def __init__(self, hidden_size, env):
self.num_states = env.observation_space.shape[0]
self.num_actions = env.action_space.shape[0]
self.Actor = Actor(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Actor_target = Actor(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Critic = Critic(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Critic_target = Critic(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
for target_param, param in zip(self.Actor_target.parameters(),
self.Actor.parameters()):
target_param.data = param.data
for target_param, param in zip(self.Critic_target.parameters(),
self.Critic.parameters()):
target_param.data = param.data
self.Memory = Memory(30000)
self.criterion = nn.MSELoss().cuda()
self.actor_optimizer = torch.optim.Adam(self.Actor.parameters(),
lr=1e-2)
self.critic_optimizer = torch.optim.Adam(self.Critic.parameters(),
lr=1e-1)
def __init__(self, state_dim, action_dim, max_action):
self.actor = Actor(state_dim, action_dim,
max_action).to(device) # gradient descent
self.actor_target = Actor(state_dim, action_dim,
max_action).to(device) # poliac average
self.actor_target.load_state_dict(
self.actor.state_dict()) # load with parameters of actor model
self.actor_optimizer = torch.optim.Adam(self.actor.parameters())
self.critic = Critic(state_dim, action_dim).to(device)
self.critic_target = Critic(state_dim, action_dim).to(device)
self.critic_target.load_state_dict(self.critic.state_dict())
self.critic_optimizer = torch.optim.Adam(self.critic.parameters())
self.max_action = max_action
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Reward monitoring
self.best_total_reward = -np.inf
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
class DDPGagent:
def __init__(self, hidden_size, env):
self.num_states = env.observation_space.shape[0]
self.num_actions = env.action_space.shape[0]
self.Actor = Actor(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Actor_target = Actor(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Critic = Critic(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
self.Critic_target = Critic(input_size=self.num_states,
hidden_size=hidden_size,
output_size=self.num_actions).cuda()
for target_param, param in zip(self.Actor_target.parameters(),
self.Actor.parameters()):
target_param.data = param.data
for target_param, param in zip(self.Critic_target.parameters(),
self.Critic.parameters()):
target_param.data = param.data
self.Memory = Memory(30000)
self.criterion = nn.MSELoss().cuda()
self.actor_optimizer = torch.optim.Adam(self.Actor.parameters(),
lr=1e-2)
self.critic_optimizer = torch.optim.Adam(self.Critic.parameters(),
lr=1e-1)
def get_action(self, state):
state = torch.from_numpy(state).float().unsqueeze(0).cuda()
action = self.Actor.forward(state)
action = action.detach().cpu().numpy()
return action
def update(self, batch_size):
states, actions, rewards, next_states, _ = self.Memory.sample(
batch_size)
states = torch.tensor(states).cuda()
actions = torch.tensor(actions).cuda()
rewards = torch.tensor(rewards).cuda()
next_states = torch.tensor(next_states).cuda()
Q_Value = self.Critic.forward(states, action=actions)
next_actions = self.Actor_target(next_states)
next_Q = self.Critic_target.forward(next_states, next_actions.detach())
Q_prime = rewards + 0.99 * next_Q
critic_loss = self.criterion(Q_Value, Q_prime)
policy_loss = -self.Critic.forward(states,
self.Actor.forward(states)).mean()
self.actor_optimizer.zero_grad()
policy_loss.backward()
self.actor_optimizer.step()
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
for target_param, param in zip(self.Actor_target.parameters(),
self.Actor.parameters()):
target_param.data = (param.data * 1e-2 + target_param.data *
(1.0 - 1e-2))
for target_param, param in zip(self.Critic_target.parameters(),
self.Critic.parameters()):
target_param.data.copy_(param.data * 1e-2 + target_param.data *
(1.0 - 1e-2))
class DDPG():
"""Reinforcement Learning agent that learns using DDPG."""
def __init__(self, task):
self.task = task
self.state_size = task.state_size
self.action_size = task.action_size
self.action_low = task.action_low
self.action_high = task.action_high
# Actor (Policy) Model
self.actor_local = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
self.actor_target = Actor(self.state_size, self.action_size,
self.action_low, self.action_high)
# Critic (Value) Model
self.critic_local = Critic(self.state_size, self.action_size)
self.critic_target = Critic(self.state_size, self.action_size)
# Initialize target model parameters with local model parameters
self.critic_target.model.set_weights(
self.critic_local.model.get_weights())
self.actor_target.model.set_weights(
self.actor_local.model.get_weights())
# Noise process
self.exploration_mu = 0
self.exploration_theta = 0.15
self.exploration_sigma = 0.2
self.noise = OUNoise(self.action_size, self.exploration_mu,
self.exploration_theta, self.exploration_sigma)
# Replay memory
self.buffer_size = 100000
self.batch_size = 64
self.memory = ReplayBuffer(self.buffer_size, self.batch_size)
# Reward monitoring
self.best_total_reward = -np.inf
# Algorithm parameters
self.gamma = 0.99 # discount factor
self.tau = 0.01 # for soft update of target parameters
def reset_episode(self):
self.total_reward = 0.0
#self.count = 0
state = self.task.reset()
self.last_state = state
return state
def step(self, action, reward, next_state, done):
# Save experience / reward
self.memory.add(self.last_state, action, reward, next_state, done)
self.total_reward += reward
if self.total_reward > self.best_total_reward:
self.best_total_reward = self.total_reward
# Learn, if enough samples are available in memory
if len(self.memory) > self.batch_size:
experiences = self.memory.sample()
self.learn(experiences)
# Roll over last state and action
self.last_state = next_state
def act(self, state):
"""Returns actions for given state(s) as per current policy."""
state = np.reshape(state, [-1, self.state_size])
action = self.actor_local.model.predict(state)[0]
return list(action +
self.noise.sample()) # add some noise for exploration
def learn(self, experiences):
"""Update policy and value parameters using given batch of experience tuples."""
# Convert experience tuples to separate arrays for each element (states, actions, rewards, etc.)
states = np.vstack([e.state for e in experiences if e is not None])
actions = np.array([e.action for e in experiences
if e is not None]).astype(np.float32).reshape(
-1, self.action_size)
rewards = np.array([e.reward for e in experiences if e is not None
]).astype(np.float32).reshape(-1, 1)
dones = np.array([e.done for e in experiences
if e is not None]).astype(np.uint8).reshape(-1, 1)
next_states = np.vstack(
[e.next_state for e in experiences if e is not None])
# Get predicted next-state actions and Q values from target models
# Q_targets_next = critic_target(next_state, actor_target(next_state))
actions_next = self.actor_target.model.predict_on_batch(next_states)
Q_targets_next = self.critic_target.model.predict_on_batch(
[next_states, actions_next])
# Compute Q targets for current states and train critic model (local)
Q_targets = rewards + self.gamma * Q_targets_next * (1 - dones)
self.critic_local.model.train_on_batch(x=[states, actions],
y=Q_targets)
# Train actor model (local)
action_gradients = np.reshape(
self.critic_local.get_action_gradients([states, actions, 0]),
(-1, self.action_size))
self.actor_local.train_fn([states, action_gradients,
1]) # custom training function
# Soft-update target models
self.soft_update(self.critic_local.model, self.critic_target.model)
self.soft_update(self.actor_local.model, self.actor_target.model)
def soft_update(self, local_model, target_model):
"""Soft update model parameters."""
local_weights = np.array(local_model.get_weights())
target_weights = np.array(target_model.get_weights())
assert len(local_weights) == len(
target_weights
), "Local and target model parameters must have the same size"
new_weights = self.tau * local_weights + (1 -
self.tau) * target_weights
target_model.set_weights(new_weights)
import gym
import matplotlib.pyplot as plt
from Actor_Critic import Actor, Critic
GAME = 'CartPole-v0'
EPISODES = 1000
RENDER = False
env = gym.make(GAME)
env = env.unwrapped
n_states = env.observation_space.shape[0]
n_actions = env.action_space.n
actor = Actor(n_states, n_actions)
critic = Critic(n_states)
def run():
plt.ion()
total_r = 0
avg_ep_r_hist = []
for episode in range(EPISODES):
ep_r = 0
s = env.reset()
while True:
a = actor.choose_action(s)
s_, r, done, info = env.step(a)
r = -10 if done else r
batches = data_utils.batch_iter(
list(zip(all_new_select_x,all_new_select_y)),all_new_select_x.shape[0], 1,shuffle=True)
for batch in batches:
x_batch, y_batch = zip(*batch)
# print(x_batch, y_batch)
train_step(x_batch, y_batch)
if episode % 2 == 0:#在测试集上检验效果
print("\nEvaluation:")
n2,p2,acc2=dev_step(x_dev, y_dev, writer=dev_summary_writer)
print("acc_ori",acc_ori,"new_select_acc",acc2)
sess = tf.Session()
actor = Actor(sess, n_features=N_F, n_actions=N_A, lr=LR_A)
critic = Critic(sess, n_features=N_F, lr=LR_C) # we need a good teacher, so the teacher should learn faster than the actor
sess.run(tf.global_variables_initializer())
if OUTPUT_GRAPH:
tf.summary.FileWriter("logs/", sess.graph)
for i_episode in range(MAX_EPISODE):
s = env.reset()
t = 0
track_r = []
while True:
if RENDER: env.render()
a = actor.choose_action(s)
class TD3(object): # training the agent over ceratin amount of time steps.
def __init__(self, state_dim, action_dim, max_action):
self.actor = Actor(state_dim, action_dim,
max_action).to(device) # gradient descent
self.actor_target = Actor(state_dim, action_dim,
max_action).to(device) # poliac average
self.actor_target.load_state_dict(
self.actor.state_dict()) # load with parameters of actor model
self.actor_optimizer = torch.optim.Adam(self.actor.parameters())
self.critic = Critic(state_dim, action_dim).to(device)
self.critic_target = Critic(state_dim, action_dim).to(device)
self.critic_target.load_state_dict(self.critic.state_dict())
self.critic_optimizer = torch.optim.Adam(self.critic.parameters())
self.max_action = max_action
def select_action(self, state): # input of actor
state = torch.Tensor(state.reshape(1, -1)).to(
device) # in horizontal vector
# convert back to numpy for adding noise and cliping
return self.actor(state).cpu().data.numpy().flatten(
) # to forward propagation we can use cpu. flattern:to get action in 1D array
# do exploration we have policy noise, standard deviation!
# policy_freq: frequency of the delay, update the target once every iteration.
def train(self,
replay_buffer,
iterations,
batch_size=100,
discount=0.99,
tau=0.005,
policy_noise=0.2,
noise_clip=0.5,
policy_freq=2):
for it in range(iterations):
# sample a batch of transitions (s, s’, a, r) from the memory, creat 4 seperate batches:
batch_states, batch_next_states, batch_actions, batch_rewards, batch_dones = replay_buffer.sample(
batch_size)
state = torch.Tensor(batch_states).to(device)
next_state = torch.Tensor(batch_next_states).to(device)
action = torch.Tensor(batch_actions).to(device)
reward = torch.Tensor(batch_rewards).to(device)
done = torch.Tensor(batch_dones).to(device)
# From the next state s', the Actor target plays the next action a'
next_action = self.actor_target(next_state)
# add Gaussian noise to this next action a’ and we clip it in a range of values supported by the environment
noise = torch.Tensor(batch_actions).data.normal_(
0, policy_noise).to(device)
noise = noise.clamp(-noise_clip, noise_clip)
next_action = (next_action + noise).clamp(-self.max_action,
self.max_action)
# The two Critic targets take each the couple (s’, a’) as input and return two Q-values Qt1(s’,a’) and Qt2(s’,a’) as outputs:
target_Q1, target_Q2 = self.critic_target(next_state, next_action)
# keep the minimum of these two Q-values: min(Qt1, Qt2)
target_Q = torch.min(target_Q1, target_Q2)
# get the final target of the two Critic models, which is: Qt = r + γ * min(Qt1, Qt2)
target_Q = reward + ((1 - done) * discount * target_Q).detach()
# two Critic models take each the couple (s, a) as input and return two Q-values Q1(s,a) and Q2(s,a) as outputs
current_Q1, current_Q2 = self.critic(state, action)
# compute the loss coming from the two Critic models: Critic Loss = MSE_Loss(Q1(s,a), Qt) + MSE_Loss(Q2(s,a), Qt)
critic_loss = F.mse_loss(current_Q1, target_Q) + F.mse_loss(
current_Q2, target_Q)
# backpropagate this Critic loss and update the parameters of the two Critic models with a SGD optimizer
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
# every two iterations, we update our Actor model by performing gradient ascent on the output of the first Critic model
if it % policy_freq == 0:
actor_loss = -self.critic.Q1(state, self.actor(state)).mean()
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
# once every two iterations, we update the weights of the Actor target by polyak averaging
for param, target_param in zip(self.actor.parameters(),
self.actor_target.parameters()):
target_param.data.copy_(tau * param.data +
(1 - tau) * target_param.data)
# once every two iterations, we update the weights of the Critic target by polyak averaging
for param, target_param in zip(
self.critic.parameters(),
self.critic_target.parameters()):
target_param.data.copy_(tau * param.data +
(1 - tau) * target_param.data)
# save method to save a trained model
def save(self, filename, directory):
torch.save(self.actor.state_dict(),
'%s/%s_actor.pth' % (directory, filename))
torch.save(self.critic.state_dict(),
'%s/%s_critic.pth' % (directory, filename))
# load method to load a pre-trained model
def load(self, filename, directory):
self.actor.load_state_dict(
torch.load('%s/%s_actor.pth' % (directory, filename)))
self.critic.load_state_dict(
torch.load('%s/%s_critic.pth' % (directory, filename)))
import matplotlib.pyplot as plt
from Actor_Critic import Actor, Critic
GAME = 'Pendulum-v0'
EPISODES = 5000
MAX_STEP = 100
env = gym.make(GAME)
env = env.unwrapped
n_states = env.observation_space.shape[0]
n_actions = env.action_space.shape[0]
low_action_bound = env.action_space.low[0]
high_action_bound = env.action_space.high[0]
actor = Actor(n_states, n_actions, low_action_bound, high_action_bound)
critic = Critic(n_states)
def run():
plt.ion()
total_r = 0
avg_ep_r_hist = []
for episode in range(EPISODES):
ep_step = 0
s = env.reset()
while True:
a = actor.choose_action(s)
s_, r, done, info = env.step(a)
total_r += r