def multiple_layer_perceptron_regression(X_train,
y_train,
X_test,
y_test,
show_infor=True,
save_model=False):
neural_number = X_train.shape[1]
input_size = X_train.shape[1]
hidden_layer_size = 3
MLP = models.get_mlp_model(input_size, hidden_layer_size, neural_number,
ker_init.he_normal())
history = MLP.fit(X_train, y_train, batch_size=32, epochs=600)
y_pred = MLP.predict(X_test)
y_pred = y_pred.flatten()
if save_model:
utl.save_model(MLP, cf.cf_model_mlp['path'])
if show_infor:
show_actual_and_predict(y_test, y_pred)
show_residual_actual_and_predict(y_test, y_pred)
# utl.show_history(history)
show_residual_and_frequency(y_test, y_pred)
print_test_infor(y_test, y_pred)
def train(self, epochs):
best_eval = -1e6
for epoch in range(epochs):
s = self.env.reset()
policy_loss, critic_loss = 0, 0
while True:
self.env.render()
a = self.select_action(s)
s_, r, done, _ = self.env.step(a)
self.memory.push(s, a, r, s_, done)
if len(self.memory) > self.batch_size:
policy_loss, critic_loss = self.learn()
s = s_
if done:
break
self.writer.add_scalar('loss/actor_loss', policy_loss, epoch)
self.writer.add_scalar('loss/critic_loss', critic_loss, epoch)
if (epoch + 1) % self.save_model_frequency == 0:
save_model(self.critic, 'model/{}_model/critic_{}'.format(self.env_name, epoch))
save_model(self.actor, 'model/{}_model/actor_{}'.format(self.env_name, epoch))
if (epoch + 1) % self.eval_frequency == 0:
eval_r = self.evaluate()
print('epoch', epoch, 'evaluate reward', eval_r)
self.writer.add_scalar('reward', eval_r, epoch)
if eval_r > best_eval:
best_eval = eval_r
save_model(self.critic, 'model/{}_model/best_critic'.format(self.env_name))
save_model(self.actor, 'model/{}_model/best_actor'.format(self.env_name))
def train(self, epochs):
best_eval = -1e6
for epoch in range(epochs):
s = self.env.reset()
s = self.state_normalize(s)
policy_loss, critic_loss, alpha_loss = 0, 0, 0
while True:
self.env.render()
a, _ = self.select_action(s)
s_, r, done, _ = self.env.step(a)
s_ = self.state_normalize(s_)
self.memory.push(s, a, r, s_, done)
self.total_step += 1
if len(
self.memory
) > self.batch_size and self.total_step > self.warmup_step:
policy_loss, critic_loss, alpha_loss = self.learn()
s = s_
if done:
break
if (epoch + 1) % self.save_log_frequency == 0:
self.writer.add_scalar('loss/critic_loss', critic_loss,
self.total_step)
self.writer.add_scalar('loss/policy_loss', policy_loss,
self.total_step)
self.writer.add_scalar('alpha',
self.log_alpha.exp().item(),
self.total_step)
self.writer.add_scalar('loss/alpha_loss', alpha_loss,
self.total_step)
if (epoch + 1) % self.save_model_frequency == 0:
save_model(
self.critic,
'model/{}_model/critic_{}'.format(self.env_name, epoch))
save_model(
self.actor,
'model/{}_model/actor_{}'.format(self.env_name, epoch))
ZFilter.save(
self.state_normalize,
'model/{}_model/rs_{}'.format(self.env_name, epoch))
if (epoch + 1) % self.eval_frequency == 0:
eval_r = self.evaluate()
print('epoch', epoch, 'evaluate reward', eval_r)
self.writer.add_scalar('reward', eval_r, self.total_step)
if eval_r > best_eval:
best_eval = eval_r
save_model(
self.critic,
'model/{}_model/best_critic'.format(self.env_name))
save_model(
self.actor,
'model/{}_model/best_actor'.format(self.env_name))
ZFilter.save(
self.state_normalize,
'model/{}_model/best_rs'.format(self.env_name))
def train(self, epochs):
best_eval = -1e6
for epoch in range(epochs):
num_sample = 0
self.trace.clear()
s = self.env.reset()
s = self.state_normalize(s)
while num_sample < self.sample_size:
self.env.render()
a, log_prob = self.select_action(s)
torch_s = torch.tensor(s, dtype=torch.float).unsqueeze(0).to(
self.device)
v = self.critic(torch_s)
s_, r, done, _ = self.env.step(a.cpu().detach().numpy()[0])
s_ = self.state_normalize(s_)
self.trace.push(s, a, log_prob, r, s_, not done,
v) # 这里怎么写才能在learn里面不用reshape呢
num_sample += 1
self.total_step += 1
s = s_
if done:
s = self.env.reset()
s = self.state_normalize(s)
policy_loss, critic_loss = self.learn()
self.writer.add_scalar('loss/actor_loss', policy_loss,
self.total_step)
self.writer.add_scalar('loss/critic_loss', critic_loss,
self.total_step)
if (epoch + 1) % self.save_model_frequency == 0:
save_model(
self.critic,
'model_epoch_update/{}_model/critic_{}'.format(
self.env_name, self.total_step))
save_model(
self.actor, 'model_epoch_update/{}_model/actor_{}'.format(
self.env_name, self.total_step))
if (epoch + 1) % self.eval_frequency == 0:
eval_r = self.evaluate()
print('epoch', epoch, 'evaluate reward', eval_r)
self.writer.add_scalar('reward', eval_r, epoch)
if eval_r > best_eval:
best_eval = eval_r
save_model(
self.critic,
'model_epoch_update/{}_model/best_critic'.format(
self.env_name))
save_model(
self.actor,
'model_epoch_update/{}_model/best_actor'.format(
self.env_name))
def main(args):
args.exp_dir.mkdir(parents=True, exist_ok=True)
writer = SummaryWriter(log_dir=args.exp_dir / 'summary')
if args.resume:
checkpoint, model, optimizer = load_model(args.checkpoint)
args = checkpoint['args']
best_dev_loss = checkpoint['best_dev_loss']
start_epoch = checkpoint['epoch']
del checkpoint
else:
model = build_model(args)
if args.data_parallel:
model = torch.nn.DataParallel(model)
optimizer = build_optim(args, model.parameters())
best_dev_loss = 1e9
start_epoch = 0
logging.info(args)
logging.info(model)
train_loader, dev_loader, display_loader = create_data_loaders(args)
scheduler = torch.optim.lr_scheduler.StepLR(optimizer, args.lr_step_size,
args.lr_gamma)
for epoch in range(start_epoch, args.num_epochs):
scheduler.step(epoch)
train_loss, train_time = train_epoch(args, epoch, model, train_loader,
optimizer, writer)
dev_loss, dev_time = evaluate(args, epoch, model, dev_loader, writer)
visualize(args, epoch, model, display_loader, writer)
is_new_best = dev_loss < best_dev_loss
best_dev_loss = min(best_dev_loss, dev_loss)
save_model(args, args.exp_dir, epoch, model, optimizer, best_dev_loss,
is_new_best)
logging.info(
f'Epoch = [{epoch:4d}/{args.num_epochs:4d}] TrainLoss = {train_loss:.4g} '
f'DevLoss = {dev_loss:.4g} TrainTime = {train_time:.4f}s DevTime = {dev_time:.4f}s',
)
writer.close()
def random_forest_regressions(X_train,
y_train,
X_test,
y_test,
show_infor=True,
save_model=False):
RF = models.get_random_model(random_state)
RF.fit(X_train, y_train)
y_pred = RF.predict(X_test)
var_score = metrics.explained_variance_score(y_test, y_pred)
if save_model:
utl.save_model(RF, cf.cf_model_randf['path'])
if show_infor:
show_actual_and_predict(y_test, y_pred)
show_residual_actual_and_predict(y_test, y_pred)
show_residual_and_frequency(y_test, y_pred)
print_test_infor(y_test, y_pred)
return var_score
def knn_regressions(X_train,
y_train,
X_test,
y_test,
show_infor=True,
save_model=False):
# KNN = KNeighborsRegressor(n_neighbors=5, weights='distance')
KNN = models.get_knn_model(5)
KNN.fit(X_train, y_train)
y_pred = KNN.predict(X_test)
var_score = metrics.explained_variance_score(y_test, y_pred)
if save_model:
utl.save_model(KNN, cf.cf_model_knn['path'])
if show_infor:
show_actual_and_predict(y_test, y_pred)
show_residual_actual_and_predict(y_test, y_pred)
show_residual_and_frequency(y_test, y_pred)
print_test_infor(y_test, y_pred)
return var_score
def linear_regressions(X_train,
y_train,
X_test,
y_test,
show_infor=True,
save_model=False):
ML = models.get_linear_model()
ML.fit(X_train, y_train)
y_pred = ML.predict(X_test)
var_score = metrics.explained_variance_score(y_test, y_pred)
if save_model:
utl.save_model(ML, cf.cf_model_mlinear['path'])
if show_infor:
show_actual_and_predict(y_test, y_pred)
show_residual_actual_and_predict(y_test, y_pred)
# utl.show_history(history)
show_residual_and_frequency(y_test, y_pred)
print_test_infor(y_test, y_pred)
return var_score
def train(self, epochs):
best_eval = -1e6
for epoch in range(epochs):
s = self.env.reset()
while True:
self.env.render()
a, log_prob = self.select_action(s)
s_, r, done, _ = self.env.step(a)
r = self.reward_shaping_func((s_, r, done, _))
policy_loss, critic_loss = self.learn(s, a, log_prob, r, s_,
done)
s = s_
if done:
break
self.writer.add_scalar('loss/actor_loss', policy_loss, epoch)
self.writer.add_scalar('loss/critic_loss', critic_loss, epoch)
if (epoch + 1) % self.save_model_frequency == 0:
save_model(
self.critic, 'model_step_update/{}_model/critic_{}'.format(
self.env_name, epoch))
save_model(
self.actor, 'model_step_update/{}_model/actor_{}'.format(
self.env_name, epoch))
if (epoch + 1) % self.eval_frequency == 0:
eval_r = self.evaluate()
print('epoch', epoch, 'evaluate reward', eval_r)
self.writer.add_scalar('reward', eval_r, epoch)
if eval_r > best_eval:
best_eval = eval_r
save_model(
self.critic,
'model_step_update/{}_model/best_critic'.format(
self.env_name))
save_model(
self.actor,
'model_step_update/{}_model/best_actor'.format(
self.env_name))
def train(env, args, writer):
p1_current_model = DQN(env, args).to(args.device)
p1_target_model = DQN(env, args).to(args.device)
update_target(p1_current_model, p1_target_model)
p2_current_model = DQN(env, args).to(args.device)
p2_target_model = DQN(env, args).to(args.device)
update_target(p2_current_model, p2_target_model)
if args.noisy:
p1_current_model.update_noisy_modules()
p1_target_model.update_noisy_modules()
p2_current_model.update_noisy_modules()
p2_target_model.update_noisy_modules()
if args.load_model and os.path.isfile(args.load_model):
load_model(p1_current_model, args, 1)
load_model(p2_current_model, args, 2)
epsilon_by_frame = epsilon_scheduler(args.eps_start, args.eps_final, args.eps_decay)
beta_by_frame = beta_scheduler(args.beta_start, args.beta_frames)
if args.prioritized_replay:
p1_replay_buffer = PrioritizedReplayBuffer(args.buffer_size, args.alpha)
p2_replay_buffer = PrioritizedReplayBuffer(args.buffer_size, args.alpha)
else:
p1_replay_buffer = ReplayBuffer(args.buffer_size)
p2_replay_buffer = ReplayBuffer(args.buffer_size)
p1_state_deque = deque(maxlen=args.multi_step)
p2_state_deque = deque(maxlen=args.multi_step)
p1_reward_deque = deque(maxlen=args.multi_step)
p1_action_deque = deque(maxlen=args.multi_step)
p2_reward_deque = deque(maxlen=args.multi_step)
p2_action_deque = deque(maxlen=args.multi_step)
p1_optimizer = optim.Adam(p1_current_model.parameters(), lr=args.lr)
p2_optimizer = optim.Adam(p2_current_model.parameters(), lr=args.lr)
length_list = []
p1_reward_list, p1_loss_list = [], []
p2_reward_list, p2_loss_list = [], []
p1_episode_reward, p2_episode_reward = 0, 0
episode_length = 0
prev_time = time.time()
prev_frame = 1
(p1_state, p2_state) = env.reset()
for frame_idx in range(1, args.max_frames + 1):
if args.noisy:
p1_current_model.sample_noise()
p1_target_model.sample_noise()
p2_current_model.sample_noise()
p2_target_model.sample_noise()
epsilon = epsilon_by_frame(frame_idx)
p1_action = p1_current_model.act(torch.FloatTensor(p1_state).to(args.device), epsilon)
p2_action = p2_current_model.act(torch.FloatTensor(p2_state).to(args.device), epsilon)
if args.render:
env.render()
actions = {"1": p1_action, "2": p2_action}
(p1_next_state, p2_next_state), reward, done, _ = env.step(actions)
p1_state_deque.append(p1_state)
p2_state_deque.append(p2_state)
if args.negative:
p1_reward_deque.append(reward[0] - 1)
else:
p1_reward_deque.append(reward[0])
p1_action_deque.append(p1_action)
if args.negative:
p2_reward_deque.append(reward[1] - 1)
else:
p2_reward_deque.append(reward[1])
p2_action_deque.append(p2_action)
if len(p1_state_deque) == args.multi_step or done:
n_reward = multi_step_reward(p1_reward_deque, args.gamma)
n_state = p1_state_deque[0]
n_action = p1_action_deque[0]
p1_replay_buffer.push(n_state, n_action, n_reward, p1_next_state, np.float32(done))
n_reward = multi_step_reward(p2_reward_deque, args.gamma)
n_state = p2_state_deque[0]
n_action = p2_action_deque[0]
p2_replay_buffer.push(n_state, n_action, n_reward, p2_next_state, np.float32(done))
(p1_state, p2_state) = (p1_next_state, p2_next_state)
p1_episode_reward += (reward[0])
p2_episode_reward += (reward[1])
if args.negative:
p1_episode_reward -= 1
p2_episode_reward -= 1
episode_length += 1
if done or episode_length > args.max_episode_length:
(p1_state, p2_state) = env.reset()
p1_reward_list.append(p1_episode_reward)
p2_reward_list.append(p2_episode_reward)
length_list.append(episode_length)
writer.add_scalar("data/p1_episode_reward", p1_episode_reward, frame_idx)
writer.add_scalar("data/p2_episode_reward", p2_episode_reward, frame_idx)
writer.add_scalar("data/episode_length", episode_length, frame_idx)
p1_episode_reward, p2_episode_reward, episode_length = 0, 0, 0
p1_state_deque.clear()
p2_state_deque.clear()
p1_reward_deque.clear()
p2_reward_deque.clear()
p1_action_deque.clear()
p2_action_deque.clear()
if len(p1_replay_buffer) > args.learning_start and frame_idx % args.train_freq == 0:
beta = beta_by_frame(frame_idx)
loss = compute_td_loss(p1_current_model, p1_target_model, p1_replay_buffer, p1_optimizer, args, beta)
p1_loss_list.append(loss.item())
writer.add_scalar("data/p1_loss", loss.item(), frame_idx)
loss = compute_td_loss(p2_current_model, p2_target_model, p2_replay_buffer, p2_optimizer, args, beta)
p2_loss_list.append(loss.item())
writer.add_scalar("data/p2_loss", loss.item(), frame_idx)
if frame_idx % args.update_target == 0:
update_target(p1_current_model, p1_target_model)
update_target(p2_current_model, p2_target_model)
if frame_idx % args.evaluation_interval == 0:
print_log(frame_idx, prev_frame, prev_time, p1_reward_list, length_list, p1_loss_list)
print_log(frame_idx, prev_frame, prev_time, p2_reward_list, length_list, p2_loss_list)
p1_reward_list.clear(), p2_reward_list.clear(), length_list.clear()
p1_loss_list.clear(), p2_loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(p1_current_model, args, 1)
save_model(p2_current_model, args, 2)
save_model(p1_current_model, args, 1)
save_model(p2_current_model, args, 2)
def train(env, args, writer):
current_model = DQN(env, args).to(args.device)
target_model = DQN(env, args).to(args.device)
if args.noisy:
current_model.update_noisy_modules()
target_model.update_noisy_modules()
if args.load_model: # and os.path.isfile(args.load_model)
load_model(current_model, args)
load_model(target_model, args)
epsilon_by_frame = epsilon_scheduler(args.eps_start, args.eps_final,
args.eps_decay)
beta_by_frame = beta_scheduler(args.beta_start, args.beta_frames)
if args.prioritized_replay:
replay_buffer = PrioritizedReplayBuffer(args.buffer_size, args.alpha)
else:
replay_buffer = ReplayBuffer(args.buffer_size)
state_buffer = deque(maxlen=args.action_repeat)
states_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
rewards_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
actions_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
optimizer = optim.Adam(current_model.parameters(), lr=args.lr)
reward_list, length_list, loss_list = [], [], []
episode_reward = 0
episode_length = 0
episode = 0
prev_time = time.time()
prev_frame = 1
state, state_buffer = get_initial_state(env, state_buffer,
args.action_repeat)
for frame_idx in range(1, args.max_frames + 1):
if args.noisy:
current_model.sample_noise()
target_model.sample_noise()
epsilon = epsilon_by_frame(frame_idx)
action = current_model.act(
torch.FloatTensor(state).to(args.device), epsilon)
next_state, reward, done, end = env.step(action,
save_screenshots=False)
add_state(next_state, state_buffer)
next_state = recent_state(state_buffer)
for agent_index in range(len(done)):
states_deque[agent_index].append((state[agent_index]))
rewards_deque[agent_index].append(reward[agent_index])
actions_deque[agent_index].append(action[agent_index])
if len(states_deque[agent_index]
) == args.multi_step or done[agent_index]:
n_reward = multi_step_reward(rewards_deque[agent_index],
args.gamma)
n_state = states_deque[agent_index][0]
n_action = actions_deque[agent_index][0]
replay_buffer.push(n_state, n_action, n_reward,
next_state[agent_index],
np.float32(done[agent_index]))
# delete the agents that have reached the goal
r_index = 0
for r in range(len(done)):
if done[r] is True:
state_buffer, states_deque, actions_deque, rewards_deque = del_record(
r_index, state_buffer, states_deque, actions_deque,
rewards_deque)
r_index -= 1
r_index += 1
next_state = recent_state(state_buffer)
state = next_state
episode_reward += np.array(reward).mean()
episode_length += 1
if end:
if args.save_video and episode % 10 == 0:
evaluate(env, current_model, args)
state, state_buffer = get_initial_state(env, state_buffer,
args.action_repeat)
reward_list.append(episode_reward)
length_list.append(episode_length)
writer.add_scalar("data/episode_reward", episode_reward, frame_idx)
writer.add_scalar("data/episode_length", episode_length, frame_idx)
episode_reward, episode_length = 0, 0
for d in range(len(states_deque)):
states_deque[d].clear()
rewards_deque[d].clear()
actions_deque[d].clear()
states_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
rewards_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
actions_deque = [
deque(maxlen=args.multi_step) for _ in range(args.num_agents)
]
episode += 1
if len(replay_buffer
) > args.learning_start and frame_idx % args.train_freq == 0:
beta = beta_by_frame(frame_idx)
losses = 0
for _ in range(1):
loss = compute_td_loss(current_model, target_model,
replay_buffer, optimizer, args, beta)
losses += loss.item()
loss_list.append(losses)
writer.add_scalar("data/loss", loss.item(), frame_idx)
if frame_idx % args.update_target == 0:
update_target(current_model, target_model)
if frame_idx % args.evaluation_interval == 0:
print_log(frame_idx, prev_frame, prev_time, reward_list,
length_list, loss_list)
reward_list.clear(), length_list.clear(), loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(current_model, args)
save_model(current_model, args)
def train(env, args):
# Init WandB
wandb.init(config=args)
current_model = DQN(env, args).to(args.device)
target_model = DQN(env, args).to(args.device)
if args.noisy:
current_model.update_noisy_modules()
target_model.update_noisy_modules()
if args.load_model and os.path.isfile(args.load_model):
load_model(current_model, args)
epsilon_by_frame = epsilon_scheduler(args.eps_start, args.eps_final,
args.eps_decay)
beta_by_frame = beta_scheduler(args.beta_start, args.beta_frames)
if args.prioritized_replay:
replay_buffer = PrioritizedReplayBuffer(args.buffer_size, args.alpha)
else:
replay_buffer = ReplayBuffer(args.buffer_size)
state_deque = deque(maxlen=args.multi_step)
reward_deque = deque(maxlen=args.multi_step)
action_deque = deque(maxlen=args.multi_step)
optimizer = optim.Adam(current_model.parameters(), lr=args.lr)
reward_list, length_list, loss_list = [], [], []
episode_reward = 0
episode_length = 0
prev_time = time.time()
prev_frame = 1
state = env.reset()
for frame_idx in range(1, args.max_frames + 1):
if args.render:
env.render()
if args.noisy:
current_model.sample_noise()
target_model.sample_noise()
epsilon = epsilon_by_frame(frame_idx)
action = current_model.act(
torch.FloatTensor(state).to(args.device), epsilon)
next_state, reward, done, _ = env.step(action)
state_deque.append(state)
reward_deque.append(reward)
action_deque.append(action)
if len(state_deque) == args.multi_step or done:
n_reward = multi_step_reward(reward_deque, args.gamma)
n_state = state_deque[0]
n_action = action_deque[0]
replay_buffer.push(n_state, n_action, n_reward, next_state,
np.float32(done))
state = next_state
episode_reward += reward
episode_length += 1
if done:
state = env.reset()
reward_list.append(episode_reward)
length_list.append(episode_length)
wandb.log({
'episode_reward': episode_reward,
'episode_length': episode_length,
})
episode_reward, episode_length = 0, 0
state_deque.clear()
reward_deque.clear()
action_deque.clear()
if len(replay_buffer
) > args.learning_start and frame_idx % args.train_freq == 0:
beta = beta_by_frame(frame_idx)
loss = compute_td_loss(current_model, target_model, replay_buffer,
optimizer, args, beta)
loss_list.append(loss.item())
wandb.log({'loss': loss.item()})
if frame_idx % args.update_target == 0:
update_target(current_model, target_model)
if frame_idx % args.evaluation_interval == 0:
print_log(frame_idx, prev_frame, prev_time, reward_list,
length_list, loss_list)
reward_list.clear(), length_list.clear(), loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(current_model, args)
save_model(current_model, args)
def test(env, args, current_model, best_iou, writer, episode, datetime):
total_reward = 0
total_iou = 0
lowest_reward = 1e4
highest_iou = -1.0
lowest_iou = 1.0
plan = env.plan
episode_reward = 0
count_brick_save = None
count_step_save = None
if args.env in ["3DStatic", "3DDynamic"]:
fig = plt.figure(figsize=[10, 5])
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
ax2 = fig.add_subplot(1, 2, 2)
else:
fig = plt.figure(figsize=(5, 5))
ax = fig.add_subplot(1, 1, 1)
for i in range(args.evaluation_episodes):
state = env.reset()
count_brick = 0
count_step = 0
while True:
count_step += 1
if args.noisy:
current_model.sample_noise()
epsilon = 0.0
if args.env in ['2DDynamic']:
action = current_model.act(
torch.FloatTensor(state).to(args.device), epsilon)
else:
action = current_model.act(
torch.FloatTensor(state).to(args.device), epsilon)
if action == 2:
count_brick += 1
next_state, reward, done = env.step(action)
state = next_state
episode_reward += reward
if done:
total_reward += episode_reward
lowest_reward = min(lowest_reward, episode_reward)
environment_memory = env.environment_memory[
0, args.half_window_size:34 - args.half_window_size]
iou = env._iou()
total_iou += iou
if iou > highest_iou:
highest_iou = iou
best_env_memory = environment_memory
count_brick_save = count_brick
count_step_save = count_step
lowest_iou = min(iou, lowest_iou)
episode_reward = 0
break
avg_reward = total_reward / args.evaluation_episodes
avg_iou = total_iou / args.evaluation_episodes
writer.add_scalar("Average Reward/Test)", avg_reward, episode)
writer.add_scalar("Average IOU/Test)", avg_iou, episode)
print(
"\tTest Result - Average Reward: {} Lowest Reward: {} Average IOU: {}".
format(avg_reward, lowest_reward, avg_iou))
if avg_iou > best_iou:
best_iou = avg_iou
print("\n\nNEW TOP RESULT.\n\n")
if args.env in ["3DStatic", "3DDynamic"]:
ax1.clear()
ax2.clear()
env.render(ax1,
ax2,
args,
best_env_memory,
plan,
highest_iou,
count_step_save,
count_brick_save,
datetime,
iou_min=lowest_iou,
iou_average=avg_iou)
else:
ax.clear()
env.render(ax,
args,
best_env_memory,
plan,
highest_iou,
count_step_save,
count_brick_save,
datetime,
iou_min=lowest_iou,
iou_average=avg_iou)
save_model(current_model, args, datetime)
plt.close(fig)
return best_iou
def train(env, args, writer):
# RL Model for Player 1
p1_current_model = DQN(env, args).to(args.device)
p1_target_model = DQN(env, args).to(args.device)
update_target(p1_current_model, p1_target_model)
# RL Model for Player 2
p2_current_model = DQN(env, args).to(args.device)
p2_target_model = DQN(env, args).to(args.device)
update_target(p2_current_model, p2_target_model)
# SL Model for Player 1, 2
p1_policy = Policy(env).to(args.device)
p2_policy = Policy(env).to(args.device)
if args.load_model and os.path.isfile(args.load_model):
load_model(models={
"p1": p1_current_model,
"p2": p2_current_model
},
policies={
"p1": p1_policy,
"p2": p2_policy
},
args=args)
epsilon_by_frame = epsilon_scheduler(args.eps_start, args.eps_final,
args.eps_decay)
# Replay Buffer for Reinforcement Learning - Best Response
p1_replay_buffer = ReplayBuffer(args.buffer_size)
p2_replay_buffer = ReplayBuffer(args.buffer_size)
# Reservoir Buffer for Supervised Learning - Average Strategy
# TODO(Aiden): How to set buffer size of SL?
p1_reservoir_buffer = ReservoirBuffer(args.buffer_size)
p2_reservoir_buffer = ReservoirBuffer(args.buffer_size)
# Deque data structure for multi-step learning
p1_state_deque = deque(maxlen=args.multi_step)
p1_reward_deque = deque(maxlen=args.multi_step)
p1_action_deque = deque(maxlen=args.multi_step)
p2_state_deque = deque(maxlen=args.multi_step)
p2_reward_deque = deque(maxlen=args.multi_step)
p2_action_deque = deque(maxlen=args.multi_step)
# RL Optimizer for Player 1, 2
p1_rl_optimizer = optim.Adam(p1_current_model.parameters(), lr=args.lr)
p2_rl_optimizer = optim.Adam(p2_current_model.parameters(), lr=args.lr)
# SL Optimizer for Player 1, 2
# TODO(Aiden): Is it necessary to seperate learning rate for RL/SL?
p1_sl_optimizer = optim.Adam(p1_policy.parameters(), lr=args.lr)
p2_sl_optimizer = optim.Adam(p2_policy.parameters(), lr=args.lr)
# Logging
length_list = []
p1_reward_list, p1_rl_loss_list, p1_sl_loss_list = [], [], []
p2_reward_list, p2_rl_loss_list, p2_sl_loss_list = [], [], []
p1_episode_reward, p2_episode_reward = 0, 0
tag_interval_length = 0
prev_time = time.time()
prev_frame = 1
# Main Loop
(p1_state, p2_state) = env.reset()
for frame_idx in range(1, args.max_frames + 1):
is_best_response = False
# TODO(Aiden):
# Action should be decided by a combination of Best Response and Average Strategy
if random.random() > args.eta:
p1_action = p1_policy.act(
torch.FloatTensor(p1_state).to(args.device))
p2_action = p2_policy.act(
torch.FloatTensor(p1_state).to(args.device))
else:
is_best_response = True
epsilon = epsilon_by_frame(frame_idx)
p1_action = p1_current_model.act(
torch.FloatTensor(p1_state).to(args.device), epsilon)
p2_action = p2_current_model.act(
torch.FloatTensor(p2_state).to(args.device), epsilon)
actions = {"1": p1_action, "2": p2_action}
(p1_next_state, p2_next_state), reward, done, info = env.step(actions)
# print(actions) # {'1': 3, '2': 2}
# print(p1_next_state) # [[[127 127 .....
#print(reward, done, info) # [0 0] False None
# Save current state, reward, action to deque for multi-step learning
p1_state_deque.append(p1_state)
p2_state_deque.append(p2_state)
p1_reward = reward[0] - 1 if args.negative else reward[0]
p2_reward = reward[1] - 1 if args.negative else reward[1]
p1_reward_deque.append(p1_reward)
p2_reward_deque.append(p2_reward)
p1_action_deque.append(p1_action)
p2_action_deque.append(p2_action)
# Store (state, action, reward, next_state) to Replay Buffer for Reinforcement Learning
if len(p1_state_deque) == args.multi_step or done:
n_reward = multi_step_reward(p1_reward_deque, args.gamma)
n_state = p1_state_deque[0]
n_action = p1_action_deque[0]
p1_replay_buffer.push(n_state, n_action, n_reward, p1_next_state,
np.float32(done))
n_reward = multi_step_reward(p2_reward_deque, args.gamma)
n_state = p2_state_deque[0]
n_action = p2_action_deque[0]
p2_replay_buffer.push(n_state, n_action, n_reward, p2_next_state,
np.float32(done))
# Store (state, action) to Reservoir Buffer for Supervised Learning
if is_best_response:
p1_reservoir_buffer.push(p1_state, p1_action)
p2_reservoir_buffer.push(p2_state, p2_action)
(p1_state, p2_state) = (p1_next_state, p2_next_state)
# Logging
p1_episode_reward += p1_reward
p2_episode_reward += p2_reward
tag_interval_length += 1
if info is not None:
length_list.append(tag_interval_length)
tag_interval_length = 0
# Episode done. Reset environment and clear logging records
if done or tag_interval_length >= args.max_tag_interval:
(p1_state, p2_state) = env.reset()
p1_reward_list.append(p1_episode_reward)
p2_reward_list.append(p2_episode_reward)
writer.add_scalar("p1/episode_reward", p1_episode_reward,
frame_idx)
writer.add_scalar("p2/episode_reward", p2_episode_reward,
frame_idx)
writer.add_scalar("data/tag_interval_length", tag_interval_length,
frame_idx)
p1_episode_reward, p2_episode_reward, tag_interval_length = 0, 0, 0
p1_state_deque.clear(), p2_state_deque.clear()
p1_reward_deque.clear(), p2_reward_deque.clear()
p1_action_deque.clear(), p2_action_deque.clear()
if (len(p1_replay_buffer) > args.rl_start
and len(p1_reservoir_buffer) > args.sl_start
and frame_idx % args.train_freq == 0):
# Update Best Response with Reinforcement Learning
loss = compute_rl_loss(p1_current_model, p1_target_model,
p1_replay_buffer, p1_rl_optimizer, args)
p1_rl_loss_list.append(loss.item())
writer.add_scalar("p1/rl_loss", loss.item(), frame_idx)
loss = compute_rl_loss(p2_current_model, p2_target_model,
p2_replay_buffer, p2_rl_optimizer, args)
p2_rl_loss_list.append(loss.item())
writer.add_scalar("p2/rl_loss", loss.item(), frame_idx)
# Update Average Strategy with Supervised Learning
loss = compute_sl_loss(p1_policy, p1_reservoir_buffer,
p1_sl_optimizer, args)
p1_sl_loss_list.append(loss.item())
writer.add_scalar("p1/sl_loss", loss.item(), frame_idx)
loss = compute_sl_loss(p2_policy, p2_reservoir_buffer,
p2_sl_optimizer, args)
p2_sl_loss_list.append(loss.item())
writer.add_scalar("p2/sl_loss", loss.item(), frame_idx)
if frame_idx % args.update_target == 0:
update_target(p1_current_model, p1_target_model)
update_target(p2_current_model, p2_target_model)
# Logging and Saving models
if frame_idx % args.evaluation_interval == 0:
print_log(frame_idx, prev_frame, prev_time,
(p1_reward_list, p2_reward_list), length_list,
(p1_rl_loss_list, p2_rl_loss_list),
(p1_sl_loss_list, p2_sl_loss_list))
p1_reward_list.clear(), p2_reward_list.clear(), length_list.clear()
p1_rl_loss_list.clear(), p2_rl_loss_list.clear()
p1_sl_loss_list.clear(), p2_sl_loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(models={
"p1": p1_current_model,
"p2": p2_current_model
},
policies={
"p1": p1_policy,
"p2": p2_policy
},
args=args)
# Render if rendering argument is on
if args.render:
env.render()
save_model(models={
"p1": p1_current_model,
"p2": p2_current_model
},
policies={
"p1": p1_policy,
"p2": p2_policy
},
args=args)
def train(env, args, writer):
current_model = DQN(env, args).to(args.device)
target_model = DQN(env, args).to(args.device)
for para in target_model.parameters():
para.requires_grad = False
if args.noisy:
current_model.update_noisy_modules()
target_model.update_noisy_modules()
#target_model.eval()
if args.load_model and os.path.isfile(args.load_model):
load_model(current_model, args)
update_target(current_model, target_model)
epsilon_by_frame = epsilon_scheduler(args.eps_start, args.eps_final,
args.eps_decay)
beta_by_frame = beta_scheduler(args.beta_start, args.beta_frames)
if args.prioritized_replay:
replay_buffer = PrioritizedReplayBuffer(args.buffer_size, args.alpha)
args.buffer_size = replay_buffer.it_capacity
else:
replay_buffer = ReplayBuffer(args.buffer_size)
print_args(args)
state_deque = deque(maxlen=args.multi_step)
reward_deque = deque(maxlen=args.multi_step)
action_deque = deque(maxlen=args.multi_step)
if args.optim == 'adam':
optimizer = optim.Adam(current_model.parameters(),
lr=args.lr,
eps=args.adam_eps,
betas=(0.9, args.beta2))
elif args.optim == 'laprop':
optimizer = laprop.LaProp(current_model.parameters(),
lr=args.lr,
betas=(0.9, args.beta2))
reward_list, length_list, loss_list = [], [], []
episode_reward = 0.
episode_length = 0
prev_time = time.time()
prev_frame = 1
state = env.reset()
evaluation_interval = args.evaluation_interval
for frame_idx in range(1, args.max_frames + 1):
if args.render:
env.render()
if args.noisy:
current_model.sample_noise()
target_model.sample_noise()
epsilon = epsilon_by_frame(frame_idx)
action = current_model.act(
torch.FloatTensor(state).to(args.device), epsilon)
next_state, raw_reward, done, _ = env.step(action)
if args.clip_rewards:
reward = np.clip(raw_reward, -1., 1.)
else:
reward = raw_reward
state_deque.append(state)
reward_deque.append(reward)
action_deque.append(action)
if len(state_deque) == args.multi_step or done:
n_reward = multi_step_reward(reward_deque, args.gamma)
n_state = state_deque[0]
n_action = action_deque[0]
replay_buffer.push(n_state, n_action, n_reward, next_state,
np.float32(done))
state = next_state
episode_reward += raw_reward
episode_length += 1
if episode_length >= 9950:
while not done:
_, _, done, _ = env.step(random.randrange(env.action_space.n))
if done:
state = env.reset()
reward_list.append(episode_reward)
length_list.append(episode_length)
if episode_length > 10000:
print('{:.2f}'.format(episode_reward), end='')
writer.add_scalar("data/episode_reward", episode_reward, frame_idx)
writer.add_scalar("data/episode_length", episode_length, frame_idx)
episode_reward, episode_length = 0., 0
state_deque.clear()
reward_deque.clear()
action_deque.clear()
if len(replay_buffer
) > args.learning_start and frame_idx % args.train_freq == 0:
beta = beta_by_frame(frame_idx)
loss = compute_td_loss(current_model, target_model, replay_buffer,
optimizer, args, beta)
loss_list.append(loss.item())
writer.add_scalar("data/loss", loss.item(), frame_idx)
if frame_idx % args.update_target == 0:
update_target(current_model, target_model)
if frame_idx % evaluation_interval == 0:
if len(length_list) > 0:
print_log(frame_idx, prev_frame, prev_time, reward_list,
length_list, loss_list, args)
reward_list.clear(), length_list.clear(), loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(current_model, args)
else:
evaluation_interval += args.evaluation_interval
if frame_idx % 200000 == 0:
if args.adam_eps == 1.5e-4:
save_model(current_model,
args,
name="{}_{}".format(args.optim, frame_idx))
else:
save_model(current_model,
args,
name="{}{:.2e}_{}".format(args.optim, args.adam_eps,
frame_idx))
reward_list.append(episode_reward)
length_list.append(episode_length)
print_log(frame_idx, prev_frame, prev_time, reward_list, length_list,
loss_list, args)
reward_list.clear(), length_list.clear(), loss_list.clear()
prev_frame = frame_idx
prev_time = time.time()
save_model(current_model, args)
def train(self, epochs):
best_eval = -1e6
for epoch in range(epochs):
num_sample = 0
self.trace.clear()
s = self.env.reset()
s = self.state_normalize(s)
while True:
# self.env.render()
a, log_prob = self.select_action(s)
log_prob = torch.sum(log_prob, dim=1, keepdim=True)
v = self.critic(
torch.tensor(s, dtype=torch.float).unsqueeze(0).to(
self.device))
s_, r, done, _ = self.env.step(a)
s_ = self.state_normalize(s_)
self.trace.push(s, a,
log_prob.cpu().detach().numpy()[0], r, s_,
not done, v)
num_sample += 1
self.total_step += 1
s = s_
if done and num_sample >= self.sample_size:
break
if done:
s = self.env.reset()
s = self.state_normalize(s)
policy_loss, critic_loss = self.learn()
if (epoch + 1) % self.save_log_frequency == 0:
self.writer.add_scalar('loss/critic_loss', critic_loss,
self.total_step)
self.writer.add_scalar('loss/policy_loss', policy_loss,
self.total_step)
if (epoch + 1) % self.save_model_frequency == 0:
save_model(
self.critic,
'model/{}_model/critic_{}'.format(self.env_name, epoch))
save_model(
self.actor,
'model/{}_model/actor_{}'.format(self.env_name, epoch))
ZFilter.save(
self.state_normalize,
'model/{}_model/rs_{}'.format(self.env_name, epoch))
if (epoch + 1) % self.eval_frequency == 0:
eval_r = self.evaluate()
print('epoch', epoch, 'evaluate reward', eval_r)
self.writer.add_scalar('reward', eval_r, self.total_step)
if eval_r > best_eval:
best_eval = eval_r
save_model(
self.critic,
'model/{}_model/best_critic'.format(self.env_name))
save_model(
self.actor,
'model/{}_model/best_actor'.format(self.env_name))
ZFilter.save(
self.state_normalize,
'model/{}_model/best_rs'.format(self.env_name))