def __init__(self,
mdp_info,
distribution,
policy,
eps,
kappa,
features=None):
"""
Constructor.
Args:
eps ([float, Parameter]): the maximum admissible value for the Kullback-Leibler
divergence between the new distribution and the
previous one at each update step.
kappa ([float, Parameter]): the maximum admissible value for the entropy decrease
between the new distribution and the
previous one at each update step.
"""
self._eps = to_parameter(eps)
self._kappa = to_parameter(kappa)
self._add_save_attr(_eps='mushroom')
self._add_save_attr(_kappa='mushroom')
super().__init__(mdp_info, distribution, policy, features)
def __init__(self,
mdp_info,
policy,
actor_optimizer,
critic_params,
n_epochs_policy,
batch_size,
eps_ppo,
lam,
ent_coeff=0.0,
critic_fit_params=None):
"""
Constructor.
Args:
policy (TorchPolicy): torch policy to be learned by the algorithm
actor_optimizer (dict): parameters to specify the actor optimizer
algorithm;
critic_params (dict): parameters of the critic approximator to
build;
n_epochs_policy ([int, Parameter]): number of policy updates for every dataset;
batch_size ([int, Parameter]): size of minibatches for every optimization step
eps_ppo ([float, Parameter]): value for probability ratio clipping;
lam ([float, Parameter], 1.): lambda coefficient used by generalized
advantage estimation;
ent_coeff ([float, Parameter], 1.): coefficient for the entropy regularization term;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator.
"""
self._critic_fit_params = dict(
n_epochs=10) if critic_fit_params is None else critic_fit_params
self._n_epochs_policy = to_parameter(n_epochs_policy)
self._batch_size = to_parameter(batch_size)
self._eps_ppo = to_parameter(eps_ppo)
self._optimizer = actor_optimizer['class'](policy.parameters(),
**actor_optimizer['params'])
self._lambda = to_parameter(lam)
self._ent_coeff = to_parameter(ent_coeff)
self._V = Regressor(TorchApproximator, **critic_params)
self._iter = 1
self._add_save_attr(_critic_fit_params='pickle',
_n_epochs_policy='mushroom',
_batch_size='mushroom',
_eps_ppo='mushroom',
_ent_coeff='mushroom',
_optimizer='torch',
_lambda='mushroom',
_V='mushroom',
_iter='primitive')
super().__init__(mdp_info, policy, None)
def __init__(self,
mdp_info,
policy_class,
policy_params,
actor_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
tau,
policy_delay=2,
noise_std=.2,
noise_clip=.5,
critic_fit_params=None):
"""
Constructor.
Args:
policy_class (Policy): class of the policy;
policy_params (dict): parameters of the policy to build;
actor_params (dict): parameters of the actor approximator to
build;
actor_optimizer (dict): parameters to specify the actor
optimizer algorithm;
critic_params (dict): parameters of the critic approximator to
build;
batch_size ((int, Parameter)): the number of samples in a batch;
initial_replay_size (int): the number of samples to collect before
starting the learning;
max_replay_size (int): the maximum number of samples in the replay
memory;
tau ((float, Parameter)): value of coefficient for soft updates;
policy_delay ((int, Parameter), 2): the number of updates of the critic after
which an actor update is implemented;
noise_std ((float, Parameter), .2): standard deviation of the noise used for
policy smoothing;
noise_clip ((float, Parameter), .5): maximum absolute value for policy smoothing
noise;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator.
"""
self._noise_std = to_parameter(noise_std)
self._noise_clip = to_parameter(noise_clip)
if 'n_models' in critic_params.keys():
assert (critic_params['n_models'] >= 2)
else:
critic_params['n_models'] = 2
self._add_save_attr(_noise_std='mushroom', _noise_clip='mushroom')
super().__init__(mdp_info, policy_class, policy_params, actor_params,
actor_optimizer, critic_params, batch_size,
initial_replay_size, max_replay_size, tau,
policy_delay, critic_fit_params)
def __init__(self,
mdp_info,
policy,
mu,
alpha_theta,
alpha_omega,
alpha_v,
value_function_features=None,
policy_features=None):
"""
Constructor.
Args:
mu (Regressor): regressor that describe the deterministic policy to be
learned i.e., the deterministic mapping between state and action.
alpha_theta ([float, Parameter]): learning rate for policy update;
alpha_omega ([float, Parameter]): learning rate for the advantage function;
alpha_v ([float, Parameter]): learning rate for the value function;
value_function_features (Features, None): features used by the value
function approximator;
policy_features (Features, None): features used by the policy.
"""
self._mu = mu
self._psi = value_function_features
self._alpha_theta = to_parameter(alpha_theta)
self._alpha_omega = to_parameter(alpha_omega)
self._alpha_v = to_parameter(alpha_v)
if self._psi is not None:
input_shape = (self._psi.size, )
else:
input_shape = mdp_info.observation_space.shape
self._V = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=(1, ))
self._A = Regressor(LinearApproximator,
input_shape=(self._mu.weights_size, ),
output_shape=(1, ))
self._add_save_attr(_mu='mushroom',
_psi='pickle',
_alpha_theta='mushroom',
_alpha_omega='mushroom',
_alpha_v='mushroom',
_V='mushroom',
_A='mushroom')
super().__init__(mdp_info, policy, policy_features)
def __init__(self,
mdp_info,
policy,
alpha_theta,
alpha_v,
lambda_par=.9,
value_function_features=None,
policy_features=None):
"""
Constructor.
Args:
alpha_theta ([float, Parameter]): learning rate for policy update;
alpha_v ([float, Parameter]): learning rate for the value function;
lambda_par ([float, Parameter], .9): trace decay parameter;
value_function_features (Features, None): features used by the
value function approximator;
policy_features (Features, None): features used by the policy.
"""
self._psi = value_function_features
self._alpha_theta = to_parameter(alpha_theta)
self._alpha_v = to_parameter(alpha_v)
self._lambda = to_parameter(lambda_par)
super().__init__(mdp_info, policy, policy_features)
if self._psi is not None:
input_shape = (self._psi.size, )
else:
input_shape = mdp_info.observation_space.shape
self._V = Regressor(LinearApproximator,
input_shape=input_shape,
output_shape=(1, ))
self._e_v = np.zeros(self._V.weights_size)
self._e_theta = np.zeros(self.policy.weights_size)
self._add_save_attr(_psi='pickle',
_alpha_theta='mushroom',
_alpha_v='mushroom',
_lambda='mushroom',
_V='mushroom',
_e_v='numpy',
_e_theta='numpy')
def __init__(self, initial_size, max_size, alpha, beta, epsilon=.01):
"""
Constructor.
Args:
initial_size (int): initial number of elements in the replay
memory;
max_size (int): maximum number of elements that the replay memory
can contain;
alpha (float): prioritization coefficient;
beta ([float, Parameter]): importance sampling coefficient;
epsilon (float, .01): small value to avoid zero probabilities.
"""
self._initial_size = initial_size
self._max_size = max_size
self._alpha = alpha
self._beta = to_parameter(beta)
self._epsilon = epsilon
self._tree = SumTree(max_size)
self._add_save_attr(_initial_size='primitive',
_max_size='primitive',
_alpha='primitive',
_beta='primitive',
_epsilon='primitive',
_tree='pickle!')
def __init__(self,
mdp_info,
policy,
approximator,
learning_rate,
lambda_coeff,
features,
approximator_params=None):
"""
Constructor.
Args:
lambda_coeff ([float, Parameter]): eligibility trace coefficient.
"""
approximator_params = dict() if approximator_params is None else \
approximator_params
Q = Regressor(approximator, **approximator_params)
self.e = np.zeros(Q.weights_size)
self._lambda = to_parameter(lambda_coeff)
self._add_save_attr(_lambda='primitive', e='numpy')
super().__init__(mdp_info, policy, Q, learning_rate, features)
def __init__(self, network, input_shape, output_shape, beta, use_cuda=False, **params):
"""
Constructor.
Args:
network (object): the network class used to implement the mean
regressor;
input_shape (tuple): the shape of the state space;
output_shape (tuple): the shape of the action space;
beta ((float, Parameter)): the inverse of the temperature distribution. As
the temperature approaches infinity, the policy becomes more and
more random. As the temperature approaches 0.0, the policy becomes
more and more greedy.
params (dict): parameters used by the network constructor.
"""
super().__init__(use_cuda)
self._action_dim = output_shape[0]
self._logits = Regressor(TorchApproximator, input_shape, output_shape,
network=network, use_cuda=use_cuda, **params)
self._beta = to_parameter(beta)
self._add_save_attr(
_action_dim='primitive',
_beta='mushroom',
_logits='mushroom'
)
def __init__(self,
mdp_info,
policy,
approximator,
n_iterations,
approximator_params=None,
fit_params=None,
quiet=False):
"""
Constructor.
Args:
n_iterations ((int, Parameter)): number of iterations to perform for training;
quiet (bool, False): whether to show the progress bar or not.
"""
self._n_iterations = to_parameter(n_iterations)
self._quiet = quiet
self._target = None
self._add_save_attr(_n_iterations='mushroom',
_quiet='primitive',
_target='pickle')
super().__init__(mdp_info, policy, approximator, approximator_params,
fit_params)
def __init__(self,
mdp_info,
policy,
approximator_params=None,
epsilon=1e-2,
fit_params=None,
features=None):
"""
Constructor.
Args:
epsilon ((float, Parameter), 1e-2): termination coefficient.
"""
self._epsilon = to_parameter(epsilon)
k = features.size * mdp_info.action_space.n
self._A = np.zeros((k, k))
self._b = np.zeros((k, 1))
self._add_save_attr(_epsilon='mushroom',
_A='primitive',
_b='primitive')
super().__init__(mdp_info, policy, LinearApproximator,
approximator_params, fit_params, features)
def set_beta(self, beta):
"""
Setter.
Args:
beta ((float, Parameter)): the inverse of the temperature distribution.
"""
self._beta = to_parameter(beta)
def set_epsilon(self, epsilon):
"""
Setter.
Args:
epsilon ([float, Parameter]): the exploration coefficient. It indicates the
probability of performing a random actions in the current step.
"""
self._epsilon = to_parameter(epsilon)
def __init__(self, mu_approximator, sigma_approximator, min_a, max_a,
log_std_min, log_std_max):
"""
Constructor.
Args:
mu_approximator (Regressor): a regressor computing mean in given a
state;
sigma_approximator (Regressor): a regressor computing the variance
in given a state;
min_a (np.ndarray): a vector specifying the minimum action value
for each component;
max_a (np.ndarray): a vector specifying the maximum action value
for each component.
log_std_min ([float, Parameter]): min value for the policy log std;
log_std_max ([float, Parameter]): max value for the policy log std.
"""
self._mu_approximator = mu_approximator
self._sigma_approximator = sigma_approximator
self._delta_a = to_float_tensor(.5 * (max_a - min_a), self.use_cuda)
self._central_a = to_float_tensor(.5 * (max_a + min_a), self.use_cuda)
self._log_std_min = to_parameter(log_std_min)
self._log_std_max = to_parameter(log_std_max)
self._eps_log_prob = 1e-6
use_cuda = self._mu_approximator.model.use_cuda
if use_cuda:
self._delta_a = self._delta_a.cuda()
self._central_a = self._central_a.cuda()
self._add_save_attr(_mu_approximator='mushroom',
_sigma_approximator='mushroom',
_delta_a='torch',
_central_a='torch',
_log_std_min='mushroom',
_log_std_max='mushroom',
_eps_log_prob='primitive')
def __init__(self,
mdp_info,
policy,
learning_rate,
off_policy=False,
beta=None,
delta=None):
"""
Constructor.
Args:
off_policy (bool, False): whether to use the off policy setting or
the online one;
beta ([float, Parameter], None): beta coefficient;
delta ([float, Parameter], None): delta coefficient.
"""
self.off_policy = off_policy
if delta is not None and beta is None:
self.delta = to_parameter(delta)
self.beta = None
elif delta is None and beta is not None:
self.delta = None
self.beta = to_parameter(beta)
else:
raise ValueError('delta or beta parameters needed.')
Q = Table(mdp_info.size)
self.Q_tilde = Table(mdp_info.size)
self.R_tilde = Table(mdp_info.size)
self._add_save_attr(off_policy='primitive',
delta='mushroom',
beta='mushroom',
Q_tilde='mushroom',
R_tilde='mushroom')
super().__init__(mdp_info, policy, Q, learning_rate)
def __init__(self, mdp_info, distribution, policy, beta, features=None):
"""
Constructor.
Args:
beta ([float, Parameter]): the temperature for the exponential reward
transformation.
"""
self._beta = to_parameter(beta)
self._add_save_attr(_beta='mushroom')
super().__init__(mdp_info, distribution, policy, features)
def __init__(self, mdp_info, policy, learning_rate, beta):
"""
Constructor.
Args:
beta ((float, Parameter)): beta coefficient.
"""
Q = Table(mdp_info.size)
self._rho = 0.
self._beta = to_parameter(beta)
self._add_save_attr(_rho='primitive', _beta='mushroom')
super().__init__(mdp_info, policy, Q, learning_rate)
def __init__(self, epsilon):
"""
Constructor.
Args:
epsilon ([float, Parameter]): the exploration coefficient. It indicates
the probability of performing a random actions in the current
step.
"""
super().__init__()
self._epsilon = to_parameter(epsilon)
self._add_save_attr(_epsilon='mushroom')
def __init__(self, beta):
"""
Constructor.
Args:
beta ([float, Parameter]): the inverse of the temperature distribution. As
the temperature approaches infinity, the policy becomes more and
more random. As the temperature approaches 0.0, the policy becomes
more and more greedy.
"""
super().__init__()
self._beta = to_parameter(beta)
self._add_save_attr(_beta='mushroom')
def __init__(self, mdp_info, policy, alpha_theta, alpha_v, alpha_r,
lambda_par=.9, value_function_features=None,
policy_features=None):
"""
Constructor.
Args:
alpha_r (Parameter): learning rate for the reward trace.
"""
super().__init__(mdp_info, policy, alpha_theta, alpha_v, lambda_par,
value_function_features, policy_features)
self._alpha_r = to_parameter(alpha_r)
self._r_bar = 0
self._add_save_attr(_alpha_r='mushroom', _r_bar='primitive')
def __init__(self,
mdp_info,
policy,
actor_optimizer,
critic_params,
ent_coeff,
max_grad_norm=None,
critic_fit_params=None):
"""
Constructor.
Args:
policy (TorchPolicy): torch policy to be learned by the algorithm;
actor_optimizer (dict): parameters to specify the actor optimizer
algorithm;
critic_params (dict): parameters of the critic approximator to
build;
ent_coeff ([float, Parameter], 0): coefficient for the entropy penalty;
max_grad_norm (float, None): maximum norm for gradient clipping.
If None, no clipping will be performed, unless specified
otherwise in actor_optimizer;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator.
"""
self._critic_fit_params = dict(
) if critic_fit_params is None else critic_fit_params
self._entropy_coeff = to_parameter(ent_coeff)
self._V = Regressor(TorchApproximator, **critic_params)
if 'clipping' not in actor_optimizer and max_grad_norm is not None:
actor_optimizer = deepcopy(actor_optimizer)
clipping_params = dict(max_norm=max_grad_norm, norm_type=2)
actor_optimizer['clipping'] = dict(
method=torch.nn.utils.clip_grad_norm_, params=clipping_params)
self._add_save_attr(_critic_fit_params='pickle',
_entropy_coeff='mushroom',
_V='mushroom')
super().__init__(mdp_info, policy, actor_optimizer,
policy.parameters())
def __init__(self, mdp_info, policy, learning_rate, lambda_coeff,
trace='replacing'):
"""
Constructor.
Args:
lambda_coeff ((float, Parameter)): eligibility trace coefficient;
trace (str, 'replacing'): type of eligibility trace to use.
"""
Q = Table(mdp_info.size)
self._lambda = to_parameter(lambda_coeff)
self.e = EligibilityTrace(Q.shape, trace)
self._add_save_attr(
_lambda='mushroom',
e='mushroom'
)
super().__init__(mdp_info, policy, Q, learning_rate)
def __init__(self,
mdp_info,
policy,
approximator_params=None,
epsilon=1e-2,
fit_params=None,
features=None):
"""
Constructor.
Args:
epsilon ([float, Parameter], 1e-2): termination coefficient.
"""
self._epsilon = to_parameter(epsilon)
self._add_save_attr(_epsilon='mushroom')
super().__init__(mdp_info, policy, LinearApproximator,
approximator_params, fit_params, features)
def set_beta(self, beta):
self._beta = to_parameter(beta)
def __init__(self,
mdp_info,
policy_class,
policy_params,
actor_params,
actor_optimizer,
critic_params,
batch_size,
initial_replay_size,
max_replay_size,
tau,
policy_delay=1,
critic_fit_params=None):
"""
Constructor.
Args:
policy_class (Policy): class of the policy;
policy_params (dict): parameters of the policy to build;
actor_params (dict): parameters of the actor approximator to
build;
actor_optimizer (dict): parameters to specify the actor optimizer
algorithm;
critic_params (dict): parameters of the critic approximator to
build;
batch_size ((int, Parameter)): the number of samples in a batch;
initial_replay_size (int): the number of samples to collect before
starting the learning;
max_replay_size (int): the maximum number of samples in the replay
memory;
tau ((float, Parameter)): value of coefficient for soft updates;
policy_delay ((int, Parameter), 1): the number of updates of the critic after
which an actor update is implemented;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator;
"""
self._critic_fit_params = dict(
) if critic_fit_params is None else critic_fit_params
self._batch_size = to_parameter(batch_size)
self._tau = to_parameter(tau)
self._policy_delay = to_parameter(policy_delay)
self._fit_count = 0
self._replay_memory = ReplayMemory(initial_replay_size,
max_replay_size)
target_critic_params = deepcopy(critic_params)
self._critic_approximator = Regressor(TorchApproximator,
**critic_params)
self._target_critic_approximator = Regressor(TorchApproximator,
**target_critic_params)
target_actor_params = deepcopy(actor_params)
self._actor_approximator = Regressor(TorchApproximator, **actor_params)
self._target_actor_approximator = Regressor(TorchApproximator,
**target_actor_params)
self._init_target(self._critic_approximator,
self._target_critic_approximator)
self._init_target(self._actor_approximator,
self._target_actor_approximator)
policy = policy_class(self._actor_approximator, **policy_params)
policy_parameters = self._actor_approximator.model.network.parameters()
self._add_save_attr(_critic_fit_params='pickle',
_batch_size='mushroom',
_tau='mushroom',
_policy_delay='mushroom',
_fit_count='primitive',
_replay_memory='mushroom',
_critic_approximator='mushroom',
_target_critic_approximator='mushroom',
_target_actor_approximator='mushroom')
super().__init__(mdp_info, policy, actor_optimizer, policy_parameters)
def __init__(self,
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,
log_std_min=-20,
log_std_max=2,
target_entropy=None,
critic_fit_params=None):
"""
Constructor.
Args:
actor_mu_params (dict): parameters of the actor mean approximator
to build;
actor_sigma_params (dict): parameters of the actor sigm
approximator to build;
actor_optimizer (dict): parameters to specify the actor
optimizer algorithm;
critic_params (dict): parameters of the critic approximator to
build;
batch_size ((int, Parameter)): the number of samples in a batch;
initial_replay_size (int): the number of samples to collect before
starting the learning;
max_replay_size (int): the maximum number of samples in the replay
memory;
warmup_transitions ([int, Parameter]): number of samples to accumulate in the
replay memory to start the policy fitting;
tau ([float, Parameter]): value of coefficient for soft updates;
lr_alpha ([float, Parameter]): Learning rate for the entropy coefficient;
log_std_min ([float, Parameter]): Min value for the policy log std;
log_std_max ([float, Parameter]): Max value for the policy log std;
target_entropy (float, None): target entropy for the policy, if
None a default value is computed ;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator.
"""
self._critic_fit_params = dict(
) if critic_fit_params is None else critic_fit_params
self._batch_size = to_parameter(batch_size)
self._warmup_transitions = to_parameter(warmup_transitions)
self._tau = to_parameter(tau)
if target_entropy is None:
self._target_entropy = -np.prod(
mdp_info.action_space.shape).astype(np.float32)
else:
self._target_entropy = target_entropy
self._replay_memory = ReplayMemory(initial_replay_size,
max_replay_size)
if 'n_models' in critic_params.keys():
assert critic_params['n_models'] == 2
else:
critic_params['n_models'] = 2
target_critic_params = deepcopy(critic_params)
self._critic_approximator = Regressor(TorchApproximator,
**critic_params)
self._target_critic_approximator = Regressor(TorchApproximator,
**target_critic_params)
actor_mu_approximator = Regressor(TorchApproximator, **actor_mu_params)
actor_sigma_approximator = Regressor(TorchApproximator,
**actor_sigma_params)
policy = SACPolicy(actor_mu_approximator, actor_sigma_approximator,
mdp_info.action_space.low,
mdp_info.action_space.high, log_std_min,
log_std_max)
self._init_target(self._critic_approximator,
self._target_critic_approximator)
self._log_alpha = torch.tensor(0., dtype=torch.float32)
if policy.use_cuda:
self._log_alpha = self._log_alpha.cuda().requires_grad_()
else:
self._log_alpha.requires_grad_()
self._alpha_optim = optim.Adam([self._log_alpha], lr=lr_alpha)
policy_parameters = chain(
actor_mu_approximator.model.network.parameters(),
actor_sigma_approximator.model.network.parameters())
self._add_save_attr(_critic_fit_params='pickle',
_batch_size='mushroom',
_warmup_transitions='mushroom',
_tau='mushroom',
_target_entropy='primitive',
_replay_memory='mushroom',
_critic_approximator='mushroom',
_target_critic_approximator='mushroom',
_log_alpha='torch',
_alpha_optim='torch')
super().__init__(mdp_info, policy, actor_optimizer, policy_parameters)
def __init__(self, mdp_info, policy, approximator, approximator_params,
batch_size, target_update_frequency,
replay_memory=None, initial_replay_size=500,
max_replay_size=5000, fit_params=None, clip_reward=False):
"""
Constructor.
Args:
approximator (object): the approximator to use to fit the
Q-function;
approximator_params (dict): parameters of the approximator to
build;
batch_size ((int, Parameter)): the number of samples in a batch;
target_update_frequency (int): the number of samples collected
between each update of the target network;
replay_memory ([ReplayMemory, PrioritizedReplayMemory], None): the
object of the replay memory to use; if None, a default replay
memory is created;
initial_replay_size (int): the number of samples to collect before
starting the learning;
max_replay_size (int): the maximum number of samples in the replay
memory;
fit_params (dict, None): parameters of the fitting algorithm of the
approximator;
clip_reward (bool, False): whether to clip the reward or not.
"""
self._fit_params = dict() if fit_params is None else fit_params
self._batch_size = to_parameter(batch_size)
self._clip_reward = clip_reward
self._target_update_frequency = target_update_frequency
if replay_memory is not None:
self._replay_memory = replay_memory
if isinstance(replay_memory, PrioritizedReplayMemory):
self._fit = self._fit_prioritized
else:
self._fit = self._fit_standard
else:
self._replay_memory = ReplayMemory(initial_replay_size,
max_replay_size)
self._fit = self._fit_standard
self._n_updates = 0
apprx_params_train = deepcopy(approximator_params)
apprx_params_target = deepcopy(approximator_params)
self._initialize_regressors(approximator, apprx_params_train,
apprx_params_target)
policy.set_q(self.approximator)
self._add_save_attr(
_fit_params='pickle',
_batch_size='mushroom',
_n_approximators='primitive',
_clip_reward='primitive',
_target_update_frequency='primitive',
_replay_memory='mushroom',
_n_updates='primitive',
approximator='mushroom',
target_approximator='mushroom'
)
super().__init__(mdp_info, policy)
def __init__(self,
mdp_info,
policy,
critic_params,
ent_coeff=0.,
max_kl=.001,
lam=1.,
n_epochs_line_search=10,
n_epochs_cg=10,
cg_damping=1e-2,
cg_residual_tol=1e-10,
critic_fit_params=None):
"""
Constructor.
Args:
policy (TorchPolicy): torch policy to be learned by the algorithm
critic_params (dict): parameters of the critic approximator to
build;
ent_coeff ([float, Parameter], 0): coefficient for the entropy penalty;
max_kl ([float, Parameter], .001): maximum kl allowed for every policy
update;
lam float([float, Parameter], 1.): lambda coefficient used by generalized
advantage estimation;
n_epochs_line_search ([int, Parameter], 10): maximum number of iterations
of the line search algorithm;
n_epochs_cg ([int, Parameter], 10): maximum number of iterations of the
conjugate gradient algorithm;
cg_damping ([float, Parameter], 1e-2): damping factor for the conjugate
gradient algorithm;
cg_residual_tol ([float, Parameter], 1e-10): conjugate gradient residual
tolerance;
critic_fit_params (dict, None): parameters of the fitting algorithm
of the critic approximator.
"""
self._critic_fit_params = dict(
n_epochs=5) if critic_fit_params is None else critic_fit_params
self._n_epochs_line_search = to_parameter(n_epochs_line_search)
self._n_epochs_cg = to_parameter(n_epochs_cg)
self._cg_damping = to_parameter(cg_damping)
self._cg_residual_tol = to_parameter(cg_residual_tol)
self._max_kl = to_parameter(max_kl)
self._ent_coeff = to_parameter(ent_coeff)
self._lambda = to_parameter(lam)
self._V = Regressor(TorchApproximator, **critic_params)
self._iter = 1
self._old_policy = None
self._add_save_attr(_critic_fit_params='pickle',
_n_epochs_line_search='mushroom',
_n_epochs_cg='mushroom',
_cg_damping='mushroom',
_cg_residual_tol='mushroom',
_max_kl='mushroom',
_ent_coeff='mushroom',
_lambda='mushroom',
_V='mushroom',
_old_policy='mushroom',
_iter='primitive')
super().__init__(mdp_info, policy, None)
