def __init__(self, name, env, policy_net, value_net, global_counter, discount_factor=0.99, summary_writer=None, max_global_steps=None, log_frequency=1000):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_steps
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
self.log_frequency = log_frequency
# Create local policy/value nets that are not updated asynchronously
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
# Op to copy params from global policy/valuenets
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope=self.name+'/', collection=tf.GraphKeys.TRAINABLE_VARIABLES))
self.vnet_train_op = make_train_op(self.value_net, self.global_value_net)
self.pnet_train_op = make_train_op(self.policy_net, self.global_policy_net)
self.state = None
def __init__(self, name, env, policy_net, value_net, global_counter,
discount_factor=0.99, summary_writer=None,
max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_step
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(
scope="global",
collection=tf.GraphKeys.TRAINABLE_VARIABLES)
tf.contrib.slim.get_variables(
scope=self.name+'/',
ollection=tf.GraphKeys.TRAINABLE_VARIABLES)
)
self.vnet_train_op = make_copy_params_op(
self.value_net, self.global_value_net)
self.pnet_train_op = make_copy_params_op(
self.policy_net, self.global_policy_net)
self.state = None
def __init__(self, name, env, model_net, global_counter, discount_factor=0.99, summary_writer=None, max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_steps
self.global_step = tf.contrib.framework.get_global_step()
self.global_model_net = model_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
self.total_reward = 0
self.episode_length = 0
# Create local policy/value nets that are not updated asynchronously
with tf.variable_scope(name):
self.model_net = Model(model_net.num_outputs)
# Op to copy params from global policy/valuenets
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope=self.name, collection=tf.GraphKeys.TRAINABLE_VARIABLES))
self.mnet_train_op = make_train_op(self.model_net, self.global_model_net)
self.state = None
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env, directory=self.video_dir, video_callable=lambda x: True, resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except FileExistsError:
pass
# Local policy net
with tf.variable_scope("policy_eval"):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
# Op to copy params from global policy/value net parameters
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope="policy_eval", collection=tf.GraphKeys.TRAINABLE_VARIABLES))
def testPredict(self):
env = make_env()
sp = StateProcessor()
estimator = PolicyEstimator(len(VALID_ACTIONS))
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
# Generate a state
state = sp.process(env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
processed_states = np.array([processed_state])
# Run feeds
feed_dict = {
estimator.states: processed_states,
estimator.targets: [1.0],
estimator.actions: [1]
}
loss = sess.run(estimator.loss, feed_dict)
pred = sess.run(estimator.predictions, feed_dict)
# Assertions
self.assertTrue(loss != 0.0)
self.assertEqual(pred["probs"].shape, (1, len(VALID_ACTIONS)))
self.assertEqual(pred["logits"].shape, (1, len(VALID_ACTIONS)))
def testGradient(self):
env = make_env()
sp = StateProcessor()
estimator = PolicyEstimator(len(VALID_ACTIONS))
grads = [g for g, _ in estimator.grads_and_vars]
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
# Generate a state
state = sp.process(env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
processed_states = np.array([processed_state])
# Run feeds to get gradients
feed_dict = {
estimator.states: processed_states,
estimator.targets: [1.0],
estimator.actions: [1]
}
grads_ = sess.run(grads, feed_dict)
# Apply calculated gradients
grad_feed_dict = {k: v for k, v in zip(grads, grads_)}
_ = sess.run(estimator.train_op, grad_feed_dict)
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env,
directory,
self.video_dir,
video_callable=lambda x: True,
resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(
os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except expression as identifier:
pass
with tf.variable_scope("policy_eval"):
self.contrib.slim.get_variables(
scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES)
self.contrib.slim.get_variables(
scope="policy_eval",
collection=tf.GraphKeys.TRAINABLE_VARIABLES)
def setUp(self):
super(WorkerTest, self).setUp()
self.env = make_env()
self.discount_factor = 0.99
self.global_step = tf.Variable(0, name="global_step", trainable=False)
self.global_counter = itertools.count()
self.sp = StateProcessor()
with tf.variable_scope("global") as vs:
self.global_policy_net = PolicyEstimator(len(VALID_ACTIONS))
self.global_value_net = ValueEstimator(reuse=True)
class WorkerTest(tf.test.TestCase):
def setUp(self):
super(WorkerTest, self).setUp()
self.env = make_env()
self.discount_factor = 0.99
self.global_step = tf.Variable(0, name="global_step", trainable=False)
self.global_counter = itertools.count()
self.sp = StateProcessor()
with tf.variable_scope("global") as vs:
print("length of the actions: {}".format(len(VALID_ACTIONS)))
self.global_policy_net = PolicyEstimator(len(VALID_ACTIONS))
self.global_value_net = ValueEstimator(reuse=True)
def testPolicyNetPredict(self):
w = Worker(name="test",
env=make_env(),
policy_net=self.global_policy_net,
value_net=self.global_value_net,
global_counter=self.global_counter,
discount_factor=self.discount_factor)
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
state = self.sp.process(self.env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
action_values = w._policy_net_predict(processed_state, sess)
self.assertEqual(action_values.shape, (4, ))
def testValueNetPredict(self):
w = Worker(name="test",
env=make_env(),
policy_net=self.global_policy_net,
value_net=self.global_value_net,
global_counter=self.global_counter,
discount_factor=self.discount_factor)
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
state = self.sp.process(self.env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
w.state = processed_state
transitions, local_t, global_t = w.run_n_steps(10, sess)
policy_net_loss, value_net_loss, policy_net_summaries, value_net_summaries = w.update(
transitions, sess)
self.assertEqual(len(transitions), 10)
self.assertIsNotNone(policy_net_loss)
self.assertIsNotNone(value_net_loss)
self.assertIsNotNone(policy_net_summaries)
self.assertIsNotNone(value_net_summaries)
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env, directory=self.video_dir, video_callable=lambda x: True, resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except FileExistsError:
pass
# Local policy net
with tf.variable_scope("policy_eval"):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
# Op to copy params from global policy/value net parameters
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope="policy_eval", collection=tf.GraphKeys.TRAINABLE_VARIABLES))
def __init__(self, name, env, policy_net, value_net, global_counter, discount_factor=0.99, summary_writer=None, max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_steps
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
# Create local policy/value nets that are not updated asynchronously
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
# Op to copy params from global policy/valuenets
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope=self.name, collection=tf.GraphKeys.TRAINABLE_VARIABLES))
self.vnet_train_op = make_train_op(self.value_net, self.global_value_net)
self.pnet_train_op = make_train_op(self.policy_net, self.global_policy_net)
self.state = None
def __init__(self, env, global_net, summary_writer, saver=None):
self.env = env
self.global_net = global_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.checkpoint_path = os.path.abspath(
os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except:
pass
# Local policy net
with tf.variable_scope("policy_eval"):
self.local_net = PolicyValueEstimator()
# Op to copy params from global policy/value net parameters
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(
scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(
scope="policy_eval",
collection=tf.GraphKeys.TRAINABLE_VARIABLES))
def setUp(self):
super(WorkerTest, self).setUp()
self.env = make_env()
self.discount_factor = 0.99
self.global_step = tf.Variable(0, name="global_step", trainable=False)
self.global_counter = itertools.count()
self.sp = StateProcessor()
with tf.variable_scope("global") as vs:
self.global_policy_net = PolicyEstimator(len(VALID_ACTIONS))
self.global_value_net = ValueEstimator(reuse=True)
class PolicyMonitor(object):
"""
Helps evaluating a policy by running an episode in an environment,
saving a video, and plotting summaries to Tensorboard.
Args:
env: environment to run in
policy_net: A policy estimator
summary_writer: a tf.train.SummaryWriter used to write Tensorboard summaries
"""
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env, directory=self.video_dir, video_callable=lambda x: True, resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except FileExistsError:
pass
# Local policy net
with tf.variable_scope("policy_eval"):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
# Op to copy params from global policy/value net parameters
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope="policy_eval", collection=tf.GraphKeys.TRAINABLE_VARIABLES))
def _policy_net_predict(self, state, sess):
feed_dict = { self.policy_net.states: [state] }
preds = sess.run(self.policy_net.predictions, feed_dict)
return preds["probs"][0]
def eval_once(self, sess):
with sess.as_default(), sess.graph.as_default():
# Copy params to local model
global_step, _ = sess.run([tf.contrib.framework.get_global_step(), self.copy_params_op])
# Run an episode
done = False
state = atari_helpers.atari_make_initial_state(self.sp.process(self.env.reset()))
total_reward = 0.0
episode_length = 0
while not done:
action_probs = self._policy_net_predict(state, sess)
action = np.random.choice(np.arange(len(action_probs)), p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(state, self.sp.process(next_state))
total_reward += reward
episode_length += 1
state = next_state
# Add summaries
episode_summary = tf.Summary()
episode_summary.value.add(simple_value=total_reward, tag="eval/total_reward")
episode_summary.value.add(simple_value=episode_length, tag="eval/episode_length")
self.summary_writer.add_summary(episode_summary, global_step)
self.summary_writer.flush()
if self.saver is not None:
self.saver.save(sess, self.checkpoint_path)
tf.logging.info("Eval results at step {}: total_reward {}, episode_length {}".format(global_step, total_reward, episode_length))
f_reward.write(str(global_step) + " " + str(total_reward) + " " + str(episode_length) + "\n")
return total_reward, episode_length
def continuous_eval(self, eval_every, sess, coord):
"""
Continuously evaluates the policy every [eval_every] seconds.
"""
try:
while not coord.should_stop():
self.eval_once(sess)
# Sleep until next evaluation cycle
time.sleep(eval_every)
except tf.errors.CancelledError:
return
class Worker(object):
"""
An A3C worker thread. Runs episodes locally and updates global shared value and policy nets.
Args:
name: A unique name for this worker
env: The Gym environment used by this worker
policy_net: Instance of the globally shared policy net
value_net: Instance of the globally shared value net
global_counter: Iterator that holds the global step
discount_factor: Reward discount factor
summary_writer: A tf.train.SummaryWriter for Tensorboard summaries
max_global_steps: If set, stop coordinator when global_counter > max_global_steps
"""
def __init__(self,
name,
env,
policy_net,
value_net,
global_counter,
discount_factor=0.99,
summary_writer=None,
max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_steps
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
# Create local policy/value nets that are not updated asynchronously
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
# Op to copy params from global policy/valuenets
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(
scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(
scope=self.name, collection=tf.GraphKeys.TRAINABLE_VARIABLES))
self.vnet_train_op = make_train_op(self.value_net,
self.global_value_net)
self.pnet_train_op = make_train_op(self.policy_net,
self.global_policy_net)
self.state = None
def run(self, sess, coord, t_max):
with sess.as_default(), sess.graph.as_default():
# Initial state
self.state = atari_helpers.atari_make_initial_state(
self.sp.process(self.env.reset()))
try:
while not coord.should_stop():
# Copy Parameters from the global networks
sess.run(self.copy_params_op)
# Collect some experience
transitions, local_t, global_t = self.run_n_steps(
t_max, sess)
if self.max_global_steps is not None and global_t >= self.max_global_steps:
tf.logging.info(
"Reached global step {}. Stopping.".format(
global_t))
coord.request_stop()
return
# Update the global networks
self.update(transitions, sess)
except tf.errors.CancelledError:
return
def _policy_net_predict(self, state, sess):
feed_dict = {self.policy_net.states: [state]}
preds = sess.run(self.policy_net.predictions, feed_dict)
return preds["probs"][0]
def _value_net_predict(self, state, sess):
feed_dict = {self.value_net.states: [state]}
preds = sess.run(self.value_net.predictions, feed_dict)
return preds["logits"][0]
def run_n_steps(self, n, sess):
transitions = []
for _ in range(n):
# Take a step
action_probs = self._policy_net_predict(self.state, sess)
action = np.random.choice(np.arange(len(action_probs)),
p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(
self.state, self.sp.process(next_state))
# Store transition
transitions.append(
Transition(state=self.state,
action=action,
reward=reward,
next_state=next_state,
done=done))
# Increase local and global counters
local_t = next(self.local_counter)
global_t = next(self.global_counter)
if local_t % 100 == 0:
tf.logging.info("{}: local Step {}, global step {}".format(
self.name, local_t, global_t))
if done:
self.state = atari_helpers.atari_make_initial_state(
self.sp.process(self.env.reset()))
break
else:
self.state = next_state
return transitions, local_t, global_t
def update(self, transitions, sess):
"""
Updates global policy and value networks based on collected experience
Args:
transitions: A list of experience transitions
sess: A Tensorflow session
"""
# If we episode was not done we bootstrap the value from the last state
reward = 0.0
if not transitions[-1].done:
reward = self._value_net_predict(transitions[-1].state, sess)
# Accumulate minibatch exmaples
states = []
policy_targets = []
value_targets = []
actions = []
for transition in transitions[::-1]:
reward = transition.reward + self.discount_factor * reward
policy_target = (reward -
self._value_net_predict(transition.state, sess))
# Accumulate updates
states.append(transition.state)
actions.append(transition.action)
policy_targets.append(policy_target)
value_targets.append(reward)
feed_dict = {
self.policy_net.states: np.array(states),
self.policy_net.targets: policy_targets,
self.policy_net.actions: actions,
self.value_net.states: np.array(states),
self.value_net.targets: value_targets,
}
# Train the global estimators using local gradients
global_step, pnet_loss, vnet_loss, _, _, pnet_summaries, vnet_summaries = sess.run(
[
self.global_step, self.policy_net.loss, self.value_net.loss,
self.pnet_train_op, self.vnet_train_op,
self.policy_net.summaries, self.value_net.summaries
], feed_dict)
# Write summaries
if self.summary_writer is not None:
self.summary_writer.add_summary(pnet_summaries, global_step)
self.summary_writer.add_summary(vnet_summaries, global_step)
self.summary_writer.flush()
return pnet_loss, vnet_loss, pnet_summaries, vnet_summaries
class PolicyMonitor(object):
"""
Helps evaluating a policy by running an episode in an environment,
saving a video, and plotting summaries to Tensorboard.
Args:
env: environment to run in
policy_net: A policy estimator
summary_writer: a tf.train.SummaryWriter used to write Tensorboard summaries
"""
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env, directory=self.video_dir, video_callable=lambda x: True, resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except FileExistsError:
pass
# Local policy net
with tf.variable_scope("policy_eval"):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
# Op to copy params from global policy/value net parameters
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope="policy_eval", collection=tf.GraphKeys.TRAINABLE_VARIABLES))
def _policy_net_predict(self, state, sess):
feed_dict = { self.policy_net.states: [state] }
preds = sess.run(self.policy_net.predictions, feed_dict)
return preds["probs"][0]
def eval_once(self, sess):
with sess.as_default(), sess.graph.as_default():
# Copy params to local model
global_step, _ = sess.run([tf.contrib.framework.get_global_step(), self.copy_params_op])
# Run an episode
done = False
state = atari_helpers.atari_make_initial_state(self.sp.process(self.env.reset()))
total_reward = 0.0
episode_length = 0
while not done:
action_probs = self._policy_net_predict(state, sess)
action = np.random.choice(np.arange(len(action_probs)), p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(state, self.sp.process(next_state))
total_reward += reward
episode_length += 1
state = next_state
# Add summaries
episode_summary = tf.Summary()
episode_summary.value.add(simple_value=total_reward, tag="eval/total_reward")
episode_summary.value.add(simple_value=episode_length, tag="eval/episode_length")
self.summary_writer.add_summary(episode_summary, global_step)
self.summary_writer.flush()
if self.saver is not None:
self.saver.save(sess, self.checkpoint_path)
tf.logging.info("Eval results at step {}: total_reward {}, episode_length {}".format(global_step, total_reward, episode_length))
return total_reward, episode_length
def continuous_eval(self, eval_every, sess, coord):
"""
Continuously evaluates the policy every [eval_every] seconds.
"""
try:
while not coord.should_stop():
self.eval_once(sess)
# Sleep until next evaluation cycle
time.sleep(eval_every)
except tf.errors.CancelledError:
return
class Worker(object):
"""
An A3C worker thread. Runs episodes locally and updates global shared value and policy nets.
Args:
name: A unique name for this worker
env: The Gym environment used by this worker
policy_net: Instance of the globally shared policy net
value_net: Instance of the globally shared value net
global_counter: Iterator that holds the global step
discount_factor: Reward discount factor
summary_writer: A tf.train.SummaryWriter for Tensorboard summaries
max_global_steps: If set, stop coordinator when global_counter > max_global_steps
"""
def __init__(self, name, env, policy_net, value_net, global_counter, discount_factor=0.99, summary_writer=None, max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_steps
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
# Create local policy/value nets that are not updated asynchronously
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
# Op to copy params from global policy/valuenets
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES),
tf.contrib.slim.get_variables(scope=self.name, collection=tf.GraphKeys.TRAINABLE_VARIABLES))
self.vnet_train_op = make_train_op(self.value_net, self.global_value_net)
self.pnet_train_op = make_train_op(self.policy_net, self.global_policy_net)
self.state = None
def run(self, sess, coord, t_max):
with sess.as_default(), sess.graph.as_default():
# Initial state
self.state = atari_helpers.atari_make_initial_state(self.sp.process(self.env.reset()))
try:
while not coord.should_stop():
# Copy Parameters from the global networks
sess.run(self.copy_params_op)
# Collect some experience
transitions, local_t, global_t = self.run_n_steps(t_max, sess)
if self.max_global_steps is not None and global_t >= self.max_global_steps:
tf.logging.info("Reached global step {}. Stopping.".format(global_t))
coord.request_stop()
return
# Update the global networks
self.update(transitions, sess)
except tf.errors.CancelledError:
return
def _policy_net_predict(self, state, sess):
feed_dict = { self.policy_net.states: [state] }
preds = sess.run(self.policy_net.predictions, feed_dict)
return preds["probs"][0]
def _value_net_predict(self, state, sess):
feed_dict = { self.value_net.states: [state] }
preds = sess.run(self.value_net.predictions, feed_dict)
return preds["logits"][0]
def run_n_steps(self, n, sess):
transitions = []
for _ in range(n):
# Take a step
action_probs = self._policy_net_predict(self.state, sess)
action = np.random.choice(np.arange(len(action_probs)), p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(self.state, self.sp.process(next_state))
# Store transition
transitions.append(Transition(
state=self.state, action=action, reward=reward, next_state=next_state, done=done))
# Increase local and global counters
local_t = next(self.local_counter)
global_t = next(self.global_counter)
if local_t % 100 == 0:
tf.logging.info("{}: local Step {}, global step {}".format(self.name, local_t, global_t))
if done:
self.state = atari_helpers.atari_make_initial_state(self.sp.process(self.env.reset()))
break
else:
self.state = next_state
return transitions, local_t, global_t
def update(self, transitions, sess):
"""
Updates global policy and value networks based on collected experience
Args:
transitions: A list of experience transitions
sess: A Tensorflow session
"""
# If we episode was not done we bootstrap the value from the last state
reward = 0.0
if not transitions[-1].done:
reward = self._value_net_predict(transitions[-1].next_state, sess)
# Accumulate minibatch exmaples
states = []
policy_targets = []
value_targets = []
actions = []
for transition in transitions[::-1]:
reward = transition.reward + self.discount_factor * reward
policy_target = (reward - self._value_net_predict(transition.state, sess))
# Accumulate updates
states.append(transition.state)
actions.append(transition.action)
policy_targets.append(policy_target)
value_targets.append(reward)
feed_dict = {
self.policy_net.states: np.array(states),
self.policy_net.targets: policy_targets,
self.policy_net.actions: actions,
self.value_net.states: np.array(states),
self.value_net.targets: value_targets,
}
# Train the global estimators using local gradients
global_step, pnet_loss, vnet_loss, _, _, pnet_summaries, vnet_summaries = sess.run([
self.global_step,
self.policy_net.loss,
self.value_net.loss,
self.pnet_train_op,
self.vnet_train_op,
self.policy_net.summaries,
self.value_net.summaries
], feed_dict)
# Write summaries
if self.summary_writer is not None:
self.summary_writer.add_summary(pnet_summaries, global_step)
self.summary_writer.add_summary(vnet_summaries, global_step)
self.summary_writer.flush()
return pnet_loss, vnet_loss, pnet_summaries, vnet_summaries
class Worker(object):
def __init__(self, name, env, policy_net, value_net, global_counter,
discount_factor=0.99, summary_writer=None,
max_global_steps=None):
self.name = name
self.discount_factor = discount_factor
self.max_global_steps = max_global_step
self.global_step = tf.contrib.framework.get_global_step()
self.global_policy_net = policy_net
self.global_value_net = value_net
self.global_counter = global_counter
self.local_counter = itertools.count()
self.sp = StateProcessor()
self.summary_writer = summary_writer
self.env = env
with tf.variable_scope(name):
self.policy_net = PolicyEstimator(policy_net.num_outputs)
self.value_net = ValueEstimator(reuse=True)
self.copy_params_op = make_copy_params_op(
tf.contrib.slim.get_variables(
scope="global",
collection=tf.GraphKeys.TRAINABLE_VARIABLES)
tf.contrib.slim.get_variables(
scope=self.name+'/',
ollection=tf.GraphKeys.TRAINABLE_VARIABLES)
)
self.vnet_train_op = make_copy_params_op(
self.value_net, self.global_value_net)
self.pnet_train_op = make_copy_params_op(
self.policy_net, self.global_policy_net)
self.state = None
def run(self, sess, coord, t_max):
with sess.as_default(), sess.graph.as_Default():
self.state = atari_helpers.atari_make_initial_state(
self.sp.process(self.env.reset()))
try:
while not coord.should_stop():
sess.run(self.copy_params_op)
transitions, local_t, global_t = self.run_n_steps(
t_max, sess)
if self.max_global_steps is not None
and global_t >= self.max_global_steps:
tf.logging.info(
"Reached global step {}. Stopping."
.format(global_t))
coord.request_stop()
return
self.update(transitions, sess)
except tf.errors.CancelledError:
return
def _policy_net_predict(self, state, sess):
feed_dic = {self.policy_net.states: [states]}
preds = sess.run(self.policy_net.predictions, feed_dic)
return preds["probs"][0]
def _value_net_predict(self, state, sess):
feed_dict = {self.value_net.states: [state]}
preds = sess.run(self.value_net.predictions, feed_dict)
return preds["logits"][0]
def run_n_steps(self, n, sess):
transitions = []
for _ in range(n):
action_probes = self._policy_net_predict(self.state, sess)
action = np.random.choice(
np.arange(len(action_probs)), p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(
self.state, self.sp.process(next_state))
transitions.append(Transition(s
tate=self.state,
action=action,
reward=reward,
next_state=next_state,
done=done))
local_t = next(self.local_counter)
global_t = next(self.global_counter)
if local_t % 100 == 0:
tf.logging.info("{}: local step {}, global step {}". format(
self.name, local_t, global_t))
if done:
self.state = atari_helpers.atari_make_initial_state(
self.sp.process(self.env.reset()))
break
else:
self.state = next_state
class PolicyMonitor(object):
def __init__(self, env, policy_net, summary_writer, saver=None):
self.video_dir = os.path.join(summary_writer.get_logdir(), "../videos")
self.video_dir = os.path.abspath(self.video_dir)
self.env = Monitor(env,
directory,
self.video_dir,
video_callable=lambda x: True,
resume=True)
self.global_policy_net = policy_net
self.summary_writer = summary_writer
self.saver = saver
self.sp = StateProcessor()
self.checkpoint_path = os.path.abspath(
os.path.join(summary_writer.get_logdir(), "../checkpoints/model"))
try:
os.makedirs(self.video_dir)
except expression as identifier:
pass
with tf.variable_scope("policy_eval"):
self.contrib.slim.get_variables(
scope="global", collection=tf.GraphKeys.TRAINABLE_VARIABLES)
self.contrib.slim.get_variables(
scope="policy_eval",
collection=tf.GraphKeys.TRAINABLE_VARIABLES)
def _policy_net_predict(self, state, sess):
feed_dict = {self.policy_net_states: [states]}
preds = sess.run(self.run(self.policy_net.predictions, feed_dict))
return preds["probs"][0]
def eval_once(self, sess):
with sess.as_default(), sess.graph.as_default():
global_step, _ = sess.run(
[tf.contrib.framework.get_global_Step(), self.copy_params.op])
done = False
state = atari_helpers.atari_make_initial_state(
self.sp.process(self.env.reset()))
total_reward = 0.0
episode_length = 0
while not done:
action_probs = self._policy_net_predict(state, sess)
action = np.random.choice(np.arange(len(action_probs)),
p=action_probs)
next_state, reward, done, _ = self.env.step(action)
next_state = atari_helpers.atari_make_next_state(
state, self.sp.process(next_state))
total_reward += reward
episode_length += 1
state = next_state
episode_summary = tf.summary()
episode_summary.value.add(simple_value=total_reward,
tag="eval/total_reward")
episode_summary.value.add(simple_value=episode_length,
tag="eval/episode_length")
self.summary_writer.add_summary(episode_summary, global_step)
self.summary_writer.flush()
if self.saver is not None:
self.saver.save(sess, self.checkpoint_path)
tf.logging.info(
"Eval results at step {}: total_reward {},episode_length {}".
format(global_step, total_reward, episode_length))
return total_reward, episode_length
def continous_eval(self, eval_every, sess, coord):
try:
while not coord.should_stop():
self.eval_once(sess)
time.sleep(eval_every)
except tf.errors.CanceledError:
return
class WorkerTest(tf.test.TestCase):
def setUp(self):
super(WorkerTest, self).setUp()
self.env = make_env()
self.discount_factor = 0.99
self.global_step = tf.Variable(0, name="global_step", trainable=False)
self.global_counter = itertools.count()
self.sp = StateProcessor()
with tf.variable_scope("global") as vs:
self.global_policy_net = PolicyEstimator(len(VALID_ACTIONS))
self.global_value_net = ValueEstimator(reuse=True)
def testPolicyNetPredict(self):
w = Worker(
name="test",
env=make_env(),
policy_net=self.global_policy_net,
value_net=self.global_value_net,
global_counter=self.global_counter,
discount_factor=self.discount_factor)
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
state = self.sp.process(self.env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
action_values = w._policy_net_predict(processed_state, sess)
self.assertEqual(action_values.shape, (4,))
def testValueNetPredict(self):
w = Worker(
name="test",
env=make_env(),
policy_net=self.global_policy_net,
value_net=self.global_value_net,
global_counter=self.global_counter,
discount_factor=self.discount_factor)
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
state = self.sp.process(self.env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
state_value = w._value_net_predict(processed_state, sess)
self.assertEqual(state_value.shape, ())
def testRunNStepsAndUpdate(self):
w = Worker(
name="test",
env=make_env(),
policy_net=self.global_policy_net,
value_net=self.global_value_net,
global_counter=self.global_counter,
discount_factor=self.discount_factor)
with self.test_session() as sess:
sess.run(tf.initialize_all_variables())
state = self.sp.process(self.env.reset())
processed_state = atari_helpers.atari_make_initial_state(state)
w.state = processed_state
transitions, local_t, global_t = w.run_n_steps(10, sess)
policy_net_loss, value_net_loss, policy_net_summaries, value_net_summaries = w.update(transitions, sess)
self.assertEqual(len(transitions), 10)
self.assertIsNotNone(policy_net_loss)
self.assertIsNotNone(value_net_loss)
self.assertIsNotNone(policy_net_summaries)
self.assertIsNotNone(value_net_summaries)