def train(config):
"""
"""
memory = ReplayBuffer((8, ), (1, ), config["expert_buffer_size"],
config["device"])
memory.load_memory(config["buffer_path"])
agent = Agent(8, 1, 4, config)
for i_episode in range(config['episodes']):
text = "Inverse Episode {} \ {} \r".format(i_episode,
config["episodes"])
print(text, end='')
agent.learn(memory)
break
class Agent():
def __init__(self, state_size, action_size, config):
self.action_size = action_size
self.state_size = state_size
self.Q = np.zeros([state_size, action_size])
self.Q_inverse = np.zeros([state_size, action_size])
self.debug_Q = np.zeros([state_size, action_size])
self.Q_shift = np.zeros([state_size, action_size])
self.r = np.zeros([state_size, action_size])
self.counter = np.zeros([state_size, action_size])
self.gamma = config["gamma"]
self.epsilon = 1
self.lr = config["lr"]
self.lr_iql_q = config["lr_iql_q"]
self.lr_iql_r = config["lr_iql_r"]
self.min_epsilon = config["min_epsilon"]
self.max_epsilon =1
self.episode = 15000
self.decay = config["decay"]
self.total_reward = 0
self.eval_frq = 50
self.render_env = False
self.env = gym.make(config["env_name"])
self.memory = ReplayBuffer((1,),(1,),config["buffer_size"], config["device"])
self.gamma_iql = 0.99
self.gamma_iql = 0.99
self.lr_sh = config["lr_q_sh"]
self.ratio = 1. / action_size
self.eval_q_inverse = 50000
self.episodes_qinverse = int(5e6)
self.update_freq = config['freq_q']
self.steps = 0
pathname = "lr_inv_q {} lr_inv_r {} freq {}".format(self.lr_iql_q, self.lr_iql_r, self.update_freq)
tensorboard_name = str(config["locexp"]) + '/runs/' + pathname
self.writer = SummaryWriter(tensorboard_name)
tensorboard_name = str(config["locexp"]) + '/runs/' + "inverse"
self.writer_inverse = SummaryWriter(tensorboard_name)
tensorboard_name = str(config["locexp"]) + '/runs/' + "expert"
self.writer_expert = SummaryWriter(tensorboard_name)
self.last_100_reward_errors = deque(maxlen=100)
self.average_same_action = deque(maxlen=100)
self.expert_buffer_size = config["expert_buffer_size"]
def act(self, state, epsilon, eval_pi=False, use_debug=False):
if np.random.random() > epsilon or eval_pi:
action = np.argmax(self.Q[state])
if use_debug:
action = np.argmax(self.debug_Q[state])
else:
action = self.env.action_space.sample()
return action
def act_inverse_q(self, state):
action = np.argmax(self.Q_inverse[state])
return action
def optimize(self, state, action, reward, next_state, debug=False):
if debug:
max_next_state = np.max(self.debug_Q[next_state])
td_error = max_next_state - self.debug_Q[state, action]
self.debug_Q[(state,action)] = self.debug_Q[(state,action)] + self.lr * (reward + self.gamma *td_error)
return
max_next_state = np.max(self.Q[next_state])
td_error = max_next_state - self.Q[state, action]
self.Q[(state,action)] = self.Q[(state,action)] + self.lr * (reward + self.gamma *td_error)
def learn(self):
states, actions, rewards, next_states, done = self.memory.sample(self.batch_size)
# update Q function
for state, action, reward, next_state, done in zip(states, actions, rewards, next_states, done):
max_next_state = np.max(self.Q[next_state])
td_error = self.Q[state, action] - max_next_state
self.Q[(state,action)] = self.Q[(state,action)] + self.lr * (reward + self.gamma* td_error)
def compute_reward_loss(self, episode=10):
"""
use the env to create the real reward and compare it to the predicted
reward of the model
"""
self.env.seed(np.random.randint(0,10))
reward_loss = 0
reward_list = []
for epi in range(episode):
state = self.env.reset()
done = False
while not done:
action = np.argmax(self.trained_Q[state])
next_state, reward, done, _ = self.env.step(action)
predict_reward = self.r[state, action]
reward_list.append((reward, predict_reward))
if done:
break
reward_loss =([abs(r[0] - r[1]) for r in reward_list] )
reward_loss_length = len(reward_loss)
reward_loss = sum(reward_loss) / reward_loss_length
self.last_100_reward_errors.append(reward_loss)
average_loss = np.mean(self.last_100_reward_errors)
print("average mean loss ", average_loss)
self.writer.add_scalar('Reward_loss', reward_loss, self.steps)
self.writer.add_scalar('Average_Reward_loss', average_loss, self.steps)
#print(reward_loss)
def invers_q(self, continue_train=False):
self.memory.load_memory("memory")
self.load_q_table()
if not continue_train:
print("clean policy")
self.Q = np.zeros([self.state_size, self.action_size])
mkdir("", "inverse_policy")
for epi in range(1, self.episodes_qinverse + 1):
self.steps += 1
text = "Inverse Episode {} \r".format(epi)
# print(text, end = '')
if epi % self.eval_q_inverse == 0:
self.start_reward()
self.memory.save_memory("inverse_policy")
self.save_q_table("inverse_Q")
self.save_r_table()
self.render_env = False
self.eval_policy(use_inverse=True, episode=5)
self.eval_policy(use_expert=True, episode=5)
self.render_env =False
state, action, r, next_state, _ = self.memory.sample(1)
action = action[0][0]
state = state[0][0]
next_state = next_state[0][0]
self.counter[state, action] += 1
total_num = np.sum(self.counter[state,:])
action_prob = self.counter[state] / total_num
assert(np.isclose(np.sum(action_prob),1))
# update Q shift
Q_shift_target = self.lr_sh * (self.gamma_iql * np.max(self.Q_inverse[next_state]))
#print("q values", self.Q[state])
self.Q_shift[state, action] = ((1 - self.lr_sh) * self.Q_shift[state, action]) + Q_shift_target
# compute n a
if action_prob[action] == 0:
action_prob[action] = np.finfo(float).eps
n_a = np.log(action_prob[action]) - self.Q_shift[state, action]
# update reward function
self.update_r(state, action, n_a, action_prob)
#self.debug_train()
# update Q function
self.update_q(state, action, next_state)
# self.policy_diff(state, action)
def update_q(self, state, action, next_state):
q_old = (1 - self.lr_iql_q) * self.Q_inverse[state, action]
q_new = self.lr_iql_q *(self.r[state, action] + (self.gamma_iql * np.max(self.Q_inverse[next_state])))
#print("q old ", q_old)
#print("q_new", q_new)
#print("q invers ", q_old + q_new)
self.Q_inverse[state, action] = q_old + q_new
def update_r(self, state, action, n_a, action_prob):
r_old = (1 - self.lr_iql_r) * self.r[state, action]
part1 = n_a
#print("part1", n_a)
part2 = self.ratio * self.sum_over_action(state, action, action_prob)
r_new = self.lr_iql_r * (part1 + part2)
#print("r old ", r_old)
#print("r_new", r_new)
self.r[state, action] = r_old + r_new
def sum_over_action(self, state, a, action_prob):
res = 0
for b in range(self.action_size):
if b == a:
continue
res = res + (self.r[state, b] - self.compute_n_a(state, b, action_prob))
return res
def compute_n_a(self, state, action, action_prob):
if action_prob[action] == 0:
action_prob[action] = np.finfo(float).eps
return np.log(action_prob[action]) - self.Q_shift[state, action]
def start_reward(self):
self.env.seed = 1
state = self.env.reset()
print(state)
ns, r, d, _ = self.env.step(0)
np.set_printoptions(precision=2)
print(" expert q {}".format(self.trained_Q[state]))
print("inverse q {}".format(self.Q_inverse[state]))
return
def eval_policy(self, random_agent=False, use_expert=False, use_debug=False, use_inverse=False,episode=10):
if use_expert:
self.load_q_table()
total_steps = 0
total_reward = 0
total_penetlies = 0
for i_episode in range(1, episode + 1):
score = 0
steps = 0
state = self.env.reset()
done = False
penelty = 0
while not done:
steps += 1
if use_expert:
action = np.argmax(self.trained_Q[state])
elif random_agent:
action = self.env.action_space.sample()
elif use_debug:
action = np.argmax(self.debug_Q[state])
elif use_inverse:
action = np.argmax(self.Q_inverse[state])
else:
action = self.act(state, 0, True)
next_state, reward, done, _ = self.env.step(action)
state = next_state
if self.render_env:
self.env.render()
time.sleep(0.1)
score += reward
if reward == -10:
penelty += 1
if done:
total_steps += steps
total_reward += score
total_penetlies += penelty
break
if self.render_env:
self.env.close()
aver_steps = total_steps / episode
average_reward = total_reward / episode
aver_penelties = total_penetlies / episode
if use_expert:
print("Expert avge steps {} average reward {:.2f} average penelty {} ".format(aver_steps, average_reward, aver_penelties))
elif random_agent:
print("Random Eval avge steps {} average reward {:.2f} average penelty {} ".format(aver_steps, average_reward, aver_penelties))
elif use_inverse:
print("Inverse q Eval avge steps {} average reward {:.2f} average penelty {} ".format(aver_steps, average_reward, aver_penelties))
else:
print("Eval avge steps {} average reward {:.2f} average penelty {} ".format(aver_steps, average_reward, aver_penelties))
self.writer.add_scalar('Eval_Average_steps', aver_steps, self.steps)
self.writer.add_scalar('Eval_Average_reward', average_reward, self.steps)
self.writer.add_scalar('Eval_Average_penelties', aver_penelties, self.steps)
def save_q_table(self, table="Q", filename="policy"):
mkdir("", filename)
if table == "Q":
with open(filename + '/Q.npy', 'wb') as f:
np.save(f, self.Q)
if table =="inverse_Q":
with open(filename + '/Inverse_Q.npy', 'wb') as f:
np.save(f, self.Q_inverse)
def load_q_table(self, table="Q", filename="policy"):
if table == "Q":
with open(filename + '/Q.npy', 'rb') as f:
self.Q = np.load(f)
if table == "inverse_Q":
with open(filename + '/Inverse_Q.npy', 'rb') as f:
self.Q_inverse = np.load(f)
self.trained_Q = self.Q
def save_r_table(self, filename="reward_function"):
mkdir("", filename)
with open(filename + '/r.npy', 'wb') as f:
np.save(f, self.r)
def load_r_table(self, filename="reward_function"):
with open(filename + '/r.npy', 'rb') as f:
self.r = np.load(f)
def eval_inverse(self):
self.load_q_table(table= "inverse_Q")
for i_episode in range(1, 11):
score = 0
steps = 0
penelties = 0
state = self.env.reset()
done = False
while not done:
steps += 1
print(self.Q_inverse)
action = np.argmax(self.Q_inverse[state])
next_state, reward, done, _ = self.env.step(action)
score += reward
if reward == -10:
penelties += 1
state = next_state
print("Inverse steps {} reward {:.2f} penelty {} ".format(steps, score, penelties))
def policy_diff(self, state, expert_action):
self.trained_Q = self.Q
def create_expert_policy(self):
self.load_q_table()
self.trained_Q = self.Q
for i_episode in range(1, self.expert_buffer_size + 1):
text = "create Buffer {} of {}\r".format(i_episode, self.expert_buffer_size)
print(text, end=" ")
state = self.env.reset()
if state == 184:
print("yes ")
done = False
score = 0
while True:
action = self.act(state, 0, True)
next_state, reward, done, _ = self.env.step(action)
score += reward
self.memory.add(state, action, reward, next_state, done, done)
state = next_state
if done:
#print("reward ", score)
break
self.memory.save_memory("memory")
def policy_diff(self, state, expert_action):
action = np.argmax(self.Q_inverse[state])
if action == expert_action:
print("Episode {} Reward {:.2f} Average Reward {:.2f} steps {} epsilon {:.2f}".format(i_episode, score, average_reward, steps, self.epsilon))
self.writer.add_scalar('Average_reward', average_reward, self.steps)
self.writer.add_scalar('Train_reward', score, self.steps)
self.trained_Q = self.Q
self.memory.save_memory("memory")
def debug_train(self):
"""
use the trained reward function to train the agent
"""
state = self.env.reset()
done = False
score = 0
self.steps += 1
epsiode_steps = 0
while True:
action = self.act(state, 0, True)
next_state, _, done, _ = self.env.step(action)
reward = self.r[state, action]
self.optimize(state, action, reward, next_state, debug=True)
score += reward
epsiode_steps += 1
if done:
break
state = next_state
self.total_reward += score
average_reward = self.total_reward / self.steps
print("Episode {} Reward {:.2f} Average Reward {:.2f} epi steps {}".format(self.steps, score, average_reward, epsiode_steps))
def train(self):
total_timestep = 0
for i_episode in range(1, self.episode + 1):
score = 0
state = self.env.reset()
done = False
steps = 0
while not done:
self.steps +=1
steps += 1
total_timestep += 1
action = self.act(state, self.epsilon)
next_state, reward, done, _ = self.env.step(action)
score += reward
self.optimize(state, action, reward, next_state)
self.epsilon = self.min_epsilon + (self.max_epsilon - self.min_epsilon)*np.exp(-self.decay * i_episode)
if done:
break
state = next_state
if i_episode % self.eval_frq == 0:
self.eval_policy()
self.total_reward += score
average_reward = self.total_reward / i_episode
print("Episode {} Reward {:.2f} Average Reward {:.2f} steps {} epsilon {:.2f}".format(i_episode, score, average_reward, steps, self.epsilon))
self.writer.add_scalar('Average_reward', average_reward, self.steps)
self.writer.add_scalar('Train_reward', score, self.steps)
self.trained_Q = self.Q
