s_tf: s, self.g_tf: g, self.a_tf: a, self.adv_tf: adv}
loss, grads = self.sess.run([self.actor_loss_tf, self.actor_grad_tf],
feed)
self.actor_solver.update(grads)
return loss
def _calc_updated_vals(self, idx):
r = self.replay_buffer.get('rewards', idx)
if self.discount == 0:
new_V = r
else:
next_idx = self.replay_buffer.get_next_idx(idx)
s_next = self.replay_buffer.get('states', next_idx)
g_next = self.replay_buffer.get(
'goals', next_idx) if self.has_goal() else None
is_end = self.replay_buffer.is_path_end(idx)
is_fail = self.replay_buffer.check_terminal_flag(
idx, Env.Terminate.Fail)
is_succ = self.replay_buffer.check_terminal_flag(
idx, Env.Terminate.Succ)
is_fail = np.logical_and(is_end, is_fail)
is_succ = np.logical_and(is_end, is_succ)
V_next = self._eval_critic(s_next, g_next)
V_next[is_fail] = self.val_fail
V_next[is_succ] = self.val_succ
new_V = r + self.discount * V_next
return new_V
def _calc_action_logp(self, norm_action_deltas):
# norm action delta are for the normalized actions (scaled by self.a_norm.std)
stdev = self.exp_params_curr.noise
assert stdev > 0
a_size = self.get_action_size()
logp = -0.5 / (stdev * stdev) * np.sum(np.square(norm_action_deltas),
axis=-1)
logp += -0.5 * a_size * np.log(2 * np.pi)
logp += -a_size * np.log(stdev)
return logp
def _log_val(self, s, g):
val = self._eval_critic(s, g)
norm_val = self.val_norm.normalize(val)
self.world.env.log_val(self.id, norm_val[0])
return
def _build_replay_buffer(self, buffer_size):
super()._build_replay_buffer(buffer_size)
self.replay_buffer.add_filter_key(self.EXP_ACTION_FLAG)
return
class TFAgent(RLAgent):
RESOURCE_SCOPE = 'resource'
SOLVER_SCOPE = 'solvers'
def __init__(self, world, id, json_data):
self.tf_scope = 'agent'
self.graph = tf.Graph()
self.sess = tf.Session(graph=self.graph)
super().__init__(world, id, json_data)
self._build_graph(json_data)
self._init_normalizers()
return
def __del__(self):
self.sess.close()
return
def save_model(self, out_path):
with self.sess.as_default(), self.graph.as_default():
try:
save_path = self.saver.save(self.sess, out_path, write_meta_graph=False, write_state=False)
Logger.print2('Model saved to: ' + save_path)
except:
Logger.print2("Failed to save model to: " + save_path)
return
def load_model(self, in_path):
with self.sess.as_default(), self.graph.as_default():
self.saver.restore(self.sess, in_path)
self._load_normalizers()
Logger.print2('Model loaded from: ' + in_path)
return
def _get_output_path(self):
assert(self.output_dir != '')
file_path = self.output_dir + '/agent' + str(self.id) + '_model.ckpt'
return file_path
def _get_int_output_path(self):
assert(self.int_output_dir != '')
file_path = self.int_output_dir + ('/agent{:d}_models/agent{:d}_int_model_{:010d}.ckpt').format(self.id, self.id, self.iter)
return file_path
def _build_graph(self, json_data):
with self.sess.as_default(), self.graph.as_default():
with tf.variable_scope(self.tf_scope):
self._build_nets(json_data)
with tf.variable_scope(self.SOLVER_SCOPE):
self._build_losses(json_data)
self._build_solvers(json_data)
self._initialize_vars()
self._build_saver()
return
def _init_normalizers(self):
with self.sess.as_default(), self.graph.as_default():
# update normalizers to sync the tensorflow tensors
self.s_norm.update()
self.g_norm.update()
self.a_norm.update()
return
@abstractmethod
def _build_nets(self, json_data):
pass
@abstractmethod
def _build_losses(self, json_data):
pass
@abstractmethod
def _build_solvers(self, json_data):
pass
def _tf_vars(self, scope=''):
with self.sess.as_default(), self.graph.as_default():
res = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope=self.tf_scope + '/' + scope)
assert len(res) > 0
return res
def _build_normalizers(self):
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(self.sess, 's_norm', self.get_state_size(), self.world.env.build_state_norm_groups(self.id))
state_offset = -self.world.env.build_state_offset(self.id)
print("state_offset=",state_offset)
state_scale = 1 / self.world.env.build_state_scale(self.id)
print("state_scale=",state_scale)
self.s_norm.set_mean_std(-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(self.sess, 'g_norm', self.get_goal_size(), self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm', self.get_action_size())
self.a_norm.set_mean_std(-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
return
def _load_normalizers(self):
self.s_norm.load()
self.g_norm.load()
self.a_norm.load()
return
def _update_normalizers(self):
with self.sess.as_default(), self.graph.as_default():
super()._update_normalizers()
return
def _initialize_vars(self):
self.sess.run(tf.global_variables_initializer())
return
def _build_saver(self):
vars = self._get_saver_vars()
self.saver = tf.train.Saver(vars, max_to_keep=0)
return
def _get_saver_vars(self):
with self.sess.as_default(), self.graph.as_default():
vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope=self.tf_scope)
vars = [v for v in vars if '/' + self.SOLVER_SCOPE + '/' not in v.name]
#vars = [v for v in vars if '/target/' not in v.name]
assert len(vars) > 0
return vars
def _weight_decay_loss(self, scope):
vars = self._tf_vars(scope)
vars_no_bias = [v for v in vars if 'bias' not in v.name]
loss = tf.add_n([tf.nn.l2_loss(v) for v in vars_no_bias])
return loss
def _train(self):
with self.sess.as_default(), self.graph.as_default():
super()._train()
return
class PGAgent(TFAgent):
NAME = 'PG'
ACTOR_NET_KEY = 'ActorNet'
ACTOR_STEPSIZE_KEY = 'ActorStepsize'
ACTOR_MOMENTUM_KEY = 'ActorMomentum'
ACTOR_WEIGHT_DECAY_KEY = 'ActorWeightDecay'
ACTOR_INIT_OUTPUT_SCALE_KEY = 'ActorInitOutputScale'
CRITIC_NET_KEY = 'CriticNet'
CRITIC_STEPSIZE_KEY = 'CriticStepsize'
CRITIC_MOMENTUM_KEY = 'CriticMomentum'
CRITIC_WEIGHT_DECAY_KEY = 'CriticWeightDecay'
EXP_ACTION_FLAG = 1 << 0
def __init__(self, world, id, json_data):
self._exp_action = False
super().__init__(world, id, json_data)
return
def reset(self):
super().reset()
self._exp_action = False
return
def _check_action_space(self):
return True
def _load_params(self, json_data):
super()._load_params(json_data)
return
def _build_nets(self, json_data):
assert self.ACTOR_NET_KEY in json_data
assert self.CRITIC_NET_KEY in json_data
actor_net_name = json_data[self.ACTOR_NET_KEY]
critic_net_name = json_data[self.CRITIC_NET_KEY]
actor_init_output_scale = 1 if (self.ACTOR_INIT_OUTPUT_SCALE_KEY not in json_data) else json_data[self.ACTOR_INIT_OUTPUT_SCALE_KEY]
s_size = self.get_state_size()
g_size = self.get_goal_size()
a_size = self.get_action_size()
# setup input tensors
self.s_tf = tf.placeholder(tf.float32, shape=[None, s_size], name="s") # observations
self.tar_val_tf = tf.placeholder(tf.float32, shape=[None], name="tar_val") # target value s
self.adv_tf = tf.placeholder(tf.float32, shape=[None], name="adv") # advantage
self.a_tf = tf.placeholder(tf.float32, shape=[None, a_size], name="a") # target actions
self.g_tf = tf.placeholder(tf.float32, shape=([None, g_size] if self.has_goal() else None), name="g") # goals
with tf.variable_scope('main'):
with tf.variable_scope('actor'):
self.actor_tf = self._build_net_actor(actor_net_name, actor_init_output_scale)
with tf.variable_scope('critic'):
self.critic_tf = self._build_net_critic(critic_net_name)
if (self.actor_tf != None):
Logger.print('Built actor net: ' + actor_net_name)
if (self.critic_tf != None):
Logger.print('Built critic net: ' + critic_net_name)
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
val_offset, val_scale = self._calc_val_offset_scale(self.discount)
self.val_norm = TFNormalizer(self.sess, 'val_norm', 1)
self.val_norm.set_mean_std(-val_offset, 1.0 / val_scale)
return
def _init_normalizers(self):
super()._init_normalizers()
with self.sess.as_default(), self.graph.as_default():
self.val_norm.update()
return
def _load_normalizers(self):
super()._load_normalizers()
self.val_norm.load()
return
def _build_losses(self, json_data):
actor_weight_decay = 0 if (self.ACTOR_WEIGHT_DECAY_KEY not in json_data) else json_data[self.ACTOR_WEIGHT_DECAY_KEY]
critic_weight_decay = 0 if (self.CRITIC_WEIGHT_DECAY_KEY not in json_data) else json_data[self.CRITIC_WEIGHT_DECAY_KEY]
norm_val_diff = self.val_norm.normalize_tf(self.tar_val_tf) - self.val_norm.normalize_tf(self.critic_tf)
self.critic_loss_tf = 0.5 * tf.reduce_mean(tf.square(norm_val_diff))
if (critic_weight_decay != 0):
self.critic_loss_tf += critic_weight_decay * self._weight_decay_loss('main/critic')
norm_a_mean_tf = self.a_norm.normalize_tf(self.actor_tf)
norm_a_diff = self.a_norm.normalize_tf(self.a_tf) - norm_a_mean_tf
self.actor_loss_tf = tf.reduce_sum(tf.square(norm_a_diff), axis=-1)
self.actor_loss_tf *= self.adv_tf
self.actor_loss_tf = 0.5 * tf.reduce_mean(self.actor_loss_tf)
norm_a_bound_min = self.a_norm.normalize(self.a_bound_min)
norm_a_bound_max = self.a_norm.normalize(self.a_bound_max)
a_bound_loss = TFUtil.calc_bound_loss(norm_a_mean_tf, norm_a_bound_min, norm_a_bound_max)
a_bound_loss /= self.exp_params_curr.noise
self.actor_loss_tf += a_bound_loss
if (actor_weight_decay != 0):
self.actor_loss_tf += actor_weight_decay * self._weight_decay_loss('main/actor')
return
def _build_solvers(self, json_data):
actor_stepsize = 0.001 if (self.ACTOR_STEPSIZE_KEY not in json_data) else json_data[self.ACTOR_STEPSIZE_KEY]
actor_momentum = 0.9 if (self.ACTOR_MOMENTUM_KEY not in json_data) else json_data[self.ACTOR_MOMENTUM_KEY]
critic_stepsize = 0.01 if (self.CRITIC_STEPSIZE_KEY not in json_data) else json_data[self.CRITIC_STEPSIZE_KEY]
critic_momentum = 0.9 if (self.CRITIC_MOMENTUM_KEY not in json_data) else json_data[self.CRITIC_MOMENTUM_KEY]
critic_vars = self._tf_vars('main/critic')
critic_opt = tf.train.MomentumOptimizer(learning_rate=critic_stepsize, momentum=critic_momentum)
self.critic_grad_tf = tf.gradients(self.critic_loss_tf, critic_vars)
self.critic_solver = MPISolver(self.sess, critic_opt, critic_vars)
actor_vars = self._tf_vars('main/actor')
actor_opt = tf.train.MomentumOptimizer(learning_rate=actor_stepsize, momentum=actor_momentum)
self.actor_grad_tf = tf.gradients(self.actor_loss_tf, actor_vars)
self.actor_solver = MPISolver(self.sess, actor_opt, actor_vars)
return
def _build_net_actor(self, net_name, init_output_scale):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_a_tf = tf.layers.dense(inputs=h, units=self.get_action_size(), activation=None,
kernel_initializer=tf.random_uniform_initializer(minval=-init_output_scale, maxval=init_output_scale))
a_tf = self.a_norm.unnormalize_tf(norm_a_tf)
return a_tf
def _build_net_critic(self, net_name):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_val_tf = tf.layers.dense(inputs=h, units=1, activation=None,
kernel_initializer=TFUtil.xavier_initializer);
norm_val_tf = tf.reshape(norm_val_tf, [-1])
val_tf = self.val_norm.unnormalize_tf(norm_val_tf)
return val_tf
def _initialize_vars(self):
super()._initialize_vars()
self._sync_solvers()
return
def _sync_solvers(self):
self.actor_solver.sync()
self.critic_solver.sync()
return
def _decide_action(self, s, g):
with self.sess.as_default(), self.graph.as_default():
self._exp_action = False
a = self._eval_actor(s, g)[0]
logp = 0
if self._enable_stoch_policy():
# epsilon-greedy
rand_action = MathUtil.flip_coin(self.exp_params_curr.rate)
if rand_action:
norm_exp_noise = np.random.randn(*a.shape)
norm_exp_noise *= self.exp_params_curr.noise
exp_noise = norm_exp_noise * self.a_norm.std
a += exp_noise
logp = self._calc_action_logp(norm_exp_noise)
self._exp_action = True
return a, logp
def _enable_stoch_policy(self):
return self.enable_training and (self._mode == self.Mode.TRAIN or self._mode == self.Mode.TRAIN_END)
def _eval_actor(self, s, g):
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(g, [-1, self.get_goal_size()]) if self.has_goal() else None
feed = {
self.s_tf : s,
self.g_tf : g
}
a = self.actor_tf.eval(feed)
return a
def _eval_critic(self, s, g):
with self.sess.as_default(), self.graph.as_default():
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(g, [-1, self.get_goal_size()]) if self.has_goal() else None
feed = {
self.s_tf : s,
self.g_tf : g
}
val = self.critic_tf.eval(feed)
return val
def _calc_action_logp(self, norm_action_deltas):
# norm action delta are for the normalized actions (scaled by self.a_norm.std)
stdev = self.exp_params_curr.noise
assert stdev > 0
a_size = self.get_action_size()
logp = -0.5 / (stdev * stdev) * np.sum(np.square(norm_action_deltas), axis=-1)
logp += -0.5 * a_size * np.log(2 * np.pi)
logp += -a_size * np.log(stdev)
return logp
class TFAgent(RLAgent):
RESOURCE_SCOPE = 'resource'
SOLVER_SCOPE = 'solvers'
def __init__(self, world, id, json_data):
self.tf_scope = 'agent'
#self.graph = tf.Graph()
# gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction = 0.33)
# gpu_options = tf.GPUOptions(allow_growth = True)
#gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=0.8,allow_growth=True)
#config = tf.ConfigProto(gpu_options = gpu_options)
#config.gpu_options.per_process_gpu_memory_fraction = 0.2
#config.gpu_options.allow_growth = True
#import tensorflow as tf
#tf.config.gpu.set_per_process_memory_fraction(0.75)
#tf.config.gpu.set_per_process_memory_growth(True)
#session = InteractiveSession(config=config)
#self.sess = tf.Session(config=config,graph=self.graph)
self.init_session_mem()
self.agent_layer = AgentLayer(self.sess, self.get_state_size(),
self.get_goal_size(),
self.get_action_size())
#Logger.print('agent_layer([1]).numpy(): ' + self.agent_layer([1]).numpy())
self.json_data = json_data
super().__init__(world, id, json_data)
self._build_graph(json_data)
self._init_normalizers()
return
def __del__(self):
with tf.device('cpu:0'):
self.sess.close()
return
def init_session_mem(self):
Logger.print(
'[TFAgent] Init session -> tf.Graph(), tf.Session(...) called.')
with tf.device('cpu:0'):
gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=0.8,
allow_growth=True)
config = tf.ConfigProto(gpu_options=gpu_options)
self.graph = tf.Graph()
self.sess = tf.Session(config=config, graph=self.graph)
return
def clear_session_mem(self):
with tf.device('cpu:0'):
Logger.print(
'[TFAgent] Clear session -> tf.Graph(), tf.Session(...) called.'
)
self.sess.close()
gpu_options = tf.GPUOptions(per_process_gpu_memory_fraction=0.8,
allow_growth=True)
config = tf.ConfigProto(gpu_options=gpu_options)
self.graph = tf.Graph()
self.sess = tf.Session(config=config, graph=self.graph)
return
def save_model(self, out_path):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
try:
save_path = self.saver.save(self.sess,
out_path,
write_meta_graph=False,
write_state=False)
Logger.print('Model saved to: ' + save_path)
except:
Logger.print("Failed to save model to: " + save_path)
return
def load_model(self, in_path):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
Logger.print('Restoring checkpoint for model: ' + in_path)
self.saver.restore(self.sess, in_path)
self._load_normalizers()
Logger.print('Model loaded from: ' + in_path)
return
def _get_output_path(self):
assert (self.output_dir != '')
file_path = self.output_dir + '/agent' + str(self.id) + '_model.ckpt'
return file_path
def _get_int_output_path(self):
assert (self.int_output_dir != '')
file_path = self.int_output_dir + (
'/agent{:d}_models/agent{:d}_int_model_{:010d}.ckpt').format(
self.id, self.id, self.iter)
return file_path
def _build_graph(self, json_data):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
with tf.variable_scope(self.tf_scope):
self._build_nets(json_data)
with tf.variable_scope(self.SOLVER_SCOPE):
self._build_losses(json_data)
self._build_solvers(json_data)
self._initialize_vars()
self._build_saver()
return
def _init_normalizers(self):
with self.sess.as_default(), self.graph.as_default():
# update normalizers to sync the tensorflow tensors
self.s_norm.update()
self.g_norm.update()
self.a_norm.update()
return
@abstractmethod
def _build_nets(self, json_data):
pass
@abstractmethod
def _build_losses(self, json_data):
pass
@abstractmethod
def _build_solvers(self, json_data):
pass
def _tf_vars(self, scope=''):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
res = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES,
scope=self.tf_scope + '/' + scope)
assert len(res) > 0
return res
def _build_normalizers(self):
Logger.print(
'[TFAgent] Build normalizers -> TFNormalizer (s_norm, g_norm, a_norm) called.'
)
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
#with tf.variable_scope(self.RESOURCE_SCOPE):
self.s_norm = TFNormalizer(
self.sess, 's_norm', self.get_state_size(),
self.world.env.build_state_norm_groups(self.id))
self.s_norm.set_mean_std(
-self.world.env.build_state_offset(self.id),
1 / self.world.env.build_state_scale(self.id))
self.g_norm = TFNormalizer(
self.sess, 'g_norm', self.get_goal_size(),
self.world.env.build_goal_norm_groups(self.id))
self.g_norm.set_mean_std(
-self.world.env.build_goal_offset(self.id),
1 / self.world.env.build_goal_scale(self.id))
self.a_norm = TFNormalizer(self.sess, 'a_norm',
self.get_action_size())
self.a_norm.set_mean_std(
-self.world.env.build_action_offset(self.id),
1 / self.world.env.build_action_scale(self.id))
return
def _load_normalizers(self):
self.s_norm.load()
self.g_norm.load()
self.a_norm.load()
return
def _update_normalizers(self):
with self.sess.as_default(), self.graph.as_default():
super()._update_normalizers()
return
def _initialize_vars(self):
with tf.device('cpu:0'):
self.sess.run(tf.global_variables_initializer())
return
def _build_saver(self):
with tf.device('cpu:0'):
vars = self._get_saver_vars()
self.saver = tf.train.Saver(vars, max_to_keep=0)
return
def _get_saver_vars(self):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES,
scope=self.tf_scope)
vars = [
v for v in vars
if '/' + self.SOLVER_SCOPE + '/' not in v.name
]
#vars = [v for v in vars if '/target/' not in v.name]
assert len(vars) > 0
return vars
def _weight_decay_loss(self, scope):
with tf.device('cpu:0'):
vars = self._tf_vars(scope)
vars_no_bias = [v for v in vars if 'bias' not in v.name]
loss = tf.add_n([tf.nn.l2_loss(v) for v in vars_no_bias])
return loss
def _train(self):
with tf.device('cpu:0'):
with self.sess.as_default(), self.graph.as_default():
super()._train()
return
class AMPAgent(PPOAgent):
NAME = "AMP"
TASK_REWARD_LERP_KEY = "TaskRewardLerp"
DISC_NET_KEY = "DiscNet"
DISC_INIT_OUTPUT_SCALE_KEY = "DiscInitOutputScale"
DISC_WEIGHT_DECAY_KEY = "DiscWeightDecay"
DISC_LOGIT_REG_WEIGHT_KEY = "DiscLogitRegWeight"
DISC_STEPSIZE_KEY = "DiscStepSize"
DISC_MOMENTUM_KEY = "DiscMomentum"
DISC_BATCH_SIZE_KEY = "DiscBatchSize"
DISC_STEPS_PER_BATCH_KEY = "DiscStepsPerBatch"
DISC_EXPERT_BUFFER_SIZE_KEY = "DiscExpertBufferSize"
DISC_AGENT_BUFFER_SIZE_KEY = "DiscAgentBufferSize"
REWARD_SCALE_KEY = "RewardScale"
DISC_GRAD_PENALTY_KEY = "DiscGradPenalty"
DISC_LOGIT_NAME = "disc_logits"
DISC_SCOPE = "disc"
def __init__(self, id, world, json_data):
super().__init__(id, world, json_data)
self._disc_reward_mean = 0.0
self._disc_reward_std = 0.0
self._reward_min = np.inf
self._reward_max = -np.inf
self._build_disc_replay_buffer()
return
def __str__(self):
info_str = super().__str__()
info_str = info_str[:-2] + ',\n "AMPObsDim": "{:d}"'.format(
self._get_amp_obs_size()) + info_str[-2:]
return info_str
def _load_params(self, json_data):
super()._load_params(json_data)
self._task_reward_lerp = 0.5 if (
self.TASK_REWARD_LERP_KEY
not in json_data) else json_data[self.TASK_REWARD_LERP_KEY]
self._disc_batchsize = int(256) if (
self.DISC_BATCH_SIZE_KEY not in json_data) else int(
json_data[self.DISC_BATCH_SIZE_KEY])
self._disc_steps_per_batch = int(1) if (
self.DISC_STEPS_PER_BATCH_KEY not in json_data) else int(
json_data[self.DISC_STEPS_PER_BATCH_KEY])
self._disc_expert_buffer_size = int(100000) if (
self.DISC_EXPERT_BUFFER_SIZE_KEY not in json_data) else int(
json_data[self.DISC_EXPERT_BUFFER_SIZE_KEY])
self._disc_agent_buffer_size = int(100000) if (
self.DISC_AGENT_BUFFER_SIZE_KEY not in json_data) else int(
json_data[self.DISC_AGENT_BUFFER_SIZE_KEY])
return
def _build_disc_replay_buffer(self):
num_procs = mpi_util.get_num_procs()
local_disc_expert_buffer_size = int(
np.ceil(self._disc_expert_buffer_size / num_procs))
self._disc_expert_buffer = ReplayBufferRandStorage(
local_disc_expert_buffer_size)
local_disc_agent_buffer_size = int(
np.ceil(self._disc_agent_buffer_size / num_procs))
self._disc_agent_buffer = ReplayBufferRandStorage(
local_disc_agent_buffer_size)
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(
), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
self._amp_obs_norm = TFNormalizer(
self.sess, "amp_obs_norm", self._get_amp_obs_size(),
self._get_amp_obs_norm_group())
self._amp_obs_norm.set_mean_std(-self._get_amp_obs_offset(),
1 / self._get_amp_obs_scale())
return
def _load_normalizers(self):
super()._load_normalizers()
self._amp_obs_norm.load()
return
def _update_normalizers(self):
super()._update_normalizers()
self._amp_obs_norm.update()
return
def _sync_solvers(self):
super()._sync_solvers()
self._disc_solver.sync()
return
def _build_nets(self, json_data):
super()._build_nets(json_data)
assert self.DISC_NET_KEY in json_data
disc_net_name = json_data[self.DISC_NET_KEY]
disc_init_output_scale = 1 if (
self.DISC_INIT_OUTPUT_SCALE_KEY
not in json_data) else json_data[self.DISC_INIT_OUTPUT_SCALE_KEY]
self._reward_scale = 1.0 if (self.REWARD_SCALE_KEY not in json_data
) else json_data[self.REWARD_SCALE_KEY]
amp_obs_size = self._get_amp_obs_size()
# setup input tensors
self._amp_obs_expert_ph = tf.placeholder(tf.float32,
shape=[None, amp_obs_size],
name="amp_obs_expert")
self._amp_obs_agent_ph = tf.placeholder(tf.float32,
shape=[None, amp_obs_size],
name="amp_obs_agent")
self._disc_expert_inputs = self._get_disc_expert_inputs()
self._disc_agent_inputs = self._get_disc_agent_inputs()
with tf.variable_scope(self.MAIN_SCOPE):
with tf.variable_scope(self.DISC_SCOPE):
self._disc_logits_expert_tf = self._build_disc_net(
disc_net_name, self._disc_expert_inputs,
disc_init_output_scale)
self._disc_logits_agent_tf = self._build_disc_net(
disc_net_name,
self._disc_agent_inputs,
disc_init_output_scale,
reuse=True)
if (self._disc_logits_expert_tf != None):
Logger.print("Built discriminator net: " + disc_net_name)
self._disc_prob_agent_tf = tf.sigmoid(self._disc_logits_agent_tf)
self._abs_logit_agent_tf = tf.reduce_mean(
tf.abs(self._disc_logits_agent_tf))
self._avg_prob_agent_tf = tf.reduce_mean(self._disc_prob_agent_tf)
return
def _build_losses(self, json_data):
super()._build_losses(json_data)
disc_weight_decay = 0 if (self.DISC_WEIGHT_DECAY_KEY not in json_data
) else json_data[self.DISC_WEIGHT_DECAY_KEY]
disc_logit_reg_weight = 0 if (
self.DISC_LOGIT_REG_WEIGHT_KEY
not in json_data) else json_data[self.DISC_LOGIT_REG_WEIGHT_KEY]
disc_grad_penalty = 0.0 if (
self.DISC_GRAD_PENALTY_KEY
not in json_data) else json_data[self.DISC_GRAD_PENALTY_KEY]
disc_loss_expert_tf = self.build_disc_loss_pos(
self._disc_logits_expert_tf)
disc_loss_agent_tf = self.build_disc_loss_neg(
self._disc_logits_agent_tf)
disc_loss_expert_tf = tf.reduce_mean(disc_loss_expert_tf)
disc_loss_agent_tf = tf.reduce_mean(disc_loss_agent_tf)
self._disc_loss_tf = 0.5 * (disc_loss_agent_tf + disc_loss_expert_tf)
self._acc_expert_tf = tf.reduce_mean(
tf.cast(tf.greater(self._disc_logits_expert_tf, 0), tf.float32))
self._acc_agent_tf = tf.reduce_mean(
tf.cast(tf.less(self._disc_logits_agent_tf, 0), tf.float32))
if (disc_weight_decay != 0):
self._disc_loss_tf += disc_weight_decay * self._weight_decay_loss(
self.MAIN_SCOPE + "/" + self.DISC_SCOPE)
if (disc_logit_reg_weight != 0):
self._disc_loss_tf += disc_logit_reg_weight * self._disc_logit_reg_loss(
)
if (disc_grad_penalty != 0):
self._grad_penalty_loss_tf = self._disc_grad_penalty_loss(
in_tfs=self._disc_expert_inputs,
out_tf=self._disc_logits_expert_tf)
self._disc_loss_tf += disc_grad_penalty * self._grad_penalty_loss_tf
else:
self._grad_penalty_loss_tf = tf.constant(0.0, dtype=tf.float32)
return
def _build_solvers(self, json_data):
super()._build_solvers(json_data)
disc_stepsize = 0.001 if (self.DISC_STEPSIZE_KEY not in json_data
) else json_data[self.DISC_STEPSIZE_KEY]
disc_momentum = 0.9 if (self.DISC_MOMENTUM_KEY not in json_data
) else json_data[self.DISC_MOMENTUM_KEY]
disc_vars = self._tf_vars(self.MAIN_SCOPE + "/" + self.DISC_SCOPE)
disc_opt = tf.train.MomentumOptimizer(learning_rate=disc_stepsize,
momentum=disc_momentum)
self._disc_grad_tf = tf.gradients(self._disc_loss_tf, disc_vars)
self._disc_solver = mpi_solver.MPISolver(self.sess, disc_opt,
disc_vars)
return
def _build_disc_net(self,
net_name,
input_tfs,
init_output_scale,
reuse=False):
out_size = 1
h = net_builder.build_net(net_name, input_tfs, reuse)
logits_tf = tf.layers.dense(
inputs=h,
units=out_size,
activation=None,
reuse=reuse,
kernel_initializer=tf.random_uniform_initializer(
minval=-init_output_scale, maxval=init_output_scale),
name=self.DISC_LOGIT_NAME)
return logits_tf
def _get_disc_expert_inputs(self):
norm_obs_tf = self._amp_obs_norm.normalize_tf(self._amp_obs_expert_ph)
input_tfs = [norm_obs_tf]
return input_tfs
def _get_disc_agent_inputs(self):
norm_obs_tf = self._amp_obs_norm.normalize_tf(self._amp_obs_agent_ph)
input_tfs = [norm_obs_tf]
return input_tfs
def _disc_logit_reg_loss(self):
vars = self._tf_vars(self.MAIN_SCOPE + "/" + self.DISC_SCOPE)
logit_vars = [
v for v in vars
if (self.DISC_LOGIT_NAME in v.name and "bias" not in v.name)
]
loss_tf = tf.add_n([tf.nn.l2_loss(v) for v in logit_vars])
return loss_tf
def _disc_grad_penalty_loss(self, in_tfs, out_tf):
grad_tfs = tf.gradients(ys=out_tf, xs=in_tfs)
grad_tf = tf.concat(grad_tfs, axis=-1)
norm_tf = tf.reduce_sum(tf.square(grad_tf), axis=-1)
loss_tf = 0.5 * tf.reduce_mean(norm_tf)
return loss_tf
def reset(self):
super().reset()
self.path.amp_obs_expert = []
self.path.amp_obs_agent = []
return
def _store_path(self, path):
path_id = super()._store_path(path)
valid_path = (path_id != MathUtil.INVALID_IDX)
if (valid_path):
disc_expert_path_id = self._disc_expert_buffer.store(
path.amp_obs_expert)
assert (disc_expert_path_id != MathUtil.INVALID_IDX)
disc_agent_path_id = self._disc_agent_buffer.store(
path.amp_obs_agent)
assert (disc_agent_path_id != MathUtil.INVALID_IDX)
return path_id
def _update_new_action(self):
first_step = self._is_first_step()
super()._update_new_action()
if (not first_step):
self._record_amp_obs()
return
def _end_path(self):
super()._end_path()
self._record_amp_obs()
return
def _record_amp_obs(self):
obs_expert = self._record_amp_obs_expert()
obs_agent = self._record_amp_obs_agent()
self.path.amp_obs_expert.append(obs_expert)
self.path.amp_obs_agent.append(obs_agent)
return
def build_disc_loss_pos(self, logits_tf):
loss_tf = 0.5 * tf.reduce_sum(tf.square(logits_tf - 1), axis=-1)
return loss_tf
def build_disc_loss_neg(self, logits_tf):
loss_tf = 0.5 * tf.reduce_sum(tf.square(logits_tf + 1), axis=-1)
return loss_tf
def _enable_amp_task_reward(self):
enable = self.world.env.enable_amp_task_reward()
return enable
def _get_amp_obs_size(self):
amp_obs_size = self.world.env.get_amp_obs_size()
return amp_obs_size
def _get_amp_obs_offset(self):
offset = np.array(self.world.env.get_amp_obs_offset())
return offset
def _get_amp_obs_scale(self):
offset = np.array(self.world.env.get_amp_obs_scale())
return offset
def _get_amp_obs_norm_group(self):
norm_group = np.array(self.world.env.get_amp_obs_norm_group(),
dtype=np.int32)
return norm_group
def _record_amp_obs_expert(self):
obs_expert = np.array(self.world.env.record_amp_obs_expert(self.id))
return obs_expert
def _record_amp_obs_agent(self):
obs_agent = np.array(self.world.env.record_amp_obs_agent(self.id))
return obs_agent
def _record_normalizers(self, path):
super()._record_normalizers(path)
self._amp_obs_norm.record(np.array(path.amp_obs_expert))
self._amp_obs_norm.record(np.array(path.amp_obs_agent))
return
def _logits_to_reward(self, logits):
r = 1.0 - 0.25 * np.square(1.0 - logits)
r = np.maximum(r, 0.0)
return r
def _train_step(self):
disc_info = self._update_disc()
disc_info["reward_mean"] = self._disc_reward_mean
disc_info["reward_std"] = self._disc_reward_std
disc_info = mpi_util.reduce_dict_mean(disc_info)
super()._train_step()
self.logger.log_tabular("Disc_Loss", disc_info["loss"])
self.logger.log_tabular("Disc_Acc_Expert", disc_info["acc_expert"])
self.logger.log_tabular("Disc_Acc_Agent", disc_info["acc_agent"])
self.logger.log_tabular("Disc_Stepsize", self.get_disc_stepsize())
self.logger.log_tabular("Disc_Steps", self.get_disc_steps())
self.logger.log_tabular("Disc_Prob", disc_info["prob_agent"])
self.logger.log_tabular("Disc_Abs_Logit", disc_info["abs_logit"])
self.logger.log_tabular("Disc_Reward_Mean", disc_info["reward_mean"])
self.logger.log_tabular("Disc_Reward_Std", disc_info["reward_std"])
if (self._enable_grad_penalty()):
self.logger.log_tabular("Grad_Penalty", disc_info["grad_penalty"])
return
def _update_disc(self):
info = None
num_procs = mpi_util.get_num_procs()
local_expert_batch_size = int(np.ceil(self._disc_batchsize /
num_procs))
local_agent_batch_size = local_expert_batch_size
steps_per_batch = self._disc_steps_per_batch
local_sample_count = self.replay_buffer.get_current_size()
global_sample_count = int(mpi_util.reduce_sum(local_sample_count))
num_steps = int(
np.ceil(steps_per_batch * global_sample_count /
(num_procs * local_expert_batch_size)))
for b in range(num_steps):
disc_expert_batch = self._disc_expert_buffer.sample(
local_expert_batch_size)
obs_expert = self._disc_expert_buffer.get(disc_expert_batch)
disc_agent_batch = self._disc_agent_buffer.sample(
local_agent_batch_size)
obs_agent = self._disc_agent_buffer.get(disc_agent_batch)
curr_info = self._step_disc(obs_expert=obs_expert,
obs_agent=obs_agent)
if (info is None):
info = curr_info
else:
for k, v in curr_info.items():
info[k] += v
for k in info.keys():
info[k] /= num_steps
return info
def _step_disc(self, obs_expert, obs_agent):
feed = {
self._amp_obs_expert_ph: obs_expert,
self._amp_obs_agent_ph: obs_agent,
}
run_tfs = [
self._disc_grad_tf, self._disc_loss_tf, self._acc_expert_tf,
self._acc_agent_tf, self._avg_prob_agent_tf,
self._abs_logit_agent_tf, self._grad_penalty_loss_tf
]
results = self.sess.run(run_tfs, feed)
grads = results[0]
self._disc_solver.update(grads)
info = {
"loss": results[1],
"acc_expert": results[2],
"acc_agent": results[3],
"prob_agent": results[4],
"abs_logit": results[5],
"grad_penalty": results[6],
}
return info
def get_disc_stepsize(self):
return self._disc_solver.get_stepsize()
def get_disc_steps(self):
return self._disc_solver.iter
def _enable_grad_penalty(self):
return self._grad_penalty_loss_tf.op.type != "Const"
def _fetch_batch_rewards(self, start_idx, end_idx):
idx = np.array(list(range(start_idx, end_idx)))
rewards = self._batch_calc_reward(idx)
return rewards
def _batch_calc_reward(self, idx):
obs_agent = self.replay_buffer.get("amp_obs_agent", idx)
disc_r, _ = self._calc_disc_reward(obs_agent)
end_mask = self.replay_buffer.is_path_end(idx)
valid_mask = np.logical_not(end_mask)
disc_r *= self._reward_scale
valid_disc_r = disc_r[valid_mask]
self._disc_reward_mean = np.mean(valid_disc_r)
self._disc_reward_std = np.std(valid_disc_r)
if (self._enable_amp_task_reward()):
task_r = self.replay_buffer.get("rewards", idx)
r = self._lerp_reward(disc_r, task_r)
else:
r = disc_r
curr_reward_min = np.amin(r)
curr_reward_max = np.amax(r)
self._reward_min = np.minimum(self._reward_min, curr_reward_min)
self._reward_max = np.maximum(self._reward_max, curr_reward_max)
reward_data = np.array([self._reward_min, -self._reward_max])
reward_data = mpi_util.reduce_min(reward_data)
self._reward_min = reward_data[0]
self._reward_max = -reward_data[1]
return r
def _lerp_reward(self, disc_r, task_r):
r = (1.0 -
self._task_reward_lerp) * disc_r + self._task_reward_lerp * task_r
return r
def _calc_disc_reward(self, amp_obs):
feed = {
self._amp_obs_agent_ph: amp_obs,
}
logits = self.sess.run(self._disc_logits_agent_tf, feed_dict=feed)
r = self._logits_to_reward(logits)
r = r[:, 0]
return r, logits
def _compute_batch_vals(self, start_idx, end_idx):
states = self.replay_buffer.get_all("states")[start_idx:end_idx]
goals = self.replay_buffer.get_all(
"goals")[start_idx:end_idx] if self.has_goal() else None
vals = self._eval_critic(states, goals)
val_min = self._reward_min / (1.0 - self.discount)
val_max = self._reward_max / (1.0 - self.discount)
vals = np.clip(vals, val_min, val_max)
idx = np.array(list(range(start_idx, end_idx)))
is_end = self.replay_buffer.is_path_end(idx)
is_fail = self.replay_buffer.check_terminal_flag(
idx, Env.Terminate.Fail)
is_succ = self.replay_buffer.check_terminal_flag(
idx, Env.Terminate.Succ)
is_fail = np.logical_and(is_end, is_fail)
is_succ = np.logical_and(is_end, is_succ)
vals[is_fail] = self.val_fail
vals[is_succ] = self.val_succ
return vals
class PGAgent(TFAgent):
NAME = 'PG'
ACTOR_NET_KEY = 'ActorNet'
ACTOR_STEPSIZE_KEY = 'ActorStepsize'
ACTOR_MOMENTUM_KEY = 'ActorMomentum'
ACTOR_WEIGHT_DECAY_KEY = 'ActorWeightDecay'
ACTOR_INIT_OUTPUT_SCALE_KEY = 'ActorInitOutputScale'
CRITIC_NET_KEY = 'CriticNet'
CRITIC_STEPSIZE_KEY = 'CriticStepsize'
CRITIC_MOMENTUM_KEY = 'CriticMomentum'
CRITIC_WEIGHT_DECAY_KEY = 'CriticWeightDecay'
EXP_ACTION_FLAG = 1 << 0
def __init__(self, world, id, json_data):
self._exp_action = False
super().__init__(world, id, json_data)
return
def reset(self):
super().reset()
self._exp_action = False
return
def _check_action_space(self):
action_space = self.get_action_space()
return action_space == ActionSpace.Continuous
def _load_params(self, json_data):
super()._load_params(json_data)
self.val_min, self.val_max = self._calc_val_bounds(self.discount)
self.val_fail, self.val_succ = self._calc_term_vals(self.discount)
return
def _build_nets(self, json_data):
assert self.ACTOR_NET_KEY in json_data
assert self.CRITIC_NET_KEY in json_data
actor_net_name = json_data[self.ACTOR_NET_KEY]
critic_net_name = json_data[self.CRITIC_NET_KEY]
actor_init_output_scale = 1 if (self.ACTOR_INIT_OUTPUT_SCALE_KEY not in json_data) else json_data[self.ACTOR_INIT_OUTPUT_SCALE_KEY]
s_size = self.get_state_size()
g_size = self.get_goal_size()
a_size = self.get_action_size()
# setup input tensors
self.s_tf = tf.placeholder(tf.float32, shape=[None, s_size], name="s") # observations
self.tar_val_tf = tf.placeholder(tf.float32, shape=[None], name="tar_val") # target value s
self.adv_tf = tf.placeholder(tf.float32, shape=[None], name="adv") # advantage
self.a_tf = tf.placeholder(tf.float32, shape=[None, a_size], name="a") # target actions
self.g_tf = tf.placeholder(tf.float32, shape=([None, g_size] if self.has_goal() else None), name="g") # goals
with tf.variable_scope('main'):
with tf.variable_scope('actor'):
self.actor_tf = self._build_net_actor(actor_net_name, actor_init_output_scale)
with tf.variable_scope('critic'):
self.critic_tf = self._build_net_critic(critic_net_name)
if (self.actor_tf != None):
Logger.print2('Built actor net: ' + actor_net_name)
if (self.critic_tf != None):
Logger.print2('Built critic net: ' + critic_net_name)
return
def _build_normalizers(self):
super()._build_normalizers()
with self.sess.as_default(), self.graph.as_default(), tf.variable_scope(self.tf_scope):
with tf.variable_scope(self.RESOURCE_SCOPE):
val_offset, val_scale = self._calc_val_offset_scale(self.discount)
self.val_norm = TFNormalizer(self.sess, 'val_norm', 1)
self.val_norm.set_mean_std(-val_offset, 1.0 / val_scale)
return
def _init_normalizers(self):
super()._init_normalizers()
with self.sess.as_default(), self.graph.as_default():
self.val_norm.update()
return
def _load_normalizers(self):
super()._load_normalizers()
self.val_norm.load()
return
def _build_losses(self, json_data):
actor_weight_decay = 0 if (self.ACTOR_WEIGHT_DECAY_KEY not in json_data) else json_data[self.ACTOR_WEIGHT_DECAY_KEY]
critic_weight_decay = 0 if (self.CRITIC_WEIGHT_DECAY_KEY not in json_data) else json_data[self.CRITIC_WEIGHT_DECAY_KEY]
norm_val_diff = self.val_norm.normalize_tf(self.tar_val_tf) - self.val_norm.normalize_tf(self.critic_tf)
self.critic_loss_tf = 0.5 * tf.reduce_mean(tf.square(norm_val_diff))
if (critic_weight_decay != 0):
self.critic_loss_tf += critic_weight_decay * self._weight_decay_loss('main/critic')
norm_a_mean_tf = self.a_norm.normalize_tf(self.actor_tf)
norm_a_diff = self.a_norm.normalize_tf(self.a_tf) - norm_a_mean_tf
self.actor_loss_tf = tf.reduce_sum(tf.square(norm_a_diff), axis=-1)
self.actor_loss_tf *= self.adv_tf
self.actor_loss_tf = 0.5 * tf.reduce_mean(self.actor_loss_tf)
norm_a_bound_min = self.a_norm.normalize(self.a_bound_min)
norm_a_bound_max = self.a_norm.normalize(self.a_bound_max)
a_bound_loss = TFUtil.calc_bound_loss(norm_a_mean_tf, norm_a_bound_min, norm_a_bound_max)
a_bound_loss /= self.exp_params_curr.noise
self.actor_loss_tf += a_bound_loss
if (actor_weight_decay != 0):
self.actor_loss_tf += actor_weight_decay * self._weight_decay_loss('main/actor')
return
def _build_solvers(self, json_data):
actor_stepsize = 0.001 if (self.ACTOR_STEPSIZE_KEY not in json_data) else json_data[self.ACTOR_STEPSIZE_KEY]
actor_momentum = 0.9 if (self.ACTOR_MOMENTUM_KEY not in json_data) else json_data[self.ACTOR_MOMENTUM_KEY]
critic_stepsize = 0.01 if (self.CRITIC_STEPSIZE_KEY not in json_data) else json_data[self.CRITIC_STEPSIZE_KEY]
critic_momentum = 0.9 if (self.CRITIC_MOMENTUM_KEY not in json_data) else json_data[self.CRITIC_MOMENTUM_KEY]
critic_vars = self._tf_vars('main/critic')
critic_opt = tf.train.MomentumOptimizer(learning_rate=critic_stepsize, momentum=critic_momentum)
self.critic_grad_tf = tf.gradients(self.critic_loss_tf, critic_vars)
self.critic_solver = MPISolver(self.sess, critic_opt, critic_vars)
actor_vars = self._tf_vars('main/actor')
actor_opt = tf.train.MomentumOptimizer(learning_rate=actor_stepsize, momentum=actor_momentum)
self.actor_grad_tf = tf.gradients(self.actor_loss_tf, actor_vars)
self.actor_solver = MPISolver(self.sess, actor_opt, actor_vars)
return
def _build_net_actor(self, net_name, init_output_scale):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_a_tf = tf.layers.dense(inputs=h, units=self.get_action_size(), activation=None,
kernel_initializer=tf.random_uniform_initializer(minval=-init_output_scale, maxval=init_output_scale))
a_tf = self.a_norm.unnormalize_tf(norm_a_tf)
return a_tf
def _build_net_critic(self, net_name):
norm_s_tf = self.s_norm.normalize_tf(self.s_tf)
input_tfs = [norm_s_tf]
if (self.has_goal()):
norm_g_tf = self.g_norm.normalize_tf(self.g_tf)
input_tfs += [norm_g_tf]
h = NetBuilder.build_net(net_name, input_tfs)
norm_val_tf = tf.layers.dense(inputs=h, units=1, activation=None,
kernel_initializer=TFUtil.xavier_initializer);
norm_val_tf = tf.reshape(norm_val_tf, [-1])
val_tf = self.val_norm.unnormalize_tf(norm_val_tf)
return val_tf
def _initialize_vars(self):
super()._initialize_vars()
self._sync_solvers()
return
def _sync_solvers(self):
self.actor_solver.sync()
self.critic_solver.sync()
return
def _decide_action(self, s, g):
with self.sess.as_default(), self.graph.as_default():
self._exp_action = False
a = self._eval_actor(s, g)[0]
logp = 0
if self._enable_stoch_policy():
# epsilon-greedy
rand_action = MathUtil.flip_coin(self.exp_params_curr.rate)
if rand_action:
norm_exp_noise = np.random.randn(*a.shape)
norm_exp_noise *= self.exp_params_curr.noise
exp_noise = norm_exp_noise * self.a_norm.std
a += exp_noise
logp = self._calc_action_logp(norm_exp_noise)
self._exp_action = True
return a, logp
def _enable_stoch_policy(self):
return self.enable_training and (self._mode == self.Mode.TRAIN or self._mode == self.Mode.TRAIN_END)
def _eval_actor(self, s, g):
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(g, [-1, self.get_goal_size()]) if self.has_goal() else None
feed = {
self.s_tf : s,
self.g_tf : g
}
a = self.actor_tf.eval(feed)
return a
def _eval_critic(self, s, g):
with self.sess.as_default(), self.graph.as_default():
s = np.reshape(s, [-1, self.get_state_size()])
g = np.reshape(g, [-1, self.get_goal_size()]) if self.has_goal() else None
feed = {
self.s_tf : s,
self.g_tf : g
}
val = self.critic_tf.eval(feed)
return val
def _record_flags(self):
flags = int(0)
if (self._exp_action):
flags = flags | self.EXP_ACTION_FLAG
return flags
def _train_step(self):
super()._train_step()
critic_loss = self._update_critic()
actor_loss = self._update_actor()
critic_loss = MPIUtil.reduce_avg(critic_loss)
actor_loss = MPIUtil.reduce_avg(actor_loss)
critic_stepsize = self.critic_solver.get_stepsize()
actor_stepsize = self.actor_solver.get_stepsize()
self.logger.log_tabular('Critic_Loss', critic_loss)
self.logger.log_tabular('Critic_Stepsize', critic_stepsize)
self.logger.log_tabular('Actor_Loss', actor_loss)
self.logger.log_tabular('Actor_Stepsize', actor_stepsize)
return
def _update_critic(self):
idx = self.replay_buffer.sample(self._local_mini_batch_size)
s = self.replay_buffer.get('states', idx)
g = self.replay_buffer.get('goals', idx) if self.has_goal() else None
tar_V = self._calc_updated_vals(idx)
tar_V = np.clip(tar_V, self.val_min, self.val_max)
feed = {
self.s_tf: s,
self.g_tf: g,
self.tar_val_tf: tar_V
}
loss, grads = self.sess.run([self.critic_loss_tf, self.critic_grad_tf], feed)
self.critic_solver.update(grads)
return loss
def _update_actor(self):
key = self.EXP_ACTION_FLAG
idx = self.replay_buffer.sample_filtered(self._local_mini_batch_size, key)
has_goal = self.has_goal()
s = self.replay_buffer.get('states', idx)
g = self.replay_buffer.get('goals', idx) if has_goal else None
a = self.replay_buffer.get('actions', idx)
V_new = self._calc_updated_vals(idx)
V_old = self._eval_critic(s, g)
adv = V_new - V_old
feed = {
self.s_tf: s,
self.g_tf: g,
self.a_tf: a,
self.adv_tf: adv
}
loss, grads = self.sess.run([self.actor_loss_tf, self.actor_grad_tf], feed)
self.actor_solver.update(grads)
return loss
def _calc_updated_vals(self, idx):
r = self.replay_buffer.get('rewards', idx)
if self.discount == 0:
new_V = r
else:
next_idx = self.replay_buffer.get_next_idx(idx)
s_next = self.replay_buffer.get('states', next_idx)
g_next = self.replay_buffer.get('goals', next_idx) if self.has_goal() else None
is_end = self.replay_buffer.is_path_end(idx)
is_fail = self.replay_buffer.check_terminal_flag(idx, Env.Terminate.Fail)
is_succ = self.replay_buffer.check_terminal_flag(idx, Env.Terminate.Succ)
is_fail = np.logical_and(is_end, is_fail)
is_succ = np.logical_and(is_end, is_succ)
V_next = self._eval_critic(s_next, g_next)
V_next[is_fail] = self.val_fail
V_next[is_succ] = self.val_succ
new_V = r + self.discount * V_next
return new_V
def _calc_action_logp(self, norm_action_deltas):
# norm action delta are for the normalized actions (scaled by self.a_norm.std)
stdev = self.exp_params_curr.noise
assert stdev > 0
a_size = self.get_action_size()
logp = -0.5 / (stdev * stdev) * np.sum(np.square(norm_action_deltas), axis=-1)
logp += -0.5 * a_size * np.log(2 * np.pi)
logp += -a_size * np.log(stdev)
return logp
def _log_val(self, s, g):
val = self._eval_critic(s, g)
norm_val = self.val_norm.normalize(val)
self.world.env.log_val(self.id, norm_val[0])
return
def _build_replay_buffer(self, buffer_size):
super()._build_replay_buffer(buffer_size)
self.replay_buffer.add_filter_key(self.EXP_ACTION_FLAG)
return
