class Worker(object):
def __init__(self, wid):
self.wid = wid
self.env = Maze(Map)
self.ppo = GLOBAL_PPO
def work(self):
global GLOBAL_EP, GLOBAL_RUNNING_R, GLOBAL_UPDATE_COUNTER
while not COORD.should_stop():
s = self.env.reset()
ep_r = 0
buffer_s, buffer_a, buffer_r = [], [], []
t = 0
while True:
if not ROLLING_EVENT.is_set(): # while global PPO is updating
ROLLING_EVENT.wait() # wait until PPO is updated
buffer_s, buffer_a, buffer_r = [], [], [
] # clear history buffer, use new policy to collect data
a = self.ppo.choose_action(s)
baseline_a = base.choose_action(self.env, 1)
s_, r, done = self.env.step({(0, a), (1, U.ch(baseline_a))})
r = r[0]
buffer_s.append(s.flatten())
buffer_a.append(a)
buffer_r.append(r) # normalize reward, find to be useful
s = s_
ep_r += r
t += 1
#print('step : %d, reward : %d, done : %d' % (t, r, done))
GLOBAL_UPDATE_COUNTER += 1 # count to minimum batch size, no need to wait other workers
if GLOBAL_UPDATE_COUNTER >= MIN_BATCH_SIZE or done:
print(GLOBAL_EP)
if done:
v_s_ = 0 # terminal
else:
v_s_ = self.ppo.get_v(s_)
discounted_r = [] # compute discounted reward
for r in buffer_r[::-1]:
v_s_ = r + GAMMA * v_s_
discounted_r.append(v_s_)
discounted_r.reverse()
bs, ba, br = np.vstack(buffer_s), np.vstack(
buffer_a), np.array(discounted_r)[:, np.newaxis]
buffer_s, buffer_a, buffer_r = [], [], []
QUEUE.put(np.hstack((bs, ba, br))) # put data in the queue
if GLOBAL_UPDATE_COUNTER >= MIN_BATCH_SIZE or GLOBAL_EP >= EP_MAX:
print('update')
ROLLING_EVENT.clear() # stop collecting data
UPDATE_EVENT.set() # globalPPO update
if GLOBAL_EP >= EP_MAX: # stop training
COORD.request_stop()
break
if done:
# record reward changes, plot later
if len(GLOBAL_RUNNING_R) == 0:
GLOBAL_RUNNING_R.append(ep_r)
else:
GLOBAL_RUNNING_R.append(GLOBAL_RUNNING_R[-1] * 0.9 +
ep_r * 0.1)
GLOBAL_EP += 1
print(
'{0:.1f}%'.format(GLOBAL_EP / EP_MAX * 100),
'|W%i' % self.wid,
'|Ep_r: %.2f' % ep_r,
)
break
act[1]=0
else:
if(act[0]==0 and act[1]==0):
return
if(act[0]==0):
print('Wait for P0')
else: print('Wait for P1')
print('你按下了: ' + event.keysym)
if human_play:
Image.bind('<Key>', read_action)
else:
while(True):
env.reset()
stepcnt=0
start=time.time()
score=[0,0]
if(have_render):
env.render() # render
while(True):
stepcnt+=1
act[0]=baseline.choose_action(env,0)
act[1]=baseline.choose_action(env,1)
res=env.step({(0,ch(act[0])),(1,ch(act[1]))})
cv2.imshow("Image", res[0])
cv2.waitKey()
cv2.destroyAllWindows()
GLOBAL_UPDATE_COUNTER, GLOBAL_EP = 0, 0
GLOBAL_RUNNING_R = []
COORD = tf.train.Coordinator()
QUEUE = queue.Queue() # workers putting data in this queue
threads = []
for worker in workers: # worker threads
t = threading.Thread(target=worker.work, args=())
t.start() # training
threads.append(t)
# add a PPO updating thread
threads.append(threading.Thread(target=GLOBAL_PPO.update, ))
threads[-1].start()
COORD.join(threads)
print('aasdas')
env = Maze(Map)
tf.reset_default_graph()
load_PPO = PPO(Load=True)
while True:
s = env.reset()
for t in range(100):
env.render()
a = load_PPO.choose_action(s)
baseline_a = base.choose_action(env, 1)
s, r, done = env.step({(0, a), (1, U.ch(baseline_a))})
if (r[0] != -1):
print(r)
if (done):
break