class Environment:
def __init__(self, g=10.0, d=100.0, H=10., m=10.0, F=3.0):
"""Instanciate a new environement in its initial state.
"""
self.mc = MountainCar(g=g, d=d, H=H, m=m, F=F, R=50.0, T=0.0)
def reset(self):
self.mc.reset()
# place the car at a random place near the bottom
self.mc.x = np.random.uniform(-self.mc.d*1.3, -self.mc.d*0.7)
def get_range(self):
return [-1.5*self.mc.d, 0.0]
def observe(self):
"""Returns the current observation that the agent can make
of the environment, if applicable.
"""
return (self.mc.x, self.mc.vx)
def act(self, action):
"""Perform given action by the agent on the environment,
and returns a reward.
"""
reward = self.mc.act(action)
return (reward, "victory" if reward > 0.0 else None)
def __init__(self):
self.env = MountainCar()
self.noiseRange = 1.0
self.om = 0
self.alpha = 0.6
self.beta = 0.4
self.t = 0
self.totStep = 0
self.r = 0
self.ep = 0
self.perfs = result_log(algo="DDPG", l1=20, l2=10)
self.actif = True
def __init__(self, logger = None):
self.env = MountainCar()
self.noiseRange = 1.0
self.noiseMax = 1.0
self.om = 0
self.alpha = 0.6
self.beta = 0.4
self.t = 0
self.totStep = 0
self.r = 0
self.ep = 0
if logger==None:
self.perfs = result_log(algo="DDPG", l1=20, l2=10)
else:
self.perfs = logger
self.actif = True
class MountainCarEnv(Env):
print_interval = 100
def __init__(self):
self.env = MountainCar()
self.noiseRange = 1.0
self.om = 0
self.alpha = 0.6
self.beta = 0.4
self.t = 0
self.totStep = 0
self.r = 0
self.ep = 0
self.perfs = result_log(algo="DDPG", l1=20, l2=10)
self.actif = True
#self.plot = result_plot()
def state(self):
return [self.env.getObservation()]
def act(self, action):
actNoise = action + self.noise_func()
self.env.performAction(actNoise[0])
r = self.env.getReward()
self.t += 1
self.r += r
return actNoise, [r]
def reset(self, noise=True):
self.actif = True
self.env.reset()
self.om = 0
self.totStep+=self.t
if self.totStep != 0:
self.perfs.addData(self.totStep, self.t, self.r)
self.t = 0
self.r = 0
self.ep += 1
if not noise:
self.noiseRange = 0.0
else:
self.noiseRange = random.uniform(0.,1.0)
def noise_func(self):
self.om = self.om-self.alpha*self.om + self.beta*random.gauss(0,1)*self.noiseRange
return self.om
def isFinished(self):
if self.actif and not self.env.isFinished():
return False
else:
self.actif = False
return True
def getActionSize(self):
return 1
def getStateSize(self):
return 2
def getActionBounds(self):
return [[1.2], [-1.2]]
def printEpisode(self):
print time.strftime("[%H:%M:%S]"), " Episode : " , self.ep, " steps : ", self.t, " reward : ", self.r
def performances(self):
pass#self.plot.clear()
#self.plot.add_row(self.perfs)
def sarsa_lambda_mc(lr, l, baseparams, eps, epoch=100, base='fourier'):
mc = MountainCar()
estimated_rewards = np.zeros(epoch)
actions = mc.actions
w = None
if base == 'fourier':
order = baseparams['order']
s = mc.d_zero()
w = np.zeros((1, len(actions) * (order + 1) ** len(s)))
elif base == 'tile':
num_tilings, tiles_per_tiling = baseparams['num_tilings'], baseparams['tiles_per_tiling']
s = mc.d_zero()
w = np.zeros((1, len(actions) * num_tilings))
for x in range(epoch):
s = mc.d_zero()
# e ← 0
e = np.zeros(w.shape)
# choose a from s using a policy derived from q (e.g., ε-greedy or softmax);
first_q = estimation.epsilon_greedy(fa.qw(w, s, actions, base, baseparams), actions, eps(x))
# pi_s = pe.epsilon_greedy(pe.qw(w, s, order, actions, base), actions, eps)
a = np.random.choice(actions, 1, p=first_q)[0]
count = 0
while s[0] < mc.right_bound and count < 1e3:
# Take action a and observe r and s′;
new_s, r = mc.P_and_R(s, a)
# Choose a′ from s′ using a policy derived from q;
pi_temp = estimation.epsilon_greedy(fa.qw(w, new_s, actions, base, baseparams), actions, eps(x))
new_a = np.random.choice(actions, 1, p=pi_temp)[0]
if new_s == [0.5, 0]:
new_q = 0
else:
new_q = fa.qw_ele(w, new_s, new_a, actions, base, baseparams)[0]
q, dqdw = fa.qw_ele(w, s, a, actions, base, baseparams)
# e←γλe+∂qw(s,a)/∂w;
e = l * 1 * e + dqdw
# δ←r+γqw(s′,a′)−qw(s,a);
delta = r + 1 * new_q - q
# w←w+αδe;
w += lr * delta * e
# print(w)
s = new_s
a = new_a
count += 1
# print('update end')
epi = MountainCarEpisode(mc)
estimated_rewards[x] = epi.run_with_w(w, eps(x), base, baseparams)
print('episode: ', x, ', reward: ', estimated_rewards[x])
return estimated_rewards
def sarsa_mountaincar(lr, baseparams, eps, epoch=100, base='fourier'):
mc = MountainCar()
estimated_rewards = np.zeros(epoch)
actions = mc.actions
w = None
if base == 'fourier':
order = baseparams['order']
s = mc.d_zero()
w = np.zeros((1, len(actions) * (order + 1)**len(s)))
elif base == 'tile':
num_tilings, tiles_per_tiling = baseparams['num_tilings'], baseparams[
'tiles_per_tiling']
s = mc.d_zero()
w = np.zeros((1, len(actions) * num_tilings))
for x in range(epoch):
s = mc.d_zero()
# choose a from s using a policy derived from q (e.g., ε-greedy or softmax);
first_q = estimation.epsilon_greedy(
fa.qw(w, s, actions, base, baseparams), actions, eps(x))
# pi_s = pe.epsilon_greedy(pe.qw(w, s, order, actions, base), actions, eps)
a = np.random.choice(actions, 1, p=first_q)[0]
count = 0
while s[0] < mc.right_bound:
# Take action a and observe r and s′;
new_s, r = mc.P_and_R(s, a)
# Choose a′ from s′ using a policy derived from q;
pi_temp = estimation.epsilon_greedy(
fa.qw(w, new_s, actions, base, baseparams), actions, eps(x))
new_a = np.random.choice(actions, 1, p=pi_temp)[0]
# w += lr * (r + pe.qw_fourier_ele(w, new_s, new_a, order, actions) -
# pe.qw_fourier_ele(w, s, a, order, actions)) * pe.dqwdw_fourier(s, a, order, actions)
new_q = fa.qw_ele(w, new_s, new_a, actions, base, baseparams)[0]
q, dqdw = fa.qw_ele(w, s, a, actions, base, baseparams)
w += lr * (r + new_q - q) * dqdw
s = new_s
a = new_a
count += 1
epi = MountainCarEpisode(mc)
estimated_rewards[x] = epi.run_with_w(w, eps(x), base, baseparams)
print('episode: ', x, ', reward: ', estimated_rewards[x])
return estimated_rewards
def __init__(self):
self.mc = MountainCar()
# Params for env
self.state_dim = 2
self.action_dim = 1
self.max_action = self.mc.F
# Params for training
self.batch_size = 32
self.gamma = 0.99
self.tau = 0.001
self.actor_lr = 0.0001
self.critic_lr = 0.0004
self.noise = OU_Noise(self.action_dim, 0)
self.explore = 100000
self.epsilon = 0.3
self.counter = 0
# Init
self.actor = Actor(self.state_dim, self.action_dim,
self.max_action).to(device)
self.actor_target = Actor(self.state_dim, self.action_dim,
self.max_action).to(device)
self.actor_target.load_state_dict(self.actor.state_dict())
self.actor_optimizer = optim.Adam(self.actor.parameters(),
self.actor_lr)
self.critic = Critic(self.state_dim, self.action_dim).to(device)
self.critic_target = Critic(self.state_dim, self.action_dim).to(device)
self.critic_target.load_state_dict(self.critic.state_dict())
self.critic_optimizer = optim.Adam(self.critic.parameters(),
self.critic_lr)
self.replay_buffer = ReplayBuffer()
self.num_training = 0
self.state_curr = None
self.state_prev = None
if __name__ == "__main__":
#
alpha = 0.1 / 8
epsilon = 0.05
gamma = 1
num_episodes = 500
dim1 = np.array((-1.2, 0.5))
dim2 = np.array((-0.07, 0.07))
dims = np.array((dim1, dim2))
num_actions = 3
num_tilings = 8
tiles_per_dim = 8
idcs_per_action = num_tilings * tiles_per_dim**len(dims)
displ_vecs = np.array([(1, 3), (3, 1), (-1, 3), (3, -1), (1, -3), (-3, 1),
(-1, -3), (-3, -1)],
dtype="float")
#%%
fvecs = feature_vecs(dims, num_tilings, tiles_per_dim, displ_vecs)
weights = init_weights(num_tilings, tiles_per_dim, len(dims), num_actions)
env = MountainCar()
#%%
episodic_sg_SARSA(env, fvecs, weights, alpha, epsilon, gamma, num_actions,
num_episodes)
self.s_t = s_tp1
self.a_t = a_tp1
return self.actions[a_tp1] if a_tp1 != None else None
def reset(self):
self.s_t = None
self.a_t = None
def proposeAction(self, state):
return self.actions[self.policy(state)]
# domain constructor:
# you can replace the mountain car domain by the inverted pendulum
domain = MountainCar(random_start= False, max_episode=10000)
# domain = SwingPendulum(random_start= False, max_episode_length=10000)
phi = TileCoding(input_indicies = [np.array([0,1])],
ntiles = [10],
ntilings=[10],
state_range = domain.state_range,
bias_term = True)
valuefn = LinearTD(len(domain.discrete_actions),
phi,
alpha = 0.01,
gamma= 0.995)
# this is a sub-optimal policy for mountain car that naively always
# increases the energy of the system. You can swap the e-greedy policy
def __init__(self, g=10.0, d=100.0, H=10., m=10.0, F=3.0):
"""Instanciate a new environement in its initial state.
"""
self.mc = MountainCar(g=g, d=d, H=H, m=m, F=F, R=50.0, T=0.0)
from mountaincar import MountainCar from gp_gym_info import info import gym # GP Parameters info["env_name"] = "MountainCar-v0" info["pop_size"] = 100 info["max_gens"] = 10 info["max_depth"] = 1 info["num_eps"] = 100 agent = MountainCar(info) best_program = agent.train() print(best_program) f = agent.fit(best_program, 100, 200, render=False) print(f)
def reinforce_mc(alpha, beta, l, baseparams, eps, epoch=100, base='fourier'):
mc = MountainCar()
estimated_rewards = np.zeros(epoch)
actions = mc.actions
theta = None
order = 0
if base == 'fourier':
order = baseparams['order']
s = mc.d_zero()
theta = np.zeros((1, len(actions) * (order + 1)**len(s)))
w = np.zeros((1, (order + 1)**len(s)))
# theta = np.zeros((len(s), 3))
for x in range(epoch):
s = mc.d_zero()
e = np.zeros(w.shape)
hist_s = []
hist_a = []
hist_r = []
hist_pi = []
count = 0
dj = np.zeros(theta.shape)
# for each time step, until s is the terminal absorbing state do
while s[0] < mc.right_bound and count < 1000:
pi_temp = estimation.softmax(
fa.qw(theta, s, actions, base, baseparams), eps(x))
a = np.random.choice(actions, 1, p=pi_temp)[0]
new_s, r = mc.P_and_R(s, a)
hist_a.append(a)
hist_s.append(s)
hist_r.append(r)
hist_pi.append(pi_temp)
s = new_s
count += 1
for i in range(len(hist_a)):
g = 0
for j in range(i, len(hist_s)):
g += hist_r[j]
v, dv = fa.vw(w, hist_s[i], base, baseparams)
dj += (g - v) * dsoftmax(hist_s[i], hist_a[i], order, actions,
hist_pi[i])
e = l * e + dv
if i == len(hist_s) - 1:
delta = hist_r[i] + 0 - \
fa.vw(w, hist_s[i], base, baseparams)[0]
else:
delta = hist_r[i] + fa.vw(w, hist_s[i + 1], base, baseparams)[0] - \
fa.vw(w, hist_s[i], base, baseparams)[0]
w += alpha * delta * e
theta += beta * dj
epi = MountainCarEpisode(mc)
# print(theta)
estimated_rewards[x] = epi.run_with_w_softmax(theta, eps(x), base,
baseparams)
print('episode: ', x, ', reward: ', estimated_rewards[x])
return estimated_rewards
def __init__(self):
"""Init a new agent.
"""
mc = MountainCar()
from deap import gp
import random
random.seed(5)
# env = gym.make("MountainCarContinuous-v0")
# print(env.action_space.low)
info["env_name"] = "MountainCarContinuous-v0"
info["pop_size"] = 100
info["max_gens"] = 10
info["max_depth"] = 1
info["tournament_size"] = 5
info["num_eps"] = 10
agent = MountainCar(info)
solutions = {}
force_values = np.arange(0.0, 1.0, 0.1)
fitness_scores = []
counter = 1
for force in force_values:
solution = "IFLTE(0.0, velocity, {}, {})".format(force, -force)
f = agent.fit(solution, 100, 200, render=False)[0]
fitness_scores.append(f)
# Timing
print(counter)
counter += 1
if f >= 90:
def actor_critic_mc(lr, l, baseparams, eps, epoch=100, base='fourier'):
mc = MountainCar()
estimated_rewards = np.zeros(epoch)
actions = mc.actions
w = None
theta = None
order = 0
if base == 'fourier':
order = baseparams['order']
s = mc.d_zero()
w = np.zeros((1, (order + 1)**len(s)))
theta = np.zeros((1, len(actions) * (order + 1)**len(s)))
# theta = np.zeros((len(s), 3))
for x in range(epoch):
s = mc.d_zero()
# ev ← 0
e = np.zeros(w.shape)
# et ← 0
# et = np.zeros(theta.shape)
count = 0
# for each time step, until s is the terminal absorbing state do
while s[0] < mc.right_bound and count < 1000:
pi_temp = estimation.softmax(
fa.qw(theta, s, actions, base, baseparams), eps(x))
a = np.random.choice(actions, 1, p=pi_temp)[0]
# print(a)
# print(pi_temp)
# dydtheta_list = []
# for na in actions:
# dydtheta_list.append(fa.qw_ele(theta, s, na, actions, base, baseparams)[1])
#
# dtheta = estimation.dsoftmax(fa.qw(theta, s, actions, base, baseparams), dydtheta_list, actions.index(
# a), eps(x))
dtheta = np.zeros((1, len(actions) * (order + 1)**len(s)))
for idx in range(len(actions)):
phi = fa.fourier_phi_mc(s, order).T
if actions[idx] == a:
# print('target')
dtheta[:, idx * phi.shape[1]:(idx + 1) *
phi.shape[1]] = (1 - pi_temp[idx]) * phi
else:
dtheta[:, idx * phi.shape[1]:(idx + 1) *
phi.shape[1]] = -pi_temp[idx] * phi
# Take action a and observe r and s′;
new_s, r = mc.P_and_R(s, a)
# Critic update using TD(λ)
# ev←γλev+∂vw(s);
v, dv = fa.vw(w, s, base, baseparams)
if new_s[0] > mc.right_bound:
new_v = 0
else:
new_v = fa.vw(w, new_s, base, baseparams)[0]
e = l * mc.gamma * e
e += dv
# δ ← r + γvw(s′,a′) − vw(s,a);
delta = r + mc.gamma * new_v - v
# w←w+αδev;
w += lr * delta * e
# Actor update
# θ + αγ^tδ ∂ ln(π(s,a,θ))
theta += lr * delta * dtheta
s = new_s
count += 1
epi = MountainCarEpisode(mc)
# print(theta)
estimated_rewards[x] = epi.run_with_w_softmax(theta, eps(x), base,
baseparams)
print('episode: ', x, ', reward: ', estimated_rewards[x])
return estimated_rewards