def __init__(self, action_space, state_space, radar_dim, type):
self.action_space = action_space
self.state_space = state_space
self.radar_space = radar_dim
self.lower_bound = -1
self.upper_bound = 1 # Steer limit
self.epsilon = 0.8
self.gamma = .99
self.batch_size = 64
self.epsilon_min = .2
self.epsilon_decay = .999
self.critic_lr = 0.004
self.actor_lr = 0.004
# Custom tensorboard object
now = time.localtime()
self.tensorboard = ModifiedTensorBoard(
log_dir=
f"logs/{MODEL_NAME}-Feb_{now.tm_mday}_{now.tm_min}_{now.tm_hour}_{self.radar_space}_{self.actor_lr}_{self.batch_size}"
)
self.type = type
# Networks
# we need to share some weights in between actor <--> critic
# that we will do after every update
self.actor = FeedForwardNN(self.radar_space, self.state_space,
self.action_space, "actor")
self.critic = FeedForwardNN(self.radar_space, self.state_space, 1,
"critic")
# Target model this is what we .predict against every step
self.target_update_counter = 0
self.target_actor = self.actor
self.target_critic = self.critic
# We use different np.arrays for each tuple element for replay memory
self.buffer_capacity = 50_000
self.buffer_counter = 0
self.state_buffer = np.zeros((self.buffer_capacity, self.state_space))
self.action_buffer = np.zeros(
(self.buffer_capacity, self.action_space))
self.reward_buffer = np.zeros((self.buffer_capacity, 1))
self.next_state_buffer = np.zeros(
(self.buffer_capacity, self.state_space))
self.radar_buffer = np.zeros((self.buffer_capacity, self.radar_space))
self.next_radar_buffer = np.zeros(
(self.buffer_capacity, self.radar_space))
self.t_so_far = 0
self.writer = SummaryWriter(
log_dir=
f"runs/Feb_{now.tm_mday}_{now.tm_min}_{now.tm_hour}_{self.radar_space}_{self.actor_lr}_{self.batch_size}"
)
class DDPG:
""" input : discrete actions, state space, type of learning(Straight/left/right)"""
def __init__(self, action_space, state_space, radar_dim, type):
self.action_space = action_space
self.state_space = state_space
self.radar_space = radar_dim
self.lower_bound = -1
self.upper_bound = 1 # Steer limit
self.epsilon = 0.8
self.gamma = .99
self.batch_size = 64
self.epsilon_min = .2
self.epsilon_decay = .999
self.critic_lr = 0.004
self.actor_lr = 0.004
# Custom tensorboard object
now = time.localtime()
self.tensorboard = ModifiedTensorBoard(
log_dir=
f"logs/{MODEL_NAME}-Feb_{now.tm_mday}_{now.tm_min}_{now.tm_hour}_{self.radar_space}_{self.actor_lr}_{self.batch_size}"
)
self.type = type
# Networks
# we need to share some weights in between actor <--> critic
# that we will do after every update
self.actor = FeedForwardNN(self.radar_space, self.state_space,
self.action_space, "actor")
self.critic = FeedForwardNN(self.radar_space, self.state_space, 1,
"critic")
# Target model this is what we .predict against every step
self.target_update_counter = 0
self.target_actor = self.actor
self.target_critic = self.critic
# We use different np.arrays for each tuple element for replay memory
self.buffer_capacity = 50_000
self.buffer_counter = 0
self.state_buffer = np.zeros((self.buffer_capacity, self.state_space))
self.action_buffer = np.zeros(
(self.buffer_capacity, self.action_space))
self.reward_buffer = np.zeros((self.buffer_capacity, 1))
self.next_state_buffer = np.zeros(
(self.buffer_capacity, self.state_space))
self.radar_buffer = np.zeros((self.buffer_capacity, self.radar_space))
self.next_radar_buffer = np.zeros(
(self.buffer_capacity, self.radar_space))
self.t_so_far = 0
self.writer = SummaryWriter(
log_dir=
f"runs/Feb_{now.tm_mday}_{now.tm_min}_{now.tm_hour}_{self.radar_space}_{self.actor_lr}_{self.batch_size}"
)
# Takes (s,a,r,s') obervation tuple as input
def remember(self,
radar_state,
radar_state_next,
state,
action,
reward,
next_state,
done=None):
# Set index to zero if buffer_capacity is exceeded,
# replacing old records
index = self.buffer_counter % self.buffer_capacity
self.radar_buffer[index] = radar_state
self.next_radar_buffer[index] = radar_state_next
self.state_buffer[index] = state
self.action_buffer[index] = action
self.reward_buffer[index] = reward
self.next_state_buffer[index] = next_state
self.buffer_counter += 1
# policy() returns an action sampled from our Actor network plus
# some noise for exploration.
def policy(self, radar_state, physical_state):
# .squeeze() function returns a tensor with the same value as its first
# argument, but a different shape. It removes dimensions whose size is one.
if np.random.rand() <= self.epsilon:
sampled_actions = torch.rand(1)
sampled_actions = (self.lower_bound -
self.upper_bound) / 2 + sampled_actions * (
self.upper_bound - self.lower_bound)
else:
sampled_actions = self.actor(radar_state, physical_state, None)
sampled_actions = sampled_actions.detach().numpy()
# sampled_actions = np.array([(x+1)/2 for x in sampled_actions])
if self.epsilon > self.epsilon_min:
self.epsilon *= self.epsilon_decay
# We make sure action is within bounds
# Clip (limit) the values in an array here b/w lower and upper bound
legal_action = np.clip(sampled_actions, self.lower_bound,
self.upper_bound)
return np.squeeze(legal_action)
# We compute the loss and update parameters (learn)
def replay(self):
# Get sampling range
record_range = min(self.buffer_counter, self.buffer_capacity)
# Randomly sample indices(batch)
batch_indices = np.random.choice(record_range, self.batch_size)
# Convert to tensors
state_batch = torch.tensor(self.state_buffer[batch_indices],
dtype=torch.float)
action_batch = torch.tensor(self.action_buffer[batch_indices],
dtype=torch.float)
reward_batch = torch.tensor(self.reward_buffer[batch_indices],
dtype=torch.float)
next_state_batch = torch.tensor(self.next_state_buffer[batch_indices],
dtype=torch.float)
radar_batch = torch.tensor(self.radar_buffer[batch_indices],
dtype=torch.float)
next_radar_batch = torch.tensor(self.next_radar_buffer[batch_indices],
dtype=torch.float)
"""
``````````````````````````````````````````````````````````````````````````
# We are missing one more step
# We got to match some preprocess layers of actor and critic
# Create a function and call in between the above and here too
``````````````````````````````````````````````````````````````````````````
"""
# Setting the Actor and Critic common shared layer as mean of both
tau = 0.01
new_dict = dict(self.critic.named_parameters())
for name, param in self.actor.named_parameters():
if 'layer' in name:
new_dict[name] = (tau * param.data +
(1 - tau) * new_dict[name])
# old_dict = dict(self.critic.named_parameters())
self.critic.load_state_dict(new_dict)
new_dict = dict(self.actor.named_parameters())
for name, param in self.critic.named_parameters():
if 'layer' in name:
new_dict[name] = (tau * param.data +
(1 - tau) * new_dict[name])
self.actor.load_state_dict(new_dict)
# Critic Network
target_actions = self.target_actor(next_radar_batch, next_state_batch,
None)
y = reward_batch + self.gamma * self.target_critic(
next_radar_batch, next_state_batch, target_actions)
critic_value = self.critic(radar_batch, state_batch, action_batch)
critic_loss = torch.mean((y - critic_value)**2)
critic_optimizer = Adam(self.critic.parameters(), lr=self.critic_lr)
critic_optimizer.zero_grad()
critic_loss.backward()
critic_optimizer.step()
# Actor Network
actions = self.actor(radar_batch, state_batch, None)
critic_value = self.critic(radar_batch, state_batch, action_batch)
actor_loss = -torch.mean(critic_value)
actor_optimizer = Adam(self.actor.parameters(), lr=self.actor_lr)
actor_optimizer.zero_grad()
actor_loss.backward()
actor_optimizer.step()
return actor_loss.detach().numpy(), critic_loss.detach().numpy()
# This update target parameters slowly
# Based on rate `tau`, which is much less than one ~0.001 order
# This also logs the historgrams
def update_target(self, tau, val):
if (tau < 1):
new_dict = dict(self.target_critic.named_parameters())
for name, param in self.critic.named_parameters():
new_dict[name].data = (param.data * tau + new_dict[name].data *
(1 - tau))
self.target_critic.load_state_dict(new_dict)
new_dict = dict(self.target_actor.named_parameters())
for name, param in self.actor.named_parameters():
new_dict[name].data = (param.data * tau + new_dict[name].data *
(1 - tau))
self.target_actor.load_state_dict(new_dict)
else:
self.target_critic.load_state_dict(self.critic.state_dict())
self.target_actor.load_state_dict(self.actor.state_dict())
# Log the histogram data of the Actor/Critic Network
if (val % 10 == 0):
for name, param in self.actor.named_parameters():
if 'weight' in name:
self.writer.add_histogram("actor" + name,
param.detach().numpy(),
self.t_so_far)
for name, param in self.critic.named_parameters():
if 'weight' in name:
self.writer.add_histogram("critic" + name,
param.detach().numpy(),
self.t_so_far)
self.t_so_far += 1
def save_model(self):
# serialize weights to HDF5
print("---Saved modelweights to disk---")
# Save the weights
torch.save(self.actor.state_dict(), str(self.type) + "_DDPGactor.pth")
torch.save(self.critic.state_dict(),
str(self.type) + "_DDPGcritic.pth")
torch.save(self.target_actor.state_dict(),
str(self.type) + "_target_actor.pth")
torch.save(self.target_critic.state_dict(),
str(self.type) + "_target_critic.pth")
class DDPG:
""" input : discrete actions, state space, type of learning(Straight/left/right)"""
def __init__(self, action_space, state_space, radar_dim, type):
self.action_space = action_space
self.state_space = state_space
self.radar_space = radar_dim
self.lower_bound = 0.0
self.upper_bound = 1.0 # Throtle limit
self.epsilon = 0.8
self.gamma = .99
self.batch_size = 64
self.epsilon_min = .1
# self.lr = 0.01
self.epsilon_decay = .997
self.critic_lr = 0.004
self.actor_lr = 0.004
# Custom tensorboard object
self.tensorboard = ModifiedTensorBoard(
log_dir="logs/{}-{}".format(MODEL_NAME, int(time.time())))
self.type = type
# Networks
# we need to share some weights in between actor <--> critic
# that we will do after every update
self.actor = FeedForwardNN(self.radar_space, self.state_space,
self.action_space, "actor")
self.critic = FeedForwardNN(self.radar_space, self.state_space, 1,
"critic")
# Target model this is what we .predict against every step
self.target_update_counter = 0
self.target_actor = self.actor
self.target_critic = self.critic
# We use different np.arrays for each tuple element for replay memory
self.buffer_capacity = 50_000
self.buffer_counter = 0
self.state_buffer = np.zeros((self.buffer_capacity, self.state_space))
self.action_buffer = np.zeros(
(self.buffer_capacity, self.action_space))
self.reward_buffer = np.zeros((self.buffer_capacity, 1))
self.next_state_buffer = np.zeros(
(self.buffer_capacity, self.state_space))
self.radar_buffer = np.zeros((self.buffer_capacity, self.radar_space))
self.next_radar_buffer = np.zeros(
(self.buffer_capacity, self.radar_space))
self.t_so_far = 0
self.writer = SummaryWriter()
# Takes (s,a,r,s') obervation tuple as input
def remember(self,
radar_state,
radar_state_next,
state,
action,
reward,
next_state,
done=None):
# Set index to zero if buffer_capacity is exceeded,
# replacing old records
index = self.buffer_counter % self.buffer_capacity
self.radar_buffer[index] = radar_state
self.next_radar_buffer[index] = radar_state_next
self.state_buffer[index] = state
self.action_buffer[index] = action
self.reward_buffer[index] = reward
self.next_state_buffer[index] = next_state
self.buffer_counter += 1
# policy() returns an action sampled from our Actor network plus
# some noise for exploration.
def policy(self, radar_state, physical_state):
# .squeeze() function returns a tensor with the same value as its first
# argument, but a different shape. It removes dimensions whose size is one.
if np.random.rand() <= self.epsilon:
sampled_actions = torch.rand(1)
else:
sampled_actions = self.actor(radar_state, physical_state, None)
if self.epsilon > self.epsilon_min:
self.epsilon *= self.epsilon_decay
# We make sure action is within bounds
# Clip (limit) the values in an array here b/w lower and upper bound
legal_action = np.clip(sampled_actions.detach().numpy(),
self.lower_bound, self.upper_bound)
return np.squeeze(legal_action)
# We compute the loss and update parameters (learn)
def replay(self):
# Get sampling range
record_range = min(self.buffer_counter, self.buffer_capacity)
# Randomly sample indices(batch)
batch_indices = np.random.choice(record_range, self.batch_size)
# Convert to tensors
state_batch = torch.tensor(self.state_buffer[batch_indices],
dtype=torch.float)
action_batch = torch.tensor(self.action_buffer[batch_indices],
dtype=torch.float)
reward_batch = torch.tensor(self.reward_buffer[batch_indices],
dtype=torch.float)
next_state_batch = torch.tensor(self.next_state_buffer[batch_indices],
dtype=torch.float)
radar_batch = torch.tensor(self.radar_buffer[batch_indices],
dtype=torch.float)
next_radar_batch = torch.tensor(self.next_radar_buffer[batch_indices],
dtype=torch.float)
'''
# Training and updating Actor & Critic Networks
# Gradient Tape tracks the automatic differentiation that occurs in a TF model.
with tf.GradientTape() as tape:
target_actions = self.target_actor([next_state_batch, next_radar_batch])
y = reward_batch + self.gamma * self.target_critic([next_state_batch, next_radar_batch, target_actions])
critic_value = self.critic([state_batch, radar_batch, action_batch])
critic_loss = tf.math.reduce_mean(tf.math.square(y - critic_value))
critic_grad = tape.gradient(critic_loss, self.critic.trainable_variables)
self.critic_optimizer.apply_gradients(
zip(critic_grad, self.critic.trainable_variables)
)
with tf.GradientTape() as tape:
actions = self.actor([state_batch, radar_batch])
critic_value = self.critic([state_batch, radar_batch, actions])
# Used `-value` as we want to maximize the value given
# by the critic for our actions
actor_loss = -tf.math.reduce_mean(critic_value)
actor_grad = tape.gradient(actor_loss, self.actor.trainable_variables)
self.actor_optimizer.apply_gradients(
zip(actor_grad, self.actor.trainable_variables)
)
'''
# Critic Network
target_actions = self.target_actor(next_radar_batch, next_state_batch,
None)
y = reward_batch + self.gamma * self.target_critic(
next_radar_batch, next_state_batch, target_actions)
critic_value = self.critic(radar_batch, state_batch, action_batch)
critic_loss = torch.mean((y - critic_value)**2)
critic_optimizer = Adam(self.critic.parameters(), lr=self.critic_lr)
critic_optimizer.zero_grad()
critic_loss.backward()
critic_optimizer.step()
# Actor Network
actions = self.actor(radar_batch, state_batch, None)
critic_value = self.critic(radar_batch, state_batch, action_batch)
actor_loss = -torch.mean(critic_value)
actor_optimizer = Adam(self.actor.parameters(), lr=self.actor_lr)
actor_optimizer.zero_grad()
actor_loss.backward()
actor_optimizer.step()
"""
``````````````````````````````````````````````````````````````````````````
# We are missing one more step
# We got to match some preprocess layers of actor and critic
# Create a function and call in between the above and here too
``````````````````````````````````````````````````````````````````````````
"""
return actor_loss.detach().numpy(), critic_loss.detach().numpy()
# This update target parameters slowly
# Based on rate `tau`, which is much less than one ~0.001 order
# This also logs the historgrams
def update_target(self, tau, val):
if (tau < 1):
new_dict = dict(self.target_critic.named_parameters())
for name, param in self.critic.named_parameters():
new_dict[name].data = (param.data * tau + new_dict[name].data *
(1 - tau))
self.target_critic.load_state_dict(new_dict)
new_dict = dict(self.target_actor.named_parameters())
for name, param in self.actor.named_parameters():
new_dict[name].data = (param.data * tau + new_dict[name].data *
(1 - tau))
self.target_actor.load_state_dict(new_dict)
else:
self.target_critic.load_state_dict(self.critic.state_dict())
self.target_actor.load_state_dict(self.actor.state_dict())
if val % 25 == 0:
# Log the histogram data of the Actor/Critic Network
for name, param in self.actor.named_parameters():
if 'weight' in name:
self.writer.add_histogram("actor" + name,
param.detach().numpy(),
self.t_so_far)
for name, param in self.critic.named_parameters():
if 'weight' in name:
self.writer.add_histogram("critic" + name,
param.detach().numpy(),
self.t_so_far)
self.t_so_far += 1
def save_model(self):
# serialize weights to HDF5
print("---Saved modelweights to disk---")
# Save the weights
torch.save(self.actor.state_dict(), str(self.type) + "_DDPGactor.pth")
torch.save(self.critic.state_dict(),
str(self.type) + "_DDPGcritic.pth")
torch.save(self.target_actor.state_dict(),
str(self.type) + "_target_actor.pth")
torch.save(self.target_critic.state_dict(),
str(self.type) + "_target_critic.pth")
