def train(self, sess, buf, epsilon):
batch_size = len(buf.obs)
# Update value network
feed = {self.obs: buf.obs_next}
v_target_next, v_next = sess.run([self.v_target, self.v],
feed_dict=feed)
v_target_next = np.reshape(v_target_next, [batch_size])
v_next = np.reshape(v_next, [batch_size])
feed = {self.obs: buf.obs,
self.v_target_next: v_target_next,
self.reward: buf.reward}
_, v = sess.run([self.v_op, self.v], feed_dict=feed)
v = np.reshape(v, [batch_size])
actions_1hot = util.process_actions(buf.action, self.l_action)
feed = {self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_sampled: buf.r_sampled,
self.reward: buf.reward,
self.epsilon: epsilon}
feed[self.v_next_ph] = v_next
feed[self.v_ph] = v
feed[self.action_others] = util.get_action_others_1hot_batch(
buf.action_all, self.agent_id, self.l_action_for_r)
_ = sess.run(self.policy_op, feed_dict=feed)
# Update target network
sess.run(self.list_update_v_ops)
def train_reward(self, sess, list_buf, list_buf_new, epsilon):
"""Training step for incentive function.
Args:
sess: TF session
list_buf: list of all agents' experience buffers
list_buf_new: list of all agents' buffers of new experiences,
after policy updates
epsilon: float exploration lower bound
"""
buf_self = list_buf[self.agent_id]
buf_self_new = list_buf_new[self.agent_id]
n_steps = len(buf_self.obs)
ones = np.ones(n_steps)
feed = {}
feed[self.epsilon] = epsilon
for idx, agent_id_opp in enumerate(self.list_agent_id_opp):
buf_other = list_buf[agent_id_opp]
actions_other_1hot = util.process_actions(buf_other.action, self.l_action)
feed[self.list_obs_opp[idx]] = buf_other.obs
feed[self.list_action_taken_opp[idx]] = actions_other_1hot
feed[self.list_r_ext_opp[idx]] = buf_other.reward
feed[self.list_ones[idx]] = ones
buf_other_new = list_buf_new[agent_id_opp]
actions_other_1hot_new = util.process_actions(buf_other_new.action,
self.l_action)
feed[self.list_opp_policy_new[idx].obs] = buf_other_new.obs
feed[self.list_opp_policy_new[idx].action_taken] = actions_other_1hot_new
n_steps = len(buf_self_new.obs)
total_reward = buf_self_new.reward
returns_new = util.process_rewards(total_reward, self.gamma)
feed[self.obs] = buf_self.obs
feed[self.action_others] = util.get_action_others_1hot_batch(
buf_self.action_all, self.agent_id, self.l_action)
feed[self.ones] = ones
feed[self.returns] = returns_new
if self.separate_cost_optimizer:
_ = sess.run([self.reward_op, self.cost_op], feed_dict=feed)
else:
_ = sess.run(self.reward_op, feed_dict=feed)
def train(self, sess, buf, epsilon):
n_steps = len(buf.obs)
actions_1hot = util.process_actions(buf.action, self.l_action)
ones = np.ones(n_steps)
feed = {
self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_ext: buf.reward,
self.ones: ones,
self.epsilon: epsilon
}
_ = sess.run(self.policy_op, feed_dict=feed)
def train_opp_model(self, sess, list_buf, epsilon):
"""Fits opponent model.
Args:
sess: TF session
list_buf: list of all buffers of agents' experiences
epsilon: float
"""
for idx, agent_id_opp in enumerate(self.list_agent_id_opp):
buf = list_buf[agent_id_opp]
feed = {}
feed[self.list_obs_opp[idx]] = buf.obs
feed[self.list_action_taken_opp[idx]] = util.process_actions(
buf.action, self.l_action)
_ = sess.run(self.list_opp_op[idx], feed_dict=feed)
def update(self, sess, buf, epsilon):
sess.run(self.list_copy_main_to_prime_ops)
n_steps = len(buf.obs)
actions_1hot = util.process_actions(buf.action, self.l_action)
ones = np.ones(n_steps)
feed = {
self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_ext: buf.reward,
self.ones: ones,
self.epsilon: epsilon
}
feed[self.r_from_others] = buf.r_from_others
if self.include_cost_in_chain_rule:
feed[self.r_given] = buf.r_given
_ = sess.run(self.policy_op_prime, feed_dict=feed)
def update(self, sess, buf, epsilon):
"""Training step for own policy.
Args:
sess: TF session
buf: Buffer object
epsilon: float exploration lower bound
"""
n_steps = len(buf.obs)
actions_1hot = util.process_actions(buf.action, self.l_action)
ones = np.ones(n_steps)
feed = {self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_ext: buf.reward,
self.ones: ones,
self.epsilon: epsilon}
feed[self.r_from_others] = buf.r_from_others
_ = sess.run(self.policy_op, feed_dict=feed)
def train(self, sess, buf, epsilon):
"""On-policy training step.
Args:
sess: TF session
buf: Buffer object
epsilon: float
"""
n_steps = len(buf.obs)
actions_1hot = util.process_actions(buf.action, self.l_action)
ones = np.ones(n_steps)
feed = {self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_sampled: buf.r_sampled,
self.r_ext: buf.reward,
self.ones: ones,
self.epsilon: epsilon}
feed[self.action_others] = util.get_action_others_1hot_batch(
buf.action_all, self.agent_id, self.l_action_for_r)
_ = sess.run(self.policy_op, feed_dict=feed)
def update(self, sess, buf, epsilon):
sess.run(self.list_copy_main_to_prime_ops)
batch_size = len(buf.obs)
# Update value network
feed = {self.obs: buf.obs_next}
v_target_next, v_next = sess.run([self.v_target, self.v],
feed_dict=feed)
v_target_next = np.reshape(v_target_next, [batch_size])
v_next = np.reshape(v_next, [batch_size])
n_steps = len(buf.obs)
if self.include_cost_in_chain_rule:
total_reward = [buf.reward[idx] + buf.r_from_others[idx]
- buf.r_given[idx] for idx in range(n_steps)]
else:
total_reward = [buf.reward[idx] + buf.r_from_others[idx]
for idx in range(n_steps)]
feed = {self.obs: buf.obs,
self.v_target_next: v_target_next,
self.total_reward: total_reward}
_, v = sess.run([self.v_op, self.v], feed_dict=feed)
v = np.reshape(v, [batch_size])
# Update prime policy network
actions_1hot = util.process_actions(buf.action, self.l_action)
feed = {self.obs: buf.obs,
self.action_taken: actions_1hot,
self.r_ext: buf.reward,
self.epsilon: epsilon}
feed[self.r_from_others] = buf.r_from_others
if self.include_cost_in_chain_rule:
feed[self.r_given] = buf.r_given
feed[self.v_next_ph] = v_next
feed[self.v_ph] = v
_ = sess.run(self.policy_op_prime, feed_dict=feed)
# Update target network
sess.run(self.list_update_v_ops)
def train(self, sess, buf, epsilon):
batch_size = len(buf.obs)
# Update value network
feed = {self.obs: buf.obs_next}
if self.obs_image_vec:
feed[self.obs_v] = buf.obs_v_next
v_target_next, v_next = sess.run([self.v_target, self.v],
feed_dict=feed)
v_target_next = np.reshape(v_target_next, [batch_size])
v_next = np.reshape(v_next, [batch_size])
feed = {
self.obs: buf.obs,
self.v_target_next: v_target_next,
self.reward: buf.reward
}
if self.obs_image_vec:
feed[self.obs_v] = buf.obs_v
_, v = sess.run([self.v_op, self.v], feed_dict=feed)
v = np.reshape(v, [batch_size])
actions_1hot = util.process_actions(buf.action, self.l_action)
feed = {
self.obs: buf.obs,
self.action_taken: actions_1hot,
self.reward: buf.reward,
self.epsilon: epsilon
}
feed[self.v_next_ph] = v_next
feed[self.v_ph] = v
if self.obs_image_vec:
feed[self.obs_v] = buf.obs_v
_ = sess.run(self.policy_op, feed_dict=feed)
# Update target network
sess.run(self.list_update_v_ops)
def train_reward(self, sess, list_buf, list_buf_new, epsilon,
reg_coeff=1e-3, summarize=False, writer=None):
buf_self = list_buf[self.agent_id]
buf_self_new = list_buf_new[self.agent_id]
n_steps = len(buf_self.obs)
ones = np.ones(n_steps)
feed = {}
for agent in self.list_of_agents:
other_id = agent.agent_id
if other_id == self.agent_id:
continue
buf_other = list_buf[other_id]
v_next = np.reshape(sess.run(
agent.v, feed_dict={agent.obs: buf_other.obs_next}), [n_steps])
v = np.reshape(sess.run(
agent.v, feed_dict={agent.obs: buf_other.obs}), [n_steps])
actions_other_1hot = util.process_actions(buf_other.action, self.l_action)
feed[agent.obs] = buf_other.obs
feed[agent.action_taken] = actions_other_1hot
feed[agent.r_ext] = buf_other.reward
feed[agent.epsilon] = epsilon
feed[agent.v_next_ph] = v_next
feed[agent.v_ph] = v
# This is needed for the case N > 2. From an agent i's perspective,
# another agent j will receive reward from a third agent k,
# so to compute j's policy update we need to input agent k's observation
# of all other agents' actions (from agent k's perspective).
# So in general we just feed action_others from all agents' perspectives.
feed[agent.action_others] = util.get_action_others_1hot_batch(
buf_other.action_all, other_id, agent.l_action_for_r)
buf_other_new = list_buf_new[other_id]
actions_other_1hot_new = util.process_actions(buf_other_new.action,
self.l_action)
other_policy_new = self.list_policy_new[other_id]
feed[other_policy_new.obs] = buf_other_new.obs
feed[other_policy_new.action_taken] = actions_other_1hot_new
if self.include_cost_in_chain_rule:
# Needed to compute the chain rule,
# These are for the update from \theta to \hat{\theta}
action_self_1hot = util.process_actions(buf_self.action, self.l_action)
feed[self.action_taken] = action_self_1hot
feed[self.r_ext] = buf_self.reward
feed[self.epsilon] = epsilon
v_next = np.reshape(sess.run(
self.v, feed_dict={self.obs: buf_self.obs_next}), [n_steps])
v = np.reshape(sess.run(
self.v, feed_dict={self.obs: buf_self.obs}), [n_steps])
feed[self.v_next_ph] = v_next
feed[self.v_ph] = v
# These are needed for the factor
# \nabla_{\hat{\theta}^j} J^i(\hat{\tau}, \hat{\theta}) when i == j
action_self_1hot_new = util.process_actions(buf_self_new.action,
self.l_action)
self_policy_new = self.list_policy_new[self.agent_id]
feed[self_policy_new.obs] = buf_self_new.obs
feed[self_policy_new.action_taken] = action_self_1hot_new
feed[self.obs] = buf_self.obs
feed[self.action_others] = util.get_action_others_1hot_batch(
buf_self.action_all, self.agent_id, self.l_action_for_r)
feed[self.ones] = ones
n_steps = len(buf_self_new.obs)
v_new = np.reshape(sess.run(
self.v, feed_dict={self.obs: buf_self_new.obs}), [n_steps])
v_next_new = np.reshape(sess.run(
self.v, feed_dict={self.obs: buf_self_new.obs_next}), [n_steps])
if self.include_cost_in_chain_rule:
total_reward = [buf_self_new.reward[idx] + buf_self_new.r_from_others[idx]
- buf_self_new.r_given[idx] for idx in range(n_steps)]
else:
total_reward = buf_self_new.reward
feed[self.v_td_error] = total_reward + self.gamma*v_next_new - v_new
if not (self.include_cost_in_chain_rule or self.separate_cost_optimizer):
feed[self.reg_coeff] = reg_coeff
if self.separate_cost_optimizer:
_ = sess.run([self.reward_op, self.cost_op], feed_dict=feed)
else:
_ = sess.run(self.reward_op, feed_dict=feed)
sess.run(self.list_update_v_ops)