def learn(self, obs, action, reward, next_obs, terminal, sample_weight):
# print("obs:",obs)
# raise NotImplementedError
# obs = layers.squeeze(input=obs,axes=[-1])
pred_value = self.model.value(obs)
action_onehot = layers.one_hot(action, self.act_dim)
pred_action_value = layers.reduce_sum(action_onehot * pred_value,
dim=1)
# calculate the target q value
next_action_value = self.model.value(next_obs)
greedy_action = layers.argmax(next_action_value, axis=-1)
greedy_action = layers.unsqueeze(greedy_action, axes=[1])
greedy_action_onehot = layers.one_hot(greedy_action, self.act_dim)
next_pred_value = self.target_model.value(next_obs)
max_v = layers.reduce_sum(greedy_action_onehot * next_pred_value,
dim=1)
max_v.stop_gradient = True
target = reward + (
1.0 - layers.cast(terminal, dtype='float32')) * self.gamma * max_v
delta = layers.abs(target - pred_action_value)
cost = sample_weight * layers.square_error_cost(
pred_action_value, target)
cost = layers.reduce_mean(cost)
optimizer = fluid.optimizer.Adam(learning_rate=self.lr, epsilon=1e-3)
optimizer.minimize(cost)
return cost, delta
def learn(self,
obs,
action,
reward,
next_obs,
terminal,
learning_rate=None):
""" update value model self.model with DQN algorithm
"""
# Support the modification of learning_rate
if learning_rate is None:
assert isinstance(
self.lr,
float), "Please set the learning rate of DQN in initializaion."
learning_rate = self.lr
pred_value = self.model.value(obs)
next_pred_value = self.target_model.value(next_obs)
best_v = layers.reduce_max(next_pred_value, dim=1)
best_v.stop_gradient = True
target = reward + (
1.0 - layers.cast(terminal, dtype='float32')) * self.gamma * best_v
action_onehot = layers.one_hot(action, self.act_dim)
action_onehot = layers.cast(action_onehot, dtype='float32')
pred_action_value = layers.reduce_sum(
layers.elementwise_mul(action_onehot, pred_value), dim=1)
cost = layers.square_error_cost(pred_action_value, target)
cost = layers.reduce_mean(cost)
optimizer = fluid.optimizer.Adam(
learning_rate=learning_rate, epsilon=1e-3)
optimizer.minimize(cost)
return cost
def logp(self, actions, eps=1e-6):
"""
Args:
actions: An int64 tensor with shape [BATCH_SIZE]
eps: A small float constant that avoids underflows when computing the log probability
Returns:
actions_log_prob: A float32 tensor with shape [BATCH_SIZE]
"""
assert len(actions.shape) == 1
logits = self.logits - layers.reduce_max(self.logits, dim=1)
e_logits = layers.exp(logits)
z = layers.reduce_sum(e_logits, dim=1)
prob = e_logits / z
actions = layers.unsqueeze(actions, axes=[1])
actions_onehot = layers.one_hot(actions, prob.shape[1])
actions_onehot = layers.cast(actions_onehot, dtype='float32')
actions_prob = layers.reduce_sum(prob * actions_onehot, dim=1)
actions_prob = actions_prob + eps
actions_log_prob = layers.log(actions_prob)
return actions_log_prob
def cal_bellman_residual(self, obs, action, reward, next_obs, terminal):
""" use self.model to get squared Bellman residual with fed data
"""
pred_value = self.model.value(obs)
next_pred_value = self.target_model.value(next_obs)
best_v = layers.reduce_max(next_pred_value, dim=1)
best_v.stop_gradient = True
target = reward + (
1.0 - layers.cast(terminal, dtype='float32')) * self.gamma * best_v
action_onehot = layers.one_hot(action, self.act_dim)
action_onehot = layers.cast(action_onehot, dtype='float32')
pred_action_value = layers.reduce_sum(
layers.elementwise_mul(action_onehot, pred_value), dim=1)
cost = layers.square_error_cost(pred_action_value, target)
cost = layers.reduce_mean(cost)
return cost
def learn(self, obs, action, reward, next_obs, terminal, sample_weight):
""" update value model self.model with DQN algorithm
"""
pred_value = self.model.value(obs)
next_pred_value = self.target_model.value(next_obs)
best_v = layers.reduce_max(next_pred_value, dim=1)
best_v.stop_gradient = True
target = reward + (
1.0 - layers.cast(terminal, dtype='float32')) * self.gamma * best_v
action_onehot = layers.one_hot(action, self.act_dim)
action_onehot = layers.cast(action_onehot, dtype='float32')
pred_action_value = layers.reduce_sum(action_onehot * pred_value,
dim=1)
delta = layers.abs(target - pred_action_value)
cost = sample_weight * layers.square_error_cost(
pred_action_value, target)
cost = layers.reduce_mean(cost)
optimizer = fluid.optimizer.Adam(learning_rate=self.lr, epsilon=1e-3)
optimizer.minimize(cost)
return cost, delta # `delta` is the TD-error
