def __init__(self, goal_theta_num=0, goal_theta_den=1):
self.goal_theta_num = goal_theta_num
self.goal_theta_den = goal_theta_den
self.goal_theta = goal_theta_num / goal_theta_den
self.env = PendulumEnv(goal_theta=self.goal_theta)
self.save_directory = 'saved_policies'
self.epsilon = .2
self.gamma = .99
self.num_avail_actions = 31
self.num_avail_positions = 51
self.num_avail_velocities = 51
self.thetas = np.linspace(-self.env.angle_limit, self.env.angle_limit, self.num_avail_positions)
self.theta_dots = np.linspace(-self.env.max_speed, self.env.max_speed, self.num_avail_velocities)
self.actions = np.linspace(-self.env.max_torque, self.env.max_torque, self.num_avail_actions)
self.q_matrix = np.zeros((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
))
self.converge_threshold = 0.05 # % of q-value that dq must be close to to be considered converged
self.perc_conv_thresh = 0.8 # % of q-values that must pass the convergence threshold
self.percent_converged = 0
self.percent_unexplored = 0
self.prev_q_matrix = np.zeros((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
)) # previous q-matrix
self.dq_matrix = 100 * np.ones((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
)) # delta-q matrix, tracks amount each weight is being updated
self.data = dict()
self.start_time = 0
self.total_time = 0
self.ep_rewards = []
self.perc_unexplored_arr = []
self.perc_conv_arr = []
def __init__(self, data_dictionary=None, policy_name=None, policy_directory=None):
self.save_directory = 'rory_data'
self.trainer = QLearning()
self.data = data_dictionary
self.num_actions = self.trainer.num_avail_actions
self.num_positions = self.trainer.num_avail_positions
self.num_velocities = self.trainer.num_avail_velocities
if data_dictionary is None:
if policy_directory is None:
self.load_directory = self.trainer.save_directory
else:
self.load_directory = policy_directory
if policy_name is None:
self.policy_name = self.grab_newest_policy()
else:
self.policy_name = policy_name
# goal_theta_num, goal_theta_den = self.get_goal_theta(self.policy_name)
# self.goal_theta = goal_theta_num / goal_theta_den
self.goal_theta = np.pi / 4
self.file = os.path.join(self.load_directory, self.policy_name)
self.policy = self.load_policy()
self.data = dict()
else:
self.goal_theta = self.data['goal_theta']
self.policy = self.data['policy']
self.file = self.data['fname']
self.policy_name = self.file
self.env = PendulumEnv(goal_theta=self.goal_theta)
self.thetas = np.linspace(-self.env.angle_limit, self.env.angle_limit, self.num_positions)
self.theta_dots = np.linspace(-self.env.max_speed, self.env.max_speed, self.num_velocities)
self.actions = np.linspace(-self.env.max_torque, self.env.max_torque, self.num_actions)
self.dummy_q = self.trainer.q_matrix
self.num_useful_actions = 0
self.torques = []
self.theta_errors = []
def __init__(self):
self.env = PendulumEnv()
self.env.reset()
self.action_number = 101
self.state_space = 2
self.epsilon = 0.2
self.bias = 0
self.gamma = 0.99
min_torque = -self.env.max_torque
max_torque = self.env.max_torque
self.actions = []
for i in range(self.action_number):
self.actions.append(min_torque + (max_torque - min_torque) /
(self.action_number - 1) * i)
print(self.actions)
self.weight_matrix = np.zeros((len(self.actions), self.state_space))
def render_test(torque_type=0):
'''
torque_types:
- 0 : square wave torque to make the pendulum oscillate back and forth
- 1 : some constant value torque
- 2 (or anything else) : random torque
'''
env = PendulumEnv()
env.reset()
at_rest = True
try:
for _ in range(500):
env.render()
if torque_type == 0:
if env.state[0] == env.angle_limit and at_rest:
val = env.max_torque
at_rest = False
elif env.state[0] == -env.angle_limit and at_rest:
val = -env.max_torque
at_rest = False
if abs(env.state[0]) == env.angle_limit and not at_rest:
at_rest = True
u = np.array([val]).astype(env.action_space.dtype)
elif torque_type == 1:
val = -43
u = np.array([val]).astype(env.action_space.dtype)
else:
u = env.action_space.sample()
info = env.step(u)
# print(info)
# print(env.state[0]) # print angular position
print(env.state[1]) # print angular velocity
time.sleep(.1)
except KeyboardInterrupt:
pass
env.close()
def main():
dummy_env = PendulumEnv()
start_pos = dummy_env.angle_limit
pol_dir = 'saved_policies'
fname = 'interp316_pi84.npy'
sim = Simulator(policy_directory=pol_dir, policy_name=fname)
sim.simulate(ep_num=1, iter_num=200, start_pos=start_pos, start_vel=0)
sim.save_precious_simulated_data()
def __init__(self, netsize, Nsensors=1, Nmotors=1): # Create ising model
self.size = netsize #Network size
self.Ssize = Nsensors # Number of sensors
self.Msize = Nmotors # Number of sensors
self.h = np.zeros(netsize)
self.J = np.zeros((netsize, netsize))
self.max_weights = 2
self.randomize_state()
self.env = PendulumEnv()
self.observation = self.env.reset()
self.Beta = 1.0
self.defaultT = max(100, netsize * 20)
self.Ssize1 = 0
self.maxspeed = self.env.max_speed
self.Update(-1)
class QLearning():
def __init__(self, goal_theta_num=0, goal_theta_den=1):
self.goal_theta_num = goal_theta_num
self.goal_theta_den = goal_theta_den
self.goal_theta = goal_theta_num / goal_theta_den
self.env = PendulumEnv(goal_theta=self.goal_theta)
self.save_directory = 'saved_policies'
self.epsilon = .2
self.gamma = .99
self.num_avail_actions = 31
self.num_avail_positions = 51
self.num_avail_velocities = 51
self.thetas = np.linspace(-self.env.angle_limit, self.env.angle_limit, self.num_avail_positions)
self.theta_dots = np.linspace(-self.env.max_speed, self.env.max_speed, self.num_avail_velocities)
self.actions = np.linspace(-self.env.max_torque, self.env.max_torque, self.num_avail_actions)
self.q_matrix = np.zeros((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
))
self.converge_threshold = 0.05 # % of q-value that dq must be close to to be considered converged
self.perc_conv_thresh = 0.8 # % of q-values that must pass the convergence threshold
self.percent_converged = 0
self.percent_unexplored = 0
self.prev_q_matrix = np.zeros((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
)) # previous q-matrix
self.dq_matrix = 100 * np.ones((
self.num_avail_actions,
self.num_avail_positions,
self.num_avail_velocities
)) # delta-q matrix, tracks amount each weight is being updated
self.data = dict()
self.start_time = 0
self.total_time = 0
self.ep_rewards = []
self.perc_unexplored_arr = []
self.perc_conv_arr = []
def getQMatrixIdx(self, th, thdot, torque):
thIdx = np.abs(self.thetas - th).argmin()
thdotIdx = np.abs(self.theta_dots - thdot).argmin()
torIdx = np.abs(self.actions - torque).argmin()
return torIdx, thIdx, thdotIdx
def getMaxQValue(self, th, thdot):
# returns the depth index for given th,thdot state where torque is highest
maxQValIdx = self.q_matrix[:, th, thdot].argmax()
maxQVal = self.q_matrix[maxQValIdx, th, thdot]
return maxQValIdx, maxQVal
def get_action(self, th, thdot):
random_float = random.random()
if (random_float < self.epsilon): # if a random float is less than our epsilon, explore a random action
chosen_idx = np.random.randint(0, self.num_avail_actions)
else: # if the random float is not less than epsilon, exploit the policy
_, thIdx, thdotIdx = self.getQMatrixIdx(th, thdot, 0)
chosen_idx, _ = self.getMaxQValue(thIdx, thdotIdx)
action = self.actions[chosen_idx]
u = np.array([action]).astype(self.env.action_space.dtype)
return u
def check_converged(self):
# total number of elements
total_elements = self.q_matrix.size
percent_changed = np.divide(self.dq_matrix, self.q_matrix,
out=np.ones(self.q_matrix.shape),
where=self.q_matrix != 0)
# compute the number of 'converged' q-values
num_converged = (percent_changed < self.converge_threshold).sum()
# percentage of converged q-values
self.percent_converged = num_converged / total_elements
self.percent_unexplored = (self.dq_matrix == 100).sum() / self.dq_matrix.size
if self.percent_converged >= self.perc_conv_thresh:
return True
else:
return False
def get_convergence_stats(self):
# returns a dictionary where the keys are threshold values (from [0-0.95] in 0.05 step size)
# and the values are the percentage of the q-matrix that meets this threshold of convergence
conv_stats = dict()
total_elements = self.q_matrix.size
conv_threshold = 0.05
for i in range(20):
new_threshold = (conv_threshold * i)
percent_changed = np.divide(self.dq_matrix, self.q_matrix,
out=np.ones(self.q_matrix.shape),
where=self.q_matrix != 0)
# compute the number of 'converged' q-values
num_converged = (percent_changed < new_threshold).sum()
# percentage of converged q-values
percent_converged = num_converged / total_elements
conv_stats[new_threshold] = percent_converged
return conv_stats
def train(self, episodes=15000, max_iterations=100000, l_rate=0.1):
self.start_time = time.time()
for episode_num in range(episodes):
self.episodes = episode_num
self.iterations = max_iterations
self.l_rate = l_rate
# reset the environment and declare th,thdot
th, thdot = self.env.reset()
iter_count = -1
total_reward = 0
while(not self.env.is_done and iter_count < max_iterations):
iter_count += 1
# select a new action to take
u = self.get_action(th, thdot)
# find the current indecies in the self.weights_matrix so that we can update the weight for this action : th,thdot,u
currTorIdx, currThIdx, currThdotIdx = self.getQMatrixIdx(th, thdot, u)
# find next state corresponding to chosen action
nextTh, nextThdot, reward = self.env.step(u)
total_reward += reward
_, nextThIdx, nextThdotIdx = self.getQMatrixIdx(nextTh, nextThdot, u)
# find the highest weighted torque in the self.weights_matrix given the nextTh,nextThdot
_, nextQVal = self.getMaxQValue(nextThIdx, nextThdotIdx)
self.q_matrix[currTorIdx, currThIdx, currThdotIdx] += l_rate * (reward + self.gamma * nextQVal \
- self.q_matrix[currTorIdx, currThIdx, currThdotIdx])
self.dq_matrix[currTorIdx, currThIdx, currThdotIdx] = self.q_matrix[currTorIdx, currThIdx, currThdotIdx] \
- self.prev_q_matrix[currTorIdx, currThIdx, currThdotIdx]
self.prev_q_matrix[currTorIdx, currThIdx, currThdotIdx] = self.q_matrix[currTorIdx, currThIdx, currThdotIdx]
th = nextTh
thdot = nextThdot
if iter_count % 100 == 0:
# self.env.render()
print('iter_count = ', iter_count)
print('episode = ', episode_num)
print('epsilon = ', self.epsilon)
print(f'percent converged = {round(self.percent_converged, 2)}')
print(f'percent unexplored = {round(self.percent_unexplored, 2)}')
print("Time Elapsed: ",time.strftime("%H:%M:%S",time.gmtime(time.time()-self.start_time)))
print('')
converged = self.check_converged()
if converged:
print(f'Converged on episode {episode_num}')
break
if episode_num % 10 == 0:
self.ep_rewards.append(total_reward)
self.perc_unexplored_arr.append(self.percent_unexplored)
self.perc_conv_arr.append(self.percent_converged)
self.print_stuff()
self.save_policy()
self.get_precious_data()
def increase_epsilon_maybe(self, ep_num):
if ep_num % 1000 == 0 and ep_num != 0:
self.epsilon -= .006
def save_policy(self):
time_struct = time.localtime(time.time())
fname = self.get_fname(time_struct)
self.data['fname'] = fname
save_path = os.path.join(self.save_directory, fname)
np.save(save_path, self.q_matrix)
print(f'saved policy: {fname}')
def get_fname(self, time_params):
year = time_params.tm_year
month = time_params.tm_mon
day = time_params.tm_mday
hour = time_params.tm_hour
minute = time_params.tm_min
sec = time_params.tm_sec
if isclose(self.goal_theta_num, np.pi, abs_tol=1e-7):
num = 'pi'
elif isclose(self.goal_theta_num, -np.pi, abs_tol=1e-7):
num = 'ip'
else:
num = self.goal_theta_num
if isclose(self.goal_theta_den, np.pi, abs_tol=1e-7):
den = 'pi'
elif isclose(self.goal_theta_den, -np.pi, abs_tol=1e-7):
den = 'ip'
else:
den = self.goal_theta_den
fname = f'{year}_{month}_{day}_{hour}_{minute}_{sec}_{num}_{den}'
return fname
def print_stuff(self):
print("Training Done")
print("Total Time Elapsed: ",time.strftime("%H:%M:%S",time.gmtime(time.time()-self.start_time)))
print(f'percent converged = {round(self.percent_converged, 2)}')
print(f'percent unexplored = {round(self.percent_unexplored, 2)}')
def get_precious_data(self):
self.data["gamma"] = self.gamma
self.data["epsilon"] = self.epsilon
self.data["goal_theta"] = self.goal_theta
self.data["perc_actions_explored"] = 1 - self.percent_unexplored
self.data["perc_converged"] = self.percent_converged
self.data["conv_perc_req"] = self.perc_conv_thresh # % of q-values that must pass the convergence threshold
self.data["converge_threshold"] = self.converge_threshold # % of q-value that dq must be close to to be considered converged
self.data["training_time"] = self.total_time
self.data["training_episodes"] = self.episodes
self.data["training_iterations"] = self.iterations
self.data["learning_rate"] = self.l_rate
self.data["policy"] = self.q_matrix
self.data["converged_stats"] = self.get_convergence_stats()
self.data["ep_rewards_arr"] = self.ep_rewards
self.data["perc_unexplored_arr"] = self.perc_unexplored_arr
self.data["perc_converged_arr"] = self.perc_conv_arr
import numpy as np
from pendulumAgent import DankAgent
import datetime
import time
import matplotlib.pyplot as plt
def print_timestamp(string=""):
now = datetime.datetime.now()
print(string + now.strftime("%Y-%m-%d %H:%M"))
####### INTIALISATION ##########################################################
weights_file = "network.h5"
load_existent_model = False
env = PendulumEnv()
env.cnt += 1
agent = DankAgent([-env.max_torque, env.max_torque])
agent.model.summary()
if load_existent_model:
agent.load(weights_file)
nepisodes = 0
######## CONSTANTS ############################################################
#def: 50000
MEMORY_SIZE = 80000
memory = []
#def: 30000
TRAINING_EPISODES = 30
AUTO_SAVER = 50
SHOW_PROGRESS = 10
#!/usr/bin/python3 import matplotlib.pyplot as plt import gym import sys from pendulum import PendulumEnv, angle_normalize import random from random import randrange import numpy as np from pendulumAgent import DankAgent import datetime import time ####### INTIALISATION ########################################################## weights_file = "network.h5" env = PendulumEnv() env.cnt += 1 state = env.reset() state = state.reshape((1, 3)) action_dim = 25 action_high = env.action_space.high[0] action_low = env.action_space.low[0] action_sequence = np.linspace(action_low, action_high, action_dim) agent = DankAgent(env.observation_space.shape[0], action_dim) agent.model.summary() nepisodes = 0 batch = [] TRAINING_EPISODES = 500 steps = 200
import numpy as np
from pendulumAgent import DankAgent
import datetime
import time
from keras.models import load_model
from pendulumAgent import DankAgent, print_timestamp
import argparse
import sys
#sys.path.append('..')
parser = argparse.ArgumentParser()
import random
import datetime
env = PendulumEnv()
env.cnt += 1
input_shape = 3
batch_size = 64
test_agent = DankAgent([-env.max_torque,env.max_torque],input_shape,batch_size)
test_agent.load('network_vanilla.h5')
list_episode_reward = []
TESTING_EPISODES = 10
for ep in range(TESTING_EPISODES):
state = env.reset()
episode_reward = 0
for t in range(500):
env.render()
plt.xlabel("Episode")
plt.ylabel("Episode Reward")
plt.title("Evaluation - Episode Reward over Time")
fig2.savefig('new_results/' + 'evaluation_reward.png')
if noshow:
plt.close(fig2)
else:
plt.show(fig2)
if __name__ == "__main__":
stats = []
reward_func = True
env = PendulumEnv(reward_function = reward_func)
state_space_size = env.observation_space.shape[0]
action_space_size = env.action_space.shape[0]
action_bound = 2
max_time_per_episode = 200
num_episodes = 5000
discount_factor = 0.99
batch_size = 64
tau = 0.001
train = 10
stats = []
actor_noise = OrnsteinUhlenbeckActionNoise(mu=np.zeros(action_space_size))
replay_memory = ReplayBuffer(num_episodes)
class QLearning():
def __init__(self):
self.env = PendulumEnv()
self.env.reset()
self.action_number = 101
self.state_space = 2
self.epsilon = 0.2
self.bias = 0
self.gamma = 0.99
min_torque = -self.env.max_torque
max_torque = self.env.max_torque
self.actions = []
for i in range(self.action_number):
self.actions.append(min_torque + (max_torque - min_torque) /
(self.action_number - 1) * i)
print(self.actions)
self.weight_matrix = np.zeros((len(self.actions), self.state_space))
def train(self, episodes=10, max_iterarions=20000, learning_rate=0.01):
for episodes_number in range(episodes):
total_reward = 0
curr_state_info = self.env.reset()
curr_state = np.zeros(self.state_space)
for i in range(self.state_space):
curr_state[i] = curr_state_info[i]
#print (curr_state)
for iteration_number in range(max_iterarions):
time.sleep(0.1)
print(curr_state)
random_float = random.random()
if (random_float < self.epsilon):
action = np.random.randint(0, self.action_number - 1)
else:
action = -1
max_q_s_a_w = -sys.float_info.max
for action_iter in range(self.action_number):
q_s_a_w_iter = np.dot(
curr_state,
self.weight_matrix[action_iter]) + self.bias
if (q_s_a_w_iter > max_q_s_a_w):
max_q_s_a_w = q_s_a_w_iter
action = action_iter
u = np.array([self.actions[action]
]).astype(self.env.action_space.dtype)
#u = np.array([500]).astype(self.env.action_space.dtype)
next_state_info, reward, isDone, _ = self.env.step(u)
print("reward : ", reward)
print(self.actions[action])
print("")
next_state = np.zeros((self.state_space))
for i in range(self.state_space):
next_state[i] = float(next_state_info[i])
max_q_s_a_w = -sys.float_info.max
for action_iter in range(self.action_number):
q_s_a_w_iter = np.dot(
next_state,
self.weight_matrix[action_iter]) + self.bias
if (q_s_a_w_iter > max_q_s_a_w):
max_q_s_a_w = q_s_a_w_iter
gradient_matrix_w = np.zeros(
(self.action_number, self.state_space))
gradient_matrix_w[action] = curr_state
copy_of_weight_matrix = copy.deepcopy(self.weight_matrix)
copy_of_bias = copy.deepcopy(self.bias)
self.weight_matrix = self.weight_matrix - learning_rate * (
(np.dot(curr_state, copy_of_weight_matrix[action]) +
copy_of_bias) -
(reward + self.gamma * max_q_s_a_w)) * gradient_matrix_w
self.bias = self.bias - learning_rate * (
(np.dot(curr_state, copy_of_weight_matrix[action]) +
copy_of_bias) - (reward + self.gamma * max_q_s_a_w)) * 1.0
curr_state = next_state
total_reward += reward
if (True or episodes_number % 100 == 0):
self.env.render()
self.env.close()
class ising:
# Initialize the network
def __init__(self, netsize, Nsensors=1, Nmotors=1): # Create ising model
self.size = netsize #Network size
self.Ssize = Nsensors # Number of sensors
self.Msize = Nmotors # Number of sensors
self.h = np.zeros(netsize)
self.J = np.zeros((netsize, netsize))
self.max_weights = 2
self.randomize_state()
self.env = PendulumEnv()
self.observation = self.env.reset()
self.Beta = 1.0
self.defaultT = max(100, netsize * 20)
self.Ssize1 = 0
self.maxspeed = self.env.max_speed
self.Update(-1)
def get_state(self, mode='all'):
if mode == 'all':
return self.s
elif mode == 'motors':
return self.s[-self.Msize:]
elif mode == 'sensors':
return self.s[0:self.Ssize]
elif mode == 'input':
return self.sensors
elif mode == 'non-sensors':
return self.s[self.Ssize:]
elif mode == 'hidden':
return self.s[self.Ssize:-self.Msize]
def get_state_index(self, mode='all'):
return bool2int(0.5 * (self.get_state(mode) + 1))
# Randomize the state of the network
def randomize_state(self):
self.s = np.random.randint(0, 2, self.size) * 2 - 1
self.sensors = np.random.randint(0, 2, self.Ssize) * 2 - 1
# Randomize the position of the agent
def randomize_position(self):
self.observation = self.env.reset()
# Set random bias to sets of units of the system
def random_fields(self, max_weights=None):
if max_weights is None:
max_weights = self.max_weights
self.h[self.Ssize:] = max_weights * \
(np.random.rand(self.size - self.Ssize) * 2 - 1)
# Set random connections to sets of units of the system
def random_wiring(self, max_weights=None): # Set random values for h and J
if max_weights is None:
max_weights = self.max_weights
for i in range(self.size):
for j in np.arange(i + 1, self.size):
if i < j and (i >= self.Ssize or j >= self.Ssize):
self.J[i,
j] = (np.random.rand(1) * 2 - 1) * self.max_weights
# Update the position of the agent
def Move(self):
self.previous_speed = self.observation[1]
action = np.sum(self.s[-self.Msize:]) / self.Msize
observation, reward, done, info = self.env.step(action)
self.observation = self.env.state
self.positionX = np.cos(self.env.state[0]) * self.env.l
self.positionY = np.sin(self.env.state[0]) * self.env.l
self.speed = self.env.state[1]
# Transorm the sensor input into integer index
def SensorIndex(self, x, xmax):
return int(
np.floor((x + xmax) / (2 * xmax + 10 * np.finfo(float).eps) *
2**self.Ssize))
# Update the state of the sensor
def UpdateSensors(self):
self.speed_ind = self.SensorIndex(self.speed, self.maxspeed)
self.sensors = 2 * bitfield(self.speed_ind, self.Ssize) - 1
# Execute step of the Glauber algorithm to update the state of one unit
def GlauberStep(self, i=None):
if i is None:
i = np.random.randint(self.size)
I = 0
if i < self.Ssize:
I = self.sensors[i]
eDiff = 2 * self.s[i] * (self.h[i] + I +
np.dot(self.J[i, :] + self.J[:, i], self.s))
if eDiff * self.Beta < np.log(1 / np.random.rand() - 1): # Glauber
self.s[i] = -self.s[i]
# Update random unit of the agent
def Update(self, i=None):
if i is None:
i = np.random.randint(-1, self.size)
if i == -1:
self.Move()
self.UpdateSensors()
else:
self.GlauberStep(i)
# Sequentially update state of all units of the agent in random order
def SequentialUpdate(self):
for i in np.random.permutation(range(-1, self.size)):
self.Update(i)
# Step of the learning algorith to ajust correlations to the critical regime
def AdjustCorrelations(self, T=None):
if T is None:
T = self.defaultT
self.m = np.zeros(self.size)
self.c = np.zeros((self.size, self.size))
self.C = np.zeros((self.size, self.size))
# Main simulation loop:
samples = []
for t in range(T):
self.SequentialUpdate()
#self.x[t] = self.position
self.m += self.s
for i in range(self.size):
self.c[i, i + 1:] += self.s[i] * self.s[i + 1:]
self.m /= T
self.c /= T
for i in range(self.size):
self.C[i, i + 1:] = self.c[i, i + 1:] - self.m[i] * self.m[i + 1:]
c1 = np.zeros((self.size, self.size))
for i in range(self.size):
inds = np.array([], int)
c = np.array([])
for j in range(self.size):
if not i == j:
inds = np.append(inds, [j])
if i < j:
c = np.append(c, [self.c[i, j]])
elif i > j:
c = np.append(c, [self.c[j, i]])
order = np.argsort(c)[::-1]
c1[i, inds[order]] = self.Cint[i, :]
self.c1 = np.triu(c1 + c1.T, 1)
self.c1 *= 0.5
self.m[0:self.Ssize] = 0
self.m1[0:self.Ssize] = 0
self.c[0:self.Ssize, 0:self.Ssize] = 0
self.c[-self.Msize:, -self.Msize:] = 0
self.c[0:self.Ssize, -self.Msize:] = 0
self.c1[0:self.Ssize, 0:self.Ssize] = 0
self.c1[-self.Msize:, -self.Msize:] = 0
self.c1[0:self.Ssize, -self.Msize:] = 0
dh = self.m1 - self.m
dJ = self.c1 - self.c
#print(self.m1,self.m)
#print("dh, dJ:",dh,",",dJ)
return dh, dJ
# Algorithm for poising an agent in a critical regime
def CriticalLearning(self, Iterations, T=None):
u = 0.01
count = 0
dh, dJ = self.AdjustCorrelations(T)
fit = max(np.max(np.abs(self.c1 - self.c)),
np.max(np.abs(self.m1 - self.m)))
for it in range(Iterations):
count += 1
self.h += u * dh
self.J += u * dJ
if it % 10 == 0:
self.randomize_state()
self.randomize_position()
Vmax = self.max_weights
for i in range(self.size):
if np.abs(self.h[i]) > Vmax:
self.h[i] = Vmax * np.sign(self.h[i])
for j in np.arange(i + 1, self.size):
if np.abs(self.J[i, j]) > Vmax:
self.J[i, j] = Vmax * np.sign(self.J[i, j])
dh, dJ = self.AdjustCorrelations(T)
fit = np.max(np.abs(self.c1 - self.c))
class Simulator():
def __init__(self, data_dictionary=None, policy_name=None, policy_directory=None):
self.save_directory = 'rory_data'
self.trainer = QLearning()
self.data = data_dictionary
self.num_actions = self.trainer.num_avail_actions
self.num_positions = self.trainer.num_avail_positions
self.num_velocities = self.trainer.num_avail_velocities
if data_dictionary is None:
if policy_directory is None:
self.load_directory = self.trainer.save_directory
else:
self.load_directory = policy_directory
if policy_name is None:
self.policy_name = self.grab_newest_policy()
else:
self.policy_name = policy_name
# goal_theta_num, goal_theta_den = self.get_goal_theta(self.policy_name)
# self.goal_theta = goal_theta_num / goal_theta_den
self.goal_theta = np.pi / 4
self.file = os.path.join(self.load_directory, self.policy_name)
self.policy = self.load_policy()
self.data = dict()
else:
self.goal_theta = self.data['goal_theta']
self.policy = self.data['policy']
self.file = self.data['fname']
self.policy_name = self.file
self.env = PendulumEnv(goal_theta=self.goal_theta)
self.thetas = np.linspace(-self.env.angle_limit, self.env.angle_limit, self.num_positions)
self.theta_dots = np.linspace(-self.env.max_speed, self.env.max_speed, self.num_velocities)
self.actions = np.linspace(-self.env.max_torque, self.env.max_torque, self.num_actions)
self.dummy_q = self.trainer.q_matrix
self.num_useful_actions = 0
self.torques = []
self.theta_errors = []
def load_policy(self):
policy = np.load(self.file, allow_pickle=True)
policy = policy.item().get('policy')
return policy
def grab_newest_policy(self):
all_policies = os.listdir(self.load_directory)
file_count = 0
theta_dict = {}
name_dict = {}
for i, policy in enumerate(all_policies):
if not policy.startswith('.'): # ignore .DS files, its a Mac thing
fname, _ = os.path.splitext(policy)
try:
gtheta = '_'.join(fname.split('_')[-2:])
fname = '_'.join(fname.split('_')[:-2])
time_components = np.array(list(map(int, fname.split('_'))))
file_count += 1
except ValueError:
continue
theta_dict[i] = gtheta
if file_count == 1:
name_array = time_components
else:
name_array = np.row_stack((name_array, time_components))
name_dict[fname] = i
while len(name_array.shape) > 1:
col_idx_diff = np.any(name_array != name_array[0,:], axis = 0).nonzero()[0][0]
row_idx_curr_max = np.argwhere(name_array[:, col_idx_diff] == np.amax(name_array[:, col_idx_diff])).squeeze()
name_array = name_array[row_idx_curr_max, :]
newest_policy = name_array
newest_policy = '_'.join(map(str, newest_policy))
suffix_theta = theta_dict[name_dict[newest_policy]]
newest_policy += '_' + suffix_theta + '.npy'
return newest_policy
def get_goal_theta(self,pol_name):
# same exact logic as get_newest_policy() except it just grabs the goal theta
fname, _ = os.path.splitext(pol_name)
len_fname = len(fname) - 1
if 'pi' in fname:
idx_pi = fname.find('pi')
if idx_pi != len_fname: # index of numerator
num = np.pi
else: # index of denominator
den = np.pi
fname = fname.replace('pi','555')
if 'ip' in fname:
idx_ip = fname.find('ip')
if idx_ip != len_fname: # index of numerator
num = -np.pi
else: # index of denominator
den = -np.pi
fname = fname.replace('ip','555')
time_components = np.array(list(map(int, fname.split('_'))))
name_array = time_components
while len(name_array.shape) > 1:
col_idx_diff = np.any(name_array != name_array[0,:], axis = 0).nonzero()[0][0]
row_idx_curr_max = np.argwhere(name_array[:, col_idx_diff] == np.amax(name_array[:, col_idx_diff])).squeeze()
name_array = name_array[row_idx_curr_max, :]
newest_policy = name_array
temp_num = newest_policy[-2]
temp_den = newest_policy[-1]
if temp_num != 555:
num = temp_num
if temp_den != 555:
den = temp_den
return num, den
def getQMatrixIdx(self, th, thdot, torque):
thIdx = np.abs(self.thetas - th).argmin()
thdotIdx = np.abs(self.theta_dots - thdot).argmin()
torIdx = np.abs(self.actions - torque).argmin()
return torIdx, thIdx, thdotIdx
def getMaxQValue(self, th, thdot):
# returns the depth index for given th,thdot state where torque is highest
maxQValIdx = self.policy[:, th, thdot].argmax()
maxQVal = self.policy[maxQValIdx, th, thdot]
return maxQValIdx, maxQVal
def get_action(self, th, thdot):
_, thIdx, thdotIdx = self.getQMatrixIdx(th, thdot, 0)
chosen_idx, _ = self.getMaxQValue(thIdx, thdotIdx)
action = self.actions[chosen_idx]
u = np.array([action]).astype(self.env.action_space.dtype)
return u
def save_precious_simulated_data(self):
self.data["simulated_episodes"] = self.num_episodes
self.data["simulated_iterations"] = self.num_iterations
self.data["avg_sim_cost"] = self.avg_cost
self.data["perc_useful_actions"] = self.num_useful_actions
self.data["torque_arr"] = self.torques
self.data["theta_error_arr"] = self.theta_errors
fname = self.policy_name
save_path = os.path.join(self.save_directory, fname)
if not os.path.exists(self.save_directory):
os.mkdir(self.save_directory)
np.save(save_path, self.data)
print(f'saved precious data: {fname}')
def update_dummy_q(self,torI,thI,thDotI):
if self.dummy_q[torI,thI,thDotI] != 1000:
self.dummy_q[torI,thI,thDotI] = 1000
def simulate(self, ep_num=500, iter_num=150, start_pos=None, start_vel=None):
print(f'Running simulation using policy: {self.file}')
self.num_episodes = ep_num
self.num_iterations = iter_num
total_total_cost = 0
try:
for i in range(self.num_episodes):
th, thdot = self.env.reset()
if start_pos is not None:
self.env.state[0] = start_pos
th = start_pos
if start_vel is not None:
self.env.state[1] = start_vel
thdot = start_vel
for _ in range(self.num_iterations):
self.env.render()
self.theta_errors.append(self.goal_theta - th)
u = self.get_action(th, thdot)
self.torques.append(u)
torIdx,thIdx,thDotIdx = self.getQMatrixIdx(th, thdot, u)
self.update_dummy_q(torIdx,thIdx,thDotIdx)
nextTh, nextThdot, reward = self.env.step(u)
total_total_cost += reward
th = nextTh
thdot = nextThdot
time.sleep(.05)
if i != self.num_episodes-1:
self.torques = []
self.theta_errors = []
except KeyboardInterrupt:
pass
self.avg_cost = total_total_cost / self.num_episodes
self.num_useful_actions = (self.dummy_q == 1000).sum() / self.dummy_q.size
self.env.close()
from pendulum import PendulumEnv
from scipy.linalg import solve_continuous_are as riccati
def lqr(A, B, Q, R, N=None):
# Solve Algebraic Riccati Equation
P = riccati(A, B, Q, R, e=N)
R_inv = np.linalg.inv(R)
if N:
K = np.dot(R_inv, np.dot(B.T, P) + N.T)
else:
K = np.dot(R_inv, np.dot(B.T, P))
return K
# create environment
env = PendulumEnv()
# reset environment
state = env.reset()
done = False
# Get linearized dynamics
A,B = env._linearize(np.pi)
# create cost matrices for LQR
Q = np.array([[1,0], [0,10]])
R = np.array([[0.001]])
# Compute gain matrix K
K = lqr(A,B,Q,R)
N_rk4 = 10 # RK4 steps
dt = 0.1 #delta time s
N = 500 # horizon length
gamma = 0.99
costs = []
acc_costs = []
u_opt_f = []
th_opt_f = []
thdot_opt_f = []
g_1_f = []
g_2_f = []
iter_f = []
iter_total = 0
with contextlib.closing(PendulumEnv(N_rk4=N_rk4, DT=dt)) as env:
s = env.reset(fixed=True) #fixed start at pi,0
x0bar = np.array(s)
q = 0
for i in range(N):
env.render()
u_opt, th_opt, thdot_opt, g_1, g_2, l, iter_count = simultaneous_opt(
s, q, env, N - i, gamma)
s, c, d, _ = env.step(u_opt[0], noise=True) #state noise
q = c + gamma * q
u_opt_f.append(u_opt[0])
th_opt_f.append(th_opt[0])
thdot_opt_f.append(thdot_opt[0])
costs.append(c) #gamma is implicit
g_1_f.append(g_1[0])
g_2_f.append(g_2[0])
import sys
from pendulum import PendulumEnv
from Actor_Network_TRPO import *
from Critic_Network_TRPO import *
from utility import *
if __name__ == "__main__":
print("start")
env = PendulumEnv()
action_space = np.arange(-2, 2.01, 0.01)
num_actions = len(action_space)
action_dim = 1
action_bound = env.action_space.high
state_dim = 3
batch_size = 32
learning_rate = 0.001
delta = 0.01
discount_factor = 0.99
num_episodes = 10
len_episode = 100
epsilon = 0.1
load = False
if not load:
g_stat = []
config = tf.ConfigProto()
config.intra_op_parallelism_threads = 8
config.gpu_options.per_process_gpu_memory_fraction = 0.33
with tf.Session(config=config) as sess:
