def __init__(self, state_size, action_size, seed=0, mode='DQN', use_prioritized_memory=False):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(seed)
self.use_prioritized_memory = use_prioritized_memory
# Q-Network
self.qnetwork_local = QNetwork(state_size, action_size, seed).to(DEVICE)
self.qnetwork_target = QNetwork(state_size, action_size, seed).to(DEVICE)
self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
self.mode = mode
print('Q Network')
print(self.qnetwork_local)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
self.train_steps = 0
def __init__(self,
buffer_size=BUFFER_SIZE,
batch_size=BATCH_SIZE,
lr=LR,
epsilon=EPSILON):
# local network for estimate
# target network for computing target
self.batch_size = batch_size
self.epsilon = epsilon
self.network_loc = QNetwork()
self.network_targ = QNetwork()
setWeights(self.network_loc, self.network_targ)
self.optimizer = tf.train.AdamOptimizer(learning_rate=lr)
self.buffer = ReplayBuffer(buffer_size=buffer_size,
batch_size=batch_size)
self.actions = actionlst()
self.context_extractor = ContextExtractor()
self.state_target = None
# Build model so it knows the input shape
self.network_loc.build(tf.TensorShape([
None,
STATE_LENGTH,
]))
self.network_targ.build(tf.TensorShape([
None,
STATE_LENGTH,
]))
def __init__(self, parmas):
self.num_actions = params['num_actions']
self.device = params['device']
self.path_model = params['path_model']
self.policy_net = QNetwork(self.num_actions).to(self.device)
self.policy_net.load_state_dict(
torch.load(self.path_model, map_location=self.device))
self.policy_net.eval()
def __init__(self, state_size, action_size, seed, config):
self.state_size = state_size
self.action_size = action_size
self.config = config
self.seed = random.seed(seed)
self.local_q_net = QNetwork(state_size, action_size, seed).to(device)
self.target_q_net = QNetwork(state_size, action_size, seed).to(device)
self.optimizer = optim.Adam(self.local_q_net.parameters(),
lr=config["LR"])
self.memory = ReplayBuffer(action_size, config["BUFFER_SIZE"],
config["BATCH_SIZE"], seed)
self.t_step = 0
class TrainedBrain():
def __init__(self, parmas):
self.num_actions = params['num_actions']
self.device = params['device']
self.path_model = params['path_model']
self.policy_net = QNetwork(self.num_actions).to(self.device)
self.policy_net.load_state_dict(
torch.load(self.path_model, map_location=self.device))
self.policy_net.eval()
def decide_action(self, state):
with torch.no_grad():
self.q_vals = self.policy_net(
torch.from_numpy(state.copy()).float().to(
self.device).unsqueeze(0))
return int(self.q_vals.max(1)[1].view(1, 1))
def __init__(self, state_space: int, action_num: int, action_scale: int,
learning_rate, device: str):
super(BQN, self).__init__()
self.q = QNetwork(state_space, action_num, action_scale).to(device)
self.target_q = QNetwork(state_space, action_num,
action_scale).to(device)
self.target_q.load_state_dict(self.q.state_dict())
self.optimizer = optim.Adam([\
{'params' : self.q.linear_1.parameters(),'lr': learning_rate / (action_num+2)},\
{'params' : self.q.linear_2.parameters(),'lr': learning_rate / (action_num+2)},\
{'params' : self.q.value.parameters(), 'lr' : learning_rate/ (action_num+2)},\
{'params' : self.q.actions.parameters(), 'lr' : learning_rate},\
])
self.update_freq = 1000
self.update_count = 0
def __init__(self, params):
self.num_actions = params['num_actions']
self.device = params['device']
self.batch_size = params['batch_size']
self.learning_rate = params['learning_rate']
self.gamma = params['gamma']
self.eps_start = params['eps_start']
self.eps_end = params['eps_end']
self.eps_decay = params['eps_decay']
self.policy_net = QNetwork(self.num_actions).to(self.device)
self.target_net = QNetwork(self.num_actions).to(self.device)
self.target_net.load_state_dict(self.policy_net.state_dict())
self.target_net.eval()
self.memory = ReplayMemory(params['replay_memory_size'])
self.optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.learning_rate)
self.steps_done = 0
self.q_vals = [0] * self.num_actions
self.loss = 0
def __init__(self, state_size, action_size):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
# Q-Network
self.qnetwork_local = QNetwork(state_size, action_size).to(device)
self.qnetwork_target = QNetwork(state_size, action_size).to(device)
self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
def __init__(self, game_name="pong"):
self.LEARNING_RATE = 1e-4
self.eps_init = 1
self.eps_final = 0.02
self.schedule_timesteps = 5e4 # tot_timestep * explo_frac
self.eps = self.eps_init
self.GAMMA = 0.95
self.BATCH_SIZE = 32
self.TARGET_UPDATE_C = 1000
self.MEMORY_CAPACITY_N = 200
self.episode_M = 5000
self.GAME_ENV = {
"pong": "PongNoFrameskip-v4",
"cartpole": "CartPole-v0",
}
self.game_name = game_name
env_name = self.GAME_ENV[self.game_name]
self.env = wrapEnv(gym.make(env_name))
self.reward_list = []
self.Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
self.Qnetwork.summary()
class BQN(nn.Module):
def __init__(self, state_space: int, action_num: int, action_scale: int,
learning_rate, device: str):
super(BQN, self).__init__()
self.q = QNetwork(state_space, action_num, action_scale).to(device)
self.target_q = QNetwork(state_space, action_num,
action_scale).to(device)
self.target_q.load_state_dict(self.q.state_dict())
self.optimizer = optim.Adam([\
{'params' : self.q.linear_1.parameters(),'lr': learning_rate / (action_num+2)},\
{'params' : self.q.linear_2.parameters(),'lr': learning_rate / (action_num+2)},\
{'params' : self.q.value.parameters(), 'lr' : learning_rate/ (action_num+2)},\
{'params' : self.q.actions.parameters(), 'lr' : learning_rate},\
])
self.update_freq = 1000
self.update_count = 0
def action(self, x):
return self.q(x)
def train_mode(self, n_epi, memory, batch_size, gamma, use_tensorboard,
writer):
state, actions, reward, next_state, done_mask = memory.sample(
batch_size)
actions = torch.stack(actions).transpose(0, 1).unsqueeze(-1)
done_mask = torch.abs(done_mask - 1)
cur_actions = self.q(state)
cur_actions = torch.stack(cur_actions).transpose(0, 1)
cur_actions = cur_actions.gather(2, actions.long()).squeeze(-1)
target_cur_actions = self.target_q(next_state)
target_cur_actions = torch.stack(target_cur_actions).transpose(0, 1)
target_cur_actions = target_cur_actions.max(-1, keepdim=True)[0]
target_action = (done_mask * gamma * target_cur_actions.mean(1) +
reward)
loss = F.mse_loss(cur_actions, target_action.repeat(1, 4))
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
self.update_count += 1
if (self.update_count % self.update_freq
== 0) and (self.update_count > 0):
self.update_count = 0
self.target_q.load_state_dict(self.q.state_dict())
if use_tensorboard:
writer.add_scalar("Loss/loss", loss, n_epi)
return loss
def train():
env.reset()
_, reward, done, _ = env.step(env.action_space.sample())
state = get_state()
memory = Memory(max_size=memory_size)
for _ in range(pretrain_length):
action = env.action_space.sample()
_, reward, done, _ = env.step(action)
next_state = get_state()
if done:
next_state = np.zeros(state.shape)
memory.add((state, action, reward, next_state))
env.reset()
_, reward, done, _ = env.step(env.action_space.sample())
state = get_state()
else:
memory.add((state, action, reward, next_state))
state = next_state
img_shape = state.shape
network = QNetwork(height=img_shape[0],
width=img_shape[1],
channel=img_shape[2],
learning_rate=learning_rate)
saver = tf.train.Saver()
save_file = 'checkpoints/cartpole.ckpt'
rewards_list = []
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
step = 0
for ep in range(1, train_episodes + 1):
total_reward = 0
t = 0
while t < max_steps:
step += 1
env.render()
explore_p = explore_stop + \
(explore_start - explore_stop) * np.exp(-decay_rate * step)
if explore_p > np.random.rand():
action = env.action_space.sample()
else:
feed = {network.inputs_: state.reshape((1, *state.shape))}
Qs = sess.run(network.output, feed_dict=feed)
action = np.argmax(Qs)
_, reward, done, _ = env.step(action)
next_state = get_state()
total_reward += reward
if done:
next_state = np.zeros(state.shape)
t = max_steps
print('Episode: {}'.format(ep),
'Total reward: {}'.format(total_reward),
'Training loss: {:.4f}'.format(loss),
'Explore Prob: {:.4f}'.format(explore_p))
rewards_list.append((ep, total_reward))
memory.add((state, action, reward, next_state))
env.reset()
_, reward, done, _ = env.step(env.action_space.sample())
state = get_state()
else:
memory.add((state, action, reward, next_state))
state = next_state
t += 1
batch = memory.sample(batch_size)
states = np.array([each[0] for each in batch])
actions = np.array([each[1] for each in batch])
rewards = np.array([each[2] for each in batch])
next_states = np.array([each[3] for each in batch])
target_Qs = sess.run(network.output,
feed_dict={network.inputs_: next_states})
temp_shape = next_states.shape
is_episode_over = (next_states.reshape(
(temp_shape[0], -1)) == np.zeros(
(temp_shape[1] * temp_shape[2] *
temp_shape[3]))).all(axis=1)
target_Qs[is_episode_over] = (0, 0, 0, 0)
targets = rewards + gamma * np.max(target_Qs, axis=1)
loss, _ = sess.run(
[network.loss, network.opt],
feed_dict={
network.inputs_: states,
network.targetQs_: targets,
network.actions_: actions
})
saver.save(sess, save_file)
class Agent():
"""Interacts with and learns from the environment."""
def __init__(self, state_size, action_size):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
# Q-Network
self.qnetwork_local = QNetwork(state_size, action_size).to(device)
self.qnetwork_target = QNetwork(state_size, action_size).to(device)
self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
def step(self, state, action, reward, next_state, done):
# Save experience in replay memory
self.memory.add(state, action, reward, next_state, done)
# Learn every UPDATE_EVERY time steps.
self.t_step = (self.t_step + 1) % UPDATE_EVERY
if self.t_step == 0:
# If enough samples are available in memory, get random subset and learn
if len(self.memory) > BATCH_SIZE:
experiences = self.memory.sample()
self.learn(experiences, GAMMA)
def act(self, state, eps=0.):
"""Returns actions for given state as per current policy.
Params
======
state (array_like): current state
eps (float): epsilon, for epsilon-greedy action selection
"""
state = torch.from_numpy(state).float().unsqueeze(0).to(device)
self.qnetwork_local.eval()
with torch.no_grad():
action_values = self.qnetwork_local(state)
self.qnetwork_local.train()
# Epsilon-greedy action selection
if random.random() > eps:
return np.argmax(action_values.cpu().data.numpy())
else:
return random.choice(np.arange(self.action_size))
def learn(self, experiences, gamma):
"""Update value parameters using given batch of experience tuples.
Params
======
experiences (Tuple[torch.Variable]): tuple of (s, a, r, s', done) tuples
gamma (float): discount factor
"""
states, actions, rewards, next_states, dones = experiences
states = torch.from_numpy(states).float().to(device)
actions = torch.from_numpy(actions).long().to(device)
rewards = torch.from_numpy(rewards).float().to(device)
next_states = torch.from_numpy(next_states).float().to(device)
dones = torch.from_numpy(dones).float().to(device)
# Get max predicted Q values (for next states) from target model
Q_targets_next = self.qnetwork_target(next_states).detach().max(
1)[0].unsqueeze(1)
# Compute Q targets for current states
Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
# Get expected Q values from local model
Q_expected = self.qnetwork_local(states).gather(1, actions)
# Compute loss
loss = F.mse_loss(Q_expected, Q_targets)
# Minimize the loss
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# ------------------- update target network ------------------- #
self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
def soft_update(self, local_model, target_model, tau):
"""Soft update model parameters.
θ_target = τ*θ_local + (1 - τ)*θ_target
Params
======
local_model (PyTorch model): weights will be copied from
target_model (PyTorch model): weights will be copied to
tau (float): interpolation parameter
"""
for target_param, local_param in zip(target_model.parameters(),
local_model.parameters()):
target_param.data.copy_(tau * local_param.data +
(1.0 - tau) * target_param.data)
class Agent():
'''Interacts and learns from the environment'''
def __init__(self, state_size, action_size, seed):
"""Initialize an Agent object
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed(int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(seed)
# Q-Network
self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
self.qnetwork_target = QNetwork(state_size, action_size, seed).to(device)
self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# initialise the timestep (for updating every UPDATE_EVERY steps)
self.t_step = 0
def step(self, state, action, reward, next_state, done):
# Save experience in the replay memory
self.memory.add(state, action, reward, next_state, done)
# Learn every UPDATE_EVERY time steps
self.t_step = (self.t_step +1) % UPDATE_EVERY
if self.t_step ==0:
# Get random subset from the memory, but ONLY if there are enough samples
if len(self.memory) > BATCH_SIZE:
experiences = self.memory.sample()
self.learn(experiences, GAMMA)
def act(self, state, eps=0.):
"""Returns actions for given state as per current policy
Params
------
state(array_like): current state
eps(float): epsilon, epsilon-greedy action selection (to keep element of exploration)
"""
# convert the state from the Unity network into a torch tensor
state = torch.from_numpy(state).float().unsqueeze(0).to(device)
# Note to pass it through the deep network, we need to take the numpy array and:
# 1 - convert it to torch array with from_numpy()
# 2 - convert it to float 32 as that is what is expected. Use .float()
# 3 - Add a dimension on axis 0 with .unsqueeze(0). Because pytorch expects a BATCH of 1 dimensional arrays
# to be fed into its network. For example feeding in a batch of 64 arrays, each of length 37. In our case,
# with reinforcement learning we are only feeding one at a time, but the network still expects it to be 2D.
self.qnetwork_local.eval()
with torch.no_grad():
action_values = self.qnetwork_local(state)
self.qnetwork_local.train()
# Epsilon-greedy action selection
if random.random() > eps:
return np.argmax(action_values.cpu().data.numpy())
else:
return random.choice(np.arange(self.action_size))
def learn(self, experiences, gamma):
"""Update value paratmers of the deep-Q network using given batch of experience tuples
Params
------
experiences (Tuple[torch.Variable]): tuple of (s, a, r, s', done) tuples
gamma (float): discount factor
"""
states, actions, rewards, next_states, dones = experiences
# get the max predicted Q values for the next states, from the target model
# note: detach just detaches the tensor from the grad_fn - i.e. we are going to do some non-tracked
# computations based on the value of this tensor (we DON'T update the target model at this stage)
Q_targets_next = self.qnetwork_target(next_states).detach().max(1)[0].unsqueeze(1)
# compute Q targets for current states
Q_targets = rewards + (gamma * Q_targets_next * (1-dones))
# Get expected Q values from local model
Q_expected = self.qnetwork_local(states).gather(1, actions)
# compute loss
loss = F.mse_loss(Q_expected, Q_targets)
# Minimise the loss
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# update target network
self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
def soft_update(self, local_model, target_model, tau):
"""Soft update model parameters
θ_target = τ*θ_local + (1 - τ)*θ_target
Params
======
local_model (Pytorch model): weights will be copied from
taret_model (Pytorch model): weights will be copied to
tau (float): interpolation parameter
"""
for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
target_param.data.copy_(tau*local_param.data + (1.0-tau) * target_param.data)
class DQNAgent():
def __init__(self, game_name="pong"):
self.LEARNING_RATE = 1e-4
self.eps_init = 1
self.eps_final = 0.02
self.schedule_timesteps = 5e4 # tot_timestep * explo_frac
self.eps = self.eps_init
self.GAMMA = 0.95
self.BATCH_SIZE = 32
self.TARGET_UPDATE_C = 1000
self.MEMORY_CAPACITY_N = 200
self.episode_M = 5000
self.GAME_ENV = {
"pong": "PongNoFrameskip-v4",
"cartpole": "CartPole-v0",
}
self.game_name = game_name
env_name = self.GAME_ENV[self.game_name]
self.env = wrapEnv(gym.make(env_name))
self.reward_list = []
self.Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
self.Qnetwork.summary()
def selectAction(self, eval_Qnetwork, state, is_train=True):
""" 使用epsilon-greedy策略选择动作
使用神经网络近似值函数
"""
if random.random() <= self.eps and is_train:
action = self.env.action_space.sample()
else:
action = np.argmax(
eval_Qnetwork.predict([
np.ones((1, self.env.action_space.n)),
np.expand_dims(np.array(state), 0)
])) # (1, 84, 84, 4) 增加一个维度 - batch_size
return action
def updateQNetwork(self,
eval_Qnetwork,
target_Qnetwork,
sample_batch,
double=True):
""" DDQN/DQN 梯度下降更新网络 """
# states = np.array([a[0] for a in sample_batch])
# actions = np.array([a[1] for a in sample_batch])
# rewards = np.array([a[2] for a in sample_batch])
# next_states = np.array([a[3] for a in sample_batch])
# dones = np.array([a[4] for a in sample_batch])
states, actions, rewards, next_states, dones = [], [], [], [], []
for i in range(len(sample_batch)):
states.append(np.array(sample_batch[i][0], copy=False))
actions.append(sample_batch[i][1])
rewards.append(sample_batch[i][2])
next_states.append(np.array(sample_batch[i][3], copy=False))
dones.append(sample_batch[i][4])
states = np.array(states)
actions = np.array(actions)
rewards = np.array(rewards)
next_states = np.array(next_states)
dones = np.array(dones)
ones_mat = np.ones((len(sample_batch), self.env.action_space.n))
if double == True:
eval_actions = np.argmax(eval_Qnetwork.predict(
[ones_mat, next_states]),
axis=1)
target_action_Qvalue = target_Qnetwork.predict(
[ones_mat, next_states])[range(len(sample_batch)),
eval_actions]
else:
target_action_Qvalue = np.max(target_Qnetwork.predict(
[ones_mat, next_states]),
axis=1)
# y_true = eval_Qnetwork.predict(states)
# y_true[range(len(y_true)), actions] = rewards + (1-dones)*self.GAMMA * target_action_Qvalue
select_actions = np.zeros((len(sample_batch), self.env.action_space.n))
select_actions[range(len(sample_batch)), actions] = 1
y_true = rewards + (1 - dones) * self.GAMMA * target_action_Qvalue
eval_Qnetwork.fit(x=[select_actions, states],
y=select_actions * np.expand_dims(y_true, axis=1),
epochs=1,
batch_size=len(sample_batch),
verbose=0)
def dqnTrain(self, double=True):
step = 0
memory = ReplayMemory(self.MEMORY_CAPACITY_N)
eval_Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
target_Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
eval_Qnetwork.set_weights(self.Qnetwork.get_weights())
target_Qnetwork.set_weights(eval_Qnetwork.get_weights())
reward_list = self.reward_list
time_start = time.time()
for episode in range(1, self.episode_M + 1):
episode_reward = 0
state = self.env.reset()
while True:
step += 1
action = self.selectAction(eval_Qnetwork, state)
next_state, reward, done, _ = self.env.step(action)
episode_reward += reward
memory.add((state, action, reward, next_state, done))
state = next_state
if len(memory) > self.BATCH_SIZE:
sample_batch = memory.sample(self.BATCH_SIZE)
self.updateQNetwork(eval_Qnetwork, target_Qnetwork,
sample_batch, double)
# self.EPS = self.EPS*self.EPS_DECAY if self.EPS > self.EPS_MIN else self.EPS_MIN
eps_fraction = min(
float(step) / self.schedule_timesteps, self.eps_init)
self.eps = self.eps_init + eps_fraction * (self.eps_final -
self.eps_init)
if step % self.TARGET_UPDATE_C == 0:
target_Qnetwork.set_weights(eval_Qnetwork.get_weights())
if done:
break
reward_list.append(episode_reward)
print(
"episode: {}, reward: {}, tot_step: {}, {}min. eps: {}".format(
episode, episode_reward, step,
(time.time() - time_start) / 60, self.eps))
if episode % 5 == 0:
print(
"episode {}. recent 5 episode_reward:{}. using {} min. total step: {}. "
.format(episode, self.reward_list[-5:],
(time.time() - time_start) / 60, step))
if episode % 50 == 0:
self.save(target_Qnetwork, reward_list)
self.Qnetwork.set_weights(target_Qnetwork.get_weights())
self.reward_list = reward_list
return target_Qnetwork, reward_list
def load(self, filename_prefix=None):
if filename_prefix == None:
filename_prefix = "pong/data/ddqn_bs" + str(self.BATCH_SIZE)
self.Qnetwork = keras.models.load_model(filename_prefix + "network.h5")
with open(filename_prefix + "reward.json", 'r') as file_obj:
self.reward_list = json.loads(file_obj.read())
def save(self, Qnetwork=None, reward_list=None, filename_prefix=None):
if Qnetwork == None:
Qnetwork = self.Qnetwork
if reward_list == None:
reward_list = self.reward_list
if filename_prefix == None:
filename_prefix = "pong/data/ddqn_bs_" + str(self.BATCH_SIZE)
Qnetwork.save(filename_prefix + "network.h5")
with open(filename_prefix + "reward.json", 'w') as file_obj:
file_obj.write(json.dumps(reward_list))
def playByQv(self, Qnetwork=None, episode_num=1):
if Qnetwork == None:
Qnetwork = self.Qnetwork
for episode in range(1, episode_num + 1):
state = self.env.reset()
while True:
self.env.render()
action = self.selectAction(Qnetwork, state, is_train=False)
state, reward, done, _ = self.env.step(action)
time.sleep(0.02)
if done:
break
def plotReward(self, reward_list=None):
if reward_list == None:
reward_list = self.reward_list
def dqnTrain(self, double=True):
step = 0
memory = ReplayMemory(self.MEMORY_CAPACITY_N)
eval_Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
target_Qnetwork = QNetwork(self.env.action_space.n, self.LEARNING_RATE)
eval_Qnetwork.set_weights(self.Qnetwork.get_weights())
target_Qnetwork.set_weights(eval_Qnetwork.get_weights())
reward_list = self.reward_list
time_start = time.time()
for episode in range(1, self.episode_M + 1):
episode_reward = 0
state = self.env.reset()
while True:
step += 1
action = self.selectAction(eval_Qnetwork, state)
next_state, reward, done, _ = self.env.step(action)
episode_reward += reward
memory.add((state, action, reward, next_state, done))
state = next_state
if len(memory) > self.BATCH_SIZE:
sample_batch = memory.sample(self.BATCH_SIZE)
self.updateQNetwork(eval_Qnetwork, target_Qnetwork,
sample_batch, double)
# self.EPS = self.EPS*self.EPS_DECAY if self.EPS > self.EPS_MIN else self.EPS_MIN
eps_fraction = min(
float(step) / self.schedule_timesteps, self.eps_init)
self.eps = self.eps_init + eps_fraction * (self.eps_final -
self.eps_init)
if step % self.TARGET_UPDATE_C == 0:
target_Qnetwork.set_weights(eval_Qnetwork.get_weights())
if done:
break
reward_list.append(episode_reward)
print(
"episode: {}, reward: {}, tot_step: {}, {}min. eps: {}".format(
episode, episode_reward, step,
(time.time() - time_start) / 60, self.eps))
if episode % 5 == 0:
print(
"episode {}. recent 5 episode_reward:{}. using {} min. total step: {}. "
.format(episode, self.reward_list[-5:],
(time.time() - time_start) / 60, step))
if episode % 50 == 0:
self.save(target_Qnetwork, reward_list)
self.Qnetwork.set_weights(target_Qnetwork.get_weights())
self.reward_list = reward_list
return target_Qnetwork, reward_list
class Brain:
def __init__(self, params):
self.num_actions = params['num_actions']
self.device = params['device']
self.batch_size = params['batch_size']
self.learning_rate = params['learning_rate']
self.gamma = params['gamma']
self.eps_start = params['eps_start']
self.eps_end = params['eps_end']
self.eps_decay = params['eps_decay']
self.policy_net = QNetwork(self.num_actions).to(self.device)
self.target_net = QNetwork(self.num_actions).to(self.device)
self.target_net.load_state_dict(self.policy_net.state_dict())
self.target_net.eval()
self.memory = ReplayMemory(params['replay_memory_size'])
self.optimizer = optim.Adam(self.policy_net.parameters(),
lr=self.learning_rate)
self.steps_done = 0
self.q_vals = [0] * self.num_actions
self.loss = 0
def decide_action(self, state):
eps_threshold = self.eps_end + (
self.eps_start - self.eps_end) * math.exp(
-1. * self.steps_done / self.eps_decay)
self.steps_done += 1
with torch.no_grad():
self.q_vals = self.policy_net(
torch.from_numpy(state).float().to(self.device).unsqueeze(0))
sample = random.random()
if sample > eps_threshold:
with torch.no_grad():
return self.q_vals.max(1)[1].view(1, 1)
else:
return torch.tensor([[random.randrange(self.num_actions)]],
device=self.device,
dtype=torch.long)
def optimize(self):
transitions = self.memory.sample(self.batch_size)
batch = Transition(*zip(*transitions))
non_final_mask = torch.tensor(tuple(
map(lambda s: s is not None, batch.next_state)),
device=self.device,
dtype=torch.bool)
non_final_next_states = torch.cat([
torch.tensor(s, device=self.device, dtype=torch.float)
for s in batch.next_state if s is not None
])
state_batch = torch.cat(
[torch.tensor(batch.state, device=self.device, dtype=torch.float)])
action_batch = torch.cat(
[torch.tensor(batch.action, device=self.device, dtype=torch.long)])
reward_batch = torch.cat(
[torch.tensor(batch.reward, device=self.device, dtype=torch.int)])
state_action_values = self.policy_net(state_batch).gather(
1, action_batch.unsqueeze(1))
next_state_values = torch.zeros(self.batch_size, device=self.device)
next_state_values[non_final_mask] = self.target_net(
non_final_next_states.unsqueeze(1)).max(1)[0].detach()
expected_state_action_values = (next_state_values *
self.gamma) + reward_batch
self.loss = F.smooth_l1_loss(state_action_values,
expected_state_action_values.unsqueeze(1))
self.optimizer.zero_grad()
self.loss.backward()
for param in self.policy_net.parameters():
param.grad.data.clamp_(-1, 1)
self.optimizer.step()
def update_target_network(self):
self.target_net.load_state_dict(self.policy_net.state_dict())
def main(env, N_EPISODE=100, MAX_STEPS=300, SUCESS_STEP=200, STOP_MAX_EPISODE=5, EPSILONE_START=1.0, EPSILONE_END=0.01, EPSILONE_DECAY=0.001, GAMMA=0.99, WARMUP=10, MEMORYSIZE=10000, BATCHSIZE=32, PLOT=True):
def _update_target_parameter(_main_qn, _target_qn):
_target_qn.model.set_weights(_main_qn.model.get_weights())
return _target_qn
def _get_egreedy_actions(epsilon, actions):
if random.random() < epsilon:
action_num = actions.shape[1]
action = random.choice([a for a in range(action_num)])
else:
action = np.argmax(actions[0])
return action
def _update_parameter(_main_qn, _target_qn, _memory, BATCHSIZE):
memories = _memory.sample(BATCHSIZE)
states = np.zeros((BATCHSIZE, statesize))
targets = np.zeros((BATCHSIZE, actionsize))
for m_ind, (_state, _action, _reward, _n_state) in enumerate(memories):
_state_arr = _state.reshape(1, statesize)
_n_state_arr = _n_state.reshape(1, statesize)
states[m_ind] = _state_arr
if not (_n_state_arr == np.zeros((1, statesize))).all(axis=1):
target = _reward + GAMMA * \
np.amax(_target_qn.model.predict(_n_state_arr)[0])
else:
target = _reward
targets[m_ind] = _main_qn.model.predict(_state_arr)
targets[m_ind][_action] = target
_main_qn.model.fit(states, targets, epochs=1, verbose=0)
return _main_qn
# Get Env parameter
actionsize = env.get_action_space()
statesize = env.get_observation_space()
# Create Network
main_qn = QNetwork(statesize, actionsize)
target_qn = QNetwork(statesize, actionsize)
# Create Memory
memory = ExperienceReplayd(MEMORYSIZE)
epsilon = EPSILONE_START
# Dataholder for plotting
if PLOT:
history = {"episode": [], "step": []}
# Repeat Episode
total_step = 0
success_episode = 0
for i in range(N_EPISODE):
print("Episode : " + str(i))
# initialize Env
state = env.reset()
# Update target network parameter
target_qn = _update_target_parameter(main_qn, target_qn)
# Take actions
for steps in range(MAX_STEPS):
total_step += 1
# Decay Epsilon
epsilon = EPSILONE_END + \
(EPSILONE_START - EPSILONE_END) * \
np.exp(-EPSILONE_DECAY*total_step)
print("Step : " + str(steps) + " Epsilon : " + str(epsilon))
state_arr = state.reshape(1, statesize)
actions = target_qn.model.predict(state_arr)
choiced_action = _get_egreedy_actions(epsilon, actions)
n_state, reward, done, info = env.step(choiced_action)
if done:
n_state = np.zeros(n_state.shape)
if steps >= WARMUP:
m = (state, choiced_action, reward, n_state)
memory.add(m)
if memory.get_cnt() > BATCHSIZE:
main_qn = _update_parameter(
main_qn, target_qn, memory, BATCHSIZE)
if done:
print("Done:" + str(done))
success_episode = 0
break
state = n_state
if steps >= SUCESS_STEP - 1:
success_episode += 1
print("MAX EPISODE")
break
if PLOT:
history["episode"].append(i)
history["step"].append(steps)
epi = history["episode"]
stp = history["step"]
plt.plot(epi, stp, 'b')
plt.title('Max steps per episode')
plt.legend()
plt.savefig("plot.png")
if success_episode >= STOP_MAX_EPISODE:
print("SUCCESS!!")
break
class Agent:
def __init__(self,
buffer_size=BUFFER_SIZE,
batch_size=BATCH_SIZE,
lr=LR,
epsilon=EPSILON):
# local network for estimate
# target network for computing target
self.batch_size = batch_size
self.epsilon = epsilon
self.network_loc = QNetwork()
self.network_targ = QNetwork()
setWeights(self.network_loc, self.network_targ)
self.optimizer = tf.train.AdamOptimizer(learning_rate=lr)
self.buffer = ReplayBuffer(buffer_size=buffer_size,
batch_size=batch_size)
self.actions = actionlst()
self.context_extractor = ContextExtractor()
self.state_target = None
# Build model so it knows the input shape
self.network_loc.build(tf.TensorShape([
None,
STATE_LENGTH,
]))
self.network_targ.build(tf.TensorShape([
None,
STATE_LENGTH,
]))
def __getState(self, img):
# Private method to get state from an numpy image
img_resize = tf.image.resize_images(img,
[VGG_SHAPE, VGG_SHAPE]) / 255.0
ctx = self.context_extractor(img_resize.numpy())
color = get_histogram(img)
return combine(color, ctx)
def __getAction(self, state, epsilon):
# Epsilon greedy policy
# Add batch dimension
state = np.expand_dims(state, 0)
predicts = self.network_loc(state)
action = np.argmax(predicts)
state = np.squeeze(state, 0)
random = np.random.choice(12, 1)[0]
if np.random.random_sample() > (1 - epsilon):
return random
else:
return action
def clearBuffer(self):
self.buffer.clear()
def setTarget(self, target):
# This should be called at the beginning of
# each (src, target) pair training
self.state_target = self.__getState(target)
def predict(self, img):
# Given an image, return the updated image
state_cur = self.__getState(img)
state_cur = state_cur.astype(np.float32)
action = self.__getAction(state_cur, 0)
img_nxt = applyChange(self.actions, action, img)
return img_nxt, state_cur
def step(self, img_prev):
# Given input image as numpy array
# Return (s,a,s',r) and the img after action
# 1. Extract features
state_prev = self.__getState(img_prev)
state_prev = state_prev.astype(np.float32)
# 2. Feed to local network and get action
action = self.__getAction(state_prev, self.epsilon)
# 3. Apply action and get img_cur, state_cur
img_cur = applyChange(self.actions, action, img_prev)
state_cur = self.__getState(img_cur)
# Only float32 can be feed to network
state_cur = state_cur.astype(np.float32)
# 4. Calculate reward
r = reward(state_prev, state_cur, self.state_target)
# Return (s,a,s',r) tuple and img_cur
return (state_prev, action, state_cur, r), img_cur
def record(self, state_prev, action, state_cur, reward):
# Save (s,a,s',r) to replay buffer
self.buffer.add(state_prev, action, state_cur, reward)
def learn(self):
# 1. Sample batch from replay buffer
# Only sample whole batch
state_ps, actions, state_cs, rs = self.buffer.sample()
if state_ps.shape[0] == 0:
return False
# Debug code
assert state_ps.shape == (state_ps.shape[0], STATE_LENGTH)
assert actions.shape == (actions.shape[0], )
assert state_cs.shape == (state_cs.shape[0], STATE_LENGTH)
assert rs.shape == (rs.shape[0], )
# 2. Compute loss based on q_target and q_estimate
index = []
for idx, a in enumerate(actions):
index.append([idx, a])
with tf.GradientTape() as tape:
q_est = tf.gather_nd(self.network_loc(state_ps), index)
q_targ = tf.reduce_max(self.network_targ(state_cs), axis=1)
target = rs + GAMMA * q_targ
loss = tf.losses.mean_squared_error(target, q_est)
# 3. Back prop
grads = tape.gradient(loss, self.network_loc.variables)
self.optimizer.apply_gradients(zip(grads, self.network_loc.variables))
# 4. Soft updates
self.__soft_update()
return True
def __soft_update(self):
# Slowly update the target network
# Iterate through all layers and set weights
for layer_t, layer_loc in \
zip(self.network_targ.layers, self.network_loc.layers):
target = layer_t.get_weights()
loc = layer_loc.get_weights()
for i in range(len(target)):
target[i] = (1 - TAU) * target[i] + TAU * loc[i]
layer_t.set_weights(target)
class Agent(object):
def __init__(self, state_size, action_size, seed, config):
self.state_size = state_size
self.action_size = action_size
self.config = config
self.seed = random.seed(seed)
self.local_q_net = QNetwork(state_size, action_size, seed).to(device)
self.target_q_net = QNetwork(state_size, action_size, seed).to(device)
self.optimizer = optim.Adam(self.local_q_net.parameters(),
lr=config["LR"])
self.memory = ReplayBuffer(action_size, config["BUFFER_SIZE"],
config["BATCH_SIZE"], seed)
self.t_step = 0
def step(self, state, action, reward, next_state, done):
self.memory.add(state, action, reward, next_state, done)
self.t_step = (self.t_step + 1) % self.config["UPDATE_EVERY"]
if self.t_step == 0:
# if agent experienced enough
if len(self.memory) > self.config["BATCH_SIZE"]:
experiences = self.memory.sample()
# Learn from previous experiences
self.learn(experiences, self.config["GAMMA"])
def act(self, state, eps=0.0):
state = torch.from_numpy(state).float().unsqueeze(0).to(device)
self.local_q_net.eval()
with torch.no_grad():
action_values = self.local_q_net(state)
self.local_q_net.train()
if random.random() > eps:
return np.argmax(action_values.cpu().data.numpy())
else:
return random.choice(np.arange(self.action_size))
def learn(self, experiences, gamma):
# Double Q Learning
states, actions, rewards, next_states, dones = experiences
# Get next action estimation with local q network
q_targets_next_expected = self.local_q_net(next_states).detach()
q_targets_next_expected_actions = q_targets_next_expected.max(
1)[1].unsqueeze(1)
# Calculate Next Targets
q_targets_next = self.target_q_net(next_states).gather(
1, q_targets_next_expected_actions)
# Non over-estimated targets
q_targets = rewards + (gamma * q_targets_next * (1 - dones))
# Expected value
q_expected = self.local_q_net(states).gather(1, actions)
loss = torch.nn.functional.mse_loss(q_expected, q_targets)
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
self.soft_update(self.local_q_net, self.target_q_net,
self.config["TAU"])
def soft_update(self, local_net, target_net, tau):
for target_param, local_param in zip(target_net.parameters(),
local_net.parameters()):
target_param.data.copy_(tau * local_param.data +
(1 - tau) * target_param.data)
class Agent:
"""Interacts with and learns from the environment."""
def __init__(self, state_size, action_size, seed):
"""Initialize an Agent object.
Params
======
state_size (int): dimension of each state
action_size (int): dimension of each action
seed (int): random seed
"""
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(seed)
# Q-Network
self.qnetwork_local = QNetwork(state_size, action_size,
seed).to(device)
self.qnetwork_target = QNetwork(state_size, action_size,
seed).to(device)
self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
# Initialize time step (for updating every UPDATE_EVERY steps)
self.t_step = 0
def step(self, state, action, reward, next_state, done):
# Save experience in replay memory
self.memory.add(state, action, reward, next_state, done)
# Learn every UPDATE_EVERY time steps.
self.t_step = (self.t_step + 1) % UPDATE_EVERY
if self.t_step == 0:
# If enough samples are available in memory, get random subset and learn
if len(self.memory) > BATCH_SIZE:
experiences = self.memory.sample()
self.learn(experiences, GAMMA)
def act(self, state, eps=0.):
"""Returns actions for given state as per current policy.
Params
======
state (array_like): current state
eps (float): epsilon, for epsilon-greedy action selection
"""
state = torch.from_numpy(state).float().unsqueeze(0).to(device)
self.qnetwork_local.eval()
with torch.no_grad():
action_values = self.qnetwork_local(state)
self.qnetwork_local.train()
# Epsilon-greedy action selection
if random.random() > eps:
return np.argmax(action_values.cpu().data.numpy())
else:
return random.choice(np.arange(self.action_size))
def learn(self, experiences, gamma):
"""Update value parameters using given batch of experience tuples.
Params
======
experiences (Tuple[torch.Variable]): tuple of (s, a, r, s', done) tuples
gamma (float): discount factor
"""
def loss_dqn(output, target):
loss = target - output
return (target - output)**2
states, actions, rewards, next_states, dones = experiences
# Reset gradients
# Calculate the value of the target in the next state
pred = self.qnetwork_target(next_states) # (64, 4)
target = rewards # (64, 1)
for i in range(BATCH_SIZE):
# Check for dones
if dones[i] == False:
target[i] = rewards[i] + GAMMA * torch.max(pred[i])
# The loss
output = self.qnetwork_local(states)
# Use gather in order to have the correct slicing
output_action_value = output.gather(1, actions.view(-1, 1))
loss = loss_dqn(output_action_value, target).mean()
# Reset gradients
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
# ------------------- update target network ------------------- #
self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
def soft_update(self, local_model, target_model, tau):
"""Soft update model parameters.
θ_target = τ*θ_local + (1 - τ)*θ_target
Params
======
local_model (PyTorch model): weights will be copied from
target_model (PyTorch model): weights will be copied to
tau (float): interpolation parameter
"""
for target_param, local_param in zip(target_model.parameters(),
local_model.parameters()):
target_param.data.copy_(tau * local_param.data +
(1.0 - tau) * target_param.data)
def create_network(self):
""" Creates and initialises the network
Returns:
A dict containing the network properties
{'input': input,
'output': output,
'target': target,
'action': action,
'training_step': training_step}
"""
# IO Placeholders
input = tf.placeholder(tf.float32, shape=[None,
self.image_height, self.image_width, self.input_frame_length])
target = tf.placeholder(tf.float32, shape=[None])
action = tf.placeholder(tf.float32, shape=[None, self.num_actions])
# First Layer
W_conv1 = QNetwork.weight_variable([3, 3, self.input_frame_length, 16])
b_conv1 = QNetwork.bias_variable([16])
h_conv1 = tf.nn.relu(QNetwork.conv2d(input, W_conv1) + b_conv1)
h_pool1 = QNetwork.max_pool_2x2(h_conv1)
# Second Layer
W_conv2 = QNetwork.weight_variable([3, 3,
16, 32])
b_conv2 = QNetwork.bias_variable([32])
h_conv2 = tf.nn.relu(QNetwork.conv2d(h_pool1, W_conv2) + b_conv2)
h_pool2 = QNetwork.max_pool_2x2(h_conv2)
# Fourth Layer
W_fc1 = QNetwork.weight_variable([((self.image_height / 4) * (self.image_width / 4) * 32), 256])
b_fc1 = QNetwork.bias_variable([256])
h_pool2_flat = tf.reshape(h_pool2, [-1, (self.image_height / 4) * (self.image_width / 4) * 32])
h_fc1 = tf.nn.relu(tf.matmul(h_pool2_flat, W_fc1) + b_fc1)
# Fith Layer
W_fc2 = QNetwork.weight_variable([256, self.num_actions])
b_fc2 = QNetwork.bias_variable([self.num_actions])
output = tf.matmul(h_fc1, W_fc2) + b_fc2
# Train and Eval Steps
action_value = tf.reduce_sum(tf.mul(output, action), reduction_indices = 1)
error = tf.reduce_mean(tf.square(target - action_value))
training_step = tf.train.AdamOptimizer(1e-6).minimize(error)
QNetwork.variable_summaries(output, 'output')
QNetwork.variable_summaries(error, 'error')
QNetwork.variable_summaries(W_fc2, 'final_weights')
return {'input': input,
'output': output,
'target': target,
'action': action,
'training_step': training_step}