def test_atari_preprocessing_scale(env_fn):
# arbitrarily chosen number for stepping into env. and ensuring all observations are in the required range
max_test_steps = 10
for grayscale in [True, False]:
for scaled in [True, False]:
env = AtariPreprocessing(env_fn(),
screen_size=84,
grayscale_obs=grayscale,
scale_obs=scaled,
frame_skip=1,
noop_max=0)
obs = env.reset().flatten()
done, step_i = False, 0
max_obs = 1 if scaled else 255
assert (0 <= obs).all() and (obs <= max_obs).all(
), 'Obs. must be in range [0,{}]'.format(max_obs)
while not done or step_i <= max_test_steps:
obs, _, done, _ = env.step(env.action_space.sample())
obs = obs.flatten()
assert (0 <= obs).all() and (obs <= max_obs).all(
), 'Obs. must be in range [0,{}]'.format(max_obs)
step_i += 1
env.close()
def test_atari_preprocessing_grayscale(env_fn):
import cv2
env1 = env_fn()
env2 = AtariPreprocessing(env_fn(),
screen_size=84,
grayscale_obs=True,
frame_skip=1,
noop_max=0)
env3 = AtariPreprocessing(env_fn(),
screen_size=84,
grayscale_obs=False,
frame_skip=1,
noop_max=0)
env1.seed(0)
env2.seed(0)
env3.seed(0)
obs1 = env1.reset()
obs2 = env2.reset()
obs3 = env3.reset()
assert obs1.shape == (210, 160, 3)
assert obs2.shape == (84, 84)
assert obs3.shape == (84, 84, 3)
assert np.allclose(
obs3, cv2.resize(obs1, (84, 84), interpolation=cv2.INTER_AREA))
obs3_gray = cv2.cvtColor(obs3, cv2.COLOR_RGB2GRAY)
# the edges of the numbers do not render quite the same in the grayscale, so we ignore them
assert np.allclose(obs2[10:38], obs3_gray[10:38])
# the paddle also do not render quite the same
assert np.allclose(obs2[44:], obs3_gray[44:])
env1.close()
env2.close()
env3.close()
def test_atari_preprocessing_grayscale(env_fn):
import cv2
env1 = env_fn()
env2 = AtariPreprocessing(env_fn(),
screen_size=84,
grayscale_obs=True,
frame_skip=1,
noop_max=0)
env3 = AtariPreprocessing(env_fn(),
screen_size=84,
grayscale_obs=False,
frame_skip=1,
noop_max=0)
env1.reset()
# take these steps to imitate actions of FireReset logic
env1.step(1)
obs1 = env1.step(2)[0]
obs2 = env2.reset()
obs3 = env3.reset()
assert obs1.shape == (210, 160, 3)
assert obs2.shape == (84, 84)
assert obs3.shape == (84, 84, 3)
np.testing.assert_allclose(
obs3, cv2.resize(obs1, (84, 84), interpolation=cv2.INTER_AREA))
obs3_gray = cv2.cvtColor(obs3, cv2.COLOR_RGB2GRAY)
# the edges of the numbers do not render quite the same in the grayscale, so we ignore them
np.testing.assert_allclose(obs2[10:], obs3_gray[10:])
env1.close()
env2.close()
env3.close()
for n_epi in range(100):
s = env.reset()
done = False
while not done:
for t in range(T_horizon):
env.render()
s = np.array(s).reshape(shape)
od = model(torch.from_numpy(s).float())
prob = od['pi']
#print(prob)
m = Categorical(prob)
a = m.sample().item()
s_prime, r, done, info = env.step(a)
trn = (s.reshape(shape0), a, r / 100.0, np.array(s_prime),
prob[0][a].item(), done)
model.put_data(trn)
s = s_prime
score += r
if done:
break
model.train_net()
if n_epi % print_interval == 0 and n_epi != 0:
print("# of episode :{}, avg score : {:.1f}".format(
n_epi, score / print_interval))
score = 0.0
env.close()
def main(args):
env = gym.make(args.env)
# Rescale images to 42x42 and turn into greyscale
env = AtariPreprocessing(env,
screen_size=42,
grayscale_obs=True,
noop_max=1,
terminal_on_life_loss=True)
# A quick trick to give agent some sense of history/motion:
# Give N successive frames instead of just one to the agent.
# This deque will store N last frames to do this.
state_stacker = deque(maxlen=FRAME_STACK_SIZE)
new_deque = deque(maxlen=100)
# Build models according to image shape and number of actions
# that are available.
# If we are evaluating, load existing model instead
state_shape = RESOLUTION + (FRAME_STACK_SIZE, )
model = None
target_model = None
if not args.evaluate:
# Construct new models
model, target_model = build_models(state_shape, env.action_space.n)
else:
# Load existing model
model = keras.models.load_model(args.model_path)
# Initialize replay memory (if training)
replay_memory = None
if not args.evaluate:
replay_memory = ReplayMemory(REPLAY_SIZE, state_shape)
# Open log file if we want to output results
log_file = None
if args.log is not None:
log_file = open(args.log, "w")
# Main training loop
step_ctr = 0
q_values_counter = 0
q_values_summation = 0
while step_ctr < args.steps:
terminal = False
episode_reward = 0
# Keep track of losses
losses = []
# Reset frame stacker to empty frames
state_stacker.clear()
for i in range(FRAME_STACK_SIZE):
state_stacker.append(np.zeros(RESOLUTION + (1, )))
s1 = env.reset()
# Preprocess state
s1 = preprocess_state(s1, state_stacker)
while not terminal:
action, q_values = get_action(s1, model, env.action_space.n)
# TODO
# Here you might want to store q_values somewhere
# for later plotting
s2, reward, terminal, info = env.step(action)
#print(reward)
s2 = preprocess_state(s2, state_stacker)
step_ctr += 1
# Count episodic reward
episode_reward += reward
if args.show:
env.render()
# Skip training/replay memory stuff if we are evaluating
if not args.evaluate:
# Store the experience to replay memory
replay_memory.add_experience(s1, action, reward, s2, terminal)
# Check if we should do updates or saving model
if (step_ctr % UPDATE_RATE) == 0:
if replay_memory.num_total > SAMPLES_TILL_TRAIN:
losses.append(
update_model(model, target_model, replay_memory))
if (step_ctr % TARGET_UPDATE_RATE) == 0:
update_target_model(model, target_model)
if (step_ctr % SAVE_MODEL_EVERY_STEPS) == 0:
model.save(args.model_path)
# s2 becomes s1 for the next iteration
s1 = s2
# If we want to limit fps, sleep little bit
if args.limit_fps:
sleep(1 / 35.0)
# storing another collection
#storer_deque = []
new_deque.append(episode_reward)
# To avoid div-by-zero
if len(losses) == 0: losses.append(0.0)
# TODO
# 1) Print out average training loss
# 2) Track average reward over last 100 episodes
# 3) Track average Q-value of this episode
print('Average of q_values: ', np.average(q_values))
# TODO average loss
# Losses from previous episodes are already stored in list `losses`.
# Compute average loss and include it in the printout below
q_values_counter += len(q_values)
q_values_summation += np.sum(q_values)
print('Average of losses: ', np.average(losses))
print('Average of first 100 revolts: ', np.average(new_deque))
running_average_q_values = q_values_summation / q_values_counter
print('Running average of the q_values: ', running_average_q_values)
# Legend:
# - Episode reward: Reward from the previous episode
# - Steps: Total number of agent steps taken in thins training
s = "Episode reward: {:.1f}\tSteps: {}\t".format(
episode_reward,
step_ctr,
)
# Print our log message
print(s)
# If we have a log file, print it there as well
if log_file is not None:
log_file.write(s + "\n")
env.close()