def learn_policy(self,
epochs,
actor_iterations=1,
critic_iterations=1,
episodes_per_update=1,
epsilon_bound=0.2) \
-> Tuple[Policy, List[float]]:
policy = StochasticPolicy(self.actor)
agent = Agent(self.environment, policy)
r_obs = RewardObserver()
t_obs = TrajectoryObserver()
agent.attach_observer(t_obs)
agent.attach_observer(r_obs)
for _ in tqdm(range(epochs)):
# TODO COLLECTING EPISODES CAN BE DONE IN PARALLEL WITH MULTIPLE AGENTS
for _ in range(episodes_per_update):
agent.perform_episode()
reward_to_go = t_obs.reward_to_go(self.discount_factor)
trajectories = t_obs.sampled_trajectories
# unify trajectories into single list
reward_to_go = concatenate(reward_to_go)
trajectories = concatenate(trajectories)
# to tensor
reward_to_go = torch.tensor(reward_to_go)
trajectories = list_of_tuples_to_tuple_of_tensors(trajectories)
if self.use_critic:
state_index = 0
v = self.critic(trajectories[state_index])
v = torch.squeeze(v, 1)
advantage = reward_to_go - v
advantage = advantage.detach()
self.update_actor(trajectories, advantage, actor_iterations,
epsilon_bound)
self.update_critic(trajectories, reward_to_go,
critic_iterations)
else:
self.update_actor(trajectories, reward_to_go, actor_iterations,
epsilon_bound)
# reset memory for next iteration
t_obs.clear()
return policy, r_obs.get_rewards()
def learn_policy(self, epochs=200, episodes_per_update=1):
self.v_optimizer.zero_grad()
state_index = 0
action_index = 1
policy = StochasticPolicy(self.a_distribution_model)
agent = Agent(self.environment, policy)
# utilities to collect agent data
t_obs = TrajectoryObserver()
r_obs = RewardObserver()
agent.attach_observer(t_obs)
agent.attach_observer(r_obs)
for _ in tqdm(range(epochs)):
for _ in range(episodes_per_update):
# perform complete episode with observers attached
agent.perform_episode()
# collect trajectory and calculate reward to go
trajectory = t_obs.last_trajectory()
reward_to_go = get_reward_to_go(trajectory,
self.discount_factor)
# convert to pytorch tensors
trajectory = list_of_tuples_to_tuple_of_tensors(trajectory)
reward_to_go = torch.tensor(reward_to_go, dtype=torch.float32)
advantage = self.get_advantage(trajectory, reward_to_go)
# calculate loss
policy_loss = self.a_distribution_model(
trajectory[state_index])
policy_loss = -policy_loss.log_prob(
trajectory[action_index]) * advantage
policy_loss = torch.sum(policy_loss)
# to estimate the expected gradient of episodes_per_update episodes,
# we divide the loss by episodes_per_update
policy_loss = policy_loss / episodes_per_update
# accumulate gradient
policy_loss.backward()
# gradient step
self.a_optimizer.step()
self.a_optimizer.zero_grad()
self.update_advantage()
t_obs.clear()
return policy, r_obs.get_rewards()
def learn_policy(self,
episodes=200,
experience_replay_samples=32,
gaussian_noise_variance=1,
exponential_average_factor=0.01,
noise_bound=None,
buffer_size=math.inf
):
pbar = tqdm(total=episodes)
gaussian_noise = self.gaussian_distribution(gaussian_noise_variance)
policy = DeterministicPolicy(
self.a_model,
additive_noise_distribution=gaussian_noise
)
buffer = ReplayBuffer(buffer_size)
reward_observer = RewardObserver()
agent = Agent(self.environment, policy)
agent.attach_observer(reward_observer)
current_episode = 0
while current_episode < episodes:
# collect transition
state, action, reward, state_next, done = agent.step()
# add to buffer
buffer.add_transition(state, action, reward, state_next, done)
# if enough transitions collected perform experience replay algorithm
if buffer.size() >= experience_replay_samples:
self.experience_replay(
buffer.sample_transitions(experience_replay_samples),
exponential_average_factor,
noise_bound=noise_bound,
noise_distribution=gaussian_noise
)
# if episode ended, update progress
if done:
current_episode += 1
pbar.update(1)
pbar.close()
return DeterministicPolicy(self.a_model), reward_observer.get_rewards()
def learn_policy(self,
episodes=200,
experience_replay_samples=32,
exponential_average_factor=0.01,
entropy_coefficient=0,
buffer_size=math.inf,
updates_per_replay=1):
pbar = tqdm(total=episodes)
policy = StochasticPolicy(self.a_distribution_model)
buffer = ReplayBuffer(buffer_size)
reward_observer = RewardObserver()
agent = Agent(self.environment, policy)
agent.attach_observer(reward_observer)
current_episode = 0
while current_episode < episodes:
# collect transition
state, action, reward, state_next, done = agent.step()
# add to buffer
buffer.add_transition(state, action, reward, state_next, done)
# if enough transitions collected perform experience replay algorithm
if buffer.size() >= experience_replay_samples:
for _ in range(updates_per_replay):
self.experience_replay(
buffer.sample_transitions(experience_replay_samples),
exponential_average_factor, entropy_coefficient)
# if episode ended, update progress
if done:
current_episode += 1
if current_episode % 20 == 0:
reward_observer.plot()
reward_observer.plot_moving_average(5)
pbar.update(1)
pbar.close()
return MeanOfStochasticModel(
self.a_distribution_model), reward_observer.get_rewards()
def learn_policy(self,
epochs=200,
transition_batch_size=2,
v_initialization_episodes=20):
state_index = 0
action_index = 1
reward_index = 2
state_next_index = 3
done_index = 4
policy = StochasticPolicy(self.a_distribution_model)
agent = Agent(self.environment, policy)
# utilities to collect agent data
r_obs = RewardObserver()
agent.attach_observer(r_obs)
transition_generator = agent.transition_generator()
# runs montecarlo policy gradient, tuning v_model and a_distribution_model
previous_rewards = self.initialize_v(v_initialization_episodes)
r_obs.add(previous_rewards)
print("heyey")
while len(r_obs.get_rewards()) < epochs:
# collect transition
transitions = [
next(transition_generator)
for _ in range(transition_batch_size)
]
transitions = list_of_tuples_to_tuple_of_tensors(transitions)
# last state_next needs to be appended
state = torch.zeros(transitions[state_index].size()[0] + 1,
transitions[state_index].size()[1])
state[:-1] = transitions[state_index]
state[-1] = transitions[state_next_index][-1]
# separate v in v and v_next
v = self.v_model(state)
v_next = v[1:]
v = v[:-1]
# bootstraping
boosttrapped_v = v_next
boosttrapped_v = boosttrapped_v * (
1 - transitions[done_index]) # zeroing v_next entry if done
boosttrapped_v = transitions[
reward_index] + self.discount_factor * boosttrapped_v
boosttrapped_v = boosttrapped_v.detach() # set it as constant
# perform v_model update
self.v_optimizer.zero_grad()
v_loss = torch.nn.MSELoss()(v, boosttrapped_v)
v_loss.backward()
self.v_optimizer.step()
# advantage = (r_t + discount * V(s_ t+1)) - V(s_t)
advantage = boosttrapped_v - v
# to prevent policy gradient to propagate to v_model
advantage = advantage.detach()
policy_loss = self.a_distribution_model(transitions[state_index])
policy_loss = -policy_loss.log_prob(
transitions[action_index]) * advantage
policy_loss = torch.sum(policy_loss)
# gradient step
self.a_optimizer.zero_grad()
policy_loss.backward()
self.a_optimizer.step()
transition_generator.close()
return policy, r_obs.get_rewards()