def init(self, net_dim, state_dim, action_dim): # explict call self.init() for multiprocessing
self.action_dim = action_dim
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.cri = QNet(net_dim, state_dim, action_dim).to(self.device)
self.cri_target = QNet(net_dim, state_dim, action_dim).to(self.device)
self.act = self.cri # to keep the same from Actor-Critic framework
self.cri_optimizer = torch.optim.Adam(self.cri.parameters(), lr=self.learning_rate)
def __init__(self, net_dim, state_dim, action_dim, learning_rate=1e-4):
self.explore_rate = 0.1 # the probability of choosing action randomly in epsilon-greedy
self.action_dim = action_dim
self.state = None # set for self.update_buffer(), initialize self.state before training
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.act = QNet(net_dim, state_dim, action_dim).to(self.device)
self.act_target = deepcopy(self.act)
self.criterion = torch.torch.nn.SmoothL1Loss()
self.optimizer = torch.optim.Adam(self.act.parameters(),
lr=learning_rate)
class AgentDQN:
def __init__(self, net_dim, state_dim, action_dim, learning_rate=1e-4):
self.explore_rate = 0.1 # the probability of choosing action randomly in epsilon-greedy
self.action_dim = action_dim
self.state = None # set for self.update_buffer(), initialize self.state before training
self.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu")
self.act = QNet(net_dim, state_dim, action_dim).to(self.device)
self.act_target = deepcopy(self.act)
self.criterion = torch.torch.nn.SmoothL1Loss()
self.optimizer = torch.optim.Adam(self.act.parameters(),
lr=learning_rate)
def select_actions(self, states): # for discrete action space
if rd.rand() < self.explore_rate: # epsilon-greedy
a_int = rd.randint(
self.action_dim,
size=(len(states), )) # choosing action randomly
else:
states = torch.as_tensor(states,
dtype=torch.float32,
device=self.device)
actions = self.act(states)
a_int = actions.argmax(dim=1).detach().cpu().numpy()
return a_int
def update_buffer(self, env, buffer, max_step, reward_scale, gamma):
for _ in range(max_step):
action = self.select_actions((self.state, ))[0]
next_s, reward, done, _ = env.step(action)
other = (reward * reward_scale, 0.0 if done else gamma, action
) # action is an int
buffer.append_memo(self.state, other)
self.state = env.reset() if done else next_s
return max_step
def update_net(self, buffer, max_step, batch_size, repeat_times):
buffer.update__now_len__before_sample()
next_q = obj_critic = None
for _ in range(int(max_step * repeat_times)):
with torch.no_grad():
reward, mask, action, state, next_s = buffer.random_sample(
batch_size) # next_state
next_q = self.act_target(next_s).max(dim=1, keepdim=True)[0]
q_label = reward + mask * next_q
q_eval = self.act(state).gather(1, action.type(torch.long))
obj_critic = self.criterion(q_eval, q_label)
self.optimizer.zero_grad()
obj_critic.backward()
self.optimizer.step()
soft_target_update(self.act_target, self.act, tau=5e-3)
return next_q.mean().item(), obj_critic.item() #
class AgentDQN(AgentBase):
def __init__(self):
super().__init__()
self.explore_rate = 0.1 # the probability of choosing action randomly in epsilon-greedy
self.action_dim = None # chose discrete action randomly in epsilon-greedy
def init(self, net_dim, state_dim, action_dim): # explict call self.init() for multiprocessing
self.action_dim = action_dim
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.cri = QNet(net_dim, state_dim, action_dim).to(self.device)
self.cri_target = QNet(net_dim, state_dim, action_dim).to(self.device)
self.act = self.cri # to keep the same from Actor-Critic framework
self.cri_optimizer = torch.optim.Adam(self.cri.parameters(), lr=self.learning_rate)
def select_action(self, state) -> int: # for discrete action space
if rd.rand() < self.explore_rate: # epsilon-greedy
a_int = rd.randint(self.action_dim)
else:
states = torch.as_tensor((state,), dtype=torch.float32, device=self.device).detach_()
action = self.act(states)[0]
a_int = action.argmax().cpu().numpy()
return a_int
def explore_env(self, env, buffer, target_step, reward_scale, gamma) -> int:
for _ in range(target_step):
action = self.select_action(self.state)
next_s, reward, done, _ = env.step(action)
other = (reward * reward_scale, 0.0 if done else gamma, action) # action is an int
buffer.append_buffer(self.state, other)
self.state = env.reset() if done else next_s
return target_step
def update_net(self, buffer, target_step, batch_size, repeat_times) -> (float, float):
buffer.update_now_len_before_sample()
q_value = obj_critic = None
for _ in range(int(target_step * repeat_times)):
obj_critic, q_value = self.get_obj_critic(buffer, batch_size)
self.cri_optimizer.zero_grad()
obj_critic.backward()
self.cri_optimizer.step()
self.soft_update(self.cri_target, self.cri, self.soft_update_tau)
return q_value.mean().item(), obj_critic.item()
def get_obj_critic(self, buffer, batch_size) -> (torch.Tensor, torch.Tensor):
with torch.no_grad():
reward, mask, action, state, next_s = buffer.sample_batch(batch_size)
next_q = self.cri_target(next_s, self.act_target(next_s))
q_label = reward + mask * next_q
q_value = self.cri(state).gather(1, action.type(torch.long))
obj_critic = self.criterion(q_value, q_label)
return obj_critic, q_value
class AgentDQN:
def __init__(self):
super().__init__()
self.explore_rate = 0.1 # the probability of choosing action randomly in epsilon-greedy
self.action_dim = None # chose discrete action randomly in epsilon-greedy
self.learning_rate = 1e-4
self.soft_update_tau = 2 ** -8 # 5e-3 ~= 2 ** -8
self.state = None # set for self.update_buffer(), initialize before training
self.device = None
self.cri = self.cri_target = None
self.act = self.cri # to keep the same from Actor-Critic framework
self.criterion = None
self.optimizer = None
def init(self, net_dim, state_dim, action_dim): # explict call self.init() for multiprocessing
self.action_dim = action_dim
self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
self.cri = QNet(net_dim, state_dim, action_dim).to(self.device)
self.cri_target = deepcopy(self.cri)
self.act = self.cri # to keep the same from Actor-Critic framework
self.criterion = torch.torch.nn.MSELoss()
self.optimizer = torch.optim.Adam(self.cri.parameters(), lr=self.learning_rate)
def select_actions(self, states): # for discrete action space
if rd.rand() < self.explore_rate: # epsilon-greedy
a_int = rd.randint(self.action_dim, size=(len(states),)) # choosing action randomly
else:
states = torch.as_tensor(states, dtype=torch.float32, device=self.device)
actions = self.act(states)
a_int = actions.argmax(dim=1).detach().cpu().numpy()
return a_int
def store_transition(self, env, buffer, target_step, reward_scale, gamma):
for _ in range(target_step):
action = self.select_actions((self.state,))[0]
next_s, reward, done, _ = env.step(action)
other = (reward * reward_scale, 0.0 if done else gamma, action) # action is an int
buffer.append_buffer(self.state, other)
self.state = env.reset() if done else next_s
return target_step
def update_net(self, buffer, max_step, batch_size, repeat_times):
buffer.update__now_len__before_sample()
next_q = obj_critic = None
for _ in range(int(max_step * repeat_times)):
with torch.no_grad():
reward, mask, action, state, next_s = buffer.sample_batch(batch_size) # next_state
next_q = self.cri_target(next_s).max(dim=1, keepdim=True)[0]
q_label = reward + mask * next_q
q_eval = self.cri(state).gather(1, action.type(torch.long))
obj_critic = self.criterion(q_eval, q_label)
self.optimizer.zero_grad()
obj_critic.backward()
self.optimizer.step()
self.soft_update(self.cri_target, self.cri)
return next_q.mean().item(), obj_critic.item()
def soft_update(self, target_net, current_net):
for tar, cur in zip(target_net.parameters(), current_net.parameters()):
tar.data.copy_(cur.data * self.soft_update_tau + tar.data * (1 - self.soft_update_tau))