def __init__(self, num_actions=2, learning_rate=0.001):
self.session = tf.Session()
self.s = tf.placeholder(tf.float32, [None, 10])
net = tflearn.fully_connected(self.s, 10, activation='relu')
self.q_values = tflearn.fully_connected(net, num_actions)
network_params = tf.trainable_variables()
self.st = tf.placeholder(tf.float32, [None, 10])
target_net = tflearn.fully_connected(self.st, 10, activation='relu')
self.target_q_values = tflearn.fully_connected(target_net, num_actions)
target_network_params = tf.trainable_variables()[len(network_params):]
self.reset_target_network_params = [
target_network_params[i].assign(network_params[i])
for i in range(len(target_network_params))
]
self.a = tf.placeholder("float", [None, num_actions])
self.y = tf.placeholder("float", [None])
action_q_values = tf.reduce_sum(tf.mul(self.q_values, self.a),
reduction_indices=1)
cost = tflearn.mean_square(action_q_values, self.y)
optimizer = tf.train.RMSPropOptimizer(learning_rate)
self.grad_update = optimizer.minimize(cost, var_list=network_params)
self.session.run(tf.initialize_all_variables())
self.session.run(self.reset_target_network_params)
self.t = 0
def __init__(self, sess, state_dim, action_dim, tau, num_actor_vars):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.tau = tau
# Create the critic network
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
self.learning_rate = tf.placeholder(tf.float32, [None,])
# Target Network
self.target_inputs, self.target_action, self.target_out = self.create_critic_network()
self.target_network_params = tf.trainable_variables()[(len(self.network_params) + num_actor_vars):]
# Op for periodically updating target network with online network weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau) + tf.multiply(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
self.lr = tf.gather_nd(self.learning_rate,[0])
self.optimize = tf.train.AdamOptimizer(self.lr).minimize(self.loss)
# Get the gradient of the net w.r.t. the action
self.action_grads = tf.gradients(self.out, self.action)
def __init__(self, sess, state_dim, action_dim, learning_rate, tau,
num_actor_vars):
self.sess = sess
self.state_dim = state_dim
self.action_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
# Critic Network
self._input, self._action, self._out = self.create_critic_network()
self._network_params = tf.trainable_variables()[num_actor_vars:]
self._input_clone, self._action_clone, self._out_clone = self.create_critic_network(
)
self._network_clone_params = tf.trainable_variables(
)[num_actor_vars + (len(self._network_params)):]
# Clone network update
self._update_network_clone_params = \
[self._network_clone_params[i].assign(
tf.mul(self._network_params[i], tau) + tf.mul(self._network_clone_params[i], (1 - tau)))
for i in range(len(self._network_clone_params))
]
# network target (y_t)
self._predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# define critic loss
self._loss = tflearn.mean_square(self._predicted_q_value, self._out)
self._optimizer = tf.train.AdamOptimizer(
learning_rate=self.learning_rate).minimize(self._loss)
# Get the gradient w.r.t. the action
self._action_grads = tf.gradients(self._out, self._action)
def __init__(self,
session,
dim_state,
dim_action,
learning_rate,
tau=0.01):
self._sess = session
self._dim_s = dim_state
self._dim_a = dim_action
self._lr = learning_rate
self._inputs = tflearn.input_data(shape=[None, self._dim_s])
self._out, self._params = self.buildNetwork(self._inputs, 'dqn')
self._out_target, self._params_target = self.buildNetwork(
self._inputs, 'target')
self._actions = tf.placeholder(tf.float32, [None, self._dim_a])
self._y_values = tf.placeholder(tf.float32, [None]) #yahan change
action_q_values = tf.reduce_sum(tf.multiply(self._out, self._actions),
reduction_indices=1) #yahan bih
self._update_target = \
[t_p.assign(tau * g_p - (1 - tau) * t_p) for g_p, t_p in zip(self._params, self._params_target)]
self.loss = tflearn.mean_square(self._y_values, action_q_values)
self.optimize = tf.train.AdamOptimizer(self._lr).minimize(self.loss)
def __init__(self, sess, state_dim, action_dim, learning_rate, tau, num_actor_vars):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
# Create the critic network
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
# Target Network
self.target_inputs, self.target_action, self.target_out = self.create_critic_network()
self.target_network_params = tf.trainable_variables()[(len(self.network_params) + num_actor_vars):]
# Op for periodically updating target network with online network weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau) + tf.multiply(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(self.loss)
# Get the gradient of the net w.r.t. the action.
# For each action in the minibatch (i.e., for each x in xs),
# this will sum up the gradients of each critic output in the minibatch
# w.r.t. that action (i.e., sum of dy/dx over all ys). We then divide
# through by the minibatch size to scale the gradients down correctly.
self.action_grads = tf.div(tf.gradients(self.out, self.action), tf.constant(MINIBATCH_SIZE, dtype=tf.float32))
def __init__(self, sess, scope, mode, logger): self.sess = sess self.state_dim = pm.STATE_DIM self.action_dim = pm.ACTION_DIM self.scope = scope self.mode = mode self.logger = logger self.input, self.output = self._create_nn() self.label = tf.placeholder(tf.float32, [None, self.action_dim]) self.action = tf.placeholder(tf.float32, [None, None]) self.entropy_weight = pm.ENTROPY_WEIGHT self.td_target = tf.placeholder(tf.float32, [None, 1]) self.loss = tflearn.mean_square(self.output, self.td_target) self.weights = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope=self.scope) self.gradients = tf.gradients(self.loss, self.weights) self.lr = pm.LEARNING_RATE if pm.OPTIMIZER == "Adam": self.optimize = tf.train.AdamOptimizer(learning_rate=self.lr).apply_gradients(zip(self.gradients, self.weights)) elif pm.OPTIMIZER == "RMSProp": self.optimize = tf.train.RMSPropOptimizer(learning_rate=self.lr).apply_gradients(zip(self.gradients, self.weights)) self.weights_phs = [] for weight in self.weights: self.weights_phs.append(tf.placeholder(tf.float32, shape=weight.get_shape())) self.set_weights_op = [] for idx, weights_ph in enumerate(self.weights_phs): self.set_weights_op.append(self.weights[idx].assign(weights_ph))
def __init__(self, sess, state_dim, action_dim, learning_rate, tau, num_actor_vars):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
# Create the critic network
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
# Target Network
self.target_inputs, self.target_action, self.target_out = self.create_critic_network()
self.target_network_params = tf.trainable_variables()[(len(self.network_params) + num_actor_vars):]
# Op for periodically updating target network with online network weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.mul(self.network_params[i], self.tau) + tf.mul(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(self.loss)
# Get the gradient of the net w.r.t. the action
self.action_grads = tf.gradients(self.out, self.action)
def __init__(self, sess, state_dim, action_dim, learning_rate, tau, gamma):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
self.gamma = gamma
variable_start = len(tf.trainable_variables())
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[variable_start:]
self.target_inputs, self.target_action, self.target_out = self.create_critic_network(
)
self.target_network_params = tf.trainable_variables()[(
len(self.network_params) + variable_start):]
# Op for periodically updating target network with online network
# weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(
tf.multiply(self.network_params[i], self.tau) +
tf.multiply(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(
self.loss)
self.action_grads = tf.gradients(
self.out, self.action) # shape === [batch_size, a_dim]
def build_graph(num_actions):
inputs, q_values = build_deepQnetwork(num_actions, action_repeat)
network_params = tf.trainable_variables()
target_inputs, target_q_values = build_deepQnetwork(
num_actions, action_repeat)
target_network_params = tf.trainable_variables()[len(network_params):]
reset_target_network_params = \
[target_network_params[i].assign(network_params[i])
for i in range(len(target_network_params))]
a = tf.placeholder(tf.float32, [None, num_actions])
y = tf.placeholder(tf.float32, [None])
action_q_values = tf.reduce_sum(tf.multiply(q_values, a),
reduction_indices=1)
cost = tflearn.mean_square(action_q_values, y)
optimizer = tf.train.RMSPropOptimizer(learning_rate)
grad_update = optimizer.minimize(cost, var_list=network_params)
graph_ops = {
"inputs": inputs,
"q_values": q_values,
"target_inputs": target_inputs,
"target_q_values": target_q_values,
"reset_target_network_params": reset_target_network_params,
"a": a,
"y": y,
"grad_update": grad_update
}
return graph_ops
def _create_optimizer(self):
# global counter
self._global_step = tf.Variable(0.0,
trainable=False,
name="global_step")
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
# define optimization Op
if self.opt == "adam":
self.optimizer = tf.train.AdamOptimizer(self.learning_rate)
elif self.opt == "sgd":
self.optimizer = tf.train.GradientDescentOptimizer(
self.learning_rate)
else:
raise ValueError("{} is not a valid optimizer".format(self.opt))
grad_and_vars = self.optimizer.compute_gradients(
self.loss, self.network_params)
grads = [g for g, _ in grad_and_vars]
grads, self.grad_norm = tf.clip_by_global_norm(grads, 0.5)
# grad_and_vars = [(g,v) for g,v in zip(grads, self.network_params)]
# grad_and_vars = [(g,v) for g,v in zip(grads, self.network_params)]
self.optimize = self.optimizer.apply_gradients(
grad_and_vars, global_step=self._global_step)
self.action_grads = tf.gradients(self.out, self.action)
self._lr_decay = tf.assign(
self.learning_rate, self.learning_rate * self.learning_rate_decay)
def __init__(self, cecc, s_dim, action_dim, learning_rate, tau, gamma, num_actor_vars):
self.cecc = cecc
self.s_dim = c_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
self.gamma = gamma
# Create the critic network
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
# Target Network
self.target_inputs, self.target_action, self.target_out = self.create_critic_network()
self.target_network_params = tf.trainable_variables()[(len(self.network_params) + num_actor_vars):]
# Op for periodically updating target network with online network
# weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau) \
+ tf.multiply(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
self.optimize = tf.train.AdamOptimizer(
self.learning_rate).minimize(self.loss)
self.action_grads = tf.gradients(self.out, self.action)
def model(self, model_type=None, out_embedding_dim=32, layer_size=32, tensorboard_verbose=3, batch_norm=2, n_layers=2, learning_rate=0.001):
if self.data_encoding == 'one_hot':
input_shape = [None, self.kmer, 20]
else:
input_shape = [None, self.kmer]
# Adding layers based on model type
net = tflearn.input_data(shape=input_shape)
deep_layers_output = self.add_deep_layers(net, model_type, out_embedding_dim, layer_size, n_layers)
net = tflearn.fully_connected(deep_layers_output, 100, activation='prelu')
if batch_norm > 0:
net = tflearn.layers.normalization.batch_normalization(net)
net = tflearn.dropout(net, 0.4)
net = tflearn.fully_connected(net, 1, activation='sigmoid')
if batch_norm > 1:
net = tflearn.layers.normalization.batch_normalization(net)
with tf.name_scope("TargetsData"): # placeholder for target variable (i.e. trainY input)
targetY = tf.placeholder(shape=[None, 1], dtype=tf.float32, name="Y")
network = tflearn.regression(net,
placeholder=targetY,
optimizer=self.optimizer(learning_rate),
learning_rate=learning_rate,
loss=tflearn.mean_square(net, targetY),
metric=self.accuracy(net, targetY))
model = tflearn.DNN(network, tensorboard_verbose=tensorboard_verbose)
return model
def model(self,
type=None,
mode="train",
num_layers=2,
state_size=32,
learning_rate=0.001,
tensorboard_verbose=3):
net = tflearn.input_data(shape=[None, 9])
net = tflearn.embedding(net,
input_dim=21,
output_dim=32,
weights_init='xavier')
if type == 'bi_rnn':
out_rnn = tflearn.bidirectional_rnn(net, tflearn.BasicLSTMCell(32),
tflearn.BasicLSTMCell(32))
elif type == 'basic_lstm':
for i in range(4):
net = tflearn.lstm(net, n_units=40, return_seq=True)
#net = tflearn.lstm(net, n_units=40, return_seq=True)
out_rnn = tflearn.lstm(net, n_units=40, return_seq=False)
elif type == 'basic_rnn':
out_rnn = tflearn.simple_rnn(net, 40)
else:
out_rnn = net
net = tflearn.fully_connected(out_rnn, 100, activation='prelu')
net = tflearn.layers.normalization.batch_normalization(net)
net = tflearn.dropout(net, 0.1)
net = tflearn.fully_connected(net, 1, activation='sigmoid')
"""
single_cell = getattr(tf.contrib.rnn, cell_type)(cell_size, state_is_tuple=True)
if num_layers == 1:
cell = single_cell
else:
cell = tf.contrib.rnn.MultiRNNCell([single_cell] * num_layers)
"""
with tf.name_scope(
"TargetsData"
): # placeholder for target variable (i.e. trainY input)
targetY = tf.placeholder(shape=[None, 1],
dtype=tf.float32,
name="Y")
network = tflearn.regression(net,
placeholder=targetY,
optimizer=self.optimizer(learning_rate),
learning_rate=learning_rate,
loss=tflearn.mean_square(net, targetY),
metric=self.accuracy(net, targetY),
name='no rnn')
model = tflearn.DNN(network, tensorboard_verbose=tensorboard_verbose)
return model
def __init__(self,
session,
dim_state,
dim_action,
learning_rate,
net_name='pong_syr'):
self.__sess = session
self.__dim_s = dim_state
self.__dim_a = dim_action
self.__lr = learning_rate
if net_name == 'pong_syr':
self.__inputs, self.__out = build_cnn_pong(dim_state, dim_action)
elif net_name == 'pong_org':
self.__inputs, self.__out = build_simple_cnn(dim_state, dim_action)
else:
self.__inputs, self.__out = build_cnn_bird(dim_state, dim_action)
self.__actions = tf.placeholder(tf.float32, [None, self.__dim_a])
self.__y_values = tf.placeholder(tf.float32, [None])
action_q_values = tf.reduce_sum(tf.multiply(self.__out,
self.__actions),
reduction_indices=1)
self.loss = tflearn.mean_square(self.__y_values, action_q_values)
self.optimize = tf.train.AdamOptimizer(self.__lr).minimize(self.loss)
def __init__(self, session, dim_state, dim_action, learning_rate, tau,
num_actor_vars):
self.__sess = session
self.__dim_s = dim_state
self.__dim_a = dim_action
self.__learning_rate = learning_rate
self.__tau = tau
cur_para_num = len(tf.trainable_variables())
self.__inputs, self.__action, self.__out = self.buildNetwork()
#self.__paras = tf.trainable_variables()[num_actor_vars:]
self.__paras = tf.trainable_variables()[cur_para_num:]
self.__target_inputs, self.__target_action, self.__target_out = self.buildNetwork(
)
#self.__target_paras = tf.trainable_variables()[(len(self.__paras) + num_actor_vars):]
self.__target_paras = tf.trainable_variables()[(len(self.__paras) +
cur_para_num):]
self.__ops_update_target = []
for i in range(len(self.__target_paras)):
val = tf.add(tf.multiply(self.__paras[i], self.__tau),
tf.multiply(self.__target_paras[i], 1. - self.__tau))
op = self.__target_paras[i].assign(val)
self.__ops_update_target.append(op)
self.__q_predicted = tf.placeholder(tf.float32, [None, 1])
self.__is_weight = tf.placeholder(tf.float32, [None, 1])
self.loss = tflearn.mean_square(self.__q_predicted, self.__out)
self.loss = tf.multiply(self.loss, self.__is_weight)
self.optimize = tf.train.AdamOptimizer(self.__learning_rate).minimize(
self.loss)
self.__gradient_action = tf.gradients(self.__out, self.__action)
def __init__(self, sess, state_dim, action_dim, learning_rate, scope):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.scope = scope
# Create the critic network
self.input, self.action, self.out = self.create_critic_network(
scope=self.scope)
# network parameters
self.network_params = sorted([
t for t in tf.trainable_variables()
if t.name.startswith(self.get_scope())
],
key=lambda v: v.name)
self.target_q_value = tf.placeholder(tf.float32, [None, 1])
# loss & optimize op
self.loss = tflearn.mean_square(self.target_q_value, self.out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(
self.loss)
# compute the partial derivatives of self.out with respect to self.action
# Hint: tf.gradients() https://www.tensorflow.org/versions/r1.2/api_docs/python/tf/gradients
self.action_grads = tf.gradients(self.out, self.action)
def __init__(self, sess, state_dim, action_dim, learning_rate, tau, gamma,
user_id):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
self.gamma = gamma
self.user_id = user_id
# Create the critic network
self.inputs, self.q_out = self.create_deep_q_network()
self.network_params = tf.trainable_variables()
# Target Network
self.target_inputs, self.target_q_out = self.create_deep_q_network()
self.target_network_params = tf.trainable_variables(
)[len(self.network_params):]
# Op for periodically updating target network with online network
# weights with regularization
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau) \
+ tf.multiply(self.target_network_params[i], 1. - self.tau))
for i in range(len(self.target_network_params))]
# Network target (y_i)
self.target_Q = tf.placeholder(tf.float32, [None, self.a_dim])
# Define loss and optimization Op
self.loss = tflearn.mean_square(self.target_Q, self.q_out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(
self.loss)
def __init__(self,
sess,
learning_rate=1e-4,
obs_dim=None,
num_actions=None,
conv=False,
name=None):
self.sess = sess
self.learning_rate = learning_rate
self.num_actions = num_actions
self.obs_dim = obs_dim
self.conv = conv
self.name = name
self.obs, self.q_estm = self.q_network(scope=name + "_q")
self.best_action = tf.argmax(self.q_estm, 1)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1],
name=name + "_pred_q")
self.actions = tf.placeholder(tf.int32, [None], name=name + "_actions")
actions_onehot = tf.one_hot(self.actions,
self.num_actions,
dtype=tf.float32)
Q = tf.reduce_sum(actions_onehot * self.q_estm, axis=1)
# TODO: add entropy loss
self.loss = tflearn.mean_square(self.predicted_q_value, Q)
self.optimizer = tf.train.AdamOptimizer(self.learning_rate)
self.optimize = self.optimizer.minimize(self.loss)
self.network_params = tf.get_collection(tf.GraphKeys.VARIABLES,
scope=name + "_q")
self.initializer = tf.initializers.variables(
self.network_params + self.optimizer.variables())
def model(self, layer_size=None, tensorboard_verbose=3, learning_rate=0.001):
input_shape = [None, self.x_train.shape[1]]
net = tflearn.input_data(shape=input_shape)
net = tflearn.fully_connected(net, layer_size[0], activation='prelu')
net = tflearn.fully_connected(net, layer_size[1], activation='prelu')
net = tflearn.fully_connected(net, layer_size[2], activation='prelu')
net = tflearn.layers.normalization.batch_normalization(net)
net = tflearn.fully_connected(net, 1, activation='sigmoid')
with tf.name_scope("TargetsData"): # placeholder for target variable (i.e. trainY input)
targetY = tf.placeholder(shape=[None, 1], dtype=tf.float32, name="Y")
network = tflearn.regression(net,
placeholder=targetY,
optimizer=self.optimizer(learning_rate),
learning_rate=learning_rate,
loss=tflearn.mean_square(net, targetY),
metric=self.accuracy(net, targetY))
model = tflearn.DNN(network, tensorboard_verbose=tensorboard_verbose)
self.populate_params(['model_type', 'layer_size', 'tensorboard_verbose', 'learning_rate'],
[self.model_type, layer_size, tensorboard_verbose, learning_rate])
return model
def __init__(self, sess, state_dim, action_dim, learning_rate, tau, gamma,
num_actor_vars):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.lr = learning_rate
self.tau = tau
self.gamma = gamma
# network parameters
# (1) Critic network
self.inputs, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
# (2) Target network
self.target_inputs, self.target_action, self.target_out = self.create_critic_network(
)
self.target_network_params = tf.trainable_variables()[(
num_actor_vars + len(self.network_params)):]
# (3) update target network with online network parameters
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau)+ \
tf.multiply(self.target_network_params[i], 1.0-self.tau))
for i in range(len(self.target_network_params))]
# critic network update
# (1) network target (y_i)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1])
# (2) define loss
# self.loss = tf.reduce_mean(tf.square(self.predicted_q_value, self.out))
self.loss = tflearn.mean_square(self.predicted_q_value, self.out)
# (3) optimization op
self.optimize = tf.train.AdamOptimizer(self.lr).minimize(self.loss)
# (4) action gradients
self.action_grads = tf.gradients(self.out, self.action)
def __init__(self, sess, state_dim, action_dim, learning_rate):
self.quality = 0
self.s_dim = state_dim
self.a_dim = action_dim
self.lr_rate = learning_rate
self.sess = sess
self.outputs = tf.placeholder(tf.float32, [None, 1])
self.inputs = tf.placeholder(tf.float32,
[None, self.s_dim[0], self.s_dim[1]])
self.acts = tf.placeholder(tf.float32, [None, self.a_dim])
self.pi, self.val = self.CreateNetwork(inputs=self.inputs)
self.real_out = tf.clip_by_value(self.pi, EPS, 1. - EPS)
# Get all network parameters
self.network_params = \
tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope='actor')
# Set all network parameters
self.input_network_params = []
for param in self.network_params:
self.input_network_params.append(
tf.placeholder(tf.float32, shape=param.get_shape()))
self.set_network_params_op = []
for idx, param in enumerate(self.input_network_params):
self.set_network_params_op.append(
self.network_params[idx].assign(param))
self.loss = 0.5 * tflearn.mean_square(self.val, self.outputs) \
+ tflearn.objectives.categorical_crossentropy(self.real_out, self.acts * (self.outputs - tf.stop_gradient(self.val))) \
- 0.05 * tflearn.objectives.categorical_crossentropy(self.real_out, self.real_out)
self.optimize = tf.train.AdamOptimizer(self.lr_rate).minimize(
self.loss)
def build_graph(num_actions):
# Create shared deep q network
s, q_network = build_dqn(num_actions=num_actions, screen_buffer_size=screen_buffer_size)
network_params = tf.trainable_variables()
q_values = q_network
# Create shared target network
st, target_q_network = build_dqn(num_actions=num_actions, screen_buffer_size=screen_buffer_size)
target_network_params = tf.trainable_variables()[len(network_params):]
target_q_values = target_q_network
# Op for periodically updating target network with online network weights
reset_target_network_params = \
[target_network_params[i].assign(network_params[i])
for i in range(len(target_network_params))]
# Define cost and gradient update op
a = tf.placeholder("float", [None, num_actions])
y = tf.placeholder("float", [None])
action_q_values = tf.reduce_sum(tf.multiply(q_values, a), reduction_indices=1)
cost = tflearn.mean_square(action_q_values, y)
optimizer = tf.train.RMSPropOptimizer(learning_rate)
grad_update = optimizer.minimize(cost, var_list=network_params)
graph_ops = {"s": s,
"q_values": q_values,
"st": st,
"target_q_values": target_q_values,
"reset_target_network_params": reset_target_network_params,
"a": a,
"y": y,
"grad_update": grad_update}
return graph_ops
def __init__(self, sess, obs_dim=None, num_options=None, learning_rate=0.0001, name="high_ctrl"):
self.sess = sess
self.learning_rate = learning_rate
self.num_options = num_options
self.obs_dim = obs_dim
self.name = name
self.obs, self.q_estm = self.q_network(scope=name + "_q")
self.applicable_options = tf.placeholder(tf.float32, shape=[None, self.num_options], name=name+"_q_applicable_options")
qmin = tf.reduce_min(self.q_estm, axis=1) - 1.0
# If applicable_op is True, then return q_estm. Return qmin - 1.0 else.g
self.applicable_q_value = tf.multiply(self.q_estm, self.applicable_options) + tf.multiply(qmin, tf.add(1.0, -self.applicable_options))
# TODO: How do we make the agent choose the applicable options.
# self.applicable_q_value = tf.multiply(self.applicable_options, self.q_estm)
self.best_action = tf.argmax(self.applicable_q_value, 1)
self.predicted_q_value = tf.placeholder(tf.float32, [None, 1], name=name+"_pred_q")
self.options = tf.placeholder(tf.int32, [None], name=name+"_options")
actions_onehot = tf.one_hot(self.options, self.num_options, dtype=tf.float32)
Q = tf.reduce_sum(actions_onehot * self.q_estm, axis=1)
# TODO: add entropy loss
self.loss = tflearn.mean_square(self.predicted_q_value, Q)
self.optimizer = tf.train.AdamOptimizer(self.learning_rate)
self.optimize = self.optimizer.minimize(self.loss)
self.network_params = tf.get_collection(tf.GraphKeys.VARIABLES, scope=name + "_q")
self.initializer = tf.initializers.variables(self.network_params + self.optimizer.variables())
def __init__(self, session, action_dim, state_dim, learning_rate):
self.sess, self.a_dim, self.s_dim, self.lr_rate = \
session, action_dim, state_dim, learning_rate
# Create the critic network
self.create_critic_network()
# [network_params] Get all network parameters
self.network_params = \
tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope='critic')
# [input_network_params, set_network_params_op] Set all network parameters
self.input_network_params = []
for param in self.network_params:
self.input_network_params.append(
tf.placeholder(tf.float32, shape=param.get_shape()))
self.set_network_params_op = []
for idx, param in enumerate(self.input_network_params):
self.set_network_params_op.append(
self.network_params[idx].assign(param))
# [td_target] Network target V(s)
self.td_target = tf.placeholder(tf.float32, [None, 1])
# [td] Temporal Difference, will also be weights for actor_gradients
self.td = tf.subtract(self.td_target, self.out)
# [loss] Mean square error
self.loss = tflearn.mean_square(self.td_target, self.out)
# [gradient] Compute critic gradient
self.critic_gradients = tf.gradients(self.loss, self.network_params)
# Optimization Op
self.optimize = tf.train.RMSPropOptimizer(self.lr_rate) \
.apply_gradients(zip(self.critic_gradients, self.network_params))
pass
def main(args):
LEARNING_RATE = 0.0001
manage_model_dir(args['model_name'],args['model_dir'])
json = load_data(args['data_path'])
states,actions,amp,mid = format_data(json)
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
with tf.variable_scope('actor_model'):
inputs, out, scaled_out = create_actor_network(size(state,2),size(action,2),amp,mid)
# Saver
actor_model_variables = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope="actor_model")
saver = tf.train.Saver(actor_model_variables)
ground_truth_actions = tf.placeholder(tf.float32, [None, size(action,2)])
# Define loss and optimization Op
loss = tflearn.mean_square(ground_truth_actions, out)
optimize = tf.train.AdamOptimizer(LEARNING_RATE).minimize(loss)
sess.run([out, optimize], feed_dict={
inputs: states,
ground_truth_actions: actions
})
saver.save(sess, args['model_dir']+'/'+args['model_name'] + '/' + args['model_name'])
def __init__(self, sess, state_dim, action_dim, learning_rate, tau,
num_actor_vars):
self.sess = sess
self.s_dim = state_dim
self.a_dim = action_dim
self.learning_rate = learning_rate
self.tau = tau
self.num_actor_vars = num_actor_vars
self.state, self.action, self.out = self.create_critic_network()
self.network_params = tf.trainable_variables()[num_actor_vars:]
self.target_state, self.target_action, self.target_out = self.create_critic_network(
)
self.target_network_params = tf.trainable_variables()[(
len(self.network_params) + num_actor_vars):]
self.update_target_network_params = \
[self.target_network_params[i].assign(tf.multiply(self.network_params[i], self.tau) +
tf.multiply(self.target_network_params[i], 1.0 - self.tau))
for i in range(len(self.target_network_params))]
self.td_value = tf.placeholder(tf.float32, [None, 1])
self.loss = tflearn.mean_square(self.td_value, self.out)
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(
self.loss)
self.action_grads = tf.gradients(self.out, self.action)
def __init__(self, sess, state_size, action_size, learning_rate,
temperature, num_actor_vars):
self.sess = sess
self.state_size = state_size
self.action_size = action_size
self.learning_rate = learning_rate
self.temperature = temperature
self.inputs, self.action, self.outputs = self.createNetwork()
self.params = tf.trainable_variables()[num_actor_vars:]
self.target_inputs, self.target_action, self.target_outputs = self.createNetwork(
)
self.target_params = tf.trainable_variables()[(len(self.params) +
num_actor_vars):]
self.update_target_params = [
self.target_params[i].assign(
tf.mul(self.params[i], self.temperature) +
tf.mul(self.target_params[i], 1. - self.temperature))
for i in range(len(self.target_params))
]
self.predicted_q = tf.placeholder(tf.float32, [None, 1])
# calculate the cost
self.loss = tflearn.mean_square(self.predicted_q, self.outputs)
# optimize to reduce the cost
self.optimize = tf.train.AdamOptimizer(self.learning_rate).minimize(
self.loss)
# assemble the gradients: d(outputs)/d(parameters)
self.action_gradient = tf.gradients(self.outputs, self.action)
def setupOptim(self, learningRate):
qref = tf.placeholder(tf.float32, [None])
loss = tflearn.mean_square(qref, self.qvalue)
optim = tf.train.AdamOptimizer(learningRate).minimize(loss)
self.qref = qref # Reference Q-values
self.optim = optim # Optimizer
return self
def setupOptim(self):
x2ref = tf.placeholder(tf.float32, [None, NX])
loss = tflearn.mean_square(x2ref, self.x2)
optim = tf.train.AdamOptimizer(POLICY_LEARNING_RATE).minimize(loss)
self.x2ref = x2ref # Reference next state
self.optim = optim # Optimizer
return self
def setupOptim(self):
vref = tf.placeholder(tf.float32, [None, 1])
loss = tflearn.mean_square(vref, self.value)
optim = tf.train.AdamOptimizer(QVALUE_LEARNING_RATE).minimize(loss)
self.vref = vref # Reference Q-values
self.optim = optim # Optimizer
return self
def __init__(self,
sess,
obs_dim=None,
learning_rate=0.001,
training_steps=100,
batch_size=32,
n_units=16,
beta=2.0,
delta=0.1,
feature=None,
conv=False,
name=NAME):
# Beta : Lagrange multiplier. Higher beta would make the vector more orthogonal.
# delta : Orthogonality parameter.
self.sess = sess
self.learning_rate = learning_rate
self.obs_dim = obs_dim
self.n_units = n_units
# self.beta = 1000000.0
self.beta = beta
self.delta = 0.05
# self.delta = delta
self.feature = feature
self.conv = conv
self.name = name
self.obs, self.f_value = self.network(scope=name + "_eval")
self.next_f_value = tf.placeholder(tf.float32, [None, 1],
name=name + "_next_f")
# TODO: Is this what we are looking for?
self.loss = tflearn.mean_square(self.f_value, self.next_f_value) + \
self.beta * tf.reduce_mean(tf.multiply(self.f_value - self.delta, self.next_f_value - self.delta)) + \
self.beta * tf.reduce_mean(self.f_value * self.f_value * self.next_f_value * self.next_f_value) + \
self.beta * (self.f_value - self.next_f_value) # This is to let f(s) <= f(s').
# with tf.variable_scope(self.name, reuse=tf.AUTO_REUSE):
self.optimizer = tf.train.AdamOptimizer(learning_rate)
self.optimize = self.optimizer.minimize(self.loss)
self.network_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES,
scope=name + "_eval")
self.initializer = tf.initializers.variables(
self.network_params + self.optimizer.variables())
# print('network param names for ', self.name)
# for n in self.network_params:
# print(n.name)
self.saver = tf.train.Saver(self.network_params)
def _build_training_graph(self, double_q=True):
self.r_t = tf.placeholder(tf.float32)
self.last_reward = tf.placeholder(tf.float32)
self.a_t_selected = tf.placeholder(tf.float32, [None, self.num_actions])
self.q_input, self.q_values, self.q_params, self.q_action = self._build_Q_network()
self.qt_input, self.qt_values, self.qt_params, _ = self._build_Q_network()
self.update_target_params = [self.qt_params[i].assign(self.q_params[i]) \
for i in range(len(self.qt_params))]
self.actor_fn = tf.mul(tf.pow(0.99, self.last_reward), self.r_t + tf.mul(FLAGS.discount_factor, self.qt_values))
self.selected_a_q = tf.reduce_sum(tf.mul(self.q_values, self.a_t_selected), reduction_indices=1)
self.selected_a_actor = tf.reduce_sum(tf.mul(self.actor_fn, self.a_t_selected), reduction_indices=1)
self.cost_fn = tflearn.mean_square(self.selected_a_q, self.selected_a_actor)
optimizer = tf.train.RMSPropOptimizer(FLAGS.learning_rate, momentum=FLAGS.gradient_momentum)
self.grad_fn = optimizer.minimize(self.cost_fn, var_list=self.q_params)
def build_graph(num_actions):
# Create shared deep q network
s, q_network = build_dqn(num_actions=num_actions,
action_repeat=action_repeat)
network_params = tf.trainable_variables()
q_values = q_network
# Create shared target network
st, target_q_network = build_dqn(num_actions=num_actions,
action_repeat=action_repeat)
target_network_params = tf.trainable_variables()[len(network_params):]
target_q_values = target_q_network
# Op for periodically updating target network with online network weights
reset_target_network_params = \
[target_network_params[i].assign(network_params[i])
for i in range(len(target_network_params))]
# Define cost and gradient update op
a = tf.placeholder("float", [None, num_actions])
y = tf.placeholder("float", [None])
action_q_values = tf.reduce_sum(tf.multiply(q_values, a), reduction_indices=1)
cost = tflearn.mean_square(action_q_values, y)
optimizer = tf.train.RMSPropOptimizer(learning_rate)
grad_update = optimizer.minimize(cost, var_list=network_params)
graph_ops = {"s": s,
"q_values": q_values,
"st": st,
"target_q_values": target_q_values,
"reset_target_network_params": reset_target_network_params,
"a": a,
"y": y,
"grad_update": grad_update}
return graph_ops