def learn(alg):
mdp = Gym('Pendulum-v0', 200, .99)
mdp.seed(1)
np.random.seed(1)
torch.manual_seed(1)
torch.cuda.manual_seed(1)
# Policy
policy_class = OrnsteinUhlenbeckPolicy
policy_params = dict(sigma=np.ones(1) * .2, theta=.15, dt=1e-2)
# Settings
initial_replay_size = 500
max_replay_size = 5000
batch_size = 200
n_features = 80
tau = .001
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=False)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': .001}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': .001
}
},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=False)
# Agent
agent = alg(mdp.info, policy_class, policy_params, actor_params,
actor_optimizer, critic_params, batch_size,
initial_replay_size, max_replay_size, tau)
# Algorithm
core = Core(agent, mdp)
core.learn(n_episodes=10, n_episodes_per_fit=5)
return agent.policy
def test_gym():
np.random.seed(1)
mdp = Gym('Acrobot-v1', 1000, .99)
mdp.seed(1)
mdp.reset()
for i in range(10):
ns, r, ab, _ = mdp.step([np.random.randint(mdp.info.action_space.n)])
ns_test = np.array([
0.9996687, -0.02573896, 0.9839331, -0.17853762, -0.17821608, 0.5534913
])
assert np.allclose(ns, ns_test)
def test_gym():
np.random.seed(1)
mdp = Gym('Acrobot-v1', 1000, .99)
mdp.seed(1)
mdp.reset()
for i in range(10):
ns, r, ab, _ = mdp.step([np.random.randint(mdp.info.action_space.n)])
ns_test = np.array([
0.99989477, 0.01450661, 0.97517825, -0.22142128, -0.02323116,
0.40630765
])
assert np.allclose(ns, ns_test)
def experiment(alg, n_epochs, n_steps, n_steps_test, seed):
np.random.seed(seed)
torch.manual_seed(seed)
np.random.seed(seed)
# MDP
horizon = 1000
gamma = 0.99
mdp = Gym('Pendulum-ID-v1', horizon, gamma)
mdp.seed(seed)
rarhmm = torch.load(
os.path.abspath(os.path.join(__file__, '..', '..')) +
'/mushroom_rl/sds/envs/hybrid/models/neural_rarhmm_pendulum_cart.pkl',
map_location='cpu')
# mdp = Gym('Pendulum-v0', horizon, gamma)
# Settings
initial_replay_size = 512
max_replay_size = 50000 * 4
batch_size = 512
n_critic_features = 64
n_actor_features = 14
warmup_transitions = 512
tau = 0.005
lr_alpha = 3e-4
use_cuda = torch.cuda.is_available()
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_actor_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_actor_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': 3e-4}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=n_critic_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=use_cuda)
# Agent
agent = alg(mdp.info,
actor_mu_params,
actor_sigma_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
warmup_transitions,
tau,
lr_alpha,
critic_fit_params=None,
rarhmm=rarhmm)
option_switch_model = OptionSwitchingModel(rarhmm)
# Algorithm
core = OptionCore(agent, mdp, option_switch_model=option_switch_model)
core.learn(n_steps=initial_replay_size,
n_steps_per_fit=initial_replay_size)
J_results = []
dataset_results = []
# RUN
dataset = core.evaluate(n_steps=n_steps_test, render=False)
gamma = 1 # set gamma to 1 to compute cummulated reward
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
J_results.append({'J_mean': np.mean(J), 'J_std': np.std(J)})
dataset_results.append(dataset)
for n in range(n_epochs):
print('Epoch: ', n)
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
J_results.append({'J_mean': np.mean(J), 'J_std': np.std(J)})
dataset_results.append(dataset)
print('Press a button to visualize pendulum')
# input()
return core.evaluate(n_episodes=1,
render=False), J_results, dataset_results
def learn_sac():
# MDP
horizon = 200
gamma = 0.99
mdp = Gym('Pendulum-v0', horizon, gamma)
mdp.seed(1)
np.random.seed(1)
torch.manual_seed(1)
torch.cuda.manual_seed(1)
# Settings
initial_replay_size = 64
max_replay_size = 50000
batch_size = 64
n_features = 64
warmup_transitions = 10
tau = 0.005
lr_alpha = 3e-4
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=False)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=False)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': 3e-4}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=False)
# Agent
agent = SAC(mdp.info,
actor_mu_params,
actor_sigma_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
warmup_transitions,
tau,
lr_alpha,
critic_fit_params=None)
# Algorithm
core = Core(agent, mdp)
core.learn(n_steps=2 * initial_replay_size,
n_steps_per_fit=initial_replay_size)
return agent
def test_sac():
# MDP
horizon = 200
gamma = 0.99
mdp = Gym('Pendulum-v0', horizon, gamma)
mdp.seed(1)
np.random.seed(1)
torch.manual_seed(1)
torch.cuda.manual_seed(1)
# Settings
initial_replay_size = 64
max_replay_size = 50000
batch_size = 64
n_features = 64
warmup_transitions = 10
tau = 0.005
lr_alpha = 3e-4
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=False)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=False)
actor_optimizer = {'class': optim.Adam, 'params': {'lr': 3e-4}}
critic_input_shape = (actor_input_shape[0] +
mdp.info.action_space.shape[0], )
critic_params = dict(network=CriticNetwork,
optimizer={
'class': optim.Adam,
'params': {
'lr': 3e-4
}
},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1, ),
use_cuda=False)
# Agent
agent = SAC(mdp.info,
actor_mu_params,
actor_sigma_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
warmup_transitions,
tau,
lr_alpha,
critic_fit_params=None)
# Algorithm
core = Core(agent, mdp)
core.learn(n_steps=2 * initial_replay_size,
n_steps_per_fit=initial_replay_size)
w = agent.policy.get_weights()
w_test = np.array([
1.6998193, -0.732528, 1.2986078, -0.26860124, 0.5094043, -0.5001421,
-0.18989229, -0.30646914
])
assert np.allclose(w, w_test)
def experiment(alg, n_epochs, n_steps, n_steps_test, seed):
torch.manual_seed(seed)
np.random.seed(seed)
# MDP
horizon = 1000
gamma = 0.99
mdp = Gym('Pendulum-ID-v1', horizon, gamma)
mdp.seed(seed)
# mdp = Gym('Pendulum-v0', horizon, gamma)
# Settings
initial_replay_size = 512
max_replay_size = 50000 * 4
batch_size = 512
n_features = 64
warmup_transitions = 512
tau = 0.005
lr_alpha = 3e-4
use_cuda = torch.cuda.is_available()
# Approximator
actor_input_shape = mdp.info.observation_space.shape
actor_mu_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_sigma_params = dict(network=ActorNetwork,
n_features=n_features,
input_shape=actor_input_shape,
output_shape=mdp.info.action_space.shape,
use_cuda=use_cuda)
actor_optimizer = {'class': optim.Adam,
'params': {'lr': 3e-4}}
critic_input_shape = (actor_input_shape[0] + mdp.info.action_space.shape[0],)
critic_params = dict(network=CriticNetwork,
optimizer={'class': optim.Adam,
'params': {'lr': 3e-4}},
loss=F.mse_loss,
n_features=n_features,
input_shape=critic_input_shape,
output_shape=(1,),
use_cuda=use_cuda)
# Agent
agent = alg(mdp.info, actor_mu_params, actor_sigma_params,
actor_optimizer, critic_params, batch_size, initial_replay_size,
max_replay_size, warmup_transitions, tau, lr_alpha,
critic_fit_params=None)
# Algorithm
core = Core(agent, mdp)
core.learn(n_steps=initial_replay_size, n_steps_per_fit=initial_replay_size)
J_results = []
dataset_results = []
# RUN
dataset = core.evaluate(n_steps=n_steps_test, render=False)
gamma = 1
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
J_results.append({'J_mean': np.mean(J), 'J_std': np.std(J)})
dataset_results.append(dataset)
for n in range(n_epochs):
print('Epoch: ', n)
core.learn(n_steps=n_steps, n_steps_per_fit=1)
dataset = core.evaluate(n_steps=n_steps_test, render=False)
J = compute_J(dataset, gamma)
print('J: ', np.mean(J))
J_results.append({'J_mean': np.mean(J), 'J_std': np.std(J)})
dataset_results.append(dataset)
print('Press a button to visualize pendulum')
# input()
return core.evaluate(n_episodes=1, render=False), J_results, dataset_results