def test_monotonic_scores(self):
# Test that for each game a higher raw score implies a higher normalized
# score, which implicitly tests that
# a) all game data is present
# b) human score > random score for each game.
for game in atari_data.ATARI_GAMES:
low_score = atari_data.get_human_normalized_score(game, 10.)
high_score = atari_data.get_human_normalized_score(game, 1000.)
self.assertGreater(high_score, low_score)
def main(argv):
"""Trains Prioritized DQN agent on Atari."""
del argv
logging.info('Prioritized DQN on Atari on %s.',
jax.lib.xla_bridge.get_backend().platform)
random_state = np.random.RandomState(FLAGS.seed)
rng_key = jax.random.PRNGKey(
random_state.randint(-sys.maxsize - 1, sys.maxsize + 1, dtype=np.int64))
if FLAGS.results_csv_path:
writer = parts.CsvWriter(FLAGS.results_csv_path)
else:
writer = parts.NullWriter()
def environment_builder():
"""Creates Atari environment."""
env = gym_atari.GymAtari(
FLAGS.environment_name, seed=random_state.randint(1, 2**32))
return gym_atari.RandomNoopsEnvironmentWrapper(
env,
min_noop_steps=1,
max_noop_steps=30,
seed=random_state.randint(1, 2**32),
)
env = environment_builder()
logging.info('Environment: %s', FLAGS.environment_name)
logging.info('Action spec: %s', env.action_spec())
logging.info('Observation spec: %s', env.observation_spec())
num_actions = env.action_spec().num_values
network_fn = networks.double_dqn_atari_network(num_actions)
network = hk.transform(network_fn)
def preprocessor_builder():
return processors.atari(
additional_discount=FLAGS.additional_discount,
max_abs_reward=FLAGS.max_abs_reward,
resize_shape=(FLAGS.environment_height, FLAGS.environment_width),
num_action_repeats=FLAGS.num_action_repeats,
num_pooled_frames=2,
zero_discount_on_life_loss=True,
num_stacked_frames=FLAGS.num_stacked_frames,
grayscaling=True,
)
# Create sample network input from sample preprocessor output.
sample_processed_timestep = preprocessor_builder()(env.reset())
sample_processed_timestep = typing.cast(dm_env.TimeStep,
sample_processed_timestep)
sample_network_input = sample_processed_timestep.observation
chex.assert_shape(sample_network_input,
(FLAGS.environment_height, FLAGS.environment_width,
FLAGS.num_stacked_frames))
exploration_epsilon_schedule = parts.LinearSchedule(
begin_t=int(FLAGS.min_replay_capacity_fraction * FLAGS.replay_capacity *
FLAGS.num_action_repeats),
decay_steps=int(FLAGS.exploration_epsilon_decay_frame_fraction *
FLAGS.num_iterations * FLAGS.num_train_frames),
begin_value=FLAGS.exploration_epsilon_begin_value,
end_value=FLAGS.exploration_epsilon_end_value)
# Note the t in the replay is not exactly aligned with the agent t.
importance_sampling_exponent_schedule = parts.LinearSchedule(
begin_t=int(FLAGS.min_replay_capacity_fraction * FLAGS.replay_capacity),
end_t=(FLAGS.num_iterations *
int(FLAGS.num_train_frames / FLAGS.num_action_repeats)),
begin_value=FLAGS.importance_sampling_exponent_begin_value,
end_value=FLAGS.importance_sampling_exponent_end_value)
if FLAGS.compress_state:
def encoder(transition):
return transition._replace(
s_tm1=replay_lib.compress_array(transition.s_tm1),
s_t=replay_lib.compress_array(transition.s_t))
def decoder(transition):
return transition._replace(
s_tm1=replay_lib.uncompress_array(transition.s_tm1),
s_t=replay_lib.uncompress_array(transition.s_t))
else:
encoder = None
decoder = None
replay_structure = replay_lib.Transition(
s_tm1=None,
a_tm1=None,
r_t=None,
discount_t=None,
s_t=None,
)
replay = replay_lib.PrioritizedTransitionReplay(
FLAGS.replay_capacity, replay_structure, FLAGS.priority_exponent,
importance_sampling_exponent_schedule, FLAGS.uniform_sample_probability,
FLAGS.normalize_weights, random_state, encoder, decoder)
optimizer = optax.rmsprop(
learning_rate=FLAGS.learning_rate,
decay=0.95,
eps=FLAGS.optimizer_epsilon,
centered=True,
)
train_rng_key, eval_rng_key = jax.random.split(rng_key)
train_agent = agent.PrioritizedDqn(
preprocessor=preprocessor_builder(),
sample_network_input=sample_network_input,
network=network,
optimizer=optimizer,
transition_accumulator=replay_lib.TransitionAccumulator(),
replay=replay,
batch_size=FLAGS.batch_size,
exploration_epsilon=exploration_epsilon_schedule,
min_replay_capacity_fraction=FLAGS.min_replay_capacity_fraction,
learn_period=FLAGS.learn_period,
target_network_update_period=FLAGS.target_network_update_period,
grad_error_bound=FLAGS.grad_error_bound,
rng_key=train_rng_key,
)
eval_agent = parts.EpsilonGreedyActor(
preprocessor=preprocessor_builder(),
network=network,
exploration_epsilon=FLAGS.eval_exploration_epsilon,
rng_key=eval_rng_key,
)
# Set up checkpointing.
checkpoint = parts.NullCheckpoint()
state = checkpoint.state
state.iteration = 0
state.train_agent = train_agent
state.eval_agent = eval_agent
state.random_state = random_state
state.writer = writer
if checkpoint.can_be_restored():
checkpoint.restore()
while state.iteration <= FLAGS.num_iterations:
# New environment for each iteration to allow for determinism if preempted.
env = environment_builder()
logging.info('Training iteration %d.', state.iteration)
train_seq = parts.run_loop(train_agent, env, FLAGS.max_frames_per_episode)
num_train_frames = 0 if state.iteration == 0 else FLAGS.num_train_frames
train_seq_truncated = itertools.islice(train_seq, num_train_frames)
train_trackers = parts.make_default_trackers(train_agent)
train_stats = parts.generate_statistics(train_trackers, train_seq_truncated)
logging.info('Evaluation iteration %d.', state.iteration)
eval_agent.network_params = train_agent.online_params
eval_seq = parts.run_loop(eval_agent, env, FLAGS.max_frames_per_episode)
eval_seq_truncated = itertools.islice(eval_seq, FLAGS.num_eval_frames)
eval_trackers = parts.make_default_trackers(eval_agent)
eval_stats = parts.generate_statistics(eval_trackers, eval_seq_truncated)
# Logging and checkpointing.
human_normalized_score = atari_data.get_human_normalized_score(
FLAGS.environment_name, eval_stats['episode_return'])
capped_human_normalized_score = np.amin([1., human_normalized_score])
log_output = [
('iteration', state.iteration, '%3d'),
('frame', state.iteration * FLAGS.num_train_frames, '%5d'),
('eval_episode_return', eval_stats['episode_return'], '% 2.2f'),
('train_episode_return', train_stats['episode_return'], '% 2.2f'),
('eval_num_episodes', eval_stats['num_episodes'], '%3d'),
('train_num_episodes', train_stats['num_episodes'], '%3d'),
('eval_frame_rate', eval_stats['step_rate'], '%4.0f'),
('train_frame_rate', train_stats['step_rate'], '%4.0f'),
('train_exploration_epsilon', train_agent.exploration_epsilon, '%.3f'),
('train_state_value', train_stats['state_value'], '%.3f'),
('importance_sampling_exponent',
train_agent.importance_sampling_exponent, '%.3f'),
('max_seen_priority', train_agent.max_seen_priority, '%.3f'),
('normalized_return', human_normalized_score, '%.3f'),
('capped_normalized_return', capped_human_normalized_score, '%.3f'),
('human_gap', 1. - capped_human_normalized_score, '%.3f'),
]
log_output_str = ', '.join(('%s: ' + f) % (n, v) for n, v, f in log_output)
logging.info(log_output_str)
writer.write(collections.OrderedDict((n, v) for n, v, _ in log_output))
state.iteration += 1
checkpoint.save()
writer.close()
def main(argv):
"""Trains DQN agent on Atari."""
del argv
logging.info("DQN on Atari on %s.",
jax.lib.xla_bridge.get_backend().platform)
random_state = np.random.RandomState(FLAGS.seed)
rng_key = jax.random.PRNGKey(
random_state.randint(-sys.maxsize - 1, sys.maxsize + 1))
if FLAGS.results_csv_path:
writer = parts.CsvWriter(FLAGS.results_csv_path)
else:
writer = parts.NullWriter()
def environment_builder():
"""Creates Key-Door environment."""
env = gym_key_door.GymKeyDoor(
env_args={
constants.MAP_ASCII_PATH: FLAGS.map_ascii_path,
constants.MAP_YAML_PATH: FLAGS.map_yaml_path,
constants.REPRESENTATION: constants.PIXEL,
constants.SCALING: FLAGS.env_scaling,
constants.EPISODE_TIMEOUT: FLAGS.max_frames_per_episode,
constants.GRAYSCALE: False,
constants.BATCH_DIMENSION: False,
constants.TORCH_AXES: False,
},
env_shape=FLAGS.env_shape,
)
return gym_atari.RandomNoopsEnvironmentWrapper(
env,
min_noop_steps=1,
max_noop_steps=30,
seed=random_state.randint(1, 2**32),
)
env = environment_builder()
logging.info("Environment: %s", FLAGS.environment_name)
logging.info("Action spec: %s", env.action_spec())
logging.info("Observation spec: %s", env.observation_spec())
num_actions = env.action_spec().num_values
network_fn = networks.dqn_atari_network(num_actions)
network = hk.transform(network_fn)
def preprocessor_builder():
return processors.atari(
additional_discount=FLAGS.additional_discount,
max_abs_reward=FLAGS.max_abs_reward,
resize_shape=(FLAGS.environment_height, FLAGS.environment_width),
num_action_repeats=FLAGS.num_action_repeats,
num_pooled_frames=2,
zero_discount_on_life_loss=True,
num_stacked_frames=FLAGS.num_stacked_frames,
grayscaling=True,
)
# Create sample network input from sample preprocessor output.
sample_processed_timestep = preprocessor_builder()(env.reset())
sample_processed_timestep = typing.cast(dm_env.TimeStep,
sample_processed_timestep)
sample_network_input = sample_processed_timestep.observation
assert sample_network_input.shape == (
FLAGS.environment_height,
FLAGS.environment_width,
FLAGS.num_stacked_frames,
)
exploration_epsilon_schedule = parts.LinearSchedule(
begin_t=int(FLAGS.min_replay_capacity_fraction *
FLAGS.replay_capacity * FLAGS.num_action_repeats),
decay_steps=int(FLAGS.exploration_epsilon_decay_frame_fraction *
FLAGS.num_iterations * FLAGS.num_train_frames),
begin_value=FLAGS.exploration_epsilon_begin_value,
end_value=FLAGS.exploration_epsilon_end_value,
)
if FLAGS.compress_state:
def encoder(transition):
return transition._replace(
s_tm1=replay_lib.compress_array(transition.s_tm1),
s_t=replay_lib.compress_array(transition.s_t),
)
def decoder(transition):
return transition._replace(
s_tm1=replay_lib.uncompress_array(transition.s_tm1),
s_t=replay_lib.uncompress_array(transition.s_t),
)
else:
encoder = None
decoder = None
replay_structure = replay_lib.Transition(
s_tm1=None,
a_tm1=None,
r_t=None,
discount_t=None,
s_t=None,
)
replay = replay_lib.TransitionReplay(FLAGS.replay_capacity,
replay_structure, random_state,
encoder, decoder)
optimizer = optax.rmsprop(
learning_rate=FLAGS.learning_rate,
decay=0.95,
eps=FLAGS.optimizer_epsilon,
centered=True,
)
if FLAGS.shaping_function_type == constants.NO_PENALTY:
shaping_function = shaping.NoPenalty()
if FLAGS.shaping_function_type == constants.HARD_CODED_PENALTY:
shaping_function = shaping.HardCodedPenalty(
penalty=FLAGS.shaping_multiplicative_factor)
train_rng_key, eval_rng_key = jax.random.split(rng_key)
train_agent = agent.Dqn(
preprocessor=preprocessor_builder(),
sample_network_input=sample_network_input,
network=network,
optimizer=optimizer,
transition_accumulator=replay_lib.TransitionAccumulator(),
replay=replay,
shaping_function=shaping_function,
batch_size=FLAGS.batch_size,
exploration_epsilon=exploration_epsilon_schedule,
min_replay_capacity_fraction=FLAGS.min_replay_capacity_fraction,
learn_period=FLAGS.learn_period,
target_network_update_period=FLAGS.target_network_update_period,
grad_error_bound=FLAGS.grad_error_bound,
rng_key=train_rng_key,
)
eval_agent = parts.EpsilonGreedyActor(
preprocessor=preprocessor_builder(),
network=network,
exploration_epsilon=FLAGS.eval_exploration_epsilon,
rng_key=eval_rng_key,
)
# Set up checkpointing.
# checkpoint = parts.NullCheckpoint()
checkpoint = parts.ImplementedCheckpoint(
checkpoint_path=FLAGS.checkpoint_path)
if checkpoint.can_be_restored():
checkpoint.restore()
train_agent.set_state(state=checkpoint.state.train_agent)
eval_agent.set_state(state=checkpoint.state.eval_agent)
writer.set_state(state=checkpoint.state.writer)
state = checkpoint.state
state.iteration = 0
state.train_agent = train_agent.get_state()
state.eval_agent = eval_agent.get_state()
state.random_state = random_state
state.writer = writer.get_state()
while state.iteration <= FLAGS.num_iterations:
# New environment for each iteration to allow for determinism if preempted.
env = environment_builder()
logging.info("Training iteration %d.", state.iteration)
train_seq = parts.run_loop(train_agent, env,
FLAGS.max_frames_per_episode)
num_train_frames = 0 if state.iteration == 0 else FLAGS.num_train_frames
train_seq_truncated = itertools.islice(train_seq, num_train_frames)
train_stats = parts.generate_statistics(train_seq_truncated)
logging.info("Evaluation iteration %d.", state.iteration)
eval_agent.network_params = train_agent.online_params
eval_seq = parts.run_loop(eval_agent, env,
FLAGS.max_frames_per_episode)
eval_seq_truncated = itertools.islice(eval_seq, FLAGS.num_eval_frames)
eval_stats = parts.generate_statistics(eval_seq_truncated)
# Logging and checkpointing.
human_normalized_score = atari_data.get_human_normalized_score(
FLAGS.environment_name, eval_stats["episode_return"])
capped_human_normalized_score = np.amin([1.0, human_normalized_score])
log_output = [
("iteration", state.iteration, "%3d"),
("frame", state.iteration * FLAGS.num_train_frames, "%5d"),
("eval_episode_return", eval_stats["episode_return"], "% 2.2f"),
("train_episode_return", train_stats["episode_return"], "% 2.2f"),
("eval_num_episodes", eval_stats["num_episodes"], "%3d"),
("train_num_episodes", train_stats["num_episodes"], "%3d"),
("eval_frame_rate", eval_stats["step_rate"], "%4.0f"),
("train_frame_rate", train_stats["step_rate"], "%4.0f"),
("train_exploration_epsilon", train_agent.exploration_epsilon,
"%.3f"),
("normalized_return", human_normalized_score, "%.3f"),
("capped_normalized_return", capped_human_normalized_score,
"%.3f"),
("human_gap", 1.0 - capped_human_normalized_score, "%.3f"),
]
log_output_str = ", ".join(
("%s: " + f) % (n, v) for n, v, f in log_output)
logging.info(log_output_str)
writer.write(collections.OrderedDict((n, v) for n, v, _ in log_output))
state.iteration += 1
checkpoint.save()
writer.close()
def main(argv):
"""Trains DQN agent on Atari."""
del argv
logging.info('Boostrapped DQN on Atari on %s.',
jax.lib.xla_bridge.get_backend().platform)
random_state = np.random.RandomState(FLAGS.seed)
rng_key = jax.random.PRNGKey(
random_state.randint(-sys.maxsize - 1, sys.maxsize + 1))
if FLAGS.results_csv_path:
writer = parts.CsvWriter(FLAGS.results_csv_path)
else:
writer = parts.NullWriter()
def environment_builder():
"""Creates Atari environment."""
env = gym_atari.GymAtari(FLAGS.environment_name,
seed=random_state.randint(1, 2**32))
return gym_atari.RandomNoopsEnvironmentWrapper(
env,
min_noop_steps=1,
max_noop_steps=30,
seed=random_state.randint(1, 2**32),
)
env = environment_builder()
logging.info('Environment: %s', FLAGS.environment_name)
logging.info('Action spec: %s', env.action_spec())
logging.info('Observation spec: %s', env.observation_spec())
num_actions = env.action_spec().num_values
network_fn = networks.bootstrapped_dqn_multi_head_network(
num_actions,
num_heads=FLAGS.num_heads,
mask_probability=FLAGS.mask_probability)
network = hk.transform(network_fn)
def preprocessor_builder():
return processors.atari(
additional_discount=FLAGS.additional_discount,
max_abs_reward=FLAGS.max_abs_reward,
resize_shape=(FLAGS.environment_height, FLAGS.environment_width),
num_action_repeats=FLAGS.num_action_repeats,
num_pooled_frames=2,
zero_discount_on_life_loss=True,
num_stacked_frames=FLAGS.num_stacked_frames,
grayscaling=True,
)
# Create sample network input from sample preprocessor output.
sample_processed_timestep = preprocessor_builder()(env.reset())
sample_processed_timestep = typing.cast(dm_env.TimeStep,
sample_processed_timestep)
sample_network_input = sample_processed_timestep.observation
assert sample_network_input.shape == (FLAGS.environment_height,
FLAGS.environment_width,
FLAGS.num_stacked_frames)
exploration_epsilon_schedule = parts.LinearSchedule(
begin_t=int(FLAGS.min_replay_capacity_fraction *
FLAGS.replay_capacity * FLAGS.num_action_repeats),
decay_steps=int(FLAGS.exploration_epsilon_decay_frame_fraction *
FLAGS.num_iterations * FLAGS.num_train_frames),
begin_value=FLAGS.exploration_epsilon_begin_value,
end_value=FLAGS.exploration_epsilon_end_value)
if FLAGS.compress_state:
def encoder(transition):
return transition._replace(
s_tm1=replay_lib.compress_array(transition.s_tm1),
s_t=replay_lib.compress_array(transition.s_t))
def decoder(transition):
return transition._replace(
s_tm1=replay_lib.uncompress_array(transition.s_tm1),
s_t=replay_lib.uncompress_array(transition.s_t))
else:
encoder = None
decoder = None
replay_structure = replay_lib.MaskedTransition(
s_tm1=None,
a_tm1=None,
r_t=None,
discount_t=None,
s_t=None,
mask_t=None,
)
replay = replay_lib.TransitionReplay(FLAGS.replay_capacity,
replay_structure, random_state,
encoder, decoder)
optimizer = optax.rmsprop(
learning_rate=FLAGS.learning_rate,
decay=0.95,
eps=FLAGS.optimizer_epsilon,
centered=True,
)
if FLAGS.shaping_function_type == constants.NO_PENALTY:
shaping_function = shaping.NoPenalty()
elif FLAGS.shaping_function_type == constants.HARD_CODED_PENALTY:
shaping_function = shaping.HardCodedPenalty(
penalty=FLAGS.shaping_multiplicative_factor)
elif FLAGS.shaping_function_type == constants.UNCERTAINTY_PENALTY:
shaping_function = shaping.UncertaintyPenalty(
multiplicative_factor=FLAGS.shaping_multiplicative_factor)
elif FLAGS.shaping_function_type == constants.POLICY_ENTROPY_PENALTY:
shaping_function = shaping.PolicyEntropyPenalty(
multiplicative_factor=FLAGS.shaping_multiplicative_factor,
num_actions=num_actions)
elif FLAGS.shaping_function_type == constants.MUNCHAUSEN_PENALTY:
shaping_function = shaping.MunchausenPenalty(
multiplicative_factor=FLAGS.shaping_multiplicative_factor,
num_actions=num_actions)
train_rng_key, eval_rng_key = jax.random.split(rng_key)
train_agent = agent.BootstrappedDqn(
preprocessor=preprocessor_builder(),
sample_network_input=sample_network_input,
network=network,
optimizer=optimizer,
transition_accumulator=replay_lib.TransitionAccumulator(),
replay=replay,
shaping_function=shaping_function,
mask_probability=FLAGS.mask_probability,
num_heads=FLAGS.num_heads,
batch_size=FLAGS.batch_size,
exploration_epsilon=exploration_epsilon_schedule,
min_replay_capacity_fraction=FLAGS.min_replay_capacity_fraction,
learn_period=FLAGS.learn_period,
target_network_update_period=FLAGS.target_network_update_period,
grad_error_bound=FLAGS.grad_error_bound,
rng_key=train_rng_key,
)
eval_agent = parts.EpsilonGreedyActor(
preprocessor=preprocessor_builder(),
network=network,
exploration_epsilon=FLAGS.eval_exploration_epsilon,
rng_key=eval_rng_key,
)
# Set up checkpointing.
# checkpoint = parts.NullCheckpoint()
checkpoint = parts.ImplementedCheckpoint(
checkpoint_path=FLAGS.checkpoint_path)
if checkpoint.can_be_restored():
checkpoint.restore()
iteration = checkpoint.state.iteration
random_state = checkpoint.state.random_state
train_agent.set_state(state=checkpoint.state.train_agent)
eval_agent.set_state(state=checkpoint.state.eval_agent)
writer.set_state(state=checkpoint.state.writer)
else:
iteration = 0
while iteration <= FLAGS.num_iterations:
# New environment for each iteration to allow for determinism if preempted.
env = environment_builder()
logging.info('Training iteration %d.', iteration)
train_seq = parts.run_loop(train_agent, env,
FLAGS.max_frames_per_episode)
num_train_frames = 0 if iteration == 0 else FLAGS.num_train_frames
train_seq_truncated = itertools.islice(train_seq, num_train_frames)
train_stats = parts.generate_statistics(train_seq_truncated)
logging.info('Evaluation iteration %d.', iteration)
eval_agent.network_params = train_agent.online_params
eval_seq = parts.run_loop(eval_agent, env,
FLAGS.max_frames_per_episode)
eval_seq_truncated = itertools.islice(eval_seq, FLAGS.num_eval_frames)
eval_stats = parts.generate_statistics(eval_seq_truncated)
# Logging and checkpointing.
human_normalized_score = atari_data.get_human_normalized_score(
FLAGS.environment_name, eval_stats['episode_return'])
capped_human_normalized_score = np.amin([1., human_normalized_score])
log_output = [
('iteration', iteration, '%3d'),
('frame', iteration * FLAGS.num_train_frames, '%5d'),
('eval_episode_return', eval_stats['episode_return'], '% 2.2f'),
('train_episode_return', train_stats['episode_return'], '% 2.2f'),
('eval_num_episodes', eval_stats['num_episodes'], '%3d'),
('train_num_episodes', train_stats['num_episodes'], '%3d'),
('eval_frame_rate', eval_stats['step_rate'], '%4.0f'),
('train_frame_rate', train_stats['step_rate'], '%4.0f'),
('train_exploration_epsilon', train_agent.exploration_epsilon,
'%.3f'), ('normalized_return', human_normalized_score, '%.3f'),
('capped_normalized_return',
capped_human_normalized_score, '%.3f'),
('human_gap', 1. - capped_human_normalized_score, '%.3f'),
('train_loss', train_stats['train_loss'], '% 2.2f'),
('shaped_reward', train_stats['shaped_reward'], '% 2.2f'),
('penalties', train_stats['penalties'], '% 2.2f')
]
log_output_str = ', '.join(
('%s: ' + f) % (n, v) for n, v, f in log_output)
logging.info(log_output_str)
writer.write(collections.OrderedDict((n, v) for n, v, _ in log_output))
iteration += 1
# update state before checkpointing
checkpoint.state.iteration = iteration
checkpoint.state.train_agent = train_agent.get_state()
checkpoint.state.eval_agent = eval_agent.get_state()
checkpoint.state.random_state = random_state
checkpoint.state.writer = writer.get_state()
checkpoint.save()
writer.close()
def test_returns_nan_for_unknown_games(self):
score = atari_data.get_human_normalized_score('unknown_game', 10.)
self.assertTrue(math.isnan(score))
