def __init__(self,
agent,
game,
buffer_file=None,
weights_file=None,
n_batches=0):
self.agent = agent
self.game = game
self.replay_buffer = ReplayBuffer()
if buffer_file is not None:
self.replay_buffer.buffer = pickle.load(open(buffer_file, "rb"))
self.current_network = NestedTTTNet()
self.control_network = NestedTTTNet()
if weights_file is not None:
self.control_network.load_state_dict(torch.load(weights_file))
self.current_network.load_state_dict(self.control_network.state_dict())
self.control_network.eval()
self.current_network.train()
self.agent.update_control_net(self.control_network)
self.n_batches = n_batches
self.optim = torch.optim.Adam(self.current_network.parameters(),
lr=.01,
weight_decay=10e-4)
def __init__(self, state_size, action_size, num_agents):
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(RANDOM_SEED)
self.num_agents = num_agents
# Actor Network (w/ Target Network)
self.actor_local = Actor(state_size, action_size).to(device)
self.actor_target = Actor(state_size, action_size).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(), lr=LR_ACTOR)
# Critic Network (w/ Target Network)
self.critic_local = Critic(state_size, action_size).to(device)
self.critic_target = Critic(state_size, action_size).to(device)
self.critic_optimizer = optim.Adam(self.critic_local.parameters(), lr=LR_CRITIC, weight_decay=WEIGHT_DECAY)
# Noise process
self.noise = OUNoise(action_size)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE)
# Directory where to save the model
self.model_dir = os.getcwd() + "/DDPG/saved_models"
os.makedirs(self.model_dir, exist_ok=True)
def __init__(
self,
env,
gamma=0.99,
polyak=0.995,
act_noise=0.1,
render=False,
batch_size=32,
q_lr=1e-3,
p_lr=1e-4,
d=2,
buffer_capacity=5000,
max_episodes=100,
save_path=None,
load_path=None,
print_freq=1,
start_steps=10000,
log_dir='logs/train',
training=True,
):
self.gamma = gamma
self.polyak = polyak
self.act_noise = act_noise
self.render = render
self.batch_size = batch_size
self.p_lr = p_lr
self.q_lr = q_lr
self.d = d
self.max_episodes = max_episodes
self.start_steps = start_steps
self.actor, self.critic_1, self.critic_2 = create_actor_critic(
env.observation_space.shape[0], env.action_space.shape[0],
env.action_space.high)
self.target_actor, self.target_critic_1, self.target_critic_2 = create_actor_critic(
env.observation_space.shape[0], env.action_space.shape[0],
env.action_space.high)
self.target_actor.set_weights(self.actor.get_weights())
self.target_critic_1.set_weights(self.critic_1.get_weights())
self.target_critic_2.set_weights(self.critic_2.get_weights())
self.env = env
self.rewards = []
self.print_freq = print_freq
self.save_path = save_path
if training:
self.buffer = ReplayBuffer(buffer_capacity)
self.actor_optimizer = tf.keras.optimizers.Adam(
learning_rate=self.p_lr)
self.critic_1_optimizer = tf.keras.optimizers.Adam(
learning_rate=self.q_lr)
self.critic_2_optimizer = tf.keras.optimizers.Adam(
learning_rate=self.q_lr)
self.summary_writer = tf.summary.create_file_writer(log_dir)
self.mse = tf.keras.losses.MeanSquaredError()
if load_path is not None:
self.actor.load_weights(f'{load_path}/actor')
self.critic_1.load_weights(f'{load_path}/critic_1')
self.critic_2.load_weights(f'{load_path}/critic_2')
def __init__(self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00001,
crt_lr=0.0001,
tau=0.001,
gamma=0.99,
max_size=1000000,
batch_size=64,
chkpt_dir='tmp/ddpg',
name='ddpg',
layerNorm=True):
self.input_dims = input_dims
self.n_actions = n_actions
self.layer_sizes = layer_sizes
self.layerNorm = layerNorm
self.gamma = gamma # discount factor
self.tau = tau # target network updating weight
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.batch_size = batch_size
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='Critic_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='TargetActor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_critic = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='TargetCritic_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.noise = OUActionNoise(mu=np.zeros(self.n_actions))
self.update_network_parameters(tau=1)
def initialize(self, args):
BaseModel.initialize(self, args)
self.input_B = self.Tensor(args.batchSize, 3, 1024, 256)
self.input_C = self.Tensor(args.batchSize, 1, 1024, 256)
self.fake_Buffer = ReplayBuffer()
self.netG_BtoC = networks.define_G(3, 1, 64, 'unet_128', 'batch',
False, args.init_type, self.gpu_ids)
self.netD_C = networks.define_D(1,
64,
'basic',
norm='batch',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netG_BtoC.apply(weights_init_normal)
self.netD_C.apply(weights_init_normal)
checkpoint_BtoC_filename = 'netG_B2C.pth'
checkpoint_D_C_filename = 'netD_C.pth'
checkpoint_path_BtoC = os.path.join(args.checkpoints_dir,
checkpoint_BtoC_filename)
checkpoint_path_D_C = os.path.join(args.checkpoints_dir,
checkpoint_D_C_filename)
# Load checkpoint
# self.netG_BtoC.load_state_dict(torch.load(checkpoint_path_BtoC))
# self.netD_C.load_state_dict(torch.load(checkpoint_path_D_C))
# define loss
self.criterionGAN = torch.nn.MSELoss()
self.criterionReconstruction = torch.nn.L1Loss().cuda()
# init optimizer
self.optimizer_G = torch.optim.Adam(self.netG_BtoC.parameters(),
lr=0.0002,
betas=(0.5, 0.999))
self.optimizer_D = torch.optim.Adam(self.netD_C.parameters(),
lr=0.0002,
betas=(0.5, 0.999))
self.lr_scheduler_G = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_G,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
def __init__(self, gamma=0.999, buffer_size=1e5, batch_size=1024,
episodes_nr=50000, tau=2e-2, gym_name='MountainCarContinuous-v0'):
self.lr_actor = 5e-3 # learning rate for the actor
self.lr_critic = 1e-3 # learning rate for the critic
self.lr_decay = 1 # learning rate decay (per episode)
self.l2_reg_actor = 1e-7 # L2 regularization factor for the actor
self.l2_reg_critic = 1e-7 # L2 regularization factor for the critic
self.num_episodes = episodes_nr # number of episodes
self.max_steps_ep = 10000 # default max number of steps per episode (unless env has a lower hardcoded limit)
self.train_every = 1 # number of steps to run the policy (and collect experience) before updating network weights
self.replay_memory_capacity = buffer_size # capacity of experience replay memory
self.batch_size = batch_size
self.memory = ReplayBuffer(int(buffer_size))
self.episodes_nr = episodes_nr
self.gamma = gamma
self.tau = tau
self.env = gym.make(gym_name)
assert(self.env.action_space.high == -self.env.action_space.low)
self.action_range = self.env.action_space.high[0]
self.action_dim = np.prod(np.array(self.env.action_space.shape))
self.state_dim = np.prod(np.array(self.env.observation_space.shape))
#self.noise = OUNoise(self.action_dim)
self.action_range = self.env.action_space.high - self.env.action_space.low
self.initial_noise_scale = 0.1 # scale of the exploration noise process (1.0 is the range of each action dimension)
self.noise_decay = 1 #0.99 # decay rate (per episode) of the scale of the exploration noise process
self.exploration_mu = 0.0 # mu parameter for the exploration noise process: dXt = theta*(mu-Xt)*dt + sigma*dWt
self.exploration_theta = 0.15 # theta parameter for the exploration noise process: dXt = theta*(mu-Xt)*dt + sigma*dWt
self.exploration_sigma = 0.2 # sigma parameter for the exploration noise process: dXt = theta*(mu-Xt )*dt + sigma*dWt
self.noise = OUNoise(self.action_dim)
def __init__(self, task):
self.lr_actor = 5e-3 # learning rate for the actor
self.lr_critic = 1e-3 # learning rate for the critic
#self.lr_decay = 1 # learning rate decay (per episode)
self.l2_reg_actor = 1e-7 # L2 regularization factor for the actor
self.l2_reg_critic = 1e-7 # L2 regularization factor for the critic
#self.num_episodes = 2000 # number of episodes
#self.max_steps_ep = 10000 # default max number of steps per episode (unless env has a lower hardcoded limit)
self.batch_size = 1024
self.memory = ReplayBuffer(int(1e5))
#self.episodes_nr = 10000
self.gamma = 0.999
self.tau = 2e-2
def __init__(self,
env,
gamma=0.99,
polyak=0.995,
c=10,
d=2,
high_act_noise=0.1,
low_act_noise=0.1,
high_rew_scale=0.1,
low_rew_scale=1.0,
render=False,
batch_size=32,
q_lr=1e-3,
p_lr=1e-4,
buffer_capacity=5000,
max_episodes=100,
save_path=None,
load_path=None,
print_freq=1,
log_dir='logs/train',
training=True
):
self.gamma = gamma
self.polyak = polyak
self.low_act_noise = low_act_noise
self.high_act_noise = high_act_noise
self.low_rew_scale = low_rew_scale
self.high_rew_scale = high_rew_scale
self.render = render
self.batch_size = batch_size
self.p_lr = p_lr
self.q_lr = q_lr
self.max_episodes = max_episodes
self.env = env
self.rewards = []
self.print_freq = print_freq
self.save_path = save_path
self.c = c
self.d = d
self.higher_buffer = ReplayBuffer(buffer_capacity, tuple_length=5)
self.lower_buffer = ReplayBuffer(buffer_capacity, tuple_length=4)
self.low_actor, self.low_critic_1, self.low_critic_2 = create_actor_critic(
state_dim=2 * env.observation_space.shape[0],
action_dim=env.action_space.shape[0],
action_range=env.action_space.high)
self.low_target_actor, self.low_target_critic_1, self.low_target_critic_2 = create_actor_critic(
state_dim=2 * env.observation_space.shape[0],
action_dim=env.action_space.shape[0],
action_range=env.action_space.high)
self.high_actor, self.high_critic_1, self.high_critic_2 = create_actor_critic(
state_dim=env.observation_space.shape[0],
action_dim=env.observation_space.shape[0],
action_range=env.observation_space.high)
self.high_target_actor, self.high_target_critic_1, self.high_target_critic_2 = create_actor_critic(
state_dim=env.observation_space.shape[0],
action_dim=env.observation_space.shape[0],
action_range=env.observation_space.high)
self.low_target_actor.set_weights(self.low_actor.get_weights())
self.low_target_critic_1.set_weights(self.low_critic_1.get_weights())
self.low_target_critic_2.set_weights(self.low_critic_2.get_weights())
self.high_target_actor.set_weights(self.high_actor.get_weights())
self.high_target_critic_1.set_weights(self.high_critic_1.get_weights())
self.high_target_critic_2.set_weights(self.high_critic_2.get_weights())
if training:
self.low_actor_optimizer = tf.keras.optimizers.Adam(learning_rate=self.p_lr)
self.low_critic_1_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.low_critic_2_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.high_actor_optimizer = tf.keras.optimizers.Adam(learning_rate=self.p_lr)
self.high_critic_1_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.high_critic_2_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.mse = tf.keras.losses.MeanSquaredError()
self.summary_writer = tf.summary.create_file_writer(log_dir)
self.low_actor_train_fn = self.create_train_step_actor_fn(self.low_actor, self.low_critic_1,
self.low_actor_optimizer)
self.low_critic_train_fns = [self.create_train_step_critic_fn(critic=c, optimizer=o) for c, o in
[(self.low_critic_1, self.low_critic_1_optimizer),
(self.low_critic_2, self.low_critic_2_optimizer)]]
self.high_actor_train_fn = self.create_train_step_actor_fn(self.high_actor, self.high_critic_1,
self.high_actor_optimizer)
self.high_critic_train_fns = [self.create_train_step_critic_fn(critic=c, optimizer=o) for c, o in
[(self.high_critic_1, self.high_critic_1_optimizer),
(self.high_critic_2, self.high_critic_2_optimizer)]]
if load_path is not None:
self.low_actor.load_weights(f'{load_path}/low/actor')
self.low_critic_1.load_weights(f'{load_path}/low/critic_1')
self.low_critic_2.load_weights(f'{load_path}/low/critic_2')
self.high_actor.load_weights(f'{load_path}/high/actor')
self.high_critic_1.load_weights(f'{load_path}/high/critic_1')
self.high_critic_2.load_weights(f'{load_path}/high/critic_2')
opt.n_epochs, 0,
opt.decay_epoch).step)
lr_scheduler_D_B = torch.optim.lr_scheduler.LambdaLR(optimizer_D_B,
lr_lambda=LambdaLR(
opt.n_epochs, 0,
opt.decay_epoch).step)
# Data
dataA = np.random.randn(shape=(3, 256, 256)).astype(np.float32)
dataB = np.random.randn(shape=(3, 256, 256)).astype(np.float32)
train = torch.utils.data.TensorDataset(torch.from_numpy(dataA),
torch.from_numpy(dataB))
data_loader = torch.utils.data.DataLoader(train,
batch_size=opt.batchSize,
shuffle=True)
buffer_A = ReplayBuffer()
buffer_B = ReplayBuffer()
# targets
real_target = Tensor(opt.batchSize).fill_(1.0)
fake_target = Tensor(opt.batchSize).fill_(0.0)
# Parameters
lamnda_identity = 5.0
lambda_cycle = 10.0
for epoch in range(opt.n_epochs):
for i, data in enumerate(data_loader):
realA, realB = data
### Generator
class HIRO:
def __init__(self,
env,
gamma=0.99,
polyak=0.995,
c=10,
d=2,
high_act_noise=0.1,
low_act_noise=0.1,
high_rew_scale=0.1,
low_rew_scale=1.0,
render=False,
batch_size=32,
q_lr=1e-3,
p_lr=1e-4,
buffer_capacity=5000,
max_episodes=100,
save_path=None,
load_path=None,
print_freq=1,
log_dir='logs/train',
training=True
):
self.gamma = gamma
self.polyak = polyak
self.low_act_noise = low_act_noise
self.high_act_noise = high_act_noise
self.low_rew_scale = low_rew_scale
self.high_rew_scale = high_rew_scale
self.render = render
self.batch_size = batch_size
self.p_lr = p_lr
self.q_lr = q_lr
self.max_episodes = max_episodes
self.env = env
self.rewards = []
self.print_freq = print_freq
self.save_path = save_path
self.c = c
self.d = d
self.higher_buffer = ReplayBuffer(buffer_capacity, tuple_length=5)
self.lower_buffer = ReplayBuffer(buffer_capacity, tuple_length=4)
self.low_actor, self.low_critic_1, self.low_critic_2 = create_actor_critic(
state_dim=2 * env.observation_space.shape[0],
action_dim=env.action_space.shape[0],
action_range=env.action_space.high)
self.low_target_actor, self.low_target_critic_1, self.low_target_critic_2 = create_actor_critic(
state_dim=2 * env.observation_space.shape[0],
action_dim=env.action_space.shape[0],
action_range=env.action_space.high)
self.high_actor, self.high_critic_1, self.high_critic_2 = create_actor_critic(
state_dim=env.observation_space.shape[0],
action_dim=env.observation_space.shape[0],
action_range=env.observation_space.high)
self.high_target_actor, self.high_target_critic_1, self.high_target_critic_2 = create_actor_critic(
state_dim=env.observation_space.shape[0],
action_dim=env.observation_space.shape[0],
action_range=env.observation_space.high)
self.low_target_actor.set_weights(self.low_actor.get_weights())
self.low_target_critic_1.set_weights(self.low_critic_1.get_weights())
self.low_target_critic_2.set_weights(self.low_critic_2.get_weights())
self.high_target_actor.set_weights(self.high_actor.get_weights())
self.high_target_critic_1.set_weights(self.high_critic_1.get_weights())
self.high_target_critic_2.set_weights(self.high_critic_2.get_weights())
if training:
self.low_actor_optimizer = tf.keras.optimizers.Adam(learning_rate=self.p_lr)
self.low_critic_1_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.low_critic_2_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.high_actor_optimizer = tf.keras.optimizers.Adam(learning_rate=self.p_lr)
self.high_critic_1_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.high_critic_2_optimizer = tf.keras.optimizers.Adam(learning_rate=self.q_lr)
self.mse = tf.keras.losses.MeanSquaredError()
self.summary_writer = tf.summary.create_file_writer(log_dir)
self.low_actor_train_fn = self.create_train_step_actor_fn(self.low_actor, self.low_critic_1,
self.low_actor_optimizer)
self.low_critic_train_fns = [self.create_train_step_critic_fn(critic=c, optimizer=o) for c, o in
[(self.low_critic_1, self.low_critic_1_optimizer),
(self.low_critic_2, self.low_critic_2_optimizer)]]
self.high_actor_train_fn = self.create_train_step_actor_fn(self.high_actor, self.high_critic_1,
self.high_actor_optimizer)
self.high_critic_train_fns = [self.create_train_step_critic_fn(critic=c, optimizer=o) for c, o in
[(self.high_critic_1, self.high_critic_1_optimizer),
(self.high_critic_2, self.high_critic_2_optimizer)]]
if load_path is not None:
self.low_actor.load_weights(f'{load_path}/low/actor')
self.low_critic_1.load_weights(f'{load_path}/low/critic_1')
self.low_critic_2.load_weights(f'{load_path}/low/critic_2')
self.high_actor.load_weights(f'{load_path}/high/actor')
self.high_critic_1.load_weights(f'{load_path}/high/critic_1')
self.high_critic_2.load_weights(f'{load_path}/high/critic_2')
@staticmethod
def goal_transition(state, goal, next_state):
return state + goal - next_state
@staticmethod
def intrinsic_reward(state, goal, next_state):
return - np.linalg.norm(state + goal - next_state)
def act(self, obs, goal, noise=False):
norm_dist = tf.random.normal(self.env.action_space.shape, stddev=0.1 * self.env.action_space.high)
action = self.low_actor(np.concatenate((obs, goal), axis=1)).numpy()
action = np.clip(action + (norm_dist.numpy() if noise else 0),
a_min=self.env.action_space.low,
a_max=self.env.action_space.high)
return action
def get_goal(self, obs, noise=False):
norm_dist = tf.random.normal(self.env.observation_space.shape, stddev=0.1 * self.env.observation_space.high)
action = self.high_actor(obs).numpy()
action = np.clip(action + (norm_dist.numpy() if noise else 0),
a_min=self.env.observation_space.low,
a_max=self.env.observation_space.high)
return action
@tf.function
def log_probability(self, states, actions, candidate_goal):
goals = tf.reshape(candidate_goal, (1, -1))
def body(curr_i, curr_goals, s):
new_goals = tf.concat(
(curr_goals,
tf.reshape(self.goal_transition(s[curr_i - 1], curr_goals[curr_i - 1], s[curr_i]), (1, -1))), axis=0)
curr_i += 1
return [curr_i, new_goals, s]
def condition(curr_i, curr_goals, s):
return curr_i < s.shape[0] and not (
tf.equal(tf.math.count_nonzero(s[curr_i]), 0) and tf.equal(tf.math.count_nonzero(actions[curr_i]),
0))
# If a state-action pair is all zero, then the episode ended before an entire sequence of length c was recorded.
# We must remove these empty states and actions from the log probability calculation, as they could skew the
# argmax computation
i = tf.constant(1)
i, goals, states = tf.while_loop(condition, body, [i, goals, states],
shape_invariants=[tf.TensorShape(None), tf.TensorShape([None, goals.shape[1]]),
states.shape])
states = states[:i, :]
actions = actions[:i, :]
action_predictions = self.low_actor(tf.concat((states, goals), axis=1))
return -(1 / 2) * tf.reduce_sum(tf.linalg.norm(actions - action_predictions, axis=1))
@tf.function
def off_policy_correct(self, states, goals, actions, new_states):
first_states = tf.reshape(states, (self.batch_size, -1))[:, :new_states[0].shape[0]]
means = new_states - first_states
std_dev = 0.5 * (1 / 2) * tf.convert_to_tensor(self.env.observation_space.high)
for i in range(states.shape[0]):
# Sample eight candidate goals sampled randomly from a Gaussian centered at s_{t+c} - s_t
# Include the original goal and a goal corresponding to the difference s_{t+c} - s_t
# TODO: clip the random actions to lie within the high-level action range
candidate_goals = tf.concat(
(tf.random.normal(shape=(8, self.env.observation_space.shape[0]), mean=means[i], stddev=std_dev),
tf.reshape(goals[i], (1, -1)), tf.reshape(means[i], (1, -1))),
axis=0)
chosen_goal = tf.argmax(
[self.log_probability(states[i], actions[i], candidate_goals[g]) for g in
range(candidate_goals.shape[0])])
goals = tf.tensor_scatter_nd_update(goals, [[i]], [candidate_goals[chosen_goal]])
return first_states, goals
@tf.function
def train_step_critics(self, states, actions, rewards, next_states, actor, target_critic_1,
target_critic_2, critic_trains_fns, target_noise,
scope='Policy'):
target_goal_preds = actor(next_states)
target_goal_preds += target_noise
target_q_values_1 = target_critic_1([next_states, target_goal_preds])
target_q_values_2 = target_critic_2([next_states, target_goal_preds])
target_q_values = tf.concat((target_q_values_1, target_q_values_2), axis=1)
target_q_values = tf.reshape(tf.reduce_min(target_q_values, axis=1), (self.batch_size, -1))
targets = rewards + self.gamma * target_q_values
critic_trains_fns[0](states, actions, targets, scope=scope, label='Critic 1')
critic_trains_fns[1](states, actions, targets, scope=scope, label='Critic 2')
def create_train_step_actor_fn(self, actor, critic, optimizer):
@tf.function
def train_step_actor(states, scope='policy', label='actor'):
with tf.GradientTape() as tape:
action_predictions = actor(states)
q_values = critic([states, action_predictions])
policy_loss = -tf.reduce_mean(q_values)
gradients = tape.gradient(policy_loss, actor.trainable_variables)
optimizer.apply_gradients(zip(gradients, actor.trainable_variables))
with tf.name_scope(scope):
with self.summary_writer.as_default():
tf.summary.scalar(f'{label} Policy Loss', policy_loss, step=optimizer.iterations)
return train_step_actor
def create_train_step_critic_fn(self, critic, optimizer):
@tf.function
def train_step_critic(states, actions, targets, scope='Policy', label='Critic'):
with tf.GradientTape() as tape:
q_values = critic([states, actions])
mse_loss = self.mse(q_values, targets)
gradients = tape.gradient(mse_loss, critic.trainable_variables)
optimizer.apply_gradients(zip(gradients, critic.trainable_variables))
with tf.name_scope(scope):
with self.summary_writer.as_default():
tf.summary.scalar(f'{label} MSE Loss', mse_loss, step=optimizer.iterations)
tf.summary.scalar(f'{label} Mean Q Values', tf.reduce_mean(q_values), step=optimizer.iterations)
return train_step_critic
def update_lower(self):
if len(self.lower_buffer) >= self.batch_size:
states, actions, rewards, next_states = self.lower_buffer.sample(self.batch_size)
rewards = rewards.reshape(-1, 1).astype(np.float32)
self.train_step_critics(states, actions, rewards, next_states, self.low_actor, self.low_target_critic_1,
self.low_target_critic_2,
self.low_critic_train_fns,
target_noise=tf.random.normal(actions.shape,
stddev=0.1 * self.env.action_space.high),
scope='Lower_Policy')
if self.low_critic_1_optimizer.iterations % self.d == 0:
self.low_actor_train_fn(states, scope='Lower_Policy', label='Actor')
# Update target networks
polyak_average(self.low_actor.variables, self.low_target_actor.variables, self.polyak)
polyak_average(self.low_critic_1.variables, self.low_target_critic_1.variables, self.polyak)
polyak_average(self.low_critic_2.variables, self.low_target_critic_2.variables, self.polyak)
def update_higher(self):
if len(self.higher_buffer) >= self.batch_size:
states, goals, actions, rewards, next_states = self.higher_buffer.sample(self.batch_size)
rewards = rewards.reshape((-1, 1))
states, goals, actions, rewards, next_states = (tf.convert_to_tensor(states, dtype=tf.float32),
tf.convert_to_tensor(goals, dtype=tf.float32),
tf.convert_to_tensor(actions, dtype=tf.float32),
tf.convert_to_tensor(rewards, dtype=tf.float32),
tf.convert_to_tensor(next_states, dtype=tf.float32))
states, goals = self.off_policy_correct(states=states, goals=goals, actions=actions, new_states=next_states)
self.train_step_critics(states, goals, rewards, next_states, self.high_actor, self.high_target_critic_1,
self.high_target_critic_2,
self.high_critic_train_fns,
target_noise=tf.random.normal(next_states.shape,
stddev=0.1 * self.env.observation_space.high),
scope='Higher_Policy')
if self.high_critic_1_optimizer.iterations % self.d == 0:
self.high_actor_train_fn(states, scope='Higher_Policy', label='Actor')
# Update target networks
polyak_average(self.high_actor.variables, self.high_target_actor.variables, self.polyak)
polyak_average(self.high_critic_1.variables, self.high_target_critic_1.variables, self.polyak)
polyak_average(self.high_critic_2.variables, self.high_target_critic_2.variables, self.polyak)
def learn(self):
# Collect experiences s_t, g_t, a_t, R_t
mean_reward = None
total_steps = 0
for ep in range(self.max_episodes):
if ep % self.print_freq == 0 and ep > 0:
new_mean_reward = np.mean(self.rewards[-self.print_freq - 1:])
print(f"-------------------------------------------------------")
print(f"Mean {self.print_freq} Episode Reward: {new_mean_reward}")
print(f"Total Episodes: {ep}")
print(f"Total Steps: {total_steps}")
print(f"-------------------------------------------------------")
total_steps = 0
with tf.name_scope('Episodic Information'):
with self.summary_writer.as_default():
tf.summary.scalar(f'Mean {self.print_freq} Episode Reward', new_mean_reward,
step=ep // self.print_freq)
# Model saving inspired by Open AI Baseline implementation
if (mean_reward is None or new_mean_reward >= mean_reward) and self.save_path is not None:
print(f"Saving model due to mean reward increase:{mean_reward} -> {new_mean_reward}")
print(f'Location: {self.save_path}')
mean_reward = new_mean_reward
self.low_actor.save_weights(f'{self.save_path}/low/actor')
self.low_critic_1.save_weights(f'{self.save_path}/low/critic_1')
self.low_critic_2.save_weights(f'{self.save_path}/low/critic_2')
self.high_actor.save_weights(f'{self.save_path}/high/actor')
self.high_critic_1.save_weights(f'{self.save_path}/high/critic_1')
self.high_critic_2.save_weights(f'{self.save_path}/high/critic_2')
obs = self.env.reset()
goal = self.get_goal(obs.reshape((1, -1)), noise=True).flatten()
higher_goal = goal
higher_obs = []
higher_actions = []
higher_reward = 0
episode_reward = 0
episode_intrinsic_rewards = 0
ep_len = 0
c = 0
done = False
while not done:
if self.render:
self.env.render()
action = self.act(obs.reshape((1, -1)), goal.reshape((1, -1)), noise=True).flatten()
new_obs, rew, done, info = self.env.step(action)
new_obs = new_obs.flatten()
new_goal = self.goal_transition(obs, goal, new_obs)
episode_reward += rew
# Goals are treated as additional state information for the low level
# policy. Store transitions in respective replay buffers
intrinsic_reward = self.intrinsic_reward(obs, goal, new_obs) * self.low_rew_scale
self.lower_buffer.add((np.concatenate((obs, goal)), action,
intrinsic_reward,
np.concatenate((new_obs, new_goal)),))
episode_intrinsic_rewards += intrinsic_reward
self.update_lower()
# Fill lists for single higher level transition
higher_obs.append(obs)
higher_actions.append(action)
higher_reward += self.high_rew_scale * rew
# Only add transitions to the high level replay buffer every c steps
c += 1
if c == self.c or done:
# Need all higher level transitions to be the same length
# fill the rest of this transition with zeros
while c < self.c:
higher_obs.append(np.full(self.env.observation_space.shape, 0))
higher_actions.append(np.full(self.env.action_space.shape, 0))
c += 1
self.higher_buffer.add((higher_obs, higher_goal, higher_actions, higher_reward, new_obs))
self.update_higher()
c = 0
higher_obs = []
higher_actions = []
higher_reward = 0
goal = self.get_goal(new_obs.reshape((1, -1)), noise=True).flatten()
higher_goal = goal
obs = new_obs
goal = new_goal
with tf.name_scope('Episodic Information'):
with self.summary_writer.as_default():
tf.summary.scalar(f'Episode Environment Reward', episode_reward, step=ep)
tf.summary.scalar(f'Episode Intrinsic Reward', episode_intrinsic_rewards, step=ep)
self.rewards.append(episode_reward)
total_steps += ep_len
class SelfPlayTrainer:
def __init__(self,
agent,
game,
buffer_file=None,
weights_file=None,
n_batches=0):
self.agent = agent
self.game = game
self.replay_buffer = ReplayBuffer()
if buffer_file is not None:
self.replay_buffer.buffer = pickle.load(open(buffer_file, "rb"))
self.current_network = NestedTTTNet()
self.control_network = NestedTTTNet()
if weights_file is not None:
self.control_network.load_state_dict(torch.load(weights_file))
self.current_network.load_state_dict(self.control_network.state_dict())
self.control_network.eval()
self.current_network.train()
self.agent.update_control_net(self.control_network)
self.n_batches = n_batches
self.optim = torch.optim.Adam(self.current_network.parameters(),
lr=.01,
weight_decay=10e-4)
def generate_self_play_data(self, n_games=100):
for _ in range(n_games):
turn_num = 0
self.game.reset()
self.agent.reset()
result = 0
player_num = 0
states = []
move_vectors = []
while len(self.game.get_valid_moves()) > 0:
move, move_probs = self.agent.search(self.game.copy(),
turn_num,
allotted_playouts=400)
states.append(self.game.state.tolist())
move_vectors.append(move_probs)
result = self.game.make_move(move)
if not result:
self.game.switch_player()
self.agent.take_action(move)
turn_num += 1
player_num = (player_num + 1) % 2
if not result:
self.replay_buffer.extend(
list(zip(states, move_vectors, zero_gen())))
else:
self.replay_buffer.extend(
list(
zip(states[::-1], move_vectors[::-1],
one_neg_one_gen()))[::-1])
def compare_control_to_train(self):
self.current_network.eval()
old_agent = AlphaMCTSAgent(control_net=self.control_network)
new_agent = AlphaMCTSAgent(control_net=self.current_network)
agents = [old_agent, new_agent]
wins = 0
ties = 0
game = self.game.copy()
for game_num in range(100):
game.reset()
agents[0].reset()
agents[1].reset()
result = 0
player_num = game_num // 50 #Both take first turn 50 times
turn_num = 100 #Turn down the temperature
while len(game.get_valid_moves()) > 0:
move, _ = agents[player_num].search(game.copy(),
turn_num,
allotted_playouts=800)
_, _ = agents[1 - player_num].search(game.copy(),
turn_num,
allotted_playouts=800)
result = game.make_move(move)
if not result:
game.switch_player()
agents[0].take_action(move)
agents[1].take_action(move)
player_num = (player_num + 1) % 2
if not result:
ties += 1
elif result and player_num == 1:
wins += 1
print("After {} games, {} wins and {} ties".format(
game_num + 1, wins, ties))
if wins + .5 * ties >= 55:
print(
"Challenger network won {} games and tied {} games; it becomes new control network"
.format(wins, ties))
torch.save(self.current_network.state_dict(),
"control_weights_{}.pth".format(self.n_batches))
self.control_network.load_state_dict(
self.current_network.state_dict())
else:
print(
"Challenger network not sufficiently better; {} wins and {} ties"
.format(wins, ties))
self.control_network.eval()
self.current_network.train()
def train_on_batch(self, batch_size=32):
if len(self.replay_buffer) < batch_size:
return
self.current_network.train()
sample = self.replay_buffer.sample(batch_size)
states, probs, rewards = zip(*sample)
states = torch.FloatTensor(states).requires_grad_(True)
probs = torch.FloatTensor(probs).requires_grad_(True)
rewards = torch.FloatTensor(rewards).unsqueeze(1).requires_grad_(True)
self.optim.zero_grad()
ps, vs = self.current_network(states)
loss = torch.nn.functional.mse_loss(
vs, rewards) - (ps.log() * probs).sum()
loss.backward()
self.optim.step()
self.n_batches += 1
return loss.item()
def run(self,
total_runs=10,
self_play_games=100,
training_batches=200,
batch_size=32):
losses = []
for run_num in range(1, total_runs + 1):
print("Run {} of {}".format(run_num, total_runs))
for selfplay_num in range(1, self_play_games + 1):
self.generate_self_play_data(1)
print("\tFinished self-play game {} of {} (Buffer size {})".
format(selfplay_num, self_play_games,
len(self.replay_buffer)))
print("Finished {} self-play games".format(self_play_games))
for _ in range(training_batches):
losses.append(self.train_on_batch(batch_size))
if len(losses) == 5:
print("\tLoss for last 5 batches: {}".format(sum(losses)))
losses = []
self.compare_control_to_train()
class Agent(object):
def __init__(self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00001,
crt_lr=0.0001,
tau=0.001,
gamma=0.99,
max_size=1000000,
batch_size=64,
chkpt_dir='tmp/ddpg',
name='ddpg',
layerNorm=True):
self.input_dims = input_dims
self.n_actions = n_actions
self.layer_sizes = layer_sizes
self.layerNorm = layerNorm
self.gamma = gamma # discount factor
self.tau = tau # target network updating weight
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.batch_size = batch_size
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='Critic_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='TargetActor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_critic = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='TargetCritic_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.noise = OUActionNoise(mu=np.zeros(self.n_actions))
self.update_network_parameters(tau=1)
def choose_action(self, observation):
self.actor.eval()
observation = T.tensor(observation,
dtype=T.float).to(self.actor.device)
mu = self.actor.forward(observation).to(self.actor.device)
mu_prime = mu + T.tensor(self.noise() * 0.05, dtype=T.float).to(
self.actor.device)
self.actor.train()
return mu_prime.cpu().detach().numpy()
def remember(self, state, action, reward, new_state, done):
self.memory.store_transition(state, action, reward, new_state, done)
def learn(self):
if self.memory.mem_cntr < self.batch_size:
return
state, action, reward, new_state, done = \
self.memory.sample_buffer(self.batch_size)
reward = T.tensor(reward, dtype=T.float).to(self.critic.device)
# done = T.tensor(done).to(self.critic.device)
new_state = T.tensor(new_state, dtype=T.float).to(self.critic.device)
action = T.tensor(action, dtype=T.float).to(self.critic.device)
state = T.tensor(state, dtype=T.float).to(self.critic.device)
# calculate target
self.target_actor.eval()
self.target_critic.eval()
target_actions = self.target_actor.forward(new_state)
critic_value_ = self.target_critic.forward(new_state,
target_actions).view(-1)
# critic_value_[done] = 0.0 # In building context, terminal state does not have value of 0
target = reward + self.gamma * critic_value_
# train critic
self.critic.train()
self.critic.optimizer.zero_grad()
critic_value = self.critic.forward(state, action).view(-1)
critic_loss = F.mse_loss(target, critic_value)
critic_loss.backward()
self.critic.optimizer.step()
# train actor
self.critic.eval()
self.actor.train()
self.actor.optimizer.zero_grad()
mu = self.actor.forward(state)
actor_loss = -self.critic.forward(state, mu)
actor_loss = T.mean(actor_loss)
actor_loss.backward()
self.actor.optimizer.step()
self.update_network_parameters()
return critic_loss.item(), actor_loss.item()
def update_network_parameters(self, tau=None):
if tau is None:
tau = self.tau
updated_actor = update_single_target_network_parameters(
self.actor, self.target_actor, tau)
updated_critic = update_single_target_network_parameters(
self.critic, self.target_critic, tau)
self.target_actor.load_state_dict(updated_actor)
self.target_critic.load_state_dict(updated_critic)
def save_models(self):
print('.... saving models ....')
self.actor.save_checkpoint()
# self.target_actor.save_checkpoint(modelName)
self.critic.save_checkpoint()
# self.target_critic.save_checkpoint(modelName)
def load_models(self):
print('.... loading models ....')
self.actor.load_checkpoint()
# self.target_actor.load_checkpoint(modelName)
self.critic.load_checkpoint()
class Agent():
def __init__(self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00001,
crt_lr=0.0001,
tau=0.001,
gamma=0.99,
max_size=1000000,
batch_size=64,
update_actor_interval=2,
noise=0.1,
noise_targetAct=0.2,
chkpt_dir='tmp/td3',
name='td3',
layerNorm=True):
self.input_dims = input_dims
self.n_actions = n_actions
self.gamma = gamma
self.tau = tau
self.max_action = 1
self.min_action = -1
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.batch_size = batch_size
self.learn_step_cntr = 0
self.update_actor_iter = update_actor_interval
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Critic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Critic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetActor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetCritic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetCritic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.noise = noise
self.noise_targetAct = noise_targetAct
self.update_network_parameters(tau=1)
def choose_action(self, observation):
state = T.tensor(observation, dtype=T.float).to(self.actor.device)
mu = self.actor.forward(state).to(self.actor.device)
mu_prime = mu + T.tensor(np.random.normal(scale=self.noise),
dtype=T.float).to(self.actor.device)
mu_prime = T.clamp(mu_prime, self.min_action, self.max_action)
return mu_prime.cpu().detach().numpy()
def remember(self, state, action, reward, new_state, done):
self.memory.store_transition(state, action, reward, new_state, done)
def learn(self):
if self.memory.mem_cntr < self.batch_size:
return
state, action, reward, new_state, done = \
self.memory.sample_buffer(self.batch_size)
reward = T.tensor(reward, dtype=T.float).to(self.critic_1.device)
# done = T.tensor(done).to(self.critic_1.device)
state_ = T.tensor(new_state, dtype=T.float).to(self.critic_1.device)
state = T.tensor(state, dtype=T.float).to(self.critic_1.device)
action = T.tensor(action, dtype=T.float).to(self.critic_1.device)
target_actions = self.target_actor.forward(state_)
target_actions = target_actions + \
T.clamp(T.tensor(np.random.normal(
scale=self.noise_targetAct)), -0.5, 0.5)
target_actions = T.clamp(target_actions, self.min_action,
self.max_action)
q1_ = self.target_critic_1.forward(state_, target_actions).view(-1)
q2_ = self.target_critic_2.forward(state_, target_actions).view(-1)
# q1_[done] = 0.0 # In building context, the terminal state does not have 0 value
# q2_[done] = 0.0
critic_value_ = T.min(q1_, q2_)
target = reward + self.gamma * critic_value_
self.critic_1.optimizer.zero_grad()
self.critic_2.optimizer.zero_grad()
q1 = self.critic_1.forward(state, action).view(-1)
q2 = self.critic_2.forward(state, action).view(-1)
q1_loss = F.mse_loss(target, q1)
q2_loss = F.mse_loss(target, q2)
critic_loss = q1_loss + q2_loss
critic_loss.backward()
self.critic_1.optimizer.step()
self.critic_2.optimizer.step()
self.learn_step_cntr += 1
# if self.learn_step_cntr % self.update_actor_iter != 0:
# return
self.actor.optimizer.zero_grad()
actor_q1_loss = self.critic_1.forward(
state, self.actor.forward(state)) # can also use the mean
# of actor_q1_loss and actor_q2_loss, but it would be slower and does not really matter
actor_loss = -T.mean(actor_q1_loss)
actor_loss.backward()
self.actor.optimizer.step()
self.update_network_parameters()
return critic_loss.item(), actor_loss.item()
def update_network_parameters(self, tau=None):
if tau is None:
tau = self.tau
updated_actor = update_single_target_network_parameters(
self.actor, self.target_actor, tau)
updated_critic_1 = update_single_target_network_parameters(
self.critic_1, self.target_critic_1, tau)
updated_critic_2 = update_single_target_network_parameters(
self.critic_2, self.target_critic_2, tau)
self.target_actor.load_state_dict(updated_actor)
self.target_critic_1.load_state_dict(updated_critic_1)
self.target_critic_2.load_state_dict(updated_critic_2)
def save_models(self):
print('.... saving models ....')
self.actor.save_checkpoint()
# self.target_actor.save_checkpoint()
self.critic_1.save_checkpoint()
self.critic_2.save_checkpoint()
# self.target_critic_1.save_checkpoint()
# self.target_critic_2.save_checkpoint()
def load_models(self):
print('.... loading models ....')
self.actor.load_checkpoint()
# self.target_actor.load_checkpoint()
self.critic_1.load_checkpoint()
self.critic_2.load_checkpoint()
def __init__(self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00001,
crt_lr=0.0001,
tau=0.001,
gamma=0.99,
max_size=1000000,
batch_size=64,
update_actor_interval=2,
noise=0.1,
noise_targetAct=0.2,
chkpt_dir='tmp/td3',
name='td3',
layerNorm=True):
self.input_dims = input_dims
self.n_actions = n_actions
self.gamma = gamma
self.tau = tau
self.max_action = 1
self.min_action = -1
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.batch_size = batch_size
self.learn_step_cntr = 0
self.update_actor_iter = update_actor_interval
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Critic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='Critic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetActor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetCritic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.target_critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
layer_sizes,
name='TargetCritic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=layerNorm)
self.noise = noise
self.noise_targetAct = noise_targetAct
self.update_network_parameters(tau=1)
class CycleGanModel(BaseModel):
def name(self):
return 'TrainCycleGanModel'
def initialize(self, args):
BaseModel.initialize(self, args)
self.input_A = self.Tensor(args.batchSize, 3, 1024, 256)
self.input_B = self.Tensor(args.batchSize, 3, 1024, 256)
self.fake_A_Buffer = ReplayBuffer()
self.fake_B_Buffer = ReplayBuffer()
self.netG_AtoB = networks.define_G(3, 3, 64, 'resnet_9blocks',
'instance', False, args.init_type,
self.gpu_ids)
self.netG_BtoA = networks.define_G(3, 3, 64, 'resnet_9blocks',
'instance', False, args.init_type,
self.gpu_ids)
self.netD_A = networks.define_D(3,
64,
'basic',
norm='instance',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netD_B = networks.define_D(3,
64,
'basic',
norm='instance',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netG_AtoB.apply(weights_init_normal)
self.netG_BtoA.apply(weights_init_normal)
self.netD_A.apply(weights_init_normal)
self.netD_B.apply(weights_init_normal)
checkpoint_AtoB_filename = 'netG_A2B.pth'
checkpoint_BtoA_filename = 'netG_B2A.pth'
checkpoint_D_A_filename = 'netD_A.pth'
checkpoint_D_B_filename = 'netD_B.pth'
checkpoint_path_AtoB = os.path.join(args.checkpoints_dir,
checkpoint_AtoB_filename)
checkpoint_path_BtoA = os.path.join(args.checkpoints_dir,
checkpoint_BtoA_filename)
checkpoint_path_D_A = os.path.join(args.checkpoints_dir,
checkpoint_D_A_filename)
checkpoint_path_D_B = os.path.join(args.checkpoints_dir,
checkpoint_D_B_filename)
# Load checkpoint
# self.netG_AtoB.load_state_dict(torch.load(checkpoint_path_AtoB))
# self.netG_BtoA.load_state_dict(torch.load(checkpoint_path_BtoA))
# self.netD_A.load_state_dict(torch.load(checkpoint_path_D_A))
# self.netD_B.load_state_dict(torch.load(checkpoint_path_D_B))
# define loss
# self.criterionGAN = networks.GANLoss().to(self.device)
self.criterionGAN = torch.nn.MSELoss().cuda()
self.criterionCycle = torch.nn.L1Loss().cuda()
self.criterionIdentity = torch.nn.L1Loss().cuda()
# init optimizer
self.optimizer_G = torch.optim.Adam(itertools.chain(
self.netG_AtoB.parameters(), self.netG_BtoA.parameters()),
lr=0.0001,
betas=(0.5, 0.999))
self.optimizer_D_a = torch.optim.Adam(self.netD_A.parameters(),
lr=0.0001,
betas=(0.5, 0.999))
self.optimizer_D_b = torch.optim.Adam(self.netD_B.parameters(),
lr=0.0001,
betas=(0.5, 0.999))
self.lr_scheduler_G = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_G,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D_a = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D_a,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D_b = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D_b,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
def set_input(self, input_real, input_fake):
self.image_real_sizes = input_real['A_sizes']
input_A = input_real['A']
self.input_A.resize_(input_A.size()).copy_(input_A)
self.image_real_paths = input_real['A_paths']
# self.size_real = (int(self.image_real_sizes[0]), int(self.image_real_sizes[1]))
self.image_fake_sizes = input_fake['B_sizes']
input_B = input_fake['B']
self.input_B.resize_(input_B.size()).copy_(input_B)
self.image_fake_paths = input_fake['B_paths']
# self.size_fake = (int(self.image_fake_sizes[0]), int(self.image_fake_sizes[1]))
def train(self):
real_A = Variable(self.input_A)
real_B = Variable(self.input_B)
target_real = Variable(self.Tensor(real_B.size(0), 1, 14,
62).fill_(1.0),
requires_grad=False)
target_fake = Variable(self.Tensor(real_B.size(0), 1, 14,
62).fill_(0.0),
requires_grad=False)
loss_gan = self.criterionGAN
loss_cycle = self.criterionCycle
loss_identity = self.criterionIdentity
self.optimizer_G.zero_grad()
i_b = self.netG_AtoB(real_B)
loss_identity_B = loss_identity(i_b, real_B) * 0.5
i_a = self.netG_BtoA(real_A)
loss_identity_A = loss_identity(i_a, real_A) * 0.5
fake_B = self.netG_AtoB(real_A)
pred_fake = self.netD_B(fake_B)
loss_gan_A2B = loss_gan(pred_fake, target_real)
fake_A = self.netG_BtoA(real_B)
pred_fake = self.netD_A(fake_A)
loss_gan_B2A = loss_gan(pred_fake, target_real)
recovered_a = self.netG_BtoA(fake_B)
loss_cycle_A = loss_cycle(recovered_a, real_A) * 10.0
recovered_b = self.netG_AtoB(fake_A)
loss_cycle_B = loss_cycle(recovered_b, real_B) * 10.0
loss_G = loss_identity_A + loss_identity_B + loss_gan_A2B + loss_gan_B2A + loss_cycle_A + loss_cycle_B
loss_G.backward()
self.optimizer_G.step()
self.optimizer_D_a.zero_grad()
pred_real = self.netD_A(real_A)
loss_d_real = loss_gan(pred_real, target_real)
fake_A = self.fake_A_Buffer.push_and_pop(fake_A)
pred_fake = self.netD_A(fake_A.detach())
loss_d_fake = loss_gan(pred_fake, target_fake)
loss_d_a = (loss_d_real + loss_d_fake) * 0.5
loss_d_a.backward()
self.optimizer_D_a.step()
self.optimizer_D_b.zero_grad()
pred_real = self.netD_B(real_B)
loss_d_real = loss_gan(pred_real, target_real)
fake_B = self.fake_B_Buffer.push_and_pop(fake_B)
pred_fake = self.netD_B(fake_B.detach())
loss_d_fake = loss_gan(pred_fake, target_fake)
loss_d_b = (loss_d_real + loss_d_fake) * 0.5
loss_d_b.backward()
self.optimizer_D_b.step()
print(
'Generator Total Loss : {a:.3f}, Generator Identity Loss : {b:.3f}, Generator GAN Loss : {c:.3f}, '
'Generator Cycle Loss : {d:.3f}'.format(
a=loss_G,
b=loss_identity_A + loss_identity_B,
c=loss_gan_A2B + loss_gan_B2A,
d=loss_cycle_A + loss_cycle_B))
print('Discriminator Loss : {a:.3f}'.format(a=loss_d_a + loss_d_b))
def update_learning_rate(self):
self.lr_scheduler_G.step()
self.lr_scheduler_D_a.step()
self.lr_scheduler_D_b.step()
def save_checkpoint(self):
torch.save(self.netG_AtoB.state_dict(), './checkpoints/netG_A2B.pth')
torch.save(self.netG_BtoA.state_dict(), './checkpoints/netG_B2A.pth')
torch.save(self.netD_A.state_dict(), './checkpoints/netD_A.pth')
torch.save(self.netD_B.state_dict(), './checkpoints/netD_B.pth')
def forward(self):
self.real_A = Variable(self.input_A)
self.fake_B = self.netG_AtoB(self.real_A)
def get_image_paths(self):
return self.image_real_paths, self.image_fake_paths
def get_image_sizes(self):
return self.size_real, self.size_fake
def get_current_visuals(self):
real_A = util.tensor2im(self.real_A.data)
fake_B = util.tensor2im(self.fake_B.data)
return OrderedDict([('original', real_A), ('restyled', fake_B)])
def train(self, env):
# Memory
memory = ReplayBuffer(capacity=self.replay_size)
# Training Loop
total_numsteps = 0
updates = 0
for i_episode in itertools.count(1):
episode_reward = 0
episode_steps = 0
done = False
state = env.reset()
while not done:
if total_numsteps < self.start_steps:
action = env.action_space.sample() # Sample random action
else:
# Sample action from policy
action = self.select_action(state)
if len(memory) > self.batch_size:
# Number of updates per step in environment
for i in range(self.updates_per_step):
# Update parameters of all the networks
q1_loss, q2_loss, policy_loss, alpha_loss = self.update_parameters(
memory, self.batch_size, updates)
updates += 1
next_state, reward, done, _ = env.step(action) # Step
episode_steps += 1
total_numsteps += 1
episode_reward += reward
if self.render:
env.render()
# Ignore the "done" signal if it comes from hitting the time horizon.
# (https://github.com/openai/spinningup/blob/master/spinup/algos/sac/sac.py)
done = 0 if episode_steps == env._max_episode_steps else done
memory.push(state, action, reward, next_state,
done) # Append transition to memory
state = next_state
logger.info('UPDATE')
logger.record_tabular('q1_loss', q1_loss)
logger.record_tabular('q2_loss', q2_loss)
logger.record_tabular('policy_loss', policy_loss)
logger.record_tabular('alpha_loss', alpha_loss)
logger.dump_tabular()
logger.info('STATUS')
logger.record_tabular('i_episode', i_episode)
logger.record_tabular('episode_steps', episode_steps)
logger.record_tabular('total_numsteps', total_numsteps)
logger.record_tabular('episode_reward', episode_reward)
logger.dump_tabular()
if i_episode % 100 == 0:
logger.info('SAVE')
self.save_model('../saved/sac')
if total_numsteps > self.num_steps:
return
class Agent(BaseAgent):
def __init__(self, env, **kwargs):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.obs_space = env.observation_space
self.action_space = env.action_space
super(Agent, self).__init__(env.action_space)
mask = kwargs.get('mask', 2)
mask_hi = kwargs.get('mask_hi', 19)
self.rule = kwargs.get('rule', 'c')
self.danger = kwargs.get('danger', 0.9)
self.bus_thres = kwargs.get('threshold', 0.1)
self.max_low_len = kwargs.get('max_low_len', 19)
self.converter = graphGoalConverter(env, mask, mask_hi, self.danger,
self.device, self.rule)
self.thermal_limit = env._thermal_limit_a
self.convert_obs = self.converter.convert_obs
self.action_dim = self.converter.n
self.order_dim = len(self.converter.masked_sorted_sub)
self.node_num = env.dim_topo
self.delay_step = 2
self.update_step = 0
self.k_step = 1
self.nheads = kwargs.get('head_number', 8)
self.target_update = kwargs.get('target_update', 1)
self.hard_target = kwargs.get('hard_target', False)
self.use_order = (self.rule == 'o')
self.gamma = kwargs.get('gamma', 0.99)
self.tau = kwargs.get('tau', 1e-3)
self.dropout = kwargs.get('dropout', 0.)
self.memlen = kwargs.get('memlen', int(1e5))
self.batch_size = kwargs.get('batch_size', 128)
self.update_start = self.batch_size * 8
self.actor_lr = kwargs.get('actor_lr', 5e-5)
self.critic_lr = kwargs.get('critic_lr', 5e-5)
self.embed_lr = kwargs.get('embed_lr', 5e-5)
self.alpha_lr = kwargs.get('alpha_lr', 5e-5)
self.state_dim = kwargs.get('state_dim', 128)
self.n_history = kwargs.get('n_history', 6)
self.input_dim = self.converter.n_feature * self.n_history
print(
f'N: {self.node_num}, O: {self.input_dim}, S: {self.state_dim}, A: {self.action_dim}, ({self.order_dim})'
)
print(kwargs)
self.emb = EncoderLayer(self.input_dim, self.state_dim, self.nheads,
self.node_num, self.dropout).to(self.device)
self.temb = EncoderLayer(self.input_dim, self.state_dim, self.nheads,
self.node_num, self.dropout).to(self.device)
self.Q = DoubleSoftQ(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
self.tQ = DoubleSoftQ(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
self.actor = Actor(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
# copy parameters
self.tQ.load_state_dict(self.Q.state_dict())
self.temb.load_state_dict(self.emb.state_dict())
# entropy
self.target_entropy = -self.action_dim * 3 if not self.use_order else -3 * (
self.action_dim + self.order_dim)
self.log_alpha = torch.FloatTensor([-3]).to(self.device)
self.log_alpha.requires_grad = True
# optimizers
self.Q.optimizer = optim.Adam(self.Q.parameters(), lr=self.critic_lr)
self.actor.optimizer = optim.Adam(self.actor.parameters(),
lr=self.actor_lr)
self.emb.optimizer = optim.Adam(self.emb.parameters(),
lr=self.embed_lr)
self.alpha_optim = optim.Adam([self.log_alpha], lr=self.alpha_lr)
self.memory = ReplayBuffer(max_size=self.memlen)
self.Q.eval()
self.tQ.eval()
self.emb.eval()
self.temb.eval()
self.actor.eval()
def is_safe(self, obs):
for ratio, limit in zip(obs.rho, self.thermal_limit):
# Seperate big line and small line
if (limit < 400.00
and ratio >= self.danger - 0.05) or ratio >= self.danger:
return False
return True
def load_mean_std(self, mean, std):
self.state_mean = mean
self.state_std = std.masked_fill(std < 1e-5, 1.)
self.state_mean[0, sum(self.obs_space.shape[:20]):] = 0
self.state_std[0, sum(self.action_space.shape[:20]):] = 1
def state_normalize(self, s):
s = (s - self.state_mean) / self.state_std
return s
def reset(self, obs):
self.converter.last_topo = np.ones(self.node_num, dtype=int)
self.topo = None
self.goal = None
self.goal_list = []
self.low_len = -1
self.adj = None
self.stacked_obs = []
self.low_actions = []
self.save = False
def cache_stat(self):
cache = {
'last_topo': self.converter.last_topo,
'topo': self.topo,
'goal': self.goal,
'goal_list': self.goal_list,
'low_len': self.low_len,
'adj': self.adj,
'stacked_obs': self.stacked_obs,
'low_actions': self.low_actions,
'save': self.save,
}
return cache
def load_cache_stat(self, cache):
self.converter.last_topo = cache['last_topo']
self.topo = cache['topo']
self.goal = cache['goal']
self.goal_list = cache['goal_list']
self.low_len = cache['low_len']
self.adj = cache['adj']
self.stacked_obs = cache['stacked_obs']
self.low_actions = cache['low_actions']
self.save = cache['save']
def hash_goal(self, goal):
hashed = ''
for i in goal.view(-1):
hashed += str(int(i.item()))
return hashed
def stack_obs(self, obs):
obs_vect = obs.to_vect()
obs_vect = torch.FloatTensor(obs_vect).unsqueeze(0)
obs_vect, self.topo = self.convert_obs(self.state_normalize(obs_vect))
if len(self.stacked_obs) == 0:
for _ in range(self.n_history):
self.stacked_obs.append(obs_vect)
else:
self.stacked_obs.pop(0)
self.stacked_obs.append(obs_vect)
self.adj = (torch.FloatTensor(obs.connectivity_matrix()) +
torch.eye(int(obs.dim_topo))).to(self.device)
self.converter.last_topo = np.where(obs.topo_vect == -1,
self.converter.last_topo,
obs.topo_vect)
def reconnect_line(self, obs):
# if the agent can reconnect powerline not included in controllable substation, return action
# otherwise, return None
dislines = np.where(obs.line_status == False)[0]
for i in dislines:
act = None
if obs.time_next_maintenance[
i] != 0 and i in self.converter.lonely_lines:
sub_or = self.action_space.line_or_to_subid[i]
sub_ex = self.action_space.line_ex_to_subid[i]
if obs.time_before_cooldown_sub[sub_or] == 0:
act = self.action_space(
{'set_bus': {
'lines_or_id': [(i, 1)]
}})
if obs.time_before_cooldown_sub[sub_ex] == 0:
act = self.action_space(
{'set_bus': {
'lines_ex_id': [(i, 1)]
}})
if obs.time_before_cooldown_line[i] == 0:
status = self.action_space.get_change_line_status_vect()
status[i] = True
act = self.action_space({'change_line_status': status})
if act is not None:
return act
return None
def get_current_state(self):
return torch.cat(self.stacked_obs + [self.topo], dim=-1)
def act(self, obs, reward, done):
sample = (reward is None)
self.stack_obs(obs)
is_safe = self.is_safe(obs)
self.save = False
# reconnect powerline when the powerline in uncontrollable substations is disconnected
if False in obs.line_status:
act = self.reconnect_line(obs)
if act is not None:
return act
# generate goal if it is initial or previous goal has been reached
if self.goal is None or (not is_safe and self.low_len == -1):
goal, bus_goal, low_actions, order, Q1, Q2 = self.generate_goal(
sample, obs, not sample)
if len(low_actions) == 0:
act = self.action_space()
if self.goal is None:
self.update_goal(goal, bus_goal, low_actions, order, Q1,
Q2)
return self.action_space()
self.update_goal(goal, bus_goal, low_actions, order, Q1, Q2)
act = self.pick_low_action(obs)
return act
def pick_low_action(self, obs):
# Safe and there is no queued low actions, just do nothing
if self.is_safe(obs) and self.low_len == -1:
act = self.action_space()
return act
# optimize low actions every step
self.low_actions = self.optimize_low_actions(obs, self.low_actions)
self.low_len += 1
# queue has been empty after optimization. just do nothing
if len(self.low_actions) == 0:
act = self.action_space()
self.low_len = -1
# normally execute low action from low actions queue
else:
sub_id, new_topo = self.low_actions.pop(0)[:2]
act = self.converter.convert_act(sub_id, new_topo, obs.topo_vect)
# When it meets maximum low action execution time, log and reset
if self.max_low_len <= self.low_len:
self.low_len = -1
return act
def high_act(self, stacked_state, adj, sample=True):
order, Q1, Q2 = None, 0, 0
with torch.no_grad():
# stacked_state # B, N, F
stacked_t, stacked_x = stacked_state[...,
-1:], stacked_state[..., :-1]
emb_input = stacked_x
state = self.emb(emb_input, adj).detach()
actor_input = [state, stacked_t.squeeze(-1)]
if sample:
action, std = self.actor.sample(actor_input, adj)
if self.use_order:
action, order = action
critic_input = action
Q1, Q2 = self.Q(state, critic_input, adj, order)
Q1, Q2 = Q1.detach()[0].item(), Q2.detach()[0].item()
if self.use_order:
std, order_std = std
else:
action = self.actor.mean(actor_input, adj)
if self.use_order:
action, order = action
if order is not None: order = order.detach().cpu()
return action.detach().cpu(), order, Q1, Q2
def make_candidate_goal(self, stacked_state, adj, sample, obs):
goal, order, Q1, Q2 = self.high_act(stacked_state, adj, sample)
bus_goal = torch.zeros_like(goal).long()
bus_goal[goal > self.bus_thres] = 1
low_actions = self.converter.plan_act(
bus_goal, obs.topo_vect, order[0] if order is not None else None)
low_actions = self.optimize_low_actions(obs, low_actions)
return goal, bus_goal, low_actions, order, Q1, Q2
def generate_goal(self, sample, obs, nosave=False):
stacked_state = self.get_current_state().to(self.device)
adj = self.adj.unsqueeze(0)
goal, bus_goal, low_actions, order, Q1, Q2 = self.make_candidate_goal(
stacked_state, adj, sample, obs)
return goal, bus_goal, low_actions, order, Q1, Q2
def update_goal(self, goal, bus_goal, low_actions, order=None, Q1=0, Q2=0):
self.order = order
self.goal = goal
self.bus_goal = bus_goal
self.low_actions = low_actions
self.low_len = 0
self.save = True
self.goal_list.append(self.hash_goal(bus_goal))
def optimize_low_actions(self, obs, low_actions):
# remove overlapped action
optimized = []
cooldown_list = obs.time_before_cooldown_sub
if self.max_low_len != 1 and self.rule == 'c':
low_actions = self.converter.heuristic_order(obs, low_actions)
for low_act in low_actions:
sub_id, sub_goal = low_act[:2]
sub_goal, same = self.converter.inspect_act(
sub_id, sub_goal, obs.topo_vect)
if not same:
optimized.append((sub_id, sub_goal, cooldown_list[sub_id]))
# sort by cooldown_sub
if self.max_low_len != 1 and self.rule != 'o':
optimized = sorted(optimized, key=lambda x: x[2])
# if current action has cooldown, then discard
if len(optimized) > 0 and optimized[0][2] > 0:
optimized = []
return optimized
def append_sample(self, s, m, a, r, s2, m2, d, order):
if self.use_order:
self.memory.append((s, m, a, r, s2, m2, int(d), order))
else:
self.memory.append((s, m, a, r, s2, m2, int(d)))
def unpack_batch(self, batch):
if self.use_order:
states, adj, actions, rewards, states2, adj2, dones, orders = list(
zip(*batch))
orders = torch.cat(orders, 0)
else:
states, adj, actions, rewards, states2, adj2, dones = list(
zip(*batch))
states = torch.cat(states, 0)
states2 = torch.cat(states2, 0)
adj = torch.stack(adj, 0)
adj2 = torch.stack(adj2, 0)
actions = torch.cat(actions, 0)
rewards = torch.FloatTensor(rewards).unsqueeze(1)
dones = torch.FloatTensor(dones).unsqueeze(1)
if self.use_order:
return states.to(self.device), adj.to(self.device), actions.to(self.device), rewards.to(self.device), \
states2.to(self.device), adj2.to(self.device), dones.to(self.device), orders.to(self.device)
else:
return states.to(self.device), adj.to(self.device), actions.to(self.device), \
rewards.to(self.device), states2.to(self.device), adj2.to(self.device), dones.to(self.device)
def update(self):
self.update_step += 1
batch = self.memory.sample(self.batch_size)
orders = None
if self.use_order:
stacked_states, adj, actions, rewards, stacked_states2, adj2, dones, orders = self.unpack_batch(
batch)
else:
stacked_states, adj, actions, rewards, stacked_states2, adj2, dones = self.unpack_batch(
batch)
self.Q.train()
self.emb.train()
self.actor.eval()
# critic loss
stacked_t, stacked_x = stacked_states[...,
-1:], stacked_states[..., :-1]
stacked2_t, stacked2_x = stacked_states2[..., -1:], stacked_states2[
..., :-1]
emb_input = stacked_x
emb_input2 = stacked2_x
states = self.emb(emb_input, adj)
states2 = self.emb(emb_input2, adj2)
actor_input2 = [states2, stacked2_t.squeeze(-1)]
with torch.no_grad():
tstates2 = self.temb(emb_input2, adj2).detach()
action2, log_pi2 = self.actor.rsample(actor_input2, adj2)
order2 = None
if self.use_order:
action2, order2 = action2
log_pi2 = log_pi2[0] + log_pi2[1]
critic_input2 = action2
targets = self.tQ.min_Q(tstates2, critic_input2, adj2,
order2) - self.log_alpha.exp() * log_pi2
targets = rewards + (1 - dones) * self.gamma * targets.detach()
critic_input = actions
predQ1, predQ2 = self.Q(states, critic_input, adj, orders)
Q1_loss = F.mse_loss(predQ1, targets)
Q2_loss = F.mse_loss(predQ2, targets)
loss = Q1_loss + Q2_loss
self.Q.optimizer.zero_grad()
self.emb.optimizer.zero_grad()
loss.backward()
self.emb.optimizer.step()
self.Q.optimizer.step()
self.Q.eval()
if self.update_step % self.delay_step == 0:
# actor loss
self.actor.train()
states = self.emb(emb_input, adj)
actor_input = [states, stacked_t.squeeze(-1)]
action, log_pi = self.actor.rsample(actor_input, adj)
order = None
if self.use_order:
action, order = action
log_pi = log_pi[0] + log_pi[1]
critic_input = action
actor_loss = (
self.log_alpha.exp() * log_pi -
self.Q.min_Q(states, critic_input, adj, order)).mean()
self.emb.optimizer.zero_grad()
self.actor.optimizer.zero_grad()
actor_loss.backward()
self.emb.optimizer.step()
self.actor.optimizer.step()
self.actor.eval()
# target update
if self.hard_target:
self.tQ.load_state_dict(self.Q.state_dict())
self.temb.load_state_dict(self.emb.state_dict())
else:
for tp, p in zip(self.tQ.parameters(), self.Q.parameters()):
tp.data.copy_(self.tau * p + (1 - self.tau) * tp)
for tp, p in zip(self.temb.parameters(),
self.emb.parameters()):
tp.data.copy_(self.tau * p + (1 - self.tau) * tp)
# alpha loss
alpha_loss = self.log_alpha * (-log_pi.detach() -
self.target_entropy).mean()
self.alpha_optim.zero_grad()
alpha_loss.backward()
self.alpha_optim.step()
self.emb.eval()
return predQ1.detach().mean().item(), predQ2.detach().mean().item()
def save_model(self, path, name):
torch.save(self.actor.state_dict(),
os.path.join(path, f'{name}_actor.pt'))
torch.save(self.emb.state_dict(), os.path.join(path, f'{name}_emb.pt'))
torch.save(self.Q.state_dict(), os.path.join(path, f'{name}_Q.pt'))
def load_model(self, path, name=None):
head = ''
if name is not None:
head = name + '_'
self.actor.load_state_dict(
torch.load(os.path.join(path, f'{head}actor.pt'),
map_location=self.device))
self.emb.load_state_dict(
torch.load(os.path.join(path, f'{head}emb.pt'),
map_location=self.device))
self.Q.load_state_dict(
torch.load(os.path.join(path, f'{head}Q.pt'),
map_location=self.device))
optimizer_D_A,
lr_lambda=LambdaLR(opt.n_epochs, opt.epoch, opt.decay_epoch).step)
lr_scheduler_D_B = torch.optim.lr_scheduler.LambdaLR(
optimizer_D_B,
lr_lambda=LambdaLR(opt.n_epochs, opt.epoch, opt.decay_epoch).step)
# Inputs & targets memory allocation
Tensor = torch.cuda.FloatTensor if opt.cuda else torch.Tensor
input_A = Tensor(opt.batchSize, opt.input_nc, opt.size, opt.size)
input_B = Tensor(opt.batchSize, opt.output_nc, opt.size, opt.size)
target_real = Variable(Tensor(opt.batchSize, 1).fill_(1.0),
requires_grad=False)
target_fake = Variable(Tensor(opt.batchSize, 1).fill_(0.0),
requires_grad=False)
fake_A_buffer = ReplayBuffer()
fake_Am_buffer = ReplayBuffer()
fake_B_buffer = ReplayBuffer()
fake_Bm_buffer = ReplayBuffer()
# Dataset loader
transforms_ = [
transforms.Resize(int(opt.size * 1.12), Image.BICUBIC),
transforms.RandomCrop(opt.size),
transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
transforms.Normalize([0.5], [0.5])
]
dataloader = DataLoader(Dataset(opt.dataroot,
transforms_=transforms_,
unaligned=True),
class DDPGAgent():
def __init__(self, state_size, action_size, num_agents):
self.state_size = state_size
self.action_size = action_size
self.seed = random.seed(RANDOM_SEED)
self.num_agents = num_agents
# Actor Network (w/ Target Network)
self.actor_local = Actor(state_size, action_size).to(device)
self.actor_target = Actor(state_size, action_size).to(device)
self.actor_optimizer = optim.Adam(self.actor_local.parameters(), lr=LR_ACTOR)
# Critic Network (w/ Target Network)
self.critic_local = Critic(state_size, action_size).to(device)
self.critic_target = Critic(state_size, action_size).to(device)
self.critic_optimizer = optim.Adam(self.critic_local.parameters(), lr=LR_CRITIC, weight_decay=WEIGHT_DECAY)
# Noise process
self.noise = OUNoise(action_size)
# Replay memory
self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE)
# Directory where to save the model
self.model_dir = os.getcwd() + "/DDPG/saved_models"
os.makedirs(self.model_dir, exist_ok=True)
def step(self, states, actions, rewards, next_states, dones):
for i in range(self.num_agents):
self.memory.add(states[i], actions[i], rewards[i], next_states[i], dones[i])
if len(self.memory) > BATCH_SIZE:
experiences = self.memory.sample()
self.learn(experiences, GAMMA)
def act(self, states, add_noise=True):
states = torch.from_numpy(states).float().to(device)
actions = np.zeros((self.num_agents, self.action_size))
self.actor_local.eval()
with torch.no_grad():
for i, state in enumerate(states):
actions[i, :] = self.actor_local(state).cpu().data.numpy()
self.actor_local.train()
if add_noise:
actions += self.noise.sample()
return np.clip(actions, -1, 1)
def reset(self):
self.noise.reset()
def learn(self, experiences, gamma):
states, actions, rewards, next_states, dones = experiences
actions_next = self.actor_target(next_states)
Q_targets_next = self.critic_target(next_states, actions_next)
Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
Q_expected = self.critic_local(states, actions)
critic_loss = F.mse_loss(Q_expected, Q_targets)
self.critic_optimizer.zero_grad()
critic_loss.backward()
torch.nn.utils.clip_grad_norm_(self.critic_local.parameters(), 1) # adds gradient clipping to stabilize learning
self.critic_optimizer.step()
actions_pred = self.actor_local(states)
actor_loss = -self.critic_local(states, actions_pred).mean()
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
self.soft_update(self.critic_local, self.critic_target, TAU)
self.soft_update(self.actor_local, self.actor_target, TAU)
def soft_update(self, local_model, target_model, tau):
for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
target_param.data.copy_(tau * local_param.data + (1.0 - tau) * target_param.data)
def save_model(self):
torch.save(
self.actor_local.state_dict(),
os.path.join(self.model_dir, 'actor_params.pth')
)
torch.save(
self.actor_optimizer.state_dict(),
os.path.join(self.model_dir, 'actor_optim_params.pth')
)
torch.save(
self.critic_local.state_dict(),
os.path.join(self.model_dir, 'critic_params.pth')
)
torch.save(
self.critic_optimizer.state_dict(),
os.path.join(self.model_dir, 'critic_optim_params.pth')
)
def load_model(self):
"""Loads weights from saved model."""
self.actor_local.load_state_dict(
torch.load(os.path.join(self.model_dir, 'actor_params.pth'))
)
self.actor_optimizer.load_state_dict(
torch.load(os.path.join(self.model_dir, 'actor_optim_params.pth'))
)
self.critic_local.load_state_dict(
torch.load(os.path.join(self.model_dir, 'critic_params.pth'))
)
self.critic_optimizer.load_state_dict(
torch.load(os.path.join(self.model_dir, 'critic_optim_params.pth'))
)
def __init__(self, env, **kwargs):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.obs_space = env.observation_space
self.action_space = env.action_space
super(Agent, self).__init__(env.action_space)
mask = kwargs.get('mask', 2)
mask_hi = kwargs.get('mask_hi', 19)
self.rule = kwargs.get('rule', 'c')
self.danger = kwargs.get('danger', 0.9)
self.bus_thres = kwargs.get('threshold', 0.1)
self.max_low_len = kwargs.get('max_low_len', 19)
self.converter = graphGoalConverter(env, mask, mask_hi, self.danger,
self.device, self.rule)
self.thermal_limit = env._thermal_limit_a
self.convert_obs = self.converter.convert_obs
self.action_dim = self.converter.n
self.order_dim = len(self.converter.masked_sorted_sub)
self.node_num = env.dim_topo
self.delay_step = 2
self.update_step = 0
self.k_step = 1
self.nheads = kwargs.get('head_number', 8)
self.target_update = kwargs.get('target_update', 1)
self.hard_target = kwargs.get('hard_target', False)
self.use_order = (self.rule == 'o')
self.gamma = kwargs.get('gamma', 0.99)
self.tau = kwargs.get('tau', 1e-3)
self.dropout = kwargs.get('dropout', 0.)
self.memlen = kwargs.get('memlen', int(1e5))
self.batch_size = kwargs.get('batch_size', 128)
self.update_start = self.batch_size * 8
self.actor_lr = kwargs.get('actor_lr', 5e-5)
self.critic_lr = kwargs.get('critic_lr', 5e-5)
self.embed_lr = kwargs.get('embed_lr', 5e-5)
self.alpha_lr = kwargs.get('alpha_lr', 5e-5)
self.state_dim = kwargs.get('state_dim', 128)
self.n_history = kwargs.get('n_history', 6)
self.input_dim = self.converter.n_feature * self.n_history
print(
f'N: {self.node_num}, O: {self.input_dim}, S: {self.state_dim}, A: {self.action_dim}, ({self.order_dim})'
)
print(kwargs)
self.emb = EncoderLayer(self.input_dim, self.state_dim, self.nheads,
self.node_num, self.dropout).to(self.device)
self.temb = EncoderLayer(self.input_dim, self.state_dim, self.nheads,
self.node_num, self.dropout).to(self.device)
self.Q = DoubleSoftQ(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
self.tQ = DoubleSoftQ(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
self.actor = Actor(self.state_dim, self.nheads, self.node_num,
self.action_dim, self.use_order, self.order_dim,
self.dropout).to(self.device)
# copy parameters
self.tQ.load_state_dict(self.Q.state_dict())
self.temb.load_state_dict(self.emb.state_dict())
# entropy
self.target_entropy = -self.action_dim * 3 if not self.use_order else -3 * (
self.action_dim + self.order_dim)
self.log_alpha = torch.FloatTensor([-3]).to(self.device)
self.log_alpha.requires_grad = True
# optimizers
self.Q.optimizer = optim.Adam(self.Q.parameters(), lr=self.critic_lr)
self.actor.optimizer = optim.Adam(self.actor.parameters(),
lr=self.actor_lr)
self.emb.optimizer = optim.Adam(self.emb.parameters(),
lr=self.embed_lr)
self.alpha_optim = optim.Adam([self.log_alpha], lr=self.alpha_lr)
self.memory = ReplayBuffer(max_size=self.memlen)
self.Q.eval()
self.tQ.eval()
self.emb.eval()
self.temb.eval()
self.actor.eval()
class GanModel(BaseModel):
def name(self):
return 'TrainGanModel'
def initialize(self, args):
BaseModel.initialize(self, args)
self.input_B = self.Tensor(args.batchSize, 3, 1024, 256)
self.input_C = self.Tensor(args.batchSize, 1, 1024, 256)
self.fake_Buffer = ReplayBuffer()
self.netG_BtoC = networks.define_G(3, 1, 64, 'unet_128', 'batch',
False, args.init_type, self.gpu_ids)
self.netD_C = networks.define_D(1,
64,
'basic',
norm='batch',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netG_BtoC.apply(weights_init_normal)
self.netD_C.apply(weights_init_normal)
checkpoint_BtoC_filename = 'netG_B2C.pth'
checkpoint_D_C_filename = 'netD_C.pth'
checkpoint_path_BtoC = os.path.join(args.checkpoints_dir,
checkpoint_BtoC_filename)
checkpoint_path_D_C = os.path.join(args.checkpoints_dir,
checkpoint_D_C_filename)
# Load checkpoint
# self.netG_BtoC.load_state_dict(torch.load(checkpoint_path_BtoC))
# self.netD_C.load_state_dict(torch.load(checkpoint_path_D_C))
# define loss
self.criterionGAN = torch.nn.MSELoss()
self.criterionReconstruction = torch.nn.L1Loss().cuda()
# init optimizer
self.optimizer_G = torch.optim.Adam(self.netG_BtoC.parameters(),
lr=0.0002,
betas=(0.5, 0.999))
self.optimizer_D = torch.optim.Adam(self.netD_C.parameters(),
lr=0.0002,
betas=(0.5, 0.999))
self.lr_scheduler_G = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_G,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
def set_input(self, input):
self.image_syn_sizes = input['B_sizes']
input_B = input['B']
save_image(input_B[0], './input_check/rgb.jpg')
self.input_B.resize_(input_B.size()).copy_(input_B)
self.image_syn_paths = input['B_paths']
# self.size_syn = (int(self.image_syn_sizes[0]), int(self.image_syn_sizes[1]))
self.image_dep_sizes = input['C_sizes']
input_C = input['C']
save_image(input_C[0], './input_check/depth.jpg')
self.input_C.resize_(input_C.size()).copy_(input_C)
self.image_dep_paths = input['C_paths']
# self.size_dep = (int(self.image_dep_sizes[0]), int(self.image_dep_sizes[1]))
def train(self):
syn_data = Variable(self.input_B)
dep_data = Variable(self.input_C)
target_real = Variable(self.Tensor(syn_data.size(0), 1, 14,
62).fill_(1.0),
requires_grad=False)
target_fake = Variable(self.Tensor(syn_data.size(0), 1, 14,
62).fill_(0.0),
requires_grad=False)
loss_gan = self.criterionGAN
loss_rec = self.criterionReconstruction
self.optimizer_G.zero_grad()
fake_dep = self.netG_BtoC(syn_data)
loss_r = loss_rec(fake_dep, dep_data)
loss_g = loss_gan(self.netD_C(fake_dep), target_real)
loss_G = 0.01 * loss_g + 0.99 * loss_r
# loss_G = loss_g
loss_G.backward()
self.optimizer_G.step()
self.optimizer_D.zero_grad()
pred_real = self.netD_C(dep_data)
loss_real = loss_gan(pred_real, target_real)
fake_A = self.fake_Buffer.push_and_pop(fake_dep)
pred_fake = self.netD_C(fake_A)
loss_fake = loss_gan(pred_fake, target_fake)
loss_D = (loss_real + loss_fake) * 0.5
loss_D.backward()
self.optimizer_D.step()
print(
'Generator Loss : {loss_G:.5f}, Discriminator Loss : {loss_D:.5f}'.
format(loss_G=loss_G, loss_D=loss_D))
def update_learning_rate(self):
self.lr_scheduler_G.step()
self.lr_scheduler_D.step()
def save_checkpoint(self):
torch.save(self.netG_BtoC.state_dict(), './checkpoints/netG_B2C.pth')
torch.save(self.netD_C.state_dict(), './checkpoints/netD_C.pth')
def forward(self):
self.syn_data = Variable(self.input_B)
self.pred_depth = self.netG_BtoC(self.syn_data)
def get_image_paths(self):
return self.image_syn_paths, self.image_dep_paths
def get_image_sizes(self):
return self.size_syn, self.size_dep
def get_current_visuals(self):
syn_d = util.tensor2im(self.syn_data.data)
pred_d = util.tensor2im(self.pred_depth.data)
return OrderedDict([('original', syn_d), ('depth', pred_d)])
class Agent:
def __init__(self, gamma=0.999, buffer_size=1e5, batch_size=1024,
episodes_nr=50000, tau=2e-2, gym_name='MountainCarContinuous-v0'):
self.lr_actor = 5e-3 # learning rate for the actor
self.lr_critic = 1e-3 # learning rate for the critic
self.lr_decay = 1 # learning rate decay (per episode)
self.l2_reg_actor = 1e-7 # L2 regularization factor for the actor
self.l2_reg_critic = 1e-7 # L2 regularization factor for the critic
self.num_episodes = episodes_nr # number of episodes
self.max_steps_ep = 10000 # default max number of steps per episode (unless env has a lower hardcoded limit)
self.train_every = 1 # number of steps to run the policy (and collect experience) before updating network weights
self.replay_memory_capacity = buffer_size # capacity of experience replay memory
self.batch_size = batch_size
self.memory = ReplayBuffer(int(buffer_size))
self.episodes_nr = episodes_nr
self.gamma = gamma
self.tau = tau
self.env = gym.make(gym_name)
assert(self.env.action_space.high == -self.env.action_space.low)
self.action_range = self.env.action_space.high[0]
self.action_dim = np.prod(np.array(self.env.action_space.shape))
self.state_dim = np.prod(np.array(self.env.observation_space.shape))
#self.noise = OUNoise(self.action_dim)
self.action_range = self.env.action_space.high - self.env.action_space.low
self.initial_noise_scale = 0.1 # scale of the exploration noise process (1.0 is the range of each action dimension)
self.noise_decay = 1 #0.99 # decay rate (per episode) of the scale of the exploration noise process
self.exploration_mu = 0.0 # mu parameter for the exploration noise process: dXt = theta*(mu-Xt)*dt + sigma*dWt
self.exploration_theta = 0.15 # theta parameter for the exploration noise process: dXt = theta*(mu-Xt)*dt + sigma*dWt
self.exploration_sigma = 0.2 # sigma parameter for the exploration noise process: dXt = theta*(mu-Xt )*dt + sigma*dWt
self.noise = OUNoise(self.action_dim)
def run(self):
tf.reset_default_graph()
state_ph = tf.placeholder(dtype=tf.float32, shape=[None,self.state_dim])
action_ph = tf.placeholder(dtype=tf.float32, shape=[None,self.action_dim])
reward_ph = tf.placeholder(dtype=tf.float32, shape=[None])
next_state_ph = tf.placeholder(dtype=tf.float32, shape=[None,self.state_dim])
is_not_terminal_ph = tf.placeholder(dtype=tf.float32, shape=[None]) # indicators (go into target computation)
# episode counter
episodes = tf.Variable(0.0, trainable=False, name='episodes')
episode_inc_op = episodes.assign_add(1)
actions = Actor(state_ph, self.action_range, self.action_dim, "local").out
target_actions = tf.stop_gradient(Actor(next_state_ph, self.action_range, self.action_dim, "target").out)
q_det = Critic(action_ph, state_ph, "local", reuse=False).q
q_inf = Critic(actions, state_ph, "local", reuse=True).q
target_critic = tf.stop_gradient(Critic(target_actions, next_state_ph, "target").q)
actor_vars = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope='actor_local')
slow_target_actor_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='actor_target')
critic_vars = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope='critic_local')
slow_target_critic_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='critic_target')
update_targets_ops = []
for i, slow_target_actor_var in enumerate(slow_target_actor_vars):
update_slow_target_actor_op = slow_target_actor_var.assign(self.tau*actor_vars[i]+(1-self.tau)*slow_target_actor_var)
update_targets_ops.append(update_slow_target_actor_op)
for i, slow_target_var in enumerate(slow_target_critic_vars):
update_slow_target_critic_op = slow_target_var.assign(self.tau*critic_vars[i]+(1-self.tau)*slow_target_var)
update_targets_ops.append(update_slow_target_critic_op)
update_slow_targets_op = tf.group(*update_targets_ops, name='update_slow_targets')
targets = tf.expand_dims(reward_ph, 1) + tf.expand_dims(is_not_terminal_ph, 1) * self.gamma * target_critic
td_errors = targets - q_det
critic_loss = tf.reduce_mean(tf.square(td_errors))
for var in critic_vars:
if not 'bias' in var.name:
critic_loss += self.l2_reg_critic * 0.5 * tf.nn.l2_loss(var)
# critic optimizer
critic_train_op = tf.train.AdamOptimizer(self.lr_critic*self.lr_decay**episodes).minimize(critic_loss)
# actor loss function (mean Q-values under current policy with regularization)
actor_loss = -1*tf.reduce_mean(q_inf)
for var in actor_vars:
if not 'bias' in var.name:
actor_loss += self.l2_reg_actor * 0.5 * tf.nn.l2_loss(var)
# actor optimizer
# the gradient of the mean Q-values wrt actor params is the deterministic policy gradient (keeping critic params fixed)
actor_train_op = tf.train.AdamOptimizer(self.lr_actor*self.lr_decay**episodes).minimize(actor_loss, var_list=actor_vars)
# initialize session
sess = tf.Session()
sess.run(tf.global_variables_initializer())
total_steps = 0
for ep in range(self.num_episodes):
total_reward = 0
steps_in_ep = 0
#noise_process = np.zeros(self.action_dim)
#noise_scale = (self.initial_noise_scale * self.noise_decay**ep) * self.action_range
# Initial state
observation = self.env.reset()
if ep%1 == 0: self.env.render()
for t in range(self.max_steps_ep):
# choose action based on deterministic policy
action_for_state, = sess.run(actions, feed_dict = {state_ph: observation[None]})
# add temporally-correlated exploration noise to action (using an Ornstein-Uhlenbeck process)
# print(action_for_state)
#noise_process = self.exploration_theta*(self.exploration_mu - noise_process) + self.exploration_sigma*np.random.randn(self.action_dim)
# print(noise_scale*noise_process)
action_for_state += self.noise.sample() #noise_process #*noise_scale
# take step
next_observation, reward, done, _info = self.env.step(action_for_state)
if ep%1 == 0: self.env.render()
total_reward += reward
self.memory.add_to_memory((observation, action_for_state, reward, next_observation, 0.0 if done else 1.0))
# update network weights to fit a minibatch of experience
if total_steps%self.train_every == 0 and self.memory.len() >= self.batch_size:
# grab N (s,a,r,s') tuples from replay memory
minibatch = self.memory.sample_from_memory(self.batch_size)
# update the critic and actor params using mean-square value error and deterministic policy gradient, respectively
_, _ = sess.run([critic_train_op, actor_train_op],
feed_dict = {
state_ph: np.asarray([elem[0] for elem in minibatch]),
action_ph: np.asarray([elem[1] for elem in minibatch]),
reward_ph: np.asarray([elem[2] for elem in minibatch]),
next_state_ph: np.asarray([elem[3] for elem in minibatch]),
is_not_terminal_ph: np.asarray([elem[4] for elem in minibatch])})
# update slow actor and critic targets towards current actor and critic
_ = sess.run(update_slow_targets_op)
observation = next_observation
total_steps += 1
steps_in_ep += 1
if done:
# Increment episode counter
_ = sess.run(episode_inc_op)
break
print('Episode %2i, Reward: %7.3f, Steps: %i'%(ep,total_reward,steps_in_ep))
env.close()
class Agent():
def __init__(
self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00003,
crt_lr=0.0003,
gamma=0.99,
max_size=1000000,
tau=0.005,
batch_size=64,
reward_scale=1,
name='sac',
chkpt_dir='tmp/ddpg',
layerNorm=True,
):
'''Higher reward scale means higher weights given to rewards ratehr than entropy'''
self.gamma = gamma
self.tau = tau
self.batch_size = batch_size
self.input_dims = input_dims
self.n_actions = n_actions
# The env action was scaled to [-1, 1]
self.max_action = np.ones(self.n_actions)
# Cannot use env.action_space.high, because env.action_space.high is not real action space
self.layer_sizes = layer_sizes
self.layerNorm = layerNorm
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.max_action,
fc_dims=self.layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='critic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='critic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.value = ValueNetwork(crt_lr,
self.input_dims,
self.layer_sizes,
name='value_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_value = ValueNetwork(crt_lr,
self.input_dims,
self.layer_sizes,
name='target_value_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.scale = reward_scale
self.update_network_parameters(tau=1)
def choose_action(self, observation):
state = T.Tensor([observation]).to(self.actor.device)
actions, _ = self.actor.sample_normal(state, reparameterize=False)
return actions.cpu().detach().numpy()[0]
def remember(self, state, action, reward, new_state, done):
self.memory.store_transition(state, action, reward, new_state, done)
def update_network_parameters(self, tau=None):
if tau is None:
tau = self.tau
updated_value = update_single_target_network_parameters(
self.value, self.target_value, tau)
self.target_value.load_state_dict(updated_value)
def save_models(self):
print('.... saving models ....')
self.actor.save_checkpoint()
self.value.save_checkpoint()
# self.target_value.save_checkpoint()
self.critic_1.save_checkpoint()
self.critic_2.save_checkpoint()
def load_models(self):
print('.... loading models ....')
self.actor.load_checkpoint()
self.value.load_checkpoint()
# self.target_value.load_checkpoint()
self.critic_1.load_checkpoint()
self.critic_2.load_checkpoint()
def learn(self):
if self.memory.mem_cntr < self.batch_size:
return
state, action, reward, new_state, done = \
self.memory.sample_buffer(self.batch_size)
reward = T.tensor(reward, dtype=T.float).to(self.actor.device)
done = T.tensor(done).to(self.actor.device)
state_ = T.tensor(new_state, dtype=T.float).to(self.actor.device)
state = T.tensor(state, dtype=T.float).to(self.actor.device)
action = T.tensor(action, dtype=T.float).to(self.actor.device)
# Update the value network
self.value.optimizer.zero_grad()
value = self.value.forward(state).view(-1)
actions, log_probs = self.actor.sample_normal(state,
reparameterize=False)
log_probs = log_probs.view(-1)
# Use the action from the current policy, rather than the one stored in the buffer
q1_new_policy = self.critic_1.forward(state, actions).view(-1)
q2_new_policy = self.critic_2.forward(state, actions).view(-1)
critic_value = T.min(q1_new_policy, q2_new_policy)
value_target = critic_value - log_probs # - log_probs is entropy
value_loss = F.mse_loss(value, value_target)
value_loss.backward(retain_graph=True)
self.value.optimizer.step()
# Update the critic network
self.critic_1.optimizer.zero_grad()
self.critic_2.optimizer.zero_grad()
# action and state are from replay buffer generated by old policy
q1_old_policy = self.critic_1.forward(state, action).view(-1)
q2_old_policy = self.critic_2.forward(state, action).view(-1)
value_ = self.target_value.forward(state_).view(-1)
# value_[done] = 0.0 # In building context, terminal state does not have 0 value
q_hat = self.scale * reward + self.gamma * value_
critic_1_loss = F.mse_loss(q1_old_policy, q_hat)
critic_2_loss = F.mse_loss(q2_old_policy, q_hat)
critic_loss = critic_1_loss + critic_2_loss
critic_loss.backward()
self.critic_1.optimizer.step()
self.critic_2.optimizer.step()
# Update the actor network
self.actor.optimizer.zero_grad()
actions, log_probs = self.actor.sample_normal(state,
reparameterize=True)
log_probs = log_probs.view(-1)
# Use the action from the current policy, rather than the one stored in the buffer
q1_new_policy = self.critic_1.forward(state, actions).view(-1)
q2_new_policy = self.critic_2.forward(state, actions).view(-1)
critic_value = T.min(q1_new_policy, q2_new_policy)
actor_loss = log_probs - critic_value
actor_loss = T.mean(actor_loss)
actor_loss.backward(retain_graph=True)
self.actor.optimizer.step()
self.update_network_parameters()
return critic_loss.item(), actor_loss.item()
def __init__(
self,
input_dims,
n_actions,
layer_sizes,
act_lr=0.00003,
crt_lr=0.0003,
gamma=0.99,
max_size=1000000,
tau=0.005,
batch_size=64,
reward_scale=1,
name='sac',
chkpt_dir='tmp/ddpg',
layerNorm=True,
):
'''Higher reward scale means higher weights given to rewards ratehr than entropy'''
self.gamma = gamma
self.tau = tau
self.batch_size = batch_size
self.input_dims = input_dims
self.n_actions = n_actions
# The env action was scaled to [-1, 1]
self.max_action = np.ones(self.n_actions)
# Cannot use env.action_space.high, because env.action_space.high is not real action space
self.layer_sizes = layer_sizes
self.layerNorm = layerNorm
self.memory = ReplayBuffer(max_size, self.input_dims, self.n_actions)
self.actor = ActorNetwork(act_lr,
self.input_dims,
self.n_actions,
self.max_action,
fc_dims=self.layer_sizes,
name='Actor_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic_1 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='critic1_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.critic_2 = CriticNetwork(crt_lr,
self.input_dims,
self.n_actions,
self.layer_sizes,
name='critic2_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.value = ValueNetwork(crt_lr,
self.input_dims,
self.layer_sizes,
name='value_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.target_value = ValueNetwork(crt_lr,
self.input_dims,
self.layer_sizes,
name='target_value_' + name,
chkpt_dir=chkpt_dir,
layerNorm=self.layerNorm)
self.scale = reward_scale
self.update_network_parameters(tau=1)
class DDPG:
def __init__(
self,
env,
gamma=0.99,
polyak=0.995,
act_noise=0.1,
render=False,
batch_size=32,
q_lr=1e-3,
p_lr=1e-4,
buffer_capacity=5000,
max_episodes=100,
save_path=None,
load_path=None,
print_freq=1,
start_steps=10000,
log_dir='logs/train',
training=True,
):
self.gamma = gamma
self.polyak = polyak
self.act_noise = act_noise
self.render = render
self.batch_size = batch_size
self.p_lr = p_lr
self.q_lr = q_lr
self.max_episodes = max_episodes
self.start_steps = start_steps
self.actor, self.critic = create_actor_critic(
env.observation_space.shape[0], env.action_space.shape[0],
env.action_space.high)
self.target_actor, self.target_critic = create_actor_critic(
env.observation_space.shape[0], env.action_space.shape[0],
env.action_space.high)
self.target_actor.set_weights(self.actor.get_weights())
self.target_critic.set_weights(self.critic.get_weights())
self.env = env
self.rewards = []
self.print_freq = print_freq
self.save_path = save_path
if training:
self.buffer = ReplayBuffer(buffer_capacity)
self.actor_optimizer = tf.keras.optimizers.Adam(
learning_rate=self.p_lr)
self.critic_optimizer = tf.keras.optimizers.Adam(
learning_rate=self.q_lr)
self.summary_writer = tf.summary.create_file_writer(log_dir)
self.mse = tf.keras.losses.MeanSquaredError()
if load_path is not None:
self.actor.load_weights(f'{load_path}/actor')
self.critic.load_weights(f'{load_path}/critic')
@tf.function
def train_step(self, states, actions, targets):
with tf.GradientTape() as tape:
action_predictions = self.actor(states)
q_values = self.critic([states, action_predictions])
policy_loss = -tf.reduce_mean(q_values)
actor_gradients = tape.gradient(policy_loss,
self.actor.trainable_variables)
self.actor_optimizer.apply_gradients(
zip(actor_gradients, self.actor.trainable_variables))
with tf.GradientTape() as tape:
q_values = self.critic([states, actions])
mse_loss = self.mse(q_values, targets)
critic_gradients = tape.gradient(mse_loss,
self.critic.trainable_variables)
self.critic_optimizer.apply_gradients(
zip(critic_gradients, self.critic.trainable_variables))
with self.summary_writer.as_default():
tf.summary.scalar('Policy Loss',
policy_loss,
step=self.critic_optimizer.iterations)
tf.summary.scalar('MSE Loss',
mse_loss,
step=self.critic_optimizer.iterations)
tf.summary.scalar('Estimated Q Value',
tf.reduce_mean(q_values),
step=self.critic_optimizer.iterations)
def update(self):
if len(self.buffer) >= self.batch_size:
# Sample random minibatch of N transitions
states, actions, rewards, next_states, dones = self.buffer.sample(
self.batch_size)
dones = dones.reshape(-1, 1)
rewards = rewards.reshape(-1, 1)
# Set the target for learning
target_action_preds = self.target_actor(next_states)
target_q_values = self.target_critic(
[next_states, target_action_preds])
targets = rewards + self.gamma * target_q_values * (1 - dones)
# update critic by minimizing the MSE loss
# update the actor policy using the sampled policy gradient
self.train_step(states, actions, targets)
# Update target networks
polyak_average(self.actor.variables, self.target_actor.variables,
self.polyak)
polyak_average(self.critic.variables, self.target_critic.variables,
self.polyak)
def act(self, obs, noise=False):
# Initialize a random process N for action exploration
norm_dist = tf.random.normal(self.env.action_space.shape,
stddev=self.act_noise)
action = self.actor(np.expand_dims(obs, axis=0))
action = np.clip(action.numpy() + (norm_dist.numpy() if noise else 0),
a_min=self.env.action_space.low,
a_max=self.env.action_space.high)
return action
def learn(self):
mean_reward = None
total_steps = 0
overall_steps = 0
for ep in range(self.max_episodes):
if ep % self.print_freq == 0 and ep > 0:
new_mean_reward = np.mean(self.rewards[-self.print_freq - 1:])
print(
f"-------------------------------------------------------")
print(
f"Mean {self.print_freq} Episode Reward: {new_mean_reward}"
)
print(f"Mean Steps: {total_steps / self.print_freq}")
print(f"Total Episodes: {ep}")
print(f"Total Steps: {overall_steps}")
print(
f"-------------------------------------------------------")
total_steps = 0
with self.summary_writer.as_default():
tf.summary.scalar(f'Mean {self.print_freq} Episode Reward',
new_mean_reward,
step=ep)
# Model saving inspired by Open AI Baseline implementation
if (mean_reward is None or new_mean_reward >= mean_reward
) and self.save_path is not None:
print(
f"Saving model due to mean reward increase:{mean_reward} -> {new_mean_reward}"
)
print(f'Location: {self.save_path}')
mean_reward = new_mean_reward
self.actor.save_weights(f'{self.save_path}/actor')
self.critic.save_weights(f'{self.save_path}/critic')
# Receive initial observation state s_1
obs = self.env.reset()
done = False
episode_reward = 0
ep_len = 0
while not done:
# Display the environment
if self.render:
self.env.render()
# Execute action and observe reward and observe new state
if self.start_steps > 0:
self.start_steps -= 1
action = self.env.action_space.sample()
else:
# Select action according to policy and exploration noise
action = self.act(obs, noise=True).flatten()
new_obs, rew, done, info = self.env.step(action)
new_obs = new_obs.flatten()
episode_reward += rew
# Store transition in R
self.buffer.add((obs, action, rew, new_obs, done))
# Perform a single learning step
self.update()
obs = new_obs
ep_len += 1
with self.summary_writer.as_default():
tf.summary.scalar(f'Episode Reward', episode_reward, step=ep)
self.rewards.append(episode_reward)
total_steps += ep_len
overall_steps += ep_len
def initialize(self, args):
BaseModel.initialize(self, args)
self.input_A = self.Tensor(args.batchSize, 3, 1024, 256)
self.input_B = self.Tensor(args.batchSize, 3, 1024, 256)
self.fake_A_Buffer = ReplayBuffer()
self.fake_B_Buffer = ReplayBuffer()
self.netG_AtoB = networks.define_G(3, 3, 64, 'resnet_9blocks',
'instance', False, args.init_type,
self.gpu_ids)
self.netG_BtoA = networks.define_G(3, 3, 64, 'resnet_9blocks',
'instance', False, args.init_type,
self.gpu_ids)
self.netD_A = networks.define_D(3,
64,
'basic',
norm='instance',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netD_B = networks.define_D(3,
64,
'basic',
norm='instance',
use_sigmoid=False,
gpu_ids=args.gpu_ids)
self.netG_AtoB.apply(weights_init_normal)
self.netG_BtoA.apply(weights_init_normal)
self.netD_A.apply(weights_init_normal)
self.netD_B.apply(weights_init_normal)
checkpoint_AtoB_filename = 'netG_A2B.pth'
checkpoint_BtoA_filename = 'netG_B2A.pth'
checkpoint_D_A_filename = 'netD_A.pth'
checkpoint_D_B_filename = 'netD_B.pth'
checkpoint_path_AtoB = os.path.join(args.checkpoints_dir,
checkpoint_AtoB_filename)
checkpoint_path_BtoA = os.path.join(args.checkpoints_dir,
checkpoint_BtoA_filename)
checkpoint_path_D_A = os.path.join(args.checkpoints_dir,
checkpoint_D_A_filename)
checkpoint_path_D_B = os.path.join(args.checkpoints_dir,
checkpoint_D_B_filename)
# Load checkpoint
# self.netG_AtoB.load_state_dict(torch.load(checkpoint_path_AtoB))
# self.netG_BtoA.load_state_dict(torch.load(checkpoint_path_BtoA))
# self.netD_A.load_state_dict(torch.load(checkpoint_path_D_A))
# self.netD_B.load_state_dict(torch.load(checkpoint_path_D_B))
# define loss
# self.criterionGAN = networks.GANLoss().to(self.device)
self.criterionGAN = torch.nn.MSELoss().cuda()
self.criterionCycle = torch.nn.L1Loss().cuda()
self.criterionIdentity = torch.nn.L1Loss().cuda()
# init optimizer
self.optimizer_G = torch.optim.Adam(itertools.chain(
self.netG_AtoB.parameters(), self.netG_BtoA.parameters()),
lr=0.0001,
betas=(0.5, 0.999))
self.optimizer_D_a = torch.optim.Adam(self.netD_A.parameters(),
lr=0.0001,
betas=(0.5, 0.999))
self.optimizer_D_b = torch.optim.Adam(self.netD_B.parameters(),
lr=0.0001,
betas=(0.5, 0.999))
self.lr_scheduler_G = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_G,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D_a = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D_a,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
self.lr_scheduler_D_b = torch.optim.lr_scheduler.LambdaLR(
self.optimizer_D_b,
lr_lambda=LambdaLR(args.n_epochs, args.epoch,
args.decay_epoch).step)
def main():
time_str = time.strftime("%Y%m%d-%H%M%S")
print('time_str: ', time_str)
exp_count = 0
if args.experiment == 'a|s':
direc_name_ = '_'.join([args.env, args.experiment])
else:
direc_name_ = '_'.join(
[args.env, args.experiment, 'bp2VAE',
str(args.bp2VAE)])
direc_name_exist = True
while direc_name_exist:
exp_count += 1
direc_name = '/'.join([direc_name_, str(exp_count)])
direc_name_exist = os.path.exists(direc_name)
try:
os.makedirs(direc_name)
except OSError as e:
if e.errno != errno.EEXIST:
raise
if args.tensorboard_dir is None:
logger = Logger('/'.join([direc_name, time_str]))
else:
logger = Logger(args.tensorboard_dir)
env = gym.make(args.env)
if args.wrapper:
if args.video_dir is None:
args.video_dir = '/'.join([direc_name, 'videos'])
env = gym.wrappers.Monitor(env, args.video_dir, force=True)
print('observation_space: ', env.observation_space)
print('action_space: ', env.action_space)
env.seed(args.seed)
torch.manual_seed(args.seed)
if args.experiment == 'a|s':
dim_x = env.observation_space.shape[0]
elif args.experiment == 'a|z(s)' or args.experiment == 'a|z(s, s_next)' or \
args.experiment == 'a|z(a_prev, s, s_next)':
dim_x = args.z_dim
policy = ActorCritic(input_size=dim_x,
hidden1_size=3 * dim_x,
hidden2_size=6 * dim_x,
action_size=env.action_space.n)
if args.use_cuda:
Tensor = torch.cuda.FloatTensor
torch.cuda.manual_seed_all(args.seed)
policy.cuda()
else:
Tensor = torch.FloatTensor
policy_optimizer = optim.Adam(policy.parameters(), lr=args.policy_lr)
if args.experiment != 'a|s':
from util import ReplayBuffer, vae_loss_function
dim_s = env.observation_space.shape[0]
if args.experiment == 'a|z(s)' or args.experiment == 'a|z(s, s_next)':
from model import VAE
vae = VAE(input_size=dim_s,
hidden1_size=3 * args.z_dim,
hidden2_size=args.z_dim)
elif args.experiment == 'a|z(a_prev, s, s_next)':
from model import CVAE
vae = CVAE(input_size=dim_s,
class_size=1,
hidden1_size=3 * args.z_dim,
hidden2_size=args.z_dim)
if args.use_cuda:
vae.cuda()
vae_optimizer = optim.Adam(vae.parameters(), lr=args.vae_lr)
if args.experiment == 'a|z(s)':
from util import Transition_S2S as Transition
elif args.experiment == 'a|z(s, s_next)' or args.experiment == 'a|z(a_prev, s, s_next)':
from util import Transition_S2SNext as Transition
buffer = ReplayBuffer(args.buffer_capacity, Transition)
update_vae = True
if args.experiment == 'a|s':
from util import Record_S
elif args.experiment == 'a|z(s)':
from util import Record_S2S
elif args.experiment == 'a|z(s, s_next)' or args.experiment == 'a|z(a_prev, s, s_next)':
from util import Record_S2SNext
def train_actor_critic(n):
saved_info = policy.saved_info
R = 0
cum_returns_ = []
for r in policy.rewards[::-1]:
R = r + args.gamma * R
cum_returns_.insert(0, R)
cum_returns = Tensor(cum_returns_)
cum_returns = (cum_returns - cum_returns.mean()) \
/ (cum_returns.std() + np.finfo(np.float32).eps)
cum_returns = Variable(cum_returns, requires_grad=False).unsqueeze(1)
batch_info = SavedInfo(*zip(*saved_info))
batch_log_prob = torch.cat(batch_info.log_prob)
batch_value = torch.cat(batch_info.value)
batch_adv = cum_returns - batch_value
policy_loss = -torch.sum(batch_log_prob * batch_adv)
value_loss = F.smooth_l1_loss(batch_value,
cum_returns,
size_average=False)
policy_optimizer.zero_grad()
total_loss = policy_loss + value_loss
total_loss.backward()
policy_optimizer.step()
if args.use_cuda:
logger.scalar_summary('value_loss', value_loss.data.cpu()[0], n)
logger.scalar_summary('policy_loss', policy_loss.data.cpu()[0], n)
all_value_loss.append(value_loss.data.cpu()[0])
all_policy_loss.append(policy_loss.data.cpu()[0])
else:
logger.scalar_summary('value_loss', value_loss.data[0], n)
logger.scalar_summary('policy_loss', policy_loss.data[0], n)
all_value_loss.append(value_loss.data[0])
all_policy_loss.append(policy_loss.data[0])
del policy.rewards[:]
del policy.saved_info[:]
if args.experiment != 'a|s':
def train_vae(n):
train_times = (n // args.vae_update_frequency -
1) * args.vae_update_times
for i in range(args.vae_update_times):
train_times += 1
sample = buffer.sample(args.batch_size)
batch = Transition(*zip(*sample))
state_batch = torch.cat(batch.state)
if args.experiment == 'a|z(s)':
recon_batch, mu, log_var = vae.forward(state_batch)
mse_loss, kl_loss = vae_loss_function(
recon_batch,
state_batch,
mu,
log_var,
logger,
train_times,
kl_discount=args.kl_weight,
mode=args.experiment)
elif args.experiment == 'a|z(s, s_next)' or args.experiment == 'a|z(a_prev, s, s_next)':
next_state_batch = Variable(torch.cat(batch.next_state),
requires_grad=False)
predicted_batch, mu, log_var = vae.forward(state_batch)
mse_loss, kl_loss = vae_loss_function(
predicted_batch,
next_state_batch,
mu,
log_var,
logger,
train_times,
kl_discount=args.kl_weight,
mode=args.experiment)
vae_loss = mse_loss + kl_loss
vae_optimizer.zero_grad()
vae_loss.backward()
vae_optimizer.step()
logger.scalar_summary('vae_loss', vae_loss.data[0],
train_times)
all_vae_loss.append(vae_loss.data[0])
all_mse_loss.append(mse_loss.data[0])
all_kl_loss.append(kl_loss.data[0])
# To store cum_reward, value_loss and policy_loss from each episode
all_cum_reward = []
all_last_hundred_average = []
all_value_loss = []
all_policy_loss = []
if args.experiment != 'a|s':
# Store each vae_loss calculated
all_vae_loss = []
all_mse_loss = []
all_kl_loss = []
for episode in count(1):
done = False
state_ = torch.Tensor([env.reset()])
cum_reward = 0
if args.experiment == 'a|z(a_prev, s, s_next)':
action = random.randint(0, 2)
state_, reward, done, info = env.step(action)
cum_reward += reward
state_ = torch.Tensor([np.append(state_, action)])
while not done:
if args.experiment == 'a|s':
state = Variable(state_, requires_grad=False)
elif args.experiment == 'a|z(s)' or args.experiment == 'a|z(s, s_next)' \
or args.experiment == 'a|z(a_prev, s, s_next)':
state_ = Variable(state_, requires_grad=False)
mu, log_var = vae.encode(state_)
if args.bp2VAE and update_vae:
state = vae.reparametrize(mu, log_var)
else:
state = vae.reparametrize(mu, log_var).detach()
action_ = policy.select_action(state)
if args.use_cuda:
action = action_.cpu()[0, 0]
else:
action = action_[0, 0]
next_state_, reward, done, info = env.step(action)
next_state_ = torch.Tensor([next_state_])
cum_reward += reward
if args.render:
env.render()
policy.rewards.append(reward)
if args.experiment == 'a|z(s)':
buffer.push(state_)
elif args.experiment == 'a|z(s, s_next)' or args.experiment == 'a|z(a_prev, s, s_next)':
if not done:
buffer.push(state_, next_state_)
if args.experiment == 'a|z(a_prev, s, s_next)':
next_state_ = torch.cat(
[next_state_, torch.Tensor([action])], 1)
state_ = next_state_
train_actor_critic(episode)
last_hundred_average = sum(all_cum_reward[-100:]) / 100
logger.scalar_summary('cum_reward', cum_reward, episode)
logger.scalar_summary('last_hundred_average', last_hundred_average,
episode)
all_cum_reward.append(cum_reward)
all_last_hundred_average.append(last_hundred_average)
if update_vae:
if args.experiment != 'a|s' and episode % args.vae_update_frequency == 0:
assert len(buffer) >= args.batch_size
train_vae(episode)
if len(all_vae_loss) > 1000:
if abs(
sum(all_vae_loss[-500:]) / 500 -
sum(all_vae_loss[-1000:-500]) /
500) < args.vae_update_threshold:
update_vae = False
if episode % args.log_interval == 0:
print(
'Episode {}\tLast cum return: {:5f}\t100-episodes average cum return: {:.2f}'
.format(episode, cum_reward, last_hundred_average))
if episode > args.num_episodes:
print("100-episodes average cum return is now {} and "
"the last episode runs to {} time steps!".format(
last_hundred_average, cum_reward))
env.close()
torch.save(policy, '/'.join([direc_name, 'model']))
if args.experiment == 'a|s':
record = Record_S(
policy_loss=all_policy_loss,
value_loss=all_value_loss,
cum_reward=all_cum_reward,
last_hundred_average=all_last_hundred_average)
elif args.experiment == 'a|z(s)':
record = Record_S2S(
policy_loss=all_policy_loss,
value_loss=all_value_loss,
cum_reward=all_cum_reward,
last_hundred_average=all_last_hundred_average,
mse_recon_loss=all_mse_loss,
kl_loss=all_kl_loss,
vae_loss=all_vae_loss)
elif args.experiment == 'a|z(s, s_next)' or args.experiment == 'a|z(a_prev, s, s_next)':
record = Record_S2SNext(
policy_loss=all_policy_loss,
value_loss=all_value_loss,
cum_reward=all_cum_reward,
last_hundred_average=all_last_hundred_average,
mse_pred_loss=all_mse_loss,
kl_loss=all_kl_loss,
vae_loss=all_vae_loss)
pickle.dump(record, open('/'.join([direc_name, 'record']), 'wb'))
break
