new_states = np.asarray([e[3] for e in batch])
dones = np.asarray([e[4] for e in batch])
y_t = np.asarray([e[1] for e in batch])
target_q = critic.target_model.predict([new_states, actor.target_model.predict(new_states)])
for k in range(len(batch)):
if dones[k]:
y_t[k] = reward[k]
else:
y_t[k] = reward[k] + gamma*target_q[k]
loss += critic.model.train_on_batch([states,actions], y_t)
a_for_grad = actor.model.predict(states)
grads = critic.gradients(states,a_for_grad)
actor.update_network(states,grads)
actor.update_target_network()
critic.update_target_network()
total_reward += r
s_t = s2_t
if done:
print 'episode: ' + str(i) + ' reward: ' + str(total_reward) + ' loss: ' + str(loss)
if total_reward >= best_r:
best_r = total_reward
actor.model.save_weights('episode'+str(i)+'.hdf5', overwrite=True)
#actor.model.save_weights('actor_weight.hdf5', overwrite=True)
#critic.model.save_weights('critic_weight.hdf5', overwrite=True)
class DDPG:
"""docstring for DDPG"""
def __init__(self, env):
self.name = 'DDPG' # name for uploading results
self.environment = env
# Randomly initialize actor network and critic network
# with both their target networks
self.state_dim = env.observation_space.shape[0]
self.action_dim = env.action_space.shape[0]
self.sess = tf.Session()
self.actor_network = ActorNetwork(self.sess, self.state_dim,
self.action_dim)
self.critic_network = CriticNetwork(self.sess, self.state_dim,
self.action_dim)
# initialize replay buffer
self.replay_buffer = ReplayBuffer(REPLAY_BUFFER_SIZE)
# Initialize a random process the Ornstein-Uhlenbeck process for action exploration
self.exploration_noise = OUNoise(self.action_dim)
self.sess.run(tf.global_variables_initializer())
#target_param <- eval_param
self.actor_network.update_target()
self.critic_network.update_target()
def train(self):
#print "train step",self.time_step
# Sample a random minibatch of N transitions from replay buffer
minibatch = self.replay_buffer.sample(BATCH_SIZE)
state_batch = np.asarray([data[0] for data in minibatch])
action_batch = np.asarray([data[1] for data in minibatch])
reward_batch = np.asarray([data[2] for data in minibatch])
next_state_batch = np.asarray([data[3] for data in minibatch])
done_batch = np.asarray([data[4] for data in minibatch])
# for action_dim = 1
action_batch = np.resize(action_batch, [BATCH_SIZE, self.action_dim])
# Calculate y_batch
next_action_batch = self.actor_network.target_actions(next_state_batch)
q_value_batch = self.critic_network.target_q(next_state_batch,
next_action_batch)
y_batch = []
for i in range(len(minibatch)):
if done_batch[i]:
y_batch.append(reward_batch[i])
else:
y_batch.append(reward_batch[i] + GAMMA * q_value_batch[i])
y_batch = np.resize(y_batch, [BATCH_SIZE, 1])
# Update critic by minimizing the loss L
self.critic_network.train(y_batch, state_batch, action_batch)
# Update the actor policy using the sampled gradient:
action_batch_for_gradients = self.actor_network.actions(state_batch)
q_gradient_batch = self.critic_network.gradients(
state_batch, action_batch_for_gradients)
self.actor_network.train(q_gradient_batch, state_batch)
# Update the target networks
self.actor_network.update_target()
self.critic_network.update_target()
def noise_action(self, state):
# Select action a_t according to the current policy and exploration noise
action = self.actor_network.action(state)
return action + self.exploration_noise.noise()
def action(self, state):
action = self.actor_network.action(state)
return action
def perceive(self, state, action, reward, next_state, done):
# Store transition (s_t,a_t,r_t,s_{t+1}) in replay buffer
self.replay_buffer.add(state, action, reward, next_state, done)
# Store transitions to replay start size then start training
if self.replay_buffer.size > REPLAY_START_SIZE:
self.train()
#if self.time_step % 10000 == 0:
#self.actor_network.save_network(self.time_step)
#self.critic_network.save_network(self.time_step)
# Re-iniitialize the random process when an episode ends
if done:
self.exploration_noise.reset()
# estimate TD-error td_error = v_target - critic.model.predict(state_action)[0] # check data type if type(v_target) is not np.ndarray: v_target = np.asarray([v_target]) # minibatch BATCH = np.vstack( (BATCH, [st, act, state_action, v_target]) ) if BATCH.shape[0] > 5: batch = # train critic model based on TD error critic.model.fit(state_action, v_target, epochs=1, verbose=0) # estimate action gradients grads = critic.gradients(st, act) # train actor network based on gradients actor.train(st, grads) # next transition state = next_state # reset episode if done: #print state, action, actor.model.predict(st)[0] #if reward == 1: # print "SUCCESS " + str(critic.model.predict(state_action)[0]) + ' ' + str(v_target) #else: # print "FAILURE " + str(critic.model.predict(state_action)[0]) + ' ' + str(v_target) break