if done:
break
writer.add_scalar('reward/train', episode_reward, i_episode)
# Update param_noise based on distance metric
if args.param_noise:
episode_transitions = memory.memory[memory.position -
t:memory.position]
states = torch.cat(
[transition[0] for transition in episode_transitions], 0)
unperturbed_actions = agent.select_action(states, None, None)
perturbed_actions = torch.cat(
[transition[1] for transition in episode_transitions], 0)
ddpg_dist = ddpg_distance_metric(perturbed_actions.numpy(),
unperturbed_actions.numpy())
param_noise.adapt(ddpg_dist)
rewards.append(episode_reward)
if i_episode % 10 == 0:
state = torch.Tensor([env.reset()])
episode_reward = 0
while True:
action = agent.select_action(state)
next_state, reward, done, _ = env.step(action.numpy()[0])
episode_reward += reward
next_state = torch.Tensor([next_state])
state = next_state
def generate_B(self,
coff,
gamma,
tau,
hidden_size,
num_inputs,
actor_size,
num_episodes=60000,
exploration_end=150,
batch_size=512,
updates_per_step=5000):
self.env = QuantizationEnv(self.C, self.b, self.x, self.hd, coff)
self.agent = DDPG(gamma, tau, hidden_size, self.env.action_bin,
num_inputs, actor_size)
rewards = []
total_numsteps = 0
updates = 0
max_trail = 10000
best_bb = 10000
# 开启num_episodes次最佳方案寻找
for i_episode in range(num_episodes):
state = torch.Tensor([self.env.reset()])
if self.ou_noise:
self.ounoise.scale = (self.noise_scale - self.final_noise_scale) * max(0, exploration_end - i_episode) \
/ exploration_end + self.final_noise_scale
self.ounoise.reset()
if self.param_noise:
self.agent.perturb_actor_parameters(self.param_noise)
episode_reward = 0
continuous_neg = 0
continuous_pos = 0
temp_trail = 0
control_bit = 0
next_state = self.env.compute_Cbx(self.b)
next_state = torch.Tensor([next_state])
while True:
# yyj
if control_bit > 15:
control_bit = control_bit % 16
state = next_state
action = self.agent.select_action(state, self.ounoise,
self.param_noise)
next_state, reward, done, bb = self.env.step(
action, control_bit, self.actor_size)
# print(control_bit, next_state[0], reward, done, bb)
control_bit = control_bit + 1
total_numsteps += 1
episode_reward += reward
# bb是c_v值
if best_bb > bb:
best_bb = bb
self.new_b = action
if reward > 0:
continuous_pos += 1
continuous_neg = 0
if continuous_pos > 10:
done = True
if reward < 0:
continuous_neg += 1
continuous_pos = 0
if continuous_neg > 10:
done = True
if temp_trail > max_trail:
done = True
action = torch.Tensor(action)
mask = torch.Tensor([not done])
next_state = torch.Tensor([next_state])
reward = torch.Tensor([reward])
self.memory.push(state, action, mask, next_state, reward)
# state = next_state
temp_trail += 1
# memorysize还不够，不会进入
if len(self.memory) > batch_size:
for _ in range(updates_per_step):
transitions = self.memory.sample(1)
batch = Transition(*zip(*transitions))
# value_loss属于右边的网络，policy_loss属于左边的网络
value_loss, policy_loss = self.agent.update_parameters(
batch)
print("epoch:", i_episode, "updates", updates,
"value_loss:", value_loss, " policy_loss:",
policy_loss)
updates += 1
if done:
break
if self.param_noise:
episode_transitions = self.memory.memory[self.memory.position -
batch_size:self.
memory.position]
states = torch.cat(
[transition[0] for transition in episode_transitions], 0)
unperturbed_actions = self.agent.select_action(
states, None, None)
perturbed_actions = torch.cat(
[transition[1] for transition in episode_transitions], 0)
ddpg_dist = ddpg_distance_metric(perturbed_actions.numpy(),
unperturbed_actions.numpy())
self.param_noise.adapt(ddpg_dist)
rewards.append(episode_reward)
continuous_neg = 0
continuous_pos = 0
temp_trail = 0
if i_episode % 10 == 0 and i_episode != 0:
state = torch.Tensor([self.env.reset()])
episode_reward = 0
control_bit = 0
while True:
action = self.agent.select_action(state)
next_state, reward, done, bb = self.env.step(
action.numpy()[0], control_bit)
episode_reward += reward
if best_bb > bb:
best_bb = bb
self.new_b = action
if reward > 0:
continuous_pos += 1
continuous_neg = 0
if continuous_pos > 10:
done = True
if reward < 0:
continuous_neg += 1
continuous_pos = 0
if continuous_neg > 10:
done = True
if temp_trail > max_trail:
done = True
next_state = torch.Tensor([next_state])
state = next_state
temp_trail += 1
if done:
break
rewards.append(episode_reward)
print(
"Episode: {}, total numsteps: {}, reward: {}, average reward: {}"
.format(i_episode, total_numsteps, rewards[-1],
np.mean(rewards[-10:])))
return self.new_b
writer.add_scalar('loss/policy', policy_loss, updates)
updates += 1
if done:
break
writer.add_scalar('reward/train', episode_reward, i_episode)
# Update param_noise based on distance metric
if args.param_noise:
episode_transitions = memory.memory[memory.position-t:memory.position]
states = torch.cat([transition[0] for transition in episode_transitions], 0)
unperturbed_actions = agent.select_action(states, None, None)
perturbed_actions = torch.cat([transition[1] for transition in episode_transitions], 0)
ddpg_dist = ddpg_distance_metric(perturbed_actions.numpy(), unperturbed_actions.numpy())
param_noise.adapt(ddpg_dist)
rewards.append(episode_reward)
if i_episode % 10 == 0:
state = torch.Tensor([env.reset()])
episode_reward = 0
while True:
action = agent.select_action(state)
next_state, reward, done, _ = env.step(action.numpy()[0])
episode_reward += reward
next_state = torch.Tensor([next_state])
state = next_state
def main():
agent_vehicle = NAF(args.gamma, args.tau, args.hidden_size,
env.observation_space, env.vehicle_action_space)
agent_attacker = NAF(args.gamma, args.tau, args.hidden_size,
env.observation_space, env.attacker_action_space)
vehicle_memory = ReplayMemory(1000000)
attacker_memory = ReplayMemory(1000000)
vehicle_ounoise = OUNoise(env.vehicle_action_space) if args.ou_noise else None
attacker_ounoise = OUNoise(env.attacker_action_space) if args.ou_noise else None
param_noise_vehicle = AdaptiveParamNoiseSpec(initial_stddev=0.05,
desired_action_stddev=args.noise_scale,
adaptation_coefficient=1.05) if args.param_noise else None
param_noise_attacker = AdaptiveParamNoiseSpec(initial_stddev=0.05,
desired_action_stddev=args.noise_scale,
adaptation_coefficient=1.05) if args.param_noise else None
rewards = []
total_numsteps = 0
updates = 0
for i_episode in range(args.num_episodes):
state = torch.Tensor([[env.reset()]]) # 4-dimensional velocity observation
if args.ou_noise:
vehicle_ounoise.scale = (args.noise_scale - args.final_noise_scale) * max(0, args.exploration_end -
i_episode) / args.exploration_end + args.final_noise_scale
vehicle_ounoise.reset()
attacker_ounoise.scale = (args.noise_scale - args.final_noise_scale) * max(0, args.exploration_end -
i_episode) / args.exploration_end + args.final_noise_scale
attacker_ounoise.reset()
episode_reward = 0
while True:
action_vehicle = agent_vehicle.select_action(state, vehicle_ounoise, param_noise_vehicle)
action_attacker = agent_attacker.select_action(state, attacker_ounoise, param_noise_attacker)
next_state, reward, done = env.step(action_vehicle.numpy()[0], action_attacker.numpy()[0])
total_numsteps += 1
episode_reward += reward
action_vehicle = torch.Tensor(action_vehicle)
action_attacker = torch.Tensor(action_attacker)
mask = torch.Tensor([not done])
next_state = torch.Tensor([next_state])
reward_vehicle = torch.Tensor([-reward])
reward_attacker = torch.Tensor([env.RC+reward])
vehicle_memory.push(state, action_vehicle, mask, next_state, reward_vehicle)
attacker_memory.push(state, action_attacker, mask, next_state, reward_attacker)
state = next_state
if len(vehicle_memory) > args.batch_size:
for _ in range(args.updates_per_step):
transitions_vehicle = vehicle_memory.sample(args.batch_size)
batch_vehicle = Transition(*zip(*transitions_vehicle))
transition_attacker = attacker_memory.sample(args.batch_size)
batch_attacker = Transition(*zip(*transition_attacker))
value_loss_1, policy_loss_1 = agent_vehicle.update_parameters(batch_vehicle)
value_loss_2, policy_loss_2 = agent_attacker.update_parameters(batch_attacker)
# writer.add_scalar('loss/value', value_loss, updates)
# writer.add_scalar('loss/policy', policy_loss, updates)
updates += 1
if done:
break
# writer.add_scalar('reward/train', episode_reward, i_episode)
# Update param_noise based on distance metric
if args.param_noise:
episode_transitions_vehicle = vehicle_memory.memory[vehicle_memory.position - t:vehicle_memory.position]
states_vehicle = torch.cat([transition[0] for transition in episode_transitions_vehicle], 0)
unperturbed_actions_vehicle = agent_vehicle.select_action(states_vehicle, None, None)
perturbed_actions_vehicle = torch.cat([transition[1] for transition in episode_transitions_vehicle], 0)
ddpg_dist_vehicle = ddpg_distance_metric(perturbed_actions_vehicle.numpy(), unperturbed_actions_vehicle.numpy())
param_noise_vehicle.adapt(ddpg_dist_vehicle)
episode_transitions_attacker = attacker_memory.memory[attacker_memory.position - t:attacker_memory.position]
states_attacker = torch.cat([transition[0] for transition in episode_transitions_attacker], 0)
unperturbed_actions_attacker = agent_attacker.select_action(states_attacker, None, None)
perturbed_actions_attacker = torch.cat([transition[1] for transition in episode_transitions_attacker], 0)
ddpg_dist_attacker = ddpg_distance_metric(perturbed_actions_attacker.numpy(), unperturbed_actions_attacker.numpy())
param_noise_attacker.adapt(ddpg_dist_attacker)
rewards.append(episode_reward)
if i_episode % 10 == 0:
state = torch.Tensor([[env.reset()]])
episode_reward = 0
while True:
action_vehicle = agent_vehicle.select_action(state, vehicle_ounoise, param_noise_vehicle)
action_attacker = agent_attacker.select_action(state, attacker_ounoise, param_noise_attacker)
next_state, reward, done = env.step(action_vehicle.numpy()[0], action_attacker.numpy()[0])
episode_reward += reward
next_state = torch.Tensor([[next_state]])
state = next_state
if done:
break
# writer.add_scalar('reward/test', episode_reward, i_episode)
rewards.append(episode_reward)
print("Episode: {}, total numsteps: {}, reward: {}, average reward: {}".format(i_episode, total_numsteps,
rewards[-1],
np.mean(rewards[-10:])))
env.close()
