def learn(self, n_steps):
self.train_parameters['n_steps'] = n_steps
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
cumulative_regret = 0
for timestep in range(n_steps):
x = self.env.sample()
action, uncertainty, sampled_value = self.act(x.float())
reward = self.env.hit(action)
regret = self.env.regret(action)
cumulative_regret += regret
reward = torch.as_tensor([reward], dtype=torch.float)
if self.logging:
self.logger.add_scalar('Cumulative_Regret', cumulative_regret,
timestep)
self.logger.add_scalar('Mushrooms_Eaten', self.n_samples,
timestep)
if self.env.y_sample == 1:
self.logger.add_scalar('Uncertainty_Good', uncertainty,
timestep)
self.logger.add_scalar('Sampled_Value_Good', sampled_value,
timestep)
else:
self.logger.add_scalar('Uncertainty_Bad', uncertainty,
timestep)
self.logger.add_scalar('Sampled_Value_Bad', sampled_value,
timestep)
if action == 1:
self.replay_buffer.add(x, reward)
self.n_samples += 1
if timestep % self.train_freq == 0 and self.n_samples > self.start_train_step:
if self.verbose:
print('Timestep: {}, cumulative regret {}'.format(
str(timestep), str(cumulative_regret)))
for update in range(self.updates_per_train):
samples = self.replay_buffer.sample(
np.min([self.n_samples, self.batch_size]))
self.train_step(samples)
if self.logging:
self.logger.save()
class UADQN:
"""
# Required parameters
env : Environment to use.
network : Choice of neural network.
# Environment parameter
gamma : Discount factor
# Replay buffer
replay_start_size : The capacity of the replay buffer at which training can begin.
replay_buffer_size : Maximum buffer capacity.
# QR-DQN parameters
n_quantiles: Number of quantiles to estimate
kappa: Smoothing parameter for the Huber loss
weight_scale: scale of prior neural network weights at initialization
noise_scale: scale of aleatoric noise
epistemic_factor: multiplier for epistemic uncertainty used for Thompson sampling
aleatoric_factor: maulitplier for aleatoric uncertainty, used to adjust mean Q values
update_target_frequency: Frequency at which target network is updated
minibatch_size : Minibatch size.
update_frequency : Number of environment steps taken between parameter update steps.
learning_rate : Learning rate used for the Adam optimizer
seed : The global seed to set. None means randomly selected.
adam_epsilon: Epsilon parameter for Adam optimizer
biased_aleatoric: whether to use empirical std of quantiles as opposed to unbiased estimator
# Logging and Saving
logging : Whether to create logs when training
log_folder_details : Additional information to put into the name of the log folder
save_period : Periodicity with which the network weights are checkpointed
notes : Notes to add to the log folder
# Rendering
render : Whether to render the environment during training. This slows down training.
"""
def __init__(
self,
env,
network,
gamma=0.99,
replay_start_size=50000,
replay_buffer_size=1000000,
n_quantiles=50,
kappa=1,
weight_scale=3,
noise_scale=0.1,
epistemic_factor=1,
aleatoric_factor=1,
update_target_frequency=10000,
minibatch_size=32,
update_frequency=1,
learning_rate=1e-3,
seed=None,
adam_epsilon=1e-8,
biased_aleatoric=False,
logging=False,
log_folder_details=None,
save_period=250000,
notes=None,
render=False,
):
# Agent parameters
self.env = env
self.gamma = gamma
self.replay_start_size = replay_start_size
self.replay_buffer_size = replay_buffer_size
self.n_quantiles = n_quantiles
self.kappa = kappa
self.weight_scale = weight_scale
self.noise_scale = noise_scale
self.epistemic_factor = epistemic_factor,
self.aleatoric_factor = aleatoric_factor,
self.update_target_frequency = update_target_frequency
self.minibatch_size = minibatch_size
self.update_frequency = update_frequency
self.learning_rate = learning_rate
self.seed = random.randint(0, 1e6) if seed is None else seed
self.adam_epsilon = adam_epsilon
self.biased_aleatoric = biased_aleatoric
self.logging = logging
self.log_folder_details = log_folder_details
self.save_period = save_period
self.render = render
self.notes = notes
# Set global seed before creating network
set_global_seed(self.seed, self.env)
# Initialize agent
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.logger = None
self.loss = quantile_huber_loss
self.replay_buffer = ReplayBuffer(self.replay_buffer_size)
# Initialize main Q learning network
n_outputs = self.env.action_space.n*self.n_quantiles
self.network = network(self.env.observation_space, n_outputs).to(self.device)
self.target_network = network(self.env.observation_space, n_outputs).to(self.device)
self.target_network.load_state_dict(self.network.state_dict())
# Initialize anchored networks
self.posterior1 = network(self.env.observation_space, n_outputs, weight_scale=weight_scale).to(self.device)
self.posterior2 = network(self.env.observation_space, n_outputs, weight_scale=weight_scale).to(self.device)
self.anchor1 = [p.data.clone() for p in list(self.posterior1.parameters())]
self.anchor2 = [p.data.clone() for p in list(self.posterior2.parameters())]
# Initialize optimizer
params = list(self.network.parameters()) + list(self.posterior1.parameters()) + list(self.posterior2.parameters())
self.optimizer = optim.Adam(params, lr=self.learning_rate, eps=self.adam_epsilon)
# Figure out what the scale of the prior is from empirical std of network weights
with torch.no_grad():
std_list = []
for i, p in enumerate(self.posterior1.parameters()):
std_list.append(torch.std(p))
self.prior_scale = torch.stack(std_list).mean().item()
# Parameters to save to log file
self.train_parameters = {
'Notes': notes,
'env': str(env),
'network': str(self.network),
'n_quantiles': n_quantiles,
'replay_start_size': replay_start_size,
'replay_buffer_size': replay_buffer_size,
'gamma': gamma,
'update_target_frequency': update_target_frequency,
'minibatch_size': minibatch_size,
'learning_rate': learning_rate,
'update_frequency': update_frequency,
'weight_scale': weight_scale,
'noise_scale': noise_scale,
'epistemic_factor': epistemic_factor,
'aleatoric_factor': aleatoric_factor,
'biased_aleatoric': biased_aleatoric,
'adam_epsilon': adam_epsilon,
'seed': self.seed
}
def learn(self, timesteps, verbose=False):
self.non_greedy_actions = 0
self.timestep = 0
self.this_episode_time = 0
self.n_events = 0 # Number of times an important event is flagged in the info
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details, self.train_parameters)
# Initialize the state
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
if self.render:
self.env.render()
# Select action
action = self.act(state.to(self.device).float(), is_training_ready=is_training_ready)
# Perform action in environment
state_next, reward, done, info = self.env.step(action)
if (info == "The agent fell!") and self.logging: # For gridworld experiments
self.n_events += 1
self.logger.add_scalar('Agent falls', self.n_events, timestep)
# Store transition in replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
self.this_episode_time += 1
if done:
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
# Reinitialize the state
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
non_greedy_fraction = self.non_greedy_actions/self.this_episode_time
self.logger.add_scalar('Non Greedy Fraction', non_greedy_fraction, timestep)
self.non_greedy_actions = 0
self.this_episode_time = 0
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update main network
if timestep % self.update_frequency == 0:
# Sample batch of transitions
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
# Train on selected batch
loss, anchor_loss = self.train_step(transitions)
if self.logging and timesteps < 50000:
self.logger.add_scalar('Loss', loss, timestep)
self.logger.add_scalar('Anchor Loss', anchor_loss, timestep)
# Periodically update target Q network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % self.save_period == 0:
self.save(timestep=timestep+1)
self.timestep += 1
if self.logging:
self.logger.save()
self.save()
if self.render:
self.env.close()
def train_step(self, transitions):
"""
Performs gradient descent step on a batch of transitions
"""
states, actions, rewards, states_next, dones = transitions
# Calculate target Q
with torch.no_grad():
target = self.target_network(states_next.float())
target = target.view(self.minibatch_size, self.env.action_space.n, self.n_quantiles)
# Calculate max of target Q values
best_action_idx = torch.mean(target, dim=2).max(1, True)[1].unsqueeze(2)
q_value_target = target.gather(1, best_action_idx.repeat(1, 1, self.n_quantiles))
# Calculate TD target
rewards = rewards.unsqueeze(2).repeat(1, 1, self.n_quantiles)
dones = dones.unsqueeze(2).repeat(1, 1, self.n_quantiles)
td_target = rewards + (1 - dones) * self.gamma * q_value_target
# Calculate Q value of actions played
outputs = self.network(states.float())
outputs = outputs.view(self.minibatch_size, self.env.action_space.n, self.n_quantiles)
actions = actions.unsqueeze(2).repeat(1, 1, self.n_quantiles)
q_value = outputs.gather(1, actions)
# TD loss for main network
loss = self.loss(q_value.squeeze(), td_target.squeeze(), self.device, kappa=self.kappa)
# Calculate predictions of posterior networks
posterior1 = self.posterior1(states.float())
posterior1 = posterior1.view(self.minibatch_size, self.env.action_space.n, self.n_quantiles)
posterior1 = posterior1.gather(1, actions)
posterior2 = self.posterior2(states.float())
posterior2 = posterior2.view(self.minibatch_size, self.env.action_space.n, self.n_quantiles)
posterior2 = posterior2.gather(1, actions)
# Regression loss for the posterior networks
loss_posterior1 = self.loss(posterior1.squeeze(), td_target.squeeze(), self.device, kappa=self.kappa)
loss_posterior2 = self.loss(posterior2.squeeze(), td_target.squeeze(), self.device, kappa=self.kappa)
loss += loss_posterior1 + loss_posterior2
# Anchor loss for the posterior networks
anchor_loss = self.calc_anchor_loss()
loss += anchor_loss
# Update weights
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
return loss.item(), anchor_loss.mean().item()
def calc_anchor_loss(self):
"""
Returns loss from anchoring
"""
diff1 = []
for i, p in enumerate(self.posterior1.parameters()):
diff1.append(torch.sum((p - self.anchor1[i])**2))
diff1 = torch.stack(diff1).sum()
diff2 = []
for i, p in enumerate(self.posterior2.parameters()):
diff2.append(torch.sum((p-self.anchor2[i])**2))
diff2 = torch.stack(diff2).sum()
diff = diff1 + diff2
num_data = np.min([self.timestep, self.replay_buffer_size])
anchor_loss = self.noise_scale**2*diff/(self.prior_scale**2*num_data)
return anchor_loss
@torch.no_grad()
def get_q(self, state):
net = self.network(state).view(self.env.action_space.n, self.n_quantiles)
action_means = torch.mean(net, dim=1)
q = action_means
return q
@torch.no_grad()
def act(self, state, is_training_ready=True):
"""
Returns action to be performed using Thompson sampling
with estimates provided by the two posterior networks
"""
net = self.network(state).view(self.env.action_space.n, self.n_quantiles)
posterior1 = self.posterior1(state).view(self.env.action_space.n, self.n_quantiles)
posterior2 = self.posterior2(state).view(self.env.action_space.n, self.n_quantiles)
mean_action_values = torch.mean(net, dim=1)
# Calculate aleatoric uncertainty
if self.biased_aleatoric:
uncertainties_aleatoric = torch.std(net, dim=1)
else:
covariance = torch.mean((posterior1-torch.mean(posterior1))*(posterior2-torch.mean(posterior2)), dim=1)
uncertainties_aleatoric = torch.sqrt(F.relu(covariance))
# Aleatoric-adjusted Q values
aleatoric_factor = torch.FloatTensor(self.aleatoric_factor).to(self.device)
adjusted_action_values = mean_action_values - aleatoric_factor*uncertainties_aleatoric
# Calculate epistemic uncertainty
uncertainties_epistemic = torch.mean((posterior1-posterior2)**2, dim=1)/2 + 1e-8
epistemic_factor = torch.FloatTensor(self.epistemic_factor).to(self.device)**2
uncertainties_cov = epistemic_factor*torch.diagflat(uncertainties_epistemic)
# Draw samples using Thompson sampling
epistemic_distrib = torch.distributions.multivariate_normal.MultivariateNormal
samples = epistemic_distrib(adjusted_action_values, covariance_matrix=uncertainties_cov).sample()
action = samples.argmax().item()
#print(mean_action_values, torch.sqrt(uncertainties_epistemic), torch.sqrt(uncertainties_aleatoric))
if self.logging and self.this_episode_time == 0:
self.logger.add_scalar('Epistemic Uncertainty 0', torch.sqrt(uncertainties_epistemic)[0], self.timestep)
self.logger.add_scalar('Epistemic Uncertainty 1', torch.sqrt(uncertainties_epistemic)[1], self.timestep)
self.logger.add_scalar('Aleatoric Uncertainty 0', uncertainties_aleatoric[0], self.timestep)
self.logger.add_scalar('Aleatoric Uncertainty 1', uncertainties_aleatoric[1], self.timestep)
self.logger.add_scalar('Q0', mean_action_values[0], self.timestep)
self.logger.add_scalar('Q1', mean_action_values[1], self.timestep)
if action != mean_action_values.argmax().item():
self.non_greedy_actions += 1
return action
@torch.no_grad()
def predict(self, state):
"""
Returns action with the highest Q-value
"""
net = self.network(state).view(self.env.action_space.n, self.n_quantiles)
mean_action_values = torch.mean(net, dim=1)
action = mean_action_values.argmax().item()
return action
def save(self, timestep=None):
"""
Saves network weights
"""
if timestep is not None:
filename = 'network_' + str(timestep) + '.pth'
filename_posterior1 = 'network_posterior1_' + str(timestep) + '.pth'
filename_posterior2 = 'network_posterior2_' + str(timestep) + '.pth'
else:
filename = 'network.pth'
filename_posterior1 = 'network_posterior1.pth'
filename_posterior2 = 'network_posterior2.pth'
save_path = self.logger.log_folder + '/' + filename
save_path_posterior1 = self.logger.log_folder + '/' + filename_posterior1
save_path_posterior2 = self.logger.log_folder + '/' + filename_posterior2
torch.save(self.network.state_dict(), save_path)
torch.save(self.posterior1.state_dict(), save_path_posterior1)
torch.save(self.posterior2.state_dict(), save_path_posterior2)
def load(self, path):
"""
Loads network weights
"""
self.network.load_state_dict(torch.load(path + 'network.pth', map_location='cpu'))
self.posterior1.load_state_dict(torch.load(path + 'network_posterior1.pth', map_location='cpu'))
self.posterior2.load_state_dict(torch.load(path + 'network_posterior2.pth', map_location='cpu'))
def learn(self, timesteps, verbose=False):
self.non_greedy_actions = 0
self.timestep = 0
self.this_episode_time = 0
self.n_events = 0 # Number of times an important event is flagged in the info
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details, self.train_parameters)
# Initialize the state
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
if self.render:
self.env.render()
# Select action
action = self.act(state.to(self.device).float(), is_training_ready=is_training_ready)
# Perform action in environment
state_next, reward, done, info = self.env.step(action)
if (info == "The agent fell!") and self.logging: # For gridworld experiments
self.n_events += 1
self.logger.add_scalar('Agent falls', self.n_events, timestep)
# Store transition in replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
self.this_episode_time += 1
if done:
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
# Reinitialize the state
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
non_greedy_fraction = self.non_greedy_actions/self.this_episode_time
self.logger.add_scalar('Non Greedy Fraction', non_greedy_fraction, timestep)
self.non_greedy_actions = 0
self.this_episode_time = 0
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update main network
if timestep % self.update_frequency == 0:
# Sample batch of transitions
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
# Train on selected batch
loss, anchor_loss = self.train_step(transitions)
if self.logging and timesteps < 50000:
self.logger.add_scalar('Loss', loss, timestep)
self.logger.add_scalar('Anchor Loss', anchor_loss, timestep)
# Periodically update target Q network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % self.save_period == 0:
self.save(timestep=timestep+1)
self.timestep += 1
if self.logging:
self.logger.save()
self.save()
if self.render:
self.env.close()
class DQN:
def __init__(
self,
env,
network,
replay_start_size=50000,
replay_buffer_size=1000000,
gamma=0.99,
update_target_frequency=10000,
minibatch_size=32,
learning_rate=1e-3,
update_frequency=1,
initial_exploration_rate=1,
final_exploration_rate=0.1,
final_exploration_step=1000000,
adam_epsilon=1e-8,
logging=False,
log_folder_details=None,
seed=None,
render=False,
loss="huber",
notes=None
):
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.replay_start_size = replay_start_size
self.replay_buffer_size = replay_buffer_size
self.gamma = gamma
self.update_target_frequency = update_target_frequency
self.minibatch_size = minibatch_size
self.learning_rate = learning_rate
self.update_frequency = update_frequency
self.initial_exploration_rate = initial_exploration_rate
self.epsilon = self.initial_exploration_rate
self.final_exploration_rate = final_exploration_rate
self.final_exploration_step = final_exploration_step
self.adam_epsilon = adam_epsilon
self.logging = logging
self.render=render
self.log_folder_details = log_folder_details
if callable(loss):
self.loss = loss
else:
try:
self.loss = {'huber': F.smooth_l1_loss, 'mse': F.mse_loss}[loss]
except KeyError:
raise ValueError("loss must be 'huber', 'mse' or a callable")
self.env = env
self.replay_buffer = ReplayBuffer(self.replay_buffer_size)
self.seed = random.randint(0, 1e6) if seed is None else seed
self.logger = None
set_global_seed(self.seed, self.env)
self.network = network(self.env.observation_space, self.env.action_space.n).to(self.device)
self.target_network = network(self.env.observation_space, self.env.action_space.n).to(self.device)
self.target_network.load_state_dict(self.network.state_dict())
self.optimizer = optim.Adam(self.network.parameters(), lr=self.learning_rate, eps=self.adam_epsilon)
self.train_parameters = {'Notes':notes,
'env':env.unwrapped.spec.id,
'network':str(self.network),
'replay_start_size':replay_start_size,
'replay_buffer_size':replay_buffer_size,
'gamma':gamma,
'update_target_frequency':update_target_frequency,
'minibatch_size':minibatch_size,
'learning_rate':learning_rate,
'update_frequency':update_frequency,
'initial_exploration_rate':initial_exploration_rate,
'final_exploration_rate':final_exploration_rate,
'weight_scale':self.network.weight_scale,
'final_exploration_step':final_exploration_step,
'adam_epsilon':adam_epsilon,
'loss':loss,
'seed':self.seed}
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,self.train_parameters)
# On initialise l'état
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
if self.render:
self.env.render()
# On prend une action
action = self.act(state.to(self.device).float(), is_training_ready=is_training_ready)
# Mise à jour d'epsilon
self.update_epsilon(timestep)
# On execute l'action dans l'environnement
state_next, reward, done, _ = self.env.step(action)
# On stock la transition dans le replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
if done:
# On réinitialise l'état
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar('Q_at_start', self.get_max_q(state.to(self.device).float()), timestep)
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update du réseau principal
if timestep % self.update_frequency == 0:
# On sample un minibatche de transitions
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
# On s'entraine sur les transitions selectionnées
loss = self.train_step(transitions)
if self.logging and timesteps < 100000:
self.logger.add_scalar('Loss', loss, timestep)
# Si c'est le moment, on update le target Q network on copiant les poids du network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % 250000 == 0:
self.save(timestep=timestep+1)
if self.logging:
self.logger.save()
self.save()
if self.render:
self.env.close()
def train_step(self, transitions):
# huber = torch.nn.SmoothL1Loss()
states, actions, rewards, states_next, dones = transitions
# Calcul de la Q value via le target network (celle qui maximise)
with torch.no_grad():
q_value_target = self.target_network(states_next.float()).max(1, True)[0]
# Calcul de la TD Target
td_target = rewards + (1 - dones) * self.gamma * q_value_target
# Calcul de la Q value en fonction de l'action jouée
q_value = self.network(states.float()).gather(1, actions)
loss = self.loss(q_value, td_target, reduction='mean')
# Update des poids
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
return loss.item()
@torch.no_grad()
def get_max_q(self,state):
return self.network(state).max().item()
def act(self, state, is_training_ready=True):
if is_training_ready and random.uniform(0, 1) >= self.epsilon:
# Action qui maximise la Q function
action = self.predict(state)
else:
# Action aléatoire ( sur l'interval [a, b[ )
action = np.random.randint(0, self.env.action_space.n)
return action
def update_epsilon(self, timestep):
eps = self.initial_exploration_rate - (self.initial_exploration_rate - self.final_exploration_rate) * (
timestep / self.final_exploration_step
)
self.epsilon = max(eps, self.final_exploration_rate)
@torch.no_grad()
def predict(self, state):
action = self.network(state).argmax().item()
return action
def save(self,timestep=None):
if not self.logging:
raise NotImplementedError('Cannot save without log folder.')
if timestep is not None:
filename = 'network_' + str(timestep) + '.pth'
else:
filename = 'network.pth'
save_path = self.logger.log_folder + '/' + filename
torch.save(self.network.state_dict(), save_path)
def load(self,path):
self.network.load_state_dict(torch.load(path,map_location='cpu'))
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,self.train_parameters)
# On initialise l'état
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
if self.render:
self.env.render()
# On prend une action
action = self.act(state.to(self.device).float(), is_training_ready=is_training_ready)
# Mise à jour d'epsilon
self.update_epsilon(timestep)
# On execute l'action dans l'environnement
state_next, reward, done, _ = self.env.step(action)
# On stock la transition dans le replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
if done:
# On réinitialise l'état
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar('Q_at_start', self.get_max_q(state.to(self.device).float()), timestep)
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update du réseau principal
if timestep % self.update_frequency == 0:
# On sample un minibatche de transitions
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
# On s'entraine sur les transitions selectionnées
loss = self.train_step(transitions)
if self.logging and timesteps < 100000:
self.logger.add_scalar('Loss', loss, timestep)
# Si c'est le moment, on update le target Q network on copiant les poids du network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % 250000 == 0:
self.save(timestep=timestep+1)
if self.logging:
self.logger.save()
self.save()
if self.render:
self.env.close()
class IDE():
def __init__(self,
env,
network,
n_quantiles=20,
kappa=1,
lamda=0.1,
replay_start_size=50000,
replay_buffer_size=1000000,
gamma=0.99,
update_target_frequency=10000,
epsilon_12=0.00001,
minibatch_size=32,
learning_rate=1e-4,
update_frequency=1,
prior=0.01,
adam_epsilon=1e-8,
logging=False,
log_folder_details=None,
seed=None,
notes=None):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.replay_start_size = replay_start_size
self.replay_buffer_size = replay_buffer_size
self.gamma = gamma
self.epsilon_12 = epsilon_12
self.lamda = lamda
self.update_target_frequency = update_target_frequency
self.minibatch_size = minibatch_size
self.learning_rate = learning_rate
self.update_frequency = update_frequency
self.adam_epsilon = adam_epsilon
self.logging = logging
self.logger = None
self.timestep = 0
self.log_folder_details = log_folder_details
self.env = env
self.replay_buffer = ReplayBuffer(self.replay_buffer_size)
self.seed = random.randint(0, 1e6) if seed is None else seed
set_global_seed(self.seed, self.env)
self.n_quantiles = n_quantiles
self.network = network(self.env.observation_space,
self.env.action_space.n * self.n_quantiles,
self.env.action_space.n * self.n_quantiles).to(
self.device)
self.target_network = network(
self.env.observation_space,
self.env.action_space.n * self.n_quantiles,
self.env.action_space.n * self.n_quantiles).to(self.device)
self.target_network.load_state_dict(self.network.state_dict())
self.optimizer = optim.Adam(self.network.parameters(),
lr=self.learning_rate,
eps=self.adam_epsilon)
self.anchor1 = [
p.data.clone() for p in list(self.network.output_1.parameters())
]
self.anchor2 = [
p.data.clone() for p in list(self.network.output_2.parameters())
]
self.loss = quantile_huber_loss
self.kappa = kappa
self.prior = prior
self.train_parameters = {
'Notes': notes,
'env': env.unwrapped.spec.id,
'network': str(self.network),
'replay_start_size': replay_start_size,
'replay_buffer_size': replay_buffer_size,
'gamma': gamma,
'lambda': lamda,
'epsilon_1and2': epsilon_12,
'update_target_frequency': update_target_frequency,
'minibatch_size': minibatch_size,
'learning_rate': learning_rate,
'update_frequency': update_frequency,
'kappa': kappa,
'weight_scale': self.network.weight_scale,
'n_quantiles': n_quantiles,
'prior': prior,
'adam_epsilon': adam_epsilon,
'seed': self.seed
}
self.n_greedy_actions = 0
self.timestep = 0
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
# On initialise l'état
state = torch.as_tensor(self.env.reset())
this_episode_time = 0
score = 0
t1 = time.time()
for timestep in range(timesteps):
self.timestep = timestep
is_training_ready = timestep >= self.replay_start_size
# On prend une action
action = self.act(state.to(self.device).float(),
directed_exploration=True)
# On execute l'action dans l'environnement
state_next, reward, done, _ = self.env.step(action)
# On stock la transition dans le replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
this_episode_time += 1
if done:
# On réinitialise l'état
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(
timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
self.logger.add_scalar(
'Non_greedy_fraction',
1 - self.n_greedy_actions / this_episode_time,
timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar(
'Q_at_start',
self.get_max_q(state.to(self.device).float()),
timestep)
t1 = time.time()
self.n_greedy_actions = 0
this_episode_time = 0
else:
state = state_next
if is_training_ready:
# Update du réseau principal
if timestep % self.update_frequency == 0:
# On sample un minibatche de transitions
transitions = self.replay_buffer.sample(
self.minibatch_size, self.device)
# On s'entraine sur les transitions selectionnées
loss = self.train_step(transitions)
if self.logging and timesteps < 1000000:
self.logger.add_scalar('Loss', loss, timestep)
# Si c'est le moment, on update le target Q network on copiant les poids du network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(
self.network.state_dict())
if (timestep + 1) % 250000 == 0:
self.save(timestep=timestep + 1)
if self.logging:
self.logger.save()
self.save()
def train_step(self, transitions):
# huber = torch.nn.SmoothL1Loss()
states, actions, rewards, states_next, dones = transitions
# Calcul de la Q value via le target network (celle qui maximise)
with torch.no_grad():
target1, target2 = self.target_network(states_next.float())
target1 = target1.view(self.minibatch_size,
self.env.action_space.n, self.n_quantiles)
target2 = target2.view(self.minibatch_size,
self.env.action_space.n, self.n_quantiles)
#Used to determine what action the current policy would have chosen in the next state
target1_onpolicy, target2_onpolicy, = self.network(
states_next.float())
target1_onpolicy = target1_onpolicy.view(self.minibatch_size,
self.env.action_space.n,
self.n_quantiles)
target2_onpolicy = target2_onpolicy.view(self.minibatch_size,
self.env.action_space.n,
self.n_quantiles)
best_action_idx = torch.mean((target1 + target2) / 2,
dim=2).max(1, True)[1].unsqueeze(2)
target1_gathered = target1.gather(
1, best_action_idx.repeat(1, 1, self.n_quantiles))
target2_gathered = target2.gather(
1, best_action_idx.repeat(1, 1, self.n_quantiles))
#uncertainty_target = uncertainty_output.gather(1,best_action_idx.squeeze(2))
q_value_target = 0.5*target1_gathered\
+ 0.5*target2_gathered
# Calcul de la TD Target
td_target = rewards.unsqueeze(2).repeat(1,1,self.n_quantiles) \
+ (1 - dones.unsqueeze(2).repeat(1,1,self.n_quantiles)) * self.gamma * q_value_target
# Calcul de la Q value en fonction de l'action jouée
out1, out2 = self.network(states.float())
out1 = out1.view(self.minibatch_size, self.env.action_space.n,
self.n_quantiles)
out2 = out2.view(self.minibatch_size, self.env.action_space.n,
self.n_quantiles)
q_value1 = out1.gather(
1,
actions.unsqueeze(2).repeat(1, 1, self.n_quantiles))
q_value2 = out2.gather(
1,
actions.unsqueeze(2).repeat(1, 1, self.n_quantiles))
#Calculate quantile losses
loss1 = self.loss(q_value1.squeeze(),
td_target.squeeze(),
self.device,
kappa=self.kappa)
loss2 = self.loss(q_value2.squeeze(),
td_target.squeeze(),
self.device,
kappa=self.kappa)
quantile_loss = loss1 + loss2
diff1 = []
for i, p in enumerate(self.network.output_1.parameters()):
diff1.append(torch.sum((p - self.anchor1[i])**2))
diff2 = []
for i, p in enumerate(self.network.output_2.parameters()):
diff2.append(torch.sum((p - self.anchor2[i])**2))
diff1 = torch.stack(diff1).sum()
diff2 = torch.stack(diff2).sum()
anchor_loss = self.prior * (diff1 + diff2)
loss = quantile_loss + anchor_loss
#print(anchor_loss/loss)
# Update des poids
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
return loss.item()
def act(self, state, directed_exploration=False):
action = self.predict(state, directed_exploration=directed_exploration)
return action
@torch.no_grad()
def predict(self, state, directed_exploration=False):
if not directed_exploration: #Choose greedily
net1, net2 = self.network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
action_means = torch.mean((net1 + net2) / 2, dim=1)
action = action_means.argmax().item()
else:
net1, net2 = self.network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
target_net1, target_net2 = self.target_network(state)
target_net1 = target_net1.view(self.env.action_space.n,
self.n_quantiles)
target_net2 = target_net2.view(self.env.action_space.n,
self.n_quantiles)
uncertainties_epistemic = torch.mean(
(target_net1 - target_net2)**2, dim=1) / 2
#Calculate regret
action_means = torch.mean((net1 + net2) / 2, dim=1)
delta_regret = torch.max(
action_means + self.lamda * torch.sqrt(uncertainties_epistemic)
) - (action_means -
torch.sqrt(self.lamda * uncertainties_epistemic))
#Calculate and normalize aleatoric uncertainties (variance of quantile - local epistemic)
aleatoric = torch.abs(
(torch.var(net1, dim=1) + torch.var(net2, dim=1)) / 2 -
uncertainties_epistemic)
uncertainties_aleatoric = aleatoric / (self.epsilon_12 +
torch.mean(aleatoric))
#Use learned uncertainty and aleatoric uncertainty to calculate regret to information ratio and select actions
information = torch.log(1 + uncertainties_epistemic /
uncertainties_aleatoric) + self.epsilon_12
regret_info_ratio = delta_regret**2 / information
action = regret_info_ratio.argmin().item()
if action == action_means.argmax().item():
self.n_greedy_actions += 1
if self.logging:
self.logger.add_scalar('Epistemic_Uncertainty',
uncertainties_epistemic[action].sqrt(),
self.timestep)
self.logger.add_scalar('Aleatoric_Uncertainty',
uncertainties_aleatoric[action].sqrt(),
self.timestep)
return action
@torch.no_grad()
def get_max_q(self, state):
net1, net2 = self.network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
action_means = torch.mean((net1 + net2) / 2, dim=1)
max_q = action_means.max().item()
return max_q
def save(self, timestep=None):
if not self.logging:
raise NotImplementedError('Cannot save without log folder.')
if timestep is not None:
filename = 'network_' + str(timestep) + '.pth'
else:
filename = 'network.pth'
save_path = self.logger.log_folder + '/' + filename
torch.save(self.network.state_dict(), save_path)
def load(self, path):
self.network.load_state_dict(torch.load(path, map_location='cpu'))
self.target_network.load_state_dict(
torch.load(path, map_location='cpu'))
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
# Initialize state
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
# Pick action
action = self.act(state.to(self.device).float(),
is_training_ready=is_training_ready)
# Update epsilon
self.update_epsilon(timestep)
# Perform action in environment
state_next, reward, done, _ = self.env.step(action)
# Store transition in replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
if done:
# Reinitialize the state
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(
timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar(
'Q_at_start',
self.get_max_q(state.to(self.device).float()),
timestep)
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update network
if timestep % self.update_frequency == 0:
# Sample batch of transitions
transitions = self.replay_buffer.sample(
self.minibatch_size, self.device)
# Train on selected batch
loss = self.train_step(transitions)
if self.logging and timesteps < 100000:
self.logger.add_scalar('Loss', loss, timestep)
# Update target network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(
self.network.state_dict())
if (timestep + 1) % 250000 == 0:
self.save(timestep=timestep + 1)
if self.logging:
self.logger.save()
self.save()
class BOOTSTRAPPED:
"""
# Required parameters
env : Environment to use.
network : Choice of neural network.
# Environment parameter
gamma : Discount factor
# Replay buffer
replay_start_size : The capacity of the replay buffer at which training can begin.
replay_buffer_size : Maximum buffer capacity.
# Bootstrapped DQN parameters
n_heads: Number of bootstrap heads
update_target_frequency: Frequency at which target network is updated
minibatch_size : Minibatch size.
update_frequency : Number of environment steps taken between parameter update steps.
learning_rate : Learning rate used for the Adam optimizer
loss : Type of loss function to use. Can be "huber" or "mse"
seed : The global seed to set. None means randomly selected.
adam_epsilon: Epsilon parameter for Adam optimizer
# Exploration
initial_exploration_rate : Inital exploration rate.
final_exploration_rate : Final exploration rate.
final_exploration_step : Timestep at which the final exploration rate is reached.
# Logging and Saving
logging : Whether to create logs when training
log_folder_details : Additional information to put into the name of the log folder
save_period : Periodicity with which the network weights are checkpointed
notes : Notes to add to the log folder
# Rendering
render : Whether to render the environment during training. This slows down training.
"""
def __init__(
self,
env,
network,
gamma=0.99,
replay_start_size=50000,
replay_buffer_size=1000000,
n_heads=10,
update_target_frequency=10000,
minibatch_size=32,
update_frequency=1,
learning_rate=1e-3,
loss="huber",
seed=None,
adam_epsilon=1e-8,
initial_exploration_rate=1,
final_exploration_rate=0.1,
final_exploration_step=1000000,
logging=False,
log_folder_details=None,
save_period=250000,
notes=None,
render=False,
):
# Agent parameters
self.env = env
self.gamma = gamma
self.replay_start_size = replay_start_size
self.replay_buffer_size = replay_buffer_size
self.n_heads = n_heads
self.update_target_frequency = update_target_frequency
self.minibatch_size = minibatch_size
self.update_frequency = update_frequency
self.learning_rate = learning_rate
if callable(loss):
self.loss = loss
else:
try:
self.loss = {'huber': F.smooth_l1_loss, 'mse': F.mse_loss}[loss]
except KeyError:
raise ValueError("loss must be 'huber', 'mse' or a callable")
self.seed = random.randint(0, 1e6) if seed is None else seed
self.adam_epsilon = adam_epsilon
self.initial_exploration_rate = initial_exploration_rate
self.final_exploration_rate = final_exploration_rate
self.final_exploration_step = final_exploration_step
self.logging = logging
self.log_folder_details = log_folder_details
self.save_period = save_period
self.render = render
self.notes = notes
# Set global seed before creating network
set_global_seed(self.seed, self.env)
# Initialize agent
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.replay_buffer = ReplayBuffer(self.replay_buffer_size)
self.logger = None
self.epsilon = self.initial_exploration_rate
self.network = network(self.env.observation_space, self.env.action_space.n, self.n_heads).to(self.device)
self.target_network = network(self.env.observation_space, self.env.action_space.n, self.n_heads).to(self.device)
self.target_network.load_state_dict(self.network.state_dict())
self.optimizer = optim.Adam(self.network.parameters(), lr=self.learning_rate, eps=self.adam_epsilon)
self.current_head = None
self.timestep = 0
# Parameters to save to log file
self.train_parameters = {
'Notes': notes,
'env': str(env),
'network': str(self.network),
'replay_start_size': replay_start_size,
'replay_buffer_size': replay_buffer_size,
'gamma': gamma,
'n_heads': n_heads,
'update_target_frequency': update_target_frequency,
'minibatch_size': minibatch_size,
'learning_rate': learning_rate,
'update_frequency': update_frequency,
'initial_exploration_rate': initial_exploration_rate,
'final_exploration_rate': final_exploration_rate,
'weight_scale': self.network.weight_scale,
'final_exploration_step': final_exploration_step,
'adam_epsilon': adam_epsilon,
'loss': loss,
'seed': self.seed
}
def learn(self, timesteps, verbose=False):
self.current_head = np.random.randint(self.n_heads)
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details, self.train_parameters)
# Initialize the state
state = torch.as_tensor(self.env.reset())
score = 0
t1 = time.time()
for timestep in range(timesteps):
self.timestep = timestep
is_training_ready = timestep >= self.replay_start_size
if self.render:
self.env.render()
# Select action
action = self.act(state.to(self.device).float(), is_training_ready=is_training_ready)
# Update epsilon
self.update_epsilon(timestep)
# Perform action in environment
state_next, reward, done, _ = self.env.step(action)
# Store transition in replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
if done:
self.current_head = np.random.randint(self.n_heads)
if self.logging:
self.logger.add_scalar('Acting_Head', self.current_head, self.timestep)
# Reinitialize the state
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar('Q_at_start', self.get_max_q(state.to(self.device).float()), timestep)
t1 = time.time()
else:
state = state_next
if is_training_ready:
# Update main network
if timestep % self.update_frequency == 0:
# Sample batch of transitions
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
# Train on selected batch
loss = self.train_step(transitions)
# Periodically update target Q network
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % self.save_period == 0:
self.save(timestep=timestep+1)
if self.logging:
self.logger.save()
self.save()
if self.render:
self.env.close()
def train_step(self, transitions):
"""
Performs gradient descent step on a batch of transitions
"""
states, actions, rewards, states_next, dones = transitions
# Calculate target Q
with torch.no_grad():
# Target shape : batch x n_heads x n_actions
targets = self.target_network(states_next.float())
q_value_target = targets.max(2, True)[0]
# Calculate TD target
td_target = rewards.unsqueeze(1) + (1 - dones.unsqueeze(1)) * self.gamma * q_value_target
# Calculate Q value of actions played
output = self.network(states.float())
q_value = output.gather(2, actions.unsqueeze(1).repeat(1,self.n_heads,1))
loss = self.loss(q_value, td_target, reduction='mean')
# Update weights
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
return loss.item()
@torch.no_grad()
def get_max_q(self,state):
"""
Returns largest Q value at the state
"""
return self.network(state).max().item()
def act(self, state, is_training_ready=True):
"""
Returns action to be performed with an epsilon-greedy policy
"""
if is_training_ready and random.uniform(0, 1) >= self.epsilon:
# Action that maximizes Q
action = self.predict(state)
else:
# Random action
action = np.random.randint(0, self.env.action_space.n)
return action
def update_epsilon(self, timestep):
"""
Update the exploration parameter
"""
eps = self.initial_exploration_rate - (self.initial_exploration_rate - self.final_exploration_rate) * (
timestep / self.final_exploration_step
)
self.epsilon = max(eps, self.final_exploration_rate)
@torch.no_grad()
def predict(self, state, train=True):
"""
Returns action with the highest Q-value
"""
if train:
out = self.network(state).squeeze()
action = out[self.current_head, :].argmax().item()
"""
if self.logging:
self.logger.add_scalar('Uncertainty', out.max(1,True)[0].std(), self.timestep)
"""
else:
out = self.network(state).squeeze() # Shape B x n_heads x n_actions
# The heads vote on the best action
actions, count = torch.unique(out.argmax(1), return_counts=True)
action = actions[count.argmax().item()].item()
return action
def save(self, timestep=None):
"""
Saves network weights
"""
if not self.logging:
raise NotImplementedError('Cannot save without log folder.')
if timestep is not None:
filename = 'network_' + str(timestep) + '.pth'
else:
filename = 'network.pth'
save_path = self.logger.log_folder + '/' + filename
torch.save(self.network.state_dict(), save_path)
def load(self, path):
"""
Loads network weights
"""
self.network.load_state_dict(torch.load(path, map_location='cpu'))
class DropoutAgent():
def __init__(self,
env,
network,
dropout=0.1,
std_prior=0.01,
logging=True,
train_freq=10,
updates_per_train=100,
weight_decay=1e-5,
batch_size=32,
start_train_step=10,
log_folder_details=None,
learning_rate=1e-3,
verbose=False):
self.env = env
self.network = network(env.n_features, std_prior, dropout=dropout)
self.logging = logging
self.replay_buffer = ReplayBuffer()
self.batch_size = batch_size
self.log_folder_details = log_folder_details
self.train_freq = train_freq
self.start_train_step = start_train_step
self.updates_per_train = updates_per_train
self.verbose = verbose
self.dropout = dropout
self.weight_decay = weight_decay
self.n_samples = 0
self.optimizer = optim.Adam(self.network.parameters(),
lr=learning_rate,
eps=1e-8,
weight_decay=self.weight_decay)
self.train_parameters = {
'dropout': dropout,
'weight_decay': weight_decay,
'std_prior': std_prior,
'train_freq': train_freq,
'updates_per_train': updates_per_train,
'batch_size': batch_size,
'start_train_step': start_train_step,
'learning_rate': learning_rate
}
def learn(self, n_steps):
self.train_parameters['n_steps'] = n_steps
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
cumulative_regret = 0
for timestep in range(n_steps):
self.dropout = 1000 * self.dropout / (self.n_samples + 1000)
x = self.env.sample()
action = self.act(x.float())
reward = self.env.hit(action)
regret = self.env.regret(action)
cumulative_regret += regret
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
if action == 1:
self.n_samples += 1
self.replay_buffer.add(x, reward)
if self.logging:
self.logger.add_scalar('Cumulative_Regret', cumulative_regret,
timestep)
self.logger.add_scalar('Mushrooms_Eaten', self.n_samples,
timestep)
if timestep % self.train_freq == 0 and self.n_samples > self.start_train_step:
if self.verbose:
print('Timestep: {}, cumulative regret {}'.format(
str(timestep), str(cumulative_regret)))
for update in range(self.updates_per_train):
samples = self.replay_buffer.sample(
np.min([self.n_samples, self.batch_size]))
self.train_step(samples)
if self.logging:
self.logger.save()
def train_step(self, samples):
states, rewards = samples
# Calcul de la TD Target
target = rewards
# Calcul de la Q value en fonction de l'action jouée
q_value = self.network(states.float(), self.dropout)
loss_function = torch.nn.MSELoss()
loss = loss_function(q_value.squeeze(), target.squeeze())
# Update des poids
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
def act(self, x):
action = self.predict(x)
return action
@torch.no_grad()
def predict(self, x):
estimated_value = self.network(x, self.dropout)
if estimated_value > 0:
action = 1
else:
action = 0
return action
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,self.train_parameters)
state = torch.as_tensor(self.env.reset())
this_episode_time = 0
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
action = self.act(state.to(self.device).float(), directed_exploration=True)
state_next, reward, done, _ = self.env.step(action)
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
this_episode_time += 1
if done:
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
self.logger.add_scalar('Non_greedy_fraction', 1-self.n_greedy_actions/this_episode_time, timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar('Q_at_start', self.get_max_q(state.to(self.device).float()), timestep)
t1 = time.time()
self.n_greedy_actions = 0
this_episode_time = 0
else:
state = state_next
if is_training_ready:
if timestep % self.update_frequency == 0:
transitions = self.replay_buffer.sample(self.minibatch_size, self.device)
loss = self.train_step(transitions)
if self.logging and timesteps < 1000000:
self.logger.add_scalar('Loss', loss, timestep)
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(self.network.state_dict())
if (timestep+1) % 250000 == 0:
self.save(timestep=timestep+1)
if self.logging:
self.logger.save()
self.save()
class EGreedyAgent():
def __init__(self,
env,
network,
epsilon=0.05,
n_quantiles=20,
mean_prior=0,
std_prior=0.01,
logging=True,
train_freq=10,
updates_per_train=100,
batch_size=32,
start_train_step=10,
log_folder_details=None,
learning_rate=1e-3,
verbose=False):
self.env = env
self.network = network(env.n_features, n_quantiles, mean_prior,
std_prior)
self.logging = logging
self.replay_buffer = ReplayBuffer()
self.batch_size = batch_size
self.log_folder_details = log_folder_details
self.epsilon = epsilon
self.optimizer = optim.Adam(self.network.parameters(),
lr=learning_rate,
eps=1e-8)
self.n_quantiles = n_quantiles
self.train_freq = train_freq
self.start_train_step = start_train_step
self.updates_per_train = updates_per_train
self.verbose = verbose
self.n_samples = 0
self.train_parameters = {
'epsilon': epsilon,
'n_quantiles': n_quantiles,
'mean_prior': mean_prior,
'std_prior': std_prior,
'train_freq': train_freq,
'updates_per_train': updates_per_train,
'batch_size': batch_size,
'start_train_step': start_train_step,
'learning_rate': learning_rate
}
def learn(self, n_steps):
self.train_parameters['n_steps'] = n_steps
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
cumulative_regret = 0
for timestep in range(n_steps):
x = self.env.sample()
action = self.act(x.float())
reward = self.env.hit(action)
regret = self.env.regret(action)
cumulative_regret += regret
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
if action == 1:
self.n_samples += 1
self.replay_buffer.add(x, reward)
if self.logging:
self.logger.add_scalar('Cumulative_Regret', cumulative_regret,
timestep)
self.logger.add_scalar('Mushrooms_Eaten', self.n_samples,
timestep)
if timestep % self.train_freq == 0 and self.n_samples > self.start_train_step:
if self.verbose:
print('Timestep: {}, cumulative regret {}'.format(
str(timestep), str(cumulative_regret)))
for update in range(self.updates_per_train):
samples = self.replay_buffer.sample(
np.min([self.n_samples, self.batch_size]))
self.train_step(samples)
if self.logging:
self.logger.save()
def train_step(self, samples):
states, rewards = samples
target = rewards.repeat(1, self.n_quantiles)
q_value = self.network(states.float()).view(
np.min([self.n_samples, self.batch_size]), self.n_quantiles)
loss = quantile_huber_loss(q_value.squeeze(), target.squeeze())
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
def act(self, x):
if np.random.uniform() >= self.epsilon:
action = self.predict(x)
else:
action = np.random.randint(0, 2)
return action
@torch.no_grad()
def predict(self, x):
estimated_value = torch.mean(self.network(x))
if estimated_value > 0:
action = 1
else:
action = 0
return action
class EQRDQN():
def __init__(self,
env,
network,
n_quantiles=50,
kappa=1,
replay_start_size=50000,
replay_buffer_size=1000000,
gamma=0.99,
update_target_frequency=10000,
minibatch_size=32,
learning_rate=1e-4,
update_frequency=1,
prior=0.01,
adam_epsilon=1e-8,
logging=False,
log_folder_details=None,
seed=None,
notes=None):
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.replay_start_size = replay_start_size
self.replay_buffer_size = replay_buffer_size
self.gamma = gamma
self.update_target_frequency = update_target_frequency
self.minibatch_size = minibatch_size
self.learning_rate = learning_rate
self.update_frequency = update_frequency
self.adam_epsilon = adam_epsilon
self.logging = logging
self.logger = []
self.timestep = 0
self.log_folder_details = log_folder_details
self.env = env
self.replay_buffer = ReplayBuffer(self.replay_buffer_size)
self.seed = random.randint(0, 1e6) if seed is None else seed
self.logger = None
set_global_seed(self.seed, self.env)
self.n_quantiles = n_quantiles
self.network = network(self.env.observation_space,
self.env.action_space.n * self.n_quantiles,
self.env.action_space.n * self.n_quantiles).to(
self.device)
self.target_network = network(
self.env.observation_space,
self.env.action_space.n * self.n_quantiles,
self.env.action_space.n * self.n_quantiles).to(self.device)
self.target_network.load_state_dict(self.network.state_dict())
self.optimizer = optim.Adam(self.network.parameters(),
lr=self.learning_rate,
eps=self.adam_epsilon)
self.anchor1 = [
p.data.clone() for p in list(self.network.output_1.parameters())
]
self.anchor2 = [
p.data.clone() for p in list(self.network.output_2.parameters())
]
self.loss = quantile_huber_loss
self.kappa = kappa
self.prior = prior
self.train_parameters = {
'Notes': notes,
'env': env.unwrapped.spec.id,
'network': str(self.network),
'replay_start_size': replay_start_size,
'replay_buffer_size': replay_buffer_size,
'gamma': gamma,
'update_target_frequency': update_target_frequency,
'minibatch_size': minibatch_size,
'learning_rate': learning_rate,
'update_frequency': update_frequency,
'kappa': kappa,
'n_quantiles': n_quantiles,
'weight_scale': self.network.weight_scale,
'prior': prior,
'adam_epsilon': adam_epsilon,
'seed': self.seed
}
self.n_greedy_actions = 0
def learn(self, timesteps, verbose=False):
self.train_parameters['train_steps'] = timesteps
pprint.pprint(self.train_parameters)
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
# Initialize the state
state = torch.as_tensor(self.env.reset())
this_episode_time = 0
score = 0
t1 = time.time()
for timestep in range(timesteps):
is_training_ready = timestep >= self.replay_start_size
# Select action
action = self.act(state.to(self.device).float(),
thompson_sampling=True)
# Perform action in environments
state_next, reward, done, _ = self.env.step(action)
# Store transition in replay buffer
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
done = torch.as_tensor([done], dtype=torch.float)
state_next = torch.as_tensor(state_next)
self.replay_buffer.add(state, action, reward, state_next, done)
score += reward.item()
this_episode_time += 1
if done:
if verbose:
print("Timestep : {}, score : {}, Time : {} s".format(
timestep, score, round(time.time() - t1, 3)))
if self.logging:
self.logger.add_scalar('Episode_score', score, timestep)
self.logger.add_scalar(
'Non_greedy_fraction',
1 - self.n_greedy_actions / this_episode_time,
timestep)
state = torch.as_tensor(self.env.reset())
score = 0
if self.logging:
self.logger.add_scalar(
'Q_at_start',
self.get_max_q(state.to(self.device).float()),
timestep)
t1 = time.time()
self.n_greedy_actions = 0
this_episode_time = 0
else:
state = state_next
if is_training_ready:
# Update main network
if timestep % self.update_frequency == 0:
# Sample a batch of transitions
transitions = self.replay_buffer.sample(
self.minibatch_size, self.device)
# Train on selected batch
loss = self.train_step(transitions)
if self.logging and timesteps < 1000000:
self.logger.add_scalar('Loss', loss, timestep)
# Update target Q
if timestep % self.update_target_frequency == 0:
self.target_network.load_state_dict(
self.network.state_dict())
if (timestep + 1) % 250000 == 0:
self.save(timestep=timestep + 1)
self.timestep = timestep
if self.logging:
self.logger.save()
self.save()
def train_step(self, transitions):
states, actions, rewards, states_next, dones = transitions
with torch.no_grad():
target1, target2 = self.target_network(states_next.float())
target1 = target1.view(self.minibatch_size,
self.env.action_space.n, self.n_quantiles)
target2 = target2.view(self.minibatch_size,
self.env.action_space.n, self.n_quantiles)
best_action_idx = torch.mean((target1 + target2) / 2,
dim=2).max(1, True)[1].unsqueeze(2)
q_value_target = 0.5*target1.gather(1, best_action_idx.repeat(1,1,self.n_quantiles))\
+ 0.5*target2.gather(1, best_action_idx.repeat(1,1,self.n_quantiles))
# Calculate TD target
td_target = rewards.unsqueeze(2).repeat(1,1,self.n_quantiles) \
+ (1 - dones.unsqueeze(2).repeat(1,1,self.n_quantiles)) * self.gamma * q_value_target
out1, out2 = self.network(states.float())
out1 = out1.view(self.minibatch_size, self.env.action_space.n,
self.n_quantiles)
out2 = out2.view(self.minibatch_size, self.env.action_space.n,
self.n_quantiles)
q_value1 = out1.gather(
1,
actions.unsqueeze(2).repeat(1, 1, self.n_quantiles))
q_value2 = out2.gather(
1,
actions.unsqueeze(2).repeat(1, 1, self.n_quantiles))
loss1 = self.loss(q_value1.squeeze(),
td_target.squeeze(),
self.device,
kappa=self.kappa)
loss2 = self.loss(q_value2.squeeze(),
td_target.squeeze(),
self.device,
kappa=self.kappa)
quantile_loss = loss1 + loss2
diff1 = []
for i, p in enumerate(self.network.output_1.parameters()):
diff1.append(torch.sum((p - self.anchor1[i])**2))
diff2 = []
for i, p in enumerate(self.network.output_2.parameters()):
diff2.append(torch.sum((p - self.anchor2[i])**2))
diff1 = torch.stack(diff1).sum()
diff2 = torch.stack(diff2).sum()
anchor_loss = self.prior * (diff1 + diff2)
loss = quantile_loss + anchor_loss
# Update weights
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
return loss.item()
def act(self, state, thompson_sampling=False):
action = self.predict(state, thompson_sampling=thompson_sampling)
return action
@torch.no_grad()
def predict(self, state, thompson_sampling=False):
if not thompson_sampling:
net1, net2 = self.network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
action_means = torch.mean((net1 + net2) / 2, dim=1)
action = action_means.argmax().item()
else:
net1, net2 = self.network(state)
net1_target, net2_target = self.target_network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
net1_target = net1_target.view(self.env.action_space.n,
self.n_quantiles)
net2_target = net2_target.view(self.env.action_space.n,
self.n_quantiles)
action_means = torch.mean((net1 + net2) / 2, dim=1)
action_uncertainties = torch.mean(
(net1_target - net2_target)**2, dim=1) / 2
samples = torch.distributions.multivariate_normal.MultivariateNormal(
action_means,
covariance_matrix=torch.diagflat(
action_uncertainties)).sample()
action = samples.argmax().item()
if action == action_means.argmax().item():
self.n_greedy_actions += 1
return action
@torch.no_grad()
def get_max_q(self, state):
net1, net2 = self.network(state)
net1 = net1.view(self.env.action_space.n, self.n_quantiles)
net2 = net2.view(self.env.action_space.n, self.n_quantiles)
action_means = torch.mean((net1 + net2) / 2, dim=1)
max_q = action_means.max().item()
return max_q
def save(self, timestep=None):
if not self.logging:
raise NotImplementedError('Cannot save without log folder.')
if timestep is not None:
filename = 'network_' + str(timestep) + '.pth'
else:
filename = 'network.pth'
save_path = self.logger.log_folder + '/' + filename
torch.save(self.network.state_dict(), save_path)
def load(self, path):
self.network.load_state_dict(torch.load(path, map_location='cpu'))
self.target_network.load_state_dict(
torch.load(path, map_location='cpu'))
class BBBAgent():
def __init__(self,
env,
network,
mean_prior=0,
std_prior=0.01,
noise_scale=0.01,
logging=True,
train_freq=10,
updates_per_train=100,
batch_size=32,
start_train_step=10,
log_folder_details=None,
learning_rate=1e-3,
bayesian_sample_size=20,
verbose=False):
self.env = env
self.network = BayesianNetwork(env.n_features, torch.device('cpu'),
std_prior, noise_scale)
self.logging = logging
self.replay_buffer = ReplayBuffer()
self.batch_size = batch_size
self.log_folder_details = log_folder_details
self.optimizer = optim.Adam(self.network.parameters(),
lr=learning_rate,
eps=1e-8)
self.train_freq = train_freq
self.start_train_step = start_train_step
self.updates_per_train = updates_per_train
self.bayesian_sample_size = bayesian_sample_size
self.verbose = verbose
self.n_samples = 0
self.timestep = 0
self.train_parameters = {
'mean_prior': mean_prior,
'std_prior': std_prior,
'noise_scale': noise_scale,
'train_freq': train_freq,
'updates_per_train': updates_per_train,
'batch_size': batch_size,
'start_train_step': start_train_step,
'learning_rate': learning_rate,
'bayesian_sample_size': bayesian_sample_size
}
def learn(self, n_steps):
self.train_parameters['n_steps'] = n_steps
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
cumulative_regret = 0
for timestep in range(n_steps):
x = self.env.sample()
action, sampled_value = self.act(x.float())
reward = self.env.hit(action)
regret = self.env.regret(action)
cumulative_regret += regret
action = torch.as_tensor([action], dtype=torch.long)
reward = torch.as_tensor([reward], dtype=torch.float)
if action == 1:
self.n_samples += 1
self.replay_buffer.add(x, reward)
if self.logging:
self.logger.add_scalar('Cumulative_Regret', cumulative_regret,
timestep)
self.logger.add_scalar('Mushrooms_Eaten', self.n_samples,
timestep)
if self.env.y_sample == 1:
self.logger.add_scalar('Sampled_Value_Good',
sampled_value.item(), self.timestep)
else:
self.logger.add_scalar('Sampled_Value_Bad',
sampled_value.item(), self.timestep)
if timestep % self.train_freq == 0 and self.n_samples > self.start_train_step:
if self.verbose:
print('Timestep: {}, cumulative regret {}'.format(
str(timestep), str(cumulative_regret)))
for update in range(self.updates_per_train):
samples = self.replay_buffer.sample(
np.min([self.n_samples, self.batch_size]))
self.train_step(samples)
self.timestep += 1
if self.logging:
self.logger.save()
def train_step(self, samples):
states, rewards = samples
loss, _, _, _ = self.network.sample_elbo(
states.float(), rewards, self.n_samples,
np.min([self.n_samples, self.batch_size]),
self.bayesian_sample_size)
if self.logging:
self.logger.add_scalar('Loss', loss.detach().item(), self.timestep)
# Update weights
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
def act(self, x):
action, sampled_value = self.predict(x)
return action, sampled_value
@torch.no_grad()
def predict(self, x):
sampled_value = self.network.forward(x)
if sampled_value > 0:
action = 1
else:
action = 0
return action, sampled_value
class ThompsonAgent():
def __init__(self,
env,
network,
n_quantiles=20,
mean_prior=0,
std_prior=0.01,
noise_scale=0.01,
logging=True,
train_freq=10,
updates_per_train=100,
batch_size=32,
start_train_step=10,
log_folder_details=None,
learning_rate=1e-3,
verbose=False):
self.env = env
self.network1 = network(env.n_features, n_quantiles, mean_prior,
std_prior)
self.network2 = network(env.n_features, n_quantiles, mean_prior,
std_prior)
self.optimizer = optim.Adam(list(self.network1.parameters()) +
list(self.network2.parameters()),
lr=learning_rate,
eps=1e-8)
self.logging = logging
self.replay_buffer = ReplayBuffer()
self.batch_size = batch_size
self.log_folder_details = log_folder_details
self.n_quantiles = n_quantiles
self.train_freq = train_freq
self.start_train_step = start_train_step
self.updates_per_train = updates_per_train
self.n_samples = 0
self.noise_scale = noise_scale
self.std_prior = std_prior
self.verbose = verbose
self.prior1 = [
p.data.clone() for p in list(self.network1.features.parameters())
]
self.prior2 = [
p.data.clone() for p in list(self.network2.features.parameters())
]
self.train_parameters = {
'n_quantiles': n_quantiles,
'mean_prior': mean_prior,
'std_prior': std_prior,
'train_freq': train_freq,
'updates_per_train': updates_per_train,
'batch_size': batch_size,
'start_train_step': start_train_step,
'learning_rate': learning_rate,
'noise_scale': noise_scale
}
def learn(self, n_steps):
self.train_parameters['n_steps'] = n_steps
if self.logging:
self.logger = Logger(self.log_folder_details,
self.train_parameters)
cumulative_regret = 0
for timestep in range(n_steps):
x = self.env.sample()
action, uncertainty, sampled_value = self.act(x.float())
reward = self.env.hit(action)
regret = self.env.regret(action)
cumulative_regret += regret
reward = torch.as_tensor([reward], dtype=torch.float)
if self.logging:
self.logger.add_scalar('Cumulative_Regret', cumulative_regret,
timestep)
self.logger.add_scalar('Mushrooms_Eaten', self.n_samples,
timestep)
if self.env.y_sample == 1:
self.logger.add_scalar('Uncertainty_Good', uncertainty,
timestep)
self.logger.add_scalar('Sampled_Value_Good', sampled_value,
timestep)
else:
self.logger.add_scalar('Uncertainty_Bad', uncertainty,
timestep)
self.logger.add_scalar('Sampled_Value_Bad', sampled_value,
timestep)
if action == 1:
self.replay_buffer.add(x, reward)
self.n_samples += 1
if timestep % self.train_freq == 0 and self.n_samples > self.start_train_step:
if self.verbose:
print('Timestep: {}, cumulative regret {}'.format(
str(timestep), str(cumulative_regret)))
for update in range(self.updates_per_train):
samples = self.replay_buffer.sample(
np.min([self.n_samples, self.batch_size]))
self.train_step(samples)
if self.logging:
self.logger.save()
def train_step(self, samples):
states, rewards = samples
target = rewards.repeat(1, self.n_quantiles)
q_value1 = self.network1(states.float()).view(
np.min([self.n_samples, self.batch_size]), self.n_quantiles)
q_value2 = self.network2(states.float()).view(
np.min([self.n_samples, self.batch_size]), self.n_quantiles)
loss1 = quantile_huber_loss(q_value1.squeeze(), target.squeeze())
loss2 = quantile_huber_loss(q_value2.squeeze(), target.squeeze())
reg = []
for i, p in enumerate(self.network1.features.parameters()):
diff = (p - self.prior1[i])
reg.append(torch.sum(diff**2))
loss_anchored1 = torch.sum(torch.stack(reg))
reg = []
for i, p in enumerate(self.network2.features.parameters()):
diff = (p - self.prior2[i])
reg.append(torch.sum(diff**2))
loss_anchored2 = torch.sum(torch.stack(reg))
loss = loss1 + loss2 + self.noise_scale * (
loss_anchored1 + loss_anchored2) / (self.std_prior**2 *
self.n_samples)
self.optimizer.zero_grad()
loss.backward()
self.optimizer.step()
def act(self, x):
action, uncertainty, sampled_value = self.predict(x)
return action, uncertainty, sampled_value
@torch.no_grad()
def predict(self, x):
net1 = self.network1(x)
net2 = self.network2(x)
action_mean = torch.mean((net1 + net2) / 2)
action_uncertainty = torch.sqrt(torch.mean((net1 - net2)**2) / 2)
sampled_value = torch.distributions.Normal(
action_mean, action_uncertainty).sample()
if sampled_value > 0:
action = 1
else:
action = 0
return action, action_uncertainty.item(), sampled_value