class CnnDqnAgent(object):
policy_frozen = False
epsilon_delta = 1.0 / 10 ** 4.4# print '%.10f' %(1.0 / 10 ** 4.4)
# 0.0000398107170553496878006617676337697275812388397753238677978515625
min_eps = 0.1
actions = [0, 1, 2]
cnn_feature_extractor = 'alexnet_feature_extractor.pickle'
model = 'bvlc_alexnet.caffemodel'
model_type = 'alexnet'
image_feature_dim = 256 * 6 * 6
image_feature_count = 1
actions_evaluate = deque(maxlen=4) #----------------------------------------------------------
def _observation_to_featurevec(self, observation):
# TODO clean
if self.image_feature_count == 1:
#print observation["image"][0].shape, type(observation["image"][0])#会error因为不是np所以没有shape
#print self.feature_extractor.feature(observation["image"][0]).shape#,\#返回的是1D的256*6*6
#observation["depth"][0].shape
return np.r_[self.feature_extractor.feature(observation["image"][0])]
#, observation["depth"][0]]
elif self.image_feature_count == 4:
return np.r_[self.feature_extractor.feature(observation["image"][0]),
self.feature_extractor.feature(observation["image"][1]),
self.feature_extractor.feature(observation["image"][2]),
self.feature_extractor.feature(observation["image"][3])]#
# observation["depth"][0],
# observation["depth"][1],
# observation["depth"][2],
# observation["depth"][3]]
else:
print("not supported: number of camera")
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
#self.depth_image_dim = options['depth_image_dim']
self.q_net_input_dim = self.image_feature_dim * self.image_feature_count #+ self.depth_image_dim
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor),
self.feature_extractor = pickle.load(open(self.cnn_feature_extractor))
print("done")
else:
self.feature_extractor = CnnFeatureExtractor(self.use_gpu, self.model, self.model_type, self.image_feature_dim)
pickle.dump(self.feature_extractor, open(self.cnn_feature_extractor, 'w'))
print("pickle.dump finished")
self.time = 0
self.epsilon = 1.0 # Initial exploratoin rate
self.q_net = QNet(self.use_gpu, self.actions, self.q_net_input_dim)
def agent_start(self, observation):
obs_array = self._observation_to_featurevec(observation)#拿到前面去提取分析再r合并了
# Initialize State
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim), dtype=np.uint8)
self.state[0] = obs_array
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_, self.epsilon)#return return_action1
return_action = action #return return_action2
print return_action, type(return_action)#------------------------------------------￥￥￥￥ Random 2 <type 'int'>
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()#作为下个状态的开始
self.last_observation = obs_array #：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：
return return_action #return return_action3
# action, q_now = self.q_net.e_greedy(state_, self.epsilon)-75
def agent_step(self, reward, observation):
obs_array = self._observation_to_featurevec(observation)#拿到前面去提取分析再r＿合并了
#obs_processed = np.maximum(obs_array, self.last_observation) # Take maximum from two frames
# Compose State : 4-step sequential observation
if self.q_net.hist_size == 4:
self.state = np.asanyarray([self.state[1], self.state[2], self.state[3], obs_array], dtype=np.uint8)
elif self.q_net.hist_size == 2:
self.state = np.asanyarray([self.state[1], obs_array], dtype=np.uint8)
elif self.q_net.hist_size == 1:
self.state = np.asanyarray([obs_array], dtype=np.uint8)
else:
print("self.DQN.hist_size err")
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
#state_从self.state = np.asanyarray([obs_array], dtype=np.uint8)的uint8去小数变成shape（1，1，256*6*6）的float32
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Exploration decays along the time sequence
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time:#10000<运行时间
self.epsilon -= self.epsilon_delta #那么开始渐渐减少eps
if self.epsilon < self.min_eps: #如果eps已经被减少的快没了比预定的最小值还要小，
self.epsilon = self.min_eps #则等于min_eps =0.1
eps = self.epsilon # self.epsilon = 1.0 ----61 理由是 if np.random.rand() < epsilon:q_net.py160行
else: # Initial Exploation Phase
print("Initial Exploration : %d/%d steps" % (self.time, self.q_net.initial_exploration)),
eps = 1.0 #---------------------1￥打印现在的step，需要学习的步子（例如 Initial Exploration : 173/1000 steps）
else: # Evaluation
print("Policy is Frozen")
eps = 0.05
# Generate an Action by e-greedy action selection
action, q_now = self.q_net.e_greedy(state_, eps)#-----------------------------------------3维度数组state_和1.0
return action, eps, q_now, obs_array
# server.py 120行 self.agent.agent_step_update(reward, action, eps, q_now, obs_array)
def agent_step_update(self, reward, action, eps, q_now, obs_array):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state, self.last_action, reward, self.state, False)
print "------------------- Real Index%d" % (self.q_net.data_index)#%int
self.actions_evaluate.append(self.last_action)
if self.actions_evaluate[-1] == self.actions.index(2) and reward >= 1.0 and len(self.actions_evaluate) == 4:
if [self.actions_evaluate[i]for i in xrange(3)] == ([1, 0, 1]or[1, 0, 1]):
index = np.asanyarray(self.q_net.data_index, dtype=np.int8)
for i in xrange(1, len(self.actions_evaluate)+1):
self.q_net.d[2][index - i] -= 0.5
#-----# self.action_evaluate = deque()----------------------------------------------!!!!!!!!!!!!!!!!!!!!!!!!!!
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print('Step:%d Action:%d Reward:%.1f Epsilon:%.6f Q_max:%3f' % (
self.time, self.q_net.action_to_index(action), reward, eps, q_max))
# ￥Step:92 Action:0 Reward:0.0 Epsilon:1.000000 Q_max:0.000000
# Updates for next step
self.last_observation = obs_array#：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：：
if self.policy_frozen is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated！！
print('episode finished. Reward:%.1f / Epsilon:%.6f' % (reward, self.epsilon))
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state, self.last_action, reward, self.last_state,
True)#----------------------------------------------------------------
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Time count
if self.policy_frozen is False:
self.time += 1
class CnnDqnAgent(object):
policy_frozen = False
epsilon_delta = 1.0 / 10 ** 4.4
min_eps = 0.1
actions = [0, 1, 2]
cnn_feature_extractor = 'alexnet_feature_extractor.pickle'
model = 'bvlc_alexnet.caffemodel'
model_type = 'alexnet'
image_feature_dim = 256 * 6 * 6
image_feature_count = 1
def _observation_to_featurevec(self, observation):
# TODO clean
if self.image_feature_count == 1:
return np.r_[self.feature_extractor.feature(observation["image"][0]),
observation["depth"][0]]
elif self.image_feature_count == 4:
return np.r_[self.feature_extractor.feature(observation["image"][0]),
self.feature_extractor.feature(observation["image"][1]),
self.feature_extractor.feature(observation["image"][2]),
self.feature_extractor.feature(observation["image"][3]),
observation["depth"][0],
observation["depth"][1],
observation["depth"][2],
observation["depth"][3]]
else:
print("not supported: number of camera")
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
self.depth_image_dim = options['depth_image_dim']
self.q_net_input_dim = self.image_feature_dim * self.image_feature_count + self.depth_image_dim
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor),
self.feature_extractor = pickle.load(open(self.cnn_feature_extractor))
print("done")
else:
self.feature_extractor = CnnFeatureExtractor(self.use_gpu, self.model, self.model_type, self.image_feature_dim)
pickle.dump(self.feature_extractor, open(self.cnn_feature_extractor, 'w'))
print("pickle.dump finished")
self.time = 0
self.epsilon = 1.0 # Initial exploratoin rate
self.q_net = QNet(self.use_gpu, self.actions, self.q_net_input_dim)
def agent_start(self, observation):
obs_array = self._observation_to_featurevec(observation)
# Initialize State
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim), dtype=np.uint8)
self.state[0] = obs_array
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_, self.epsilon)
return_action = action
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()
self.last_observation = obs_array
return return_action
def agent_step(self, reward, observation):
obs_array = self._observation_to_featurevec(observation)
#obs_processed = np.maximum(obs_array, self.last_observation) # Take maximum from two frames
# Compose State : 4-step sequential observation
if self.q_net.hist_size == 4:
self.state = np.asanyarray([self.state[1], self.state[2], self.state[3], obs_array], dtype=np.uint8)
elif self.q_net.hist_size == 2:
self.state = np.asanyarray([self.state[1], obs_array], dtype=np.uint8)
elif self.q_net.hist_size == 1:
self.state = np.asanyarray([obs_array], dtype=np.uint8)
else:
print("self.DQN.hist_size err")
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Exploration decays along the time sequence
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
else: # Initial Exploation Phase
print("Initial Exploration : %d/%d steps" % (self.time, self.q_net.initial_exploration)),
eps = 1.0
else: # Evaluation
print("Policy is Frozen")
eps = 0.05
# Generate an Action by e-greedy action selection
action, q_now = self.q_net.e_greedy(state_, eps)
return action, eps, q_now, obs_array
def agent_step_update(self, reward, action, eps, q_now, obs_array):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state, self.last_action, reward, self.state, False)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print('Step:%d Action:%d Reward:%.1f Epsilon:%.6f Q_max:%3f' % (
self.time, self.q_net.action_to_index(action), reward, eps, q_max))
# Updates for next step
self.last_observation = obs_array
if self.policy_frozen is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated
print('episode finished. Reward:%.1f / Epsilon:%.6f' % (reward, self.epsilon))
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state, self.last_action, reward, self.last_state,
True)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Time count
if self.policy_frozen is False:
self.time += 1
class CnnDqnAgent(object):
policy_frozen = False
epsilon_delta = 1.0 / 10**4.4
min_eps = 0.1
actions = [0, 1, 2]
cnn_feature_extractor = 'alexnet_feature_extractor.pickle'
model = 'bvlc_alexnet.caffemodel'
model_type = 'alexnet'
image_feature_dim = 256 * 6 * 6
image_feature_count = 1
def _observation_to_featurevec(self, observation):
# TODO clean
if self.image_feature_count == 1:
return np.r_[
self.feature_extractor.feature(observation["image"][0]),
observation["depth"][0]]
elif self.image_feature_count == 4:
return np.r_[
self.feature_extractor.feature(observation["image"][0]),
self.feature_extractor.feature(observation["image"][1]),
self.feature_extractor.feature(observation["image"][2]),
self.feature_extractor.feature(observation["image"][3]),
observation["depth"][0], observation["depth"][1],
observation["depth"][2], observation["depth"][3]]
else:
print("not supported: number of camera")
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
self.depth_image_dim = options['depth_image_dim']
self.q_net_input_dim = self.image_feature_dim * self.image_feature_count + self.depth_image_dim
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor),
self.feature_extractor = pickle.load(
open(self.cnn_feature_extractor))
print("done")
else:
self.feature_extractor = CnnFeatureExtractor(
self.use_gpu, self.model, self.model_type,
self.image_feature_dim)
pickle.dump(self.feature_extractor,
open(self.cnn_feature_extractor, 'w'))
print("pickle.dump finished")
self.time = 0
self.epsilon = 1.0 # Initial exploratoin rate
self.q_net = QNet(self.use_gpu, self.actions, self.q_net_input_dim)
#self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
#self.last_state = np.zeros((self.q_net.hist_size, self.q_net_input_dim), dtype=np.float32)
def agent_start(self, observation):
obs_array = self._observation_to_featurevec(observation)
# Initialize State
#self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim), dtype=np.uint8)
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim),
dtype=np.float32)
self.state[0] = obs_array
state_ = np.asanyarray(self.state[0].reshape(1, self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# reset lstm state
self.q_net.action_model.reset()
self.q_net.scene_model.reset()
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_, self.epsilon)
return_action = action
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()
self.last_observation = obs_array
return return_action
def agent_step(self, reward, observation):
obs_array = self._observation_to_featurevec(observation)
#obs_processed = np.maximum(obs_array, self.last_observation) # Take maximum from two frames
# Compose State : 4-step sequential observation
#if self.q_net.hist_size == 4:
# self.state = np.asanyarray([self.state[1], self.state[2], self.state[3], obs_array], dtype=np.uint8)
#elif self.q_net.hist_size == 2:
# self.state = np.asanyarray([self.state[1], obs_array], dtype=np.uint8)
#elif self.q_net.hist_size == 1:
# self.state = np.asanyarray([obs_array], dtype=np.uint8)
#else:
# print("self.DQN.hist_size err")
np.append(self.state, obs_array)
#self.state = np.asanyarray(self.state[len(self.state) - self.q_net.hist_size:len(self.state)], dtype=np.uint8)
self.state = np.asanyarray(
self.state[len(self.state) - self.q_net.hist_size:len(self.state)],
dtype=np.float32)
state_ = np.asanyarray(self.state[self.q_net.hist_size - 1].reshape(
1, self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Exploration decays along the time sequence
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
else: # Initial Exploation Phase
print("Initial Exploration : %d/%d steps" %
(self.time, self.q_net.initial_exploration)),
eps = 1.0
else: # Evaluation
print("Policy is Frozen")
eps = 0.05
last_state_ = np.asanyarray(self.state[self.q_net.hist_size -
2].reshape(
1, self.q_net_input_dim),
dtype=np.float32)
#last_state_ = np.asanyarray(self.last_state[self.q_net.hist_size-1].reshape(1, self.q_net_input_dim), dtype=np.float32)
if self.use_gpu >= 0:
last_state_ = cuda.to_gpu(last_state_)
# Generate an Action by e-greedy action selection
action, q_now, interest = self.q_net.e_greedy_with_interest(
state_, eps, last_state_)
print("interest is %f" % interest)
return action, eps, q_now, obs_array, interest
def agent_step_update(self, reward, action, eps, q_now, obs_array):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward, self.state,
False)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print('Step:%d Action:%d Reward:%.1f Epsilon:%.6f Q_max:%3f' %
(self.time, self.q_net.action_to_index(action), reward, eps,
q_max))
# Updates for next step
self.last_observation = obs_array
if self.policy_frozen is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated
print('episode finished. Reward:%.1f / Epsilon:%.6f' %
(reward, self.epsilon))
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward,
self.last_state, True)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Time count
if self.policy_frozen is False:
self.time += 1
class CnnDqnAgent(object):
epsilon_delta = 1.0 / 10**4.4 #deltaの減少量
min_eps = 0.1 #deltaの最小値
actions = range(3)
cnn_feature_extractor = 'alexnet_feature_extractor.pickle' #1
model = 'bvlc_alexnet.caffemodel' #2
model_type = 'alexnet' #3
image_feature_dim = 256 * 6 * 6
image_count = 1
def _observation_to_featurevec(self, observation):
# TODO clean
if self.image_count == 1:
return np.r_[
self.feature_extractor.feature(observation["image"][0]),
observation["depth"][0]]
elif self.image_count == 4:
return np.r_[
self.feature_extractor.feature(observation["image"][0]),
self.feature_extractor.feature(observation["image"][1]),
self.feature_extractor.feature(observation["image"][2]),
self.feature_extractor.feature(observation["image"][3]),
observation["depth"][0], observation["depth"][1],
observation["depth"][2], observation["depth"][3]]
else:
print("not supported: number of camera")
def agent_init(self, **options):
try:
self.image_count = options['image_count']
self.depth_image_dim = options['depth_image_dim']
self.use_gpu = options['use_gpu']
self.test = options['test']
self.folder = options["folder"] #save_modelで使う->self.
model_num = options['model_num']
self.q_net_input_dim = self.image_feature_dim * self.image_count + self.depth_image_dim * self.image_count
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor),
self.feature_extractor = pickle.load(
open(self.cnn_feature_extractor))
print("done")
else:
self.feature_extractor = CnnFeatureExtractor(
self.use_gpu, self.model, self.model_type,
self.image_feature_dim)
pickle.dump(self.feature_extractor,
open(self.cnn_feature_extractor, 'w'))
print("pickle.dump finished")
self.q_net = QNet(self.use_gpu, self.actions, self.q_net_input_dim)
self.time = model_num + 1 #saveとloadが同時に行われることを防ぐため
if (self.test):
self.epsilon = 0.0
else:
non_exploration = max(
self.time - self.q_net.initial_exploration, 0)
self.epsilon = max(1.0 - non_exploration * self.epsilon_delta,
self.min_eps)
print "epsilon = ", self.epsilon
if (self.test or model_num > 0):
self.q_net.load_model(self.folder, model_num)
except:
import traceback
import sys
traceback.print_exc()
sys.exit()
# 行動取得系,state更新系メソッド
def agent_start(self, observation):
try:
obs_array = self._observation_to_featurevec(observation)
# Initialize State
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim),
dtype=np.uint8)
self.state[0] = obs_array
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size,
self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_, self.epsilon)
return_action = action
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()
return return_action
except:
import traceback
import sys
traceback.print_exc()
sys.exit()
# 行動取得系,state更新系メソッド
def agent_step(self, observation):
try:
obs_array = self._observation_to_featurevec(observation)
# Compose State : 4-step sequential observation
if self.q_net.hist_size == 4:
self.state = np.asanyarray(
[self.state[1], self.state[2], self.state[3], obs_array],
dtype=np.uint8)
elif self.q_net.hist_size == 2:
self.state = np.asanyarray([self.state[1], obs_array],
dtype=np.uint8)
elif self.q_net.hist_size == 1:
self.state = np.asanyarray([obs_array], dtype=np.uint8)
else:
print("self.DQN.hist_size err")
# q_funcに入れる際は(サンプル数,hist_size,q_net_input_dim)
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size,
self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Exploration decays along the time sequence
if self.test is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time: #timeが1000を超えたら
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
#最初に1000回ランダムに行動
else:
print("Initial Exploration : %d/%d steps" %
(self.time, self.q_net.initial_exploration)),
eps = 1.0
else: # Evaluation
print("Policy is Frozen")
eps = 0.0
# Generate an Action by e-greedy action selection
action, q_now = self.q_net.e_greedy(state_, eps)
return action, eps, q_now, obs_array
except:
import traceback
import sys
traceback.print_exc()
sys.exit()
# 学習系メソッド
def agent_step_update(self, reward, action, eps, q_now):
try:
# Learning Phase
if self.test is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward,
self.state, False)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print('Step:%d Action:%d Reward:%.1f Epsilon:%.6f Q_max:%3f' %
(self.time, self.q_net.action_to_index(action), reward, eps,
q_max))
if self.test is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
# save model
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.save_model_freq) == 0:
print "------------------Save Model------------------"
self.q_net.save_model(self.folder, self.time)
# Time count
self.time += 1
except:
import traceback
import sys
traceback.print_exc()
sys.exit()
# 学習系メソッド
def agent_end(self, reward): # Episode Terminated
try:
print('episode finished. Reward:%.1f / Epsilon:%.6f' %
(reward, self.epsilon))
# Learning Phase
if self.test is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward,
self.last_state, True)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
if self.test is False:
# Model Save
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.save_model_freq) == 0:
print "------------------Save Model------------------"
self.q_net.save_model(self.time, self.velocity)
# Time count
self.time += 1
except:
import traceback
import sys
traceback.print_exc()
sys.exit()
class CnnDqnAgent(object):
policy_frozen = False # 学習をやめて、実行だけしたいときはTrueにする
epsilon_delta = 1.0 / 10**4.4
min_eps = 0.1
# press, up, down, left, right, none
num_of_action_type = 6
num_of_pad = 5
cnn_feature_extractor = 'alexnet_feature_extractor.pickle'
model = 'bvlc_alexnet.caffemodel'
model_type = 'alexnet'
image_feature_dim = 256 * 6 * 6
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
self.pad_state_dim = options['pad_states_dim']
self.q_net_input_dim = self.image_feature_dim + self.pad_state_dim
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor),
self.feature_extractor = pickle.load(
open(self.cnn_feature_extractor))
else:
print("pickle.dump start")
self.feature_extractor = CnnFeatureExtractor(
self.use_gpu, self.model, self.model_type,
self.image_feature_dim)
pickle.dump(self.feature_extractor,
open(self.cnn_feature_extractor, 'wb'))
print("pickle.dump finished")
self.time = 0
self.epsilon = 1.0 # Initial exploratoin rate
self.q_net = QNet(self.use_gpu, self.num_of_action_type,
self.num_of_pad, self.q_net_input_dim)
def agent_start(self, observation):
obs_array = np.r_[self.feature_extractor.feature(observation["image"]),
observation["pad_states"]]
# Initialize State
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim),
dtype=np.uint8)
self.state[0] = obs_array
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size,
self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_, self.epsilon)
return_action = action
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()
self.last_observation = obs_array
return return_action
def agent_step(self, reward, observation):
obs_array = np.r_[self.feature_extractor.feature(observation["image"]),
observation["pad_states"]]
#obs_processed = np.maximum(obs_array, self.last_observation) # Take maximum from two frames
# Compose State : 4-step sequential observation
if self.q_net.hist_size == 4:
self.state = np.asanyarray(
[self.state[1], self.state[2], self.state[3], obs_array],
dtype=np.uint8)
elif self.q_net.hist_size == 2:
self.state = np.asanyarray([self.state[1], obs_array],
dtype=np.uint8)
elif self.q_net.hist_size == 1:
self.state = np.asanyarray([obs_array], dtype=np.uint8)
else:
print("self.DQN.hist_size err")
state_ = np.asanyarray(self.state.reshape(1, self.q_net.hist_size,
self.q_net_input_dim),
dtype=np.float32)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_)
# Exploration decays along the time sequence
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
else: # Initial Exploation Phase
print("Initial Exploration : %d/%d steps" %
(self.time, self.q_net.initial_exploration)),
eps = 1.0
else: # Evaluation
print("Policy is Frozen")
eps = 0.05
# Generate an Action by e-greedy action selection
action, q_now = self.q_net.e_greedy(state_, eps)
return action, eps, q_now, obs_array
def agent_step_update(self, reward, action, eps, q_now, obs_array):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward, self.state,
False)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print('Step:%d Reward:%f Epsilon:%.6f Q_max:%3f' %
(self.time, reward, eps, q_max))
print('Action: {0}'.format(action))
# Updates for next step
self.last_observation = obs_array
if self.policy_frozen is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated
print('episode finished. Reward:%.1f / Epsilon:%.6f' %
(reward, self.epsilon))
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward,
self.last_state, True)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Time count
if self.policy_frozen is False:
self.time += 1
class CnnDqnAgent(object):
def __init__(self):
super(CnnDqnAgent, self).__init__()
self.policy_frozen = False
self.epsilon_delta = 1.0 / 10**4.4
self.min_eps = 0.1
self.actions = [0, 1, 2]
self.cnn_feature_extractor = 'alexnet_feature_extractor.pickle'
self.model = 'bvlc_alexnet.caffemodel'
self.model_type = 'alexnet'
self.image_feature_dim = 256 * 6 * 6
self.image_feature_count = 1
self.prediction_update_tick = 0
def _observation_to_featurevec(self, observation):
feature_image = [
self.feature_extractor(observation["image"][i])
for i in range(self.image_feature_count)
]
return np.concatenate(feature_image + observation["depth"])
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
self.depth_image_dim = options['depth_image_dim']
self.q_net_input_dim = self.image_feature_dim * self.image_feature_count + self.depth_image_dim
if os.path.exists(self.cnn_feature_extractor):
print("loading... " + self.cnn_feature_extractor)
with open(self.cnn_feature_extractor, 'rb') as f:
self.feature_extractor = pickle.load(f)
print("done")
else:
print('there is no chainer alexnet model file ',
self.cnn_feature_extractor)
print('making chainer model from ', self.model)
print('this process take a tens of minutes.')
self.feature_extractor = CnnFeatureExtractor(
self.use_gpu, self.model, self.model_type,
self.image_feature_dim)
pickle.dump(self.feature_extractor,
open(self.cnn_feature_extractor, 'wb'))
print("pickle.dump finished")
self.time = 0
self.epsilon = 1.0 # Initial exploratoin rate
self.q_net = QNet(self.use_gpu, self.actions, self.q_net_input_dim)
def agent_start(self, observation):
# Initialize State
self.state = np.zeros((self.q_net.hist_size, self.q_net_input_dim),
dtype=np.float32)
new_feature_vec = self._observation_to_featurevec(observation)
self.state[0, :] = new_feature_vec
# Generate an Action e-greedy
state_ = np.expand_dims(self.state, 0)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_, device=self.use_gpu)
action, _, deg_intereset = self.q_net.e_greedy(state_, self.epsilon)
return_action = action
# Update for next step
self.last_action = copy.deepcopy(return_action)
self.last_state = self.state.copy()
self.last_observation = new_feature_vec
return return_action, deg_intereset
def agent_step(self, reward, observation):
new_feature_vec = self._observation_to_featurevec(observation)
past_states = self.state[0:-1, :]
self.state[0, :] = new_feature_vec
self.state[1:, :] = past_states
# Exploration decays along the time sequence
state_ = np.expand_dims(self.state, 0)
if self.use_gpu >= 0:
state_ = cuda.to_gpu(state_, device=self.use_gpu)
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration < self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
else: # Initial Exploation Phase
print("Initial Exploration : %d/%d steps" %
(self.time, self.q_net.initial_exploration)),
eps = 1.0
else: # Evaluation
print("Policy is Frozen")
eps = 0.05
# Generate an Action by e-greedy action selection
action, q_now, deg_intereset = self.q_net.e_greedy(state_, eps)
return action, eps, q_now, new_feature_vec, deg_intereset
def agent_step_update(self, reward, action, eps, q_now, new_feature_vec,
deg_intereset):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward, self.state,
False)
self.q_net.experience_replay(self.time)
self.prediction_update_tick += 1
if self.prediction_update_tick >= 10:
self.prediction_update_tick = 0
print('prediction update')
self.q_net.prediction_update()
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Simple text based visualization
if self.use_gpu >= 0:
q_max = np.max(q_now.get())
else:
q_max = np.max(q_now)
print(
'Step:%d Action:%d Reward:%.1f Epsilon:%.6f Q_max:%3f def_interest:%3f'
% (self.time, self.q_net.action_to_index(action), reward, eps,
q_max, deg_intereset))
# Updates for next step
self.last_observation = new_feature_vec
if self.policy_frozen is False:
self.last_action = copy.deepcopy(action)
self.last_state = self.state.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated
print('episode finished. Reward:%.1f / Epsilon:%.6f' %
(reward, self.epsilon))
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state,
self.last_action, reward,
self.last_state, True)
self.q_net.experience_replay(self.time)
# Target model update
if self.q_net.initial_exploration < self.time and np.mod(
self.time, self.q_net.target_model_update_freq) == 0:
print("Model Updated")
self.q_net.target_model_update()
# Time count
if self.policy_frozen is False:
self.time += 1
class CnnDqnAgent(object):
policy_frozen = False
epsilon_delta = 1.0 / (6 * 10**4)
min_eps = 0.1
actions = [0, 1, 2, 3, 4, 5, 6, 7]
image_feature_dim = 14 * 14
image_feature_count = 32
image_dim = 128 * 128
avgloss_log = '/home/ohk/Documents/playground/Assets/log/'
def _observation_to_state_cnn(self, observation):
temp = []
for i in range(len(observation["image"])):
temp.append(np.r_[observation["image"][i]])
return np.r_[temp]
def _observation_to_state_other(self, observation):
temp = []
# change in another network structure
for i in range(len(observation["ir"])):
temp.append(np.r_[observation["ir"][i], observation["compass"][i],
observation["target"][i]])
return np.r_[temp]
def _reshape_for_cnn(self, state, hist_size, x, y):
state_ = np.zeros((self.agent_count, 3 * hist_size, 128, 128),
dtype=np.float32)
for i in range(self.agent_count):
if hist_size == 1:
state_[i] = state[i][0].transpose(2, 0, 1)
elif hist_size == 2:
state_[i] = np.c_[state[i][0], state[i][1]].transpose(2, 0, 1)
elif hist_size == 4:
state_[i] = np.c_[state[i][0], state[i][1], state[i][2],
state[i][3]].transpose(2, 0, 1)
return state_
def agent_init(self, **options):
self.use_gpu = options['use_gpu']
self.agent_count = options['agent_count']
self.image_count = options['rgb_image_count']
self.depth_image_dim = options['depth_image_dim']
self.ir_idm = options['ir_dim']
self.ground_dim = options['ground_dim']
self.compass_dim = options['compass_dim']
self.target_dim = options['target_dim']
self.model = options['model']
self.cnn_input_dim = self.image_dim * self.image_count
self.feature_dim = self.image_feature_dim * self.image_feature_count
self.other_input_dim = self.depth_image_dim + self.ir_idm + self.ground_dim + self.compass_dim + self.target_dim
self.time = 1
self.epsilon = 1.0
self.avgloss_log_file = self.avgloss_log + "avg_loss.log"
if self.model != 'None':
self.policy_frozen = False
self.epsilon = 0.5
self.q_net = QNet(self.use_gpu, self.actions, self.cnn_input_dim,
self.feature_dim, self.agent_count,
self.other_input_dim, self.model)
def agent_start(self, observation, reward):
obs_cnn_array = self._observation_to_state_cnn(observation)
obs_other_array = self._observation_to_state_other(observation)
# Initialize State
self.state_cnn = np.zeros(
(self.agent_count, self.q_net.hist_size, 128, 128, 3),
dtype=np.uint8)
for i in range(self.agent_count):
self.state_cnn[i][self.q_net.hist_size - 1] = obs_cnn_array[i]
state_cnn_ = self._reshape_for_cnn(self.state_cnn,
self.q_net.hist_size, 128, 128)
state_cnn_ /= 255.0
self.state_other = np.zeros(
(self.agent_count, self.q_net.hist_size, self.other_input_dim),
dtype=np.uint8)
for i in range(self.agent_count):
self.state_other[i][self.q_net.hist_size - 1] = obs_other_array[i]
state_other_ = np.asanyarray(self.state_other.reshape(
self.agent_count, self.q_net.hist_size * self.other_input_dim),
dtype=np.float32)
state_other_ /= 255.0
if self.use_gpu >= 0:
state_cnn_ = cuda.to_gpu(state_cnn_)
state_other_ = cuda.to_gpu(state_other_)
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration <= self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
print(("\naTraining Now. Time step : %d Epsilon : %.6f" %
(self.time, eps)))
else: # Initial Exploation Phase
eps = 1.0
print(("\naInitial Exploration S : %d/%d Epsilon : %.6f" %
(self.time, self.q_net.initial_exploration, eps)))
# Generate an Action e-greedy
action, q_now = self.q_net.e_greedy(state_cnn_, state_other_,
self.epsilon, reward)
# Update for next step
self.last_action = action.copy()
self.last_state_cnn = self.state_cnn.copy()
self.last_state_other = self.state_other.copy()
del state_cnn_, state_other_, obs_cnn_array, obs_other_array
gc.collect()
self.time += 1
return action, q_now
def agent_step(self, reward, observation):
obs_cnn_array = self._observation_to_state_cnn(observation)
obs_other_array = self._observation_to_state_other(observation)
# img = observation["image"][0]
# img.save("img.png")
# Compose State : 4-step sequential observation
for i in range(self.agent_count):
if self.q_net.hist_size == 4:
self.state_cnn[i] = np.asanyarray([
self.state_cnn[i][1], self.state_cnn[i][2],
self.state_cnn[i][3], obs_cnn_array[i]
],
dtype=np.uint8)
if (obs_other_array.size != 0):
self.state_other[i] = np.asanyarray([
self.state_other[i][1], self.state_other[i][2],
self.state_other[i][3], obs_other_array[i]
],
dtype=np.uint8)
elif self.q_net.hist_size == 2:
self.state_cnn[i] = np.asanyarray(
[self.state_cnn[i][1], obs_cnn_array[i]], dtype=np.uint8)
if (obs_other_array.size != 0):
self.state_other[i] = np.asanyarray(
[self.state_other[i][1], obs_other_array[i]],
dtype=np.uint8)
elif self.q_net.hist_size == 1:
self.state_cnn[i] = np.asanyarray([obs_cnn_array[i]],
dtype=np.uint8)
if (obs_other_array.size != 0):
self.state_other[i] = np.asanyarray([obs_other_array[i]],
dtype=np.uint8)
else:
print("self.DQN.hist_size err")
state_cnn_ = self._reshape_for_cnn(self.state_cnn,
self.q_net.hist_size, 128, 128)
state_cnn_ /= 255.0
state_other_ = np.asanyarray(self.state_other.reshape(
self.agent_count, self.q_net.hist_size * self.other_input_dim),
dtype=np.float32)
state_other_ /= 255.0
if self.use_gpu >= 0:
state_cnn_ = cuda.to_gpu(state_cnn_)
state_other_ = cuda.to_gpu(state_other_)
# Exploration decays along the time sequence
if self.policy_frozen is False: # Learning ON/OFF
if self.q_net.initial_exploration <= self.time:
self.epsilon -= self.epsilon_delta
if self.epsilon < self.min_eps:
self.epsilon = self.min_eps
eps = self.epsilon
print(("\nbTraining Now. Time step : %d Epsilon : %.6f" %
(self.time, eps)))
else: # Initial Exploation Phase
eps = 1.0
print(("\nInitial Exploration : %d/%d Epsilon : %.6f" %
(self.time, self.q_net.initial_exploration, eps)))
else: # Evaluation
eps = 0.05
print(("\nPolicy is Frozen. Time step : %d Epsilon : %.6f" %
(self.time, eps)))
# Generate an Action by e-greedy action selection
action, q_now = self.q_net.e_greedy(state_cnn_, state_other_, eps,
reward)
del state_cnn_, state_other_, obs_cnn_array, obs_other_array
gc.collect()
return action, eps, q_now
def agent_step_update(self, reward, action, eps):
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state_cnn,
self.last_state_other,
self.last_action, reward,
self.state_cnn, self.state_other,
False)
self.q_net.experience_replay(self.time)
if self.policy_frozen is False:
self.last_action = action.copy() # copy.deepcopy(action)
self.last_state_cnn = self.state_cnn.copy()
self.last_state_other = self.state_other.copy()
self.time += 1
def agent_end(self, reward): # Episode Terminated
print(('episode finished. Time step : %d' % self.time))
print(("agent"), end=' ')
for i in range(self.agent_count):
print(("[%02d] ( )reward(%06.2f)" % (i, reward[i])),
end=' ')
if i % 5 == 4:
print(("\n "), end=' ')
# Learning Phase
if self.policy_frozen is False: # Learning ON/OFF
self.q_net.stock_experience(self.time, self.last_state_cnn,
self.last_state_other,
self.last_action, reward,
self.last_state_cnn,
self.last_state_other, True)
self.q_net.experience_replay(self.time)
avg_episode_loss = 0
if self.q_net.time_of_episode != 0:
avg_episode_loss = self.q_net.loss_per_episode / self.q_net.time_of_episode
self.q_net.loss_per_episode = 0
self.q_net.time_of_episode = 0
with open(self.avgloss_log_file, 'a') as the_file:
the_file.write(str(self.time) + "," + str(avg_episode_loss) + "\n")
# Time count
# if self.policy_frozen is False:
self.time += 1