class PrioritizedEpisodicReplayBuffer (
EpisodicReplayBuffer, PriorityWeightError):
def __init__(self, capacity=None,
alpha=0.6, beta0=0.4, betasteps=2e5, eps=1e-8,
normalize_by_max=True,
default_priority_func=None,
uniform_ratio=0,
wait_priority_after_sampling=True,
return_sample_weights=True,
error_min=None,
error_max=None,
):
self.current_episode = []
self.episodic_memory = PrioritizedBuffer(
capacity=None,
wait_priority_after_sampling=wait_priority_after_sampling)
self.memory = RandomAccessQueue(maxlen=capacity)
self.capacity_left = capacity
self.default_priority_func = default_priority_func
self.uniform_ratio = uniform_ratio
self.return_sample_weights = return_sample_weights
PriorityWeightError.__init__(
self, alpha, beta0, betasteps, eps, normalize_by_max,
error_min=error_min, error_max=error_max)
def sample_episodes(self, n_episodes, max_len=None):
"""Sample n unique samples from this replay buffer"""
assert len(self.episodic_memory) >= n_episodes
episodes, probabilities, min_prob = self.episodic_memory.sample(
n_episodes, uniform_ratio=self.uniform_ratio)
if max_len is not None:
episodes = [random_subseq(ep, max_len) for ep in episodes]
if self.return_sample_weights:
weights = self.weights_from_probabilities(probabilities, min_prob)
return episodes, weights
else:
return episodes
def update_errors(self, errors):
self.episodic_memory.set_last_priority(
self.priority_from_errors(errors))
def stop_current_episode(self):
if self.current_episode:
if self.default_priority_func is not None:
priority = self.default_priority_func(self.current_episode)
else:
priority = None
self.memory.extend(self.current_episode)
self.episodic_memory.append(self.current_episode,
priority=priority)
if self.capacity_left is not None:
self.capacity_left -= len(self.current_episode)
self.current_episode = []
while self.capacity_left is not None and self.capacity_left < 0:
discarded_episode = self.episodic_memory.popleft()
self.capacity_left += len(discarded_episode)
assert not self.current_episode
class EpisodicReplayBuffer(AbstractEpisodicReplayBuffer):
def __init__(self, capacity=None):
self.current_episode = []
self.episodic_memory = RandomAccessQueue()
self.memory = RandomAccessQueue()
self.capacity = capacity
def append(self, state, action, reward, next_state=None, next_action=None,
is_state_terminal=False, **kwargs):
experience = dict(state=state, action=action, reward=reward,
next_state=next_state, next_action=next_action,
is_state_terminal=is_state_terminal,
**kwargs)
self.current_episode.append(experience)
if is_state_terminal:
self.stop_current_episode()
def sample(self, n):
assert len(self.memory) >= n
return self.memory.sample(n)
def sample_episodes(self, n_episodes, max_len=None):
assert len(self.episodic_memory) >= n_episodes
episodes = self.episodic_memory.sample(n_episodes)
if max_len is not None:
return [random_subseq(ep, max_len) for ep in episodes]
else:
return episodes
def __len__(self):
return len(self.memory)
@property
def n_episodes(self):
return len(self.episodic_memory)
def save(self, filename):
with open(filename, 'wb') as f:
pickle.dump((self.memory, self.episodic_memory), f)
def load(self, filename):
with open(filename, 'rb') as f:
memory = pickle.load(f)
if isinstance(memory, tuple):
self.memory, self.episodic_memory = memory
else:
# Load v0.2
# FIXME: The code works with EpisodicReplayBuffer
# but not with PrioritizedEpisodicReplayBuffer
self.memory = RandomAccessQueue(memory)
self.episodic_memory = RandomAccessQueue()
# Recover episodic_memory with best effort.
episode = []
for item in self.memory:
episode.append(item)
if item['is_state_terminal']:
self.episodic_memory.append(episode)
episode = []
def stop_current_episode(self):
if self.current_episode:
self.episodic_memory.append(self.current_episode)
self.memory.extend(self.current_episode)
self.current_episode = []
while self.capacity is not None and \
len(self.memory) > self.capacity:
discarded_episode = self.episodic_memory.popleft()
for _ in range(len(discarded_episode)):
self.memory.popleft()
assert not self.current_episode
class EpisodicReplayBuffer(object):
def __init__(self, capacity=None):
self.current_episode = []
self.episodic_memory = RandomAccessQueue()
self.memory = RandomAccessQueue()
self.capacity = capacity
def append(self,
state,
action,
reward,
next_state=None,
next_action=None,
is_state_terminal=False,
**kwargs):
"""Append a transition to this replay buffer
Args:
state: s_t
action: a_t
reward: r_t
next_state: s_{t+1} (can be None if terminal)
next_action: a_{t+1} (can be None for off-policy algorithms)
is_state_terminal (bool)
"""
experience = dict(state=state,
action=action,
reward=reward,
next_state=next_state,
next_action=next_action,
is_state_terminal=is_state_terminal,
**kwargs)
self.current_episode.append(experience)
if is_state_terminal:
self.stop_current_episode()
def sample(self, n):
"""Sample n unique samples from this replay buffer"""
assert len(self.memory) >= n
return self.memory.sample(n)
def sample_episodes(self, n_episodes, max_len=None):
"""Sample n unique samples from this replay buffer"""
assert len(self.episodic_memory) >= n_episodes
episodes = self.episodic_memory.sample(n_episodes)
if max_len is not None:
return [random_subseq(ep, max_len) for ep in episodes]
else:
return episodes
def __len__(self):
return len(self.episodic_memory)
def save(self, filename):
with open(filename, 'wb') as f:
pickle.dump((self.memory, self.episodic_memory), f)
def load(self, filename):
with open(filename, 'rb') as f:
self.memory, self.episodic_memory = pickle.load(f)
def stop_current_episode(self):
if self.current_episode:
self.episodic_memory.append(self.current_episode)
self.memory.extend(self.current_episode)
self.current_episode = []
while self.capacity is not None and \
len(self.memory) > self.capacity:
discarded_episode = self.episodic_memory.popleft()
for _ in range(len(discarded_episode)):
self.memory.popleft()
assert not self.current_episode
class TestRandomAccessQueue(unittest.TestCase):
def setUp(self):
if self.init_seq:
self.y_queue = RandomAccessQueue(self.init_seq, maxlen=self.maxlen)
self.t_queue = collections.deque(self.init_seq, maxlen=self.maxlen)
else:
self.y_queue = RandomAccessQueue(maxlen=self.maxlen)
self.t_queue = collections.deque(maxlen=self.maxlen)
def test1(self):
self.check_all()
self.check_popleft()
self.do_append(10)
self.check_all()
self.check_popleft()
self.check_popleft()
self.do_append(11)
self.check_all()
# test negative indices
n = len(self.t_queue)
for i in range(-n, 0):
self.check_getitem(i)
for k in range(4):
self.do_extend(range(k))
self.check_all()
for k in range(4):
self.check_popleft()
self.do_extend(range(k))
self.check_all()
for k in range(10):
self.do_append(20 + k)
self.check_popleft()
self.check_popleft()
self.check_all()
for _ in range(100):
self.check_popleft()
def check_all(self):
self.check_len()
n = len(self.t_queue)
for i in range(n):
self.check_getitem(i)
def check_len(self):
self.assertEqual(len(self.y_queue), len(self.t_queue))
def check_getitem(self, i):
self.assertEqual(self.y_queue[i], self.t_queue[i])
def do_setitem(self, i, x):
self.y_queue[i] = x
self.t_queue[i] = x
def do_append(self, x):
self.y_queue.append(x)
self.t_queue.append(x)
def do_extend(self, xs):
self.y_queue.extend(xs)
self.t_queue.extend(xs)
def check_popleft(self):
try:
t = self.t_queue.popleft()
except IndexError:
with self.assertRaises(IndexError):
self.y_queue.popleft()
else:
self.assertEqual(self.y_queue.popleft(), t)
class SuccessPrioReplayBuffer(chainerrl.replay_buffer.AbstractReplayBuffer):
def __init__(self, capacity=None):
self.current_episode = []
self.current_episode_R = 0.0
self.good_episodic_memory = []
self.good_episodic_memory_capacity = 20
self.good_memory = RandomAccessQueue()
self.normal_episodic_memory = []
self.normal_episodic_memory_capacity = 50
self.normal_memory = RandomAccessQueue()
self.bad_episodic_memory = []
self.bad_episodic_memory_capacity = 10
self.bad_memory = RandomAccessQueue()
self.capacity = capacity
self.all_step_count = 0
self.episode_count = 0
def append(self,
state,
action,
reward,
next_state=None,
next_action=None,
is_state_terminal=False,
**kwargs):
experience = dict(state=state,
action=action,
reward=reward,
next_state=next_state,
next_action=next_action,
is_state_terminal=is_state_terminal,
**kwargs)
self.current_episode.append(experience)
self.current_episode_R += reward
self.all_step_count += 1
if is_state_terminal:
self.stop_current_episode()
def sample(self, n):
count_sample = 0
ans = []
if len(self.bad_memory) > 0:
n_s = min((len(self.bad_memory), n // 4))
ans.extend(self.bad_memory.sample(n_s))
count_sample += n_s
if len(self.normal_memory) > 0:
n_s = min((len(self.normal_memory), (n // 4) * 2 - count_sample))
ans.extend(self.normal_memory.sample(n_s))
count_sample += n_s
if len(self.good_memory) > 0:
n_s = min((len(self.good_memory), (n // 4) * 3 - count_sample))
ans.extend(self.good_memory.sample(n_s))
count_sample += n_s
if (count_sample < n) and (len(self.current_episode) > 0):
n_s = min((len(self.current_episode), n - count_sample))
#ans.extend(random.sample(self.current_episode, n_s))
ans.extend(self.current_episode[len(self.current_episode) - 1 -
n_s:len(self.current_episode) - 1])
return ans
def __len__(self):
return self.all_step_count
def save(self, filename):
with open(filename, 'wb') as f:
pickle.dump((self.good_episodic_memory,
self.normal_episodic_memory, self.bad_episodic_memory,
self.all_step_count, self.episode_count), f)
def load(self, filename):
with open(filename, 'rb') as f:
memory = pickle.load(f)
if isinstance(memory, tuple):
self.good_episodic_memory, self.normal_episodic_memory, self.bad_episodic_memory, self.all_step_count, self.episode_count = memory
self.good_memory = RandomAccessQueue()
for e in self.good_episodic_memory:
self.good_memory.extend(e[2])
self.normal_memory = RandomAccessQueue()
for e in self.normal_episodic_memory:
self.normal_memory.extend(e[2])
self.bad_memory = RandomAccessQueue()
for e in self.bad_episodic_memory:
self.bad_memory.extend(e[2])
self.current_episode = []
self.current_episode_R = 0.0
else:
print("bad replay file")
def stop_current_episode(self):
if self.current_episode:
new_normal_episode = None
if len(self.current_episode) > 1:
if len(self.good_episodic_memory
) >= self.good_episodic_memory_capacity:
new_normal_episode = heapq.heappushpop(
self.good_episodic_memory,
(copy.copy(self.current_episode_R),
copy.copy(self.episode_count), self.current_episode))
else:
heapq.heappush(
self.good_episodic_memory,
(copy.copy(self.current_episode_R),
copy.copy(self.episode_count), self.current_episode))
self.current_episode = []
self.episode_count += 1
new_bad_episode = None
if new_normal_episode is not None:
if len(self.normal_episodic_memory
) >= self.normal_episodic_memory_capacity:
new_bad_episode = heapq.heappushpop(
self.normal_episodic_memory, new_normal_episode)
else:
heapq.heappush(self.normal_episodic_memory,
new_normal_episode)
if new_bad_episode is not None:
if len(self.bad_episodic_memory
) >= self.bad_episodic_memory_capacity:
drop_episode = heapq.heappushpop(self.bad_episodic_memory,
new_bad_episode)
self.all_step_count -= len(drop_episode[2])
else:
heapq.heappush(self.bad_episodic_memory, new_bad_episode)
self.good_memory = RandomAccessQueue()
for e in self.good_episodic_memory:
self.good_memory.extend(e[2])
self.normal_memory = RandomAccessQueue()
for e in self.normal_episodic_memory:
self.normal_memory.extend(e[2])
self.bad_memory = RandomAccessQueue()
for e in self.bad_episodic_memory:
self.bad_memory.extend(e[2])
assert not self.current_episode
self.current_episode_R = 0.0