def __init__(self, env: gym.Env, logger=Logger()):
nb_actions = env.action_space.shape[0]
V_model = Sequential()
V_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(1))
V_model.add(Activation('linear'))
mu_model = Sequential()
mu_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(nb_actions))
mu_model.add(Activation('linear'))
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
x = Activation('linear')(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=V_model,
L_model=L_model,
mu_model=mu_model,
memory=memory,
random_process=random_process)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
self.agent = agent
self.env = env
super().__init__(env, logger)
def create(env):
np.random.seed(config.current.domain_seed)
env.seed(config.current.domain_seed)
nb_actions = env.action_space.n
# Build all necessary models: V, mu, and L networks.
V_model = Sequential()
V_model.add(Flatten(input_shape=(1,) + env.observation_space.shape))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(1))
V_model.add(Activation('linear'))
mu_model = Sequential()
mu_model.add(Flatten(input_shape=(1,) + env.observation_space.shape))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(nb_actions))
mu_model.add(Activation('linear'))
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + env.observation_space.shape, name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
x = Activation('linear')(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = PendulumProcessor()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3, size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions, V_model=V_model, L_model=L_model, mu_model=mu_model,
memory=memory, nb_steps_warmup=100, random_process=random_process,
gamma=.99, target_model_update=1e-3, processor=processor)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
return agent
def train(index, policy_nb_steps, fit_nb_steps):
# Get the environment and extract the number of actions.
print("Using environment", environment_name)
environment = gym.make(environment_name)
np.random.seed(666)
nb_actions = environment.action_space.shape[0]
# Build the model.
v_model, mu_model, l_model = build_models((WINDOW_LENGTH, ) + INPUT_SHAPE,
nb_actions)
v_model.summary()
mu_model.summary()
l_model.summary()
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
memory = SequentialMemory(limit=1000000, window_length=WINDOW_LENGTH)
processor = CarRacingProcessor()
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=v_model,
L_model=l_model,
mu_model=mu_model,
memory=memory,
nb_steps_warmup=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
processor=processor)
agent.compile(optimizers.Adam(lr=.001, clipnorm=1.), metrics=['mae'])
weights_filename = 'naf_{}_{}_weights.h5f'.format(environment_name, index)
# Okay, now it's time to learn something! We capture the interrupt exception so that training
# can be prematurely aborted. Notice that now you can use the built-in Keras callbacks!
checkpoint_weights_filename = 'naf_' + environment_name + '_weights_{step}.h5f'
log_filename = 'naf_{}_log.json'.format(environment_name)
callbacks = [
ModelIntervalCheckpoint(checkpoint_weights_filename, interval=250000)
]
callbacks += [TensorboardCallback()]
callbacks += [FileLogger(log_filename, interval=100)]
agent.fit(
environment,
callbacks=callbacks,
#nb_steps=1750000,
nb_steps=fit_nb_steps,
log_interval=10000,
visualize="visualize" in sys.argv)
# After training is done, we save the final weights one more time.
agent.save_weights(weights_filename, overwrite=True)
def test_cdqn():
# TODO: replace this with a simpler environment where we can actually test if it finds a solution
env = gym.make('Pendulum-v0')
np.random.seed(123)
env.seed(123)
random.seed(123)
nb_actions = env.action_space.shape[0]
V_model = Sequential()
V_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(1))
mu_model = Sequential()
mu_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(nb_actions))
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(16)(x)
x = Activation('relu')(x)
x = Dense((nb_actions * nb_actions + nb_actions) // 2)(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=1000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=V_model,
L_model=L_model,
mu_model=mu_model,
memory=memory,
nb_steps_warmup=50,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile(Adam(lr=1e-3))
agent.fit(env,
nb_steps=400,
visualize=False,
verbose=0,
nb_max_episode_steps=100)
h = agent.test(env,
nb_episodes=2,
visualize=False,
nb_max_episode_steps=100)
def test_cdqn():
# TODO: replace this with a simpler environment where we can actually test if it finds a solution
env = gym.make('Pendulum-v0')
np.random.seed(123)
env.seed(123)
random.seed(123)
nb_actions = env.action_space.shape[0]
V_model = Sequential()
V_model.add(Flatten(input_shape=(1,) + env.observation_space.shape))
V_model.add(Dense(16))
V_model.add(Activation('relu'))
V_model.add(Dense(1))
mu_model = Sequential()
mu_model.add(Flatten(input_shape=(1,) + env.observation_space.shape))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(nb_actions))
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + env.observation_space.shape, name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(16)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
memory = SequentialMemory(limit=1000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3, size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions, V_model=V_model, L_model=L_model, mu_model=mu_model,
memory=memory, nb_steps_warmup=50, random_process=random_process,
gamma=.99, target_model_update=1e-3)
agent.compile(Adam(lr=1e-3))
agent.fit(env, nb_steps=400, visualize=False, verbose=0, nb_max_episode_steps=100)
h = agent.test(env, nb_episodes=2, visualize=False, nb_max_episode_steps=100)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
print(L_model.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = PendulumProcessor()
memory = SequentialMemory(limit=10000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=V_model,
L_model=L_model,
mu_model=mu_model,
memory=memory,
nb_steps_warmup=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
processor=processor)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env,
nb_steps=500,
visualize=True,
verbose=1,
nb_max_episode_steps=200)
def init_naf(env, nb_actions):
""" Initialize the NAF agent using the keras-rl package.
:param env: the environment to be played, required to determine the input size
:param nb_actions: number of actions
:return: NAF agent
"""
# Build all necessary models: V, mu, and L networks.
v_model = Sequential()
v_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
v_model.add(Dense(16))
v_model.add(Activation('relu'))
v_model.add(Dense(16))
v_model.add(Activation('relu'))
v_model.add(Dense(16))
v_model.add(Activation('relu'))
v_model.add(Dense(1))
v_model.add(Activation('linear'))
mu_model = Sequential()
mu_model.add(Flatten(input_shape=(1, ) + env.observation_space.shape))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(16))
mu_model.add(Activation('relu'))
mu_model.add(Dense(nb_actions))
mu_model.add(Activation('linear'))
action_input = Input(shape=(nb_actions, ), name='action_input')
observation_input = Input(shape=(1, ) + env.observation_space.shape,
name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
x = Activation('linear')(x)
l_model = Model(inputs=[action_input, observation_input], outputs=x)
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = PendulumProcessor()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=v_model,
L_model=l_model,
mu_model=mu_model,
memory=memory,
nb_steps_warmup=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3,
processor=processor)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
agent.model_name = "NAF"
return agent
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
x = Activation('linear')(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
print(L_model.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = PendulumProcessor()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3, size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions, V_model=V_model, L_model=L_model, mu_model=mu_model,
memory=memory, nb_steps_warmup=100, random_process=random_process,
gamma=.99, target_model_update=1e-3, processor=processor)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env, nb_steps=50000, visualize=True, verbose=1, nb_max_episode_steps=200)
# After training is done, we save the final weights.
agent.save_weights('cdqn_{}_weights.h5f'.format(ENV_NAME), overwrite=True)
# Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=10, visualize=True, nb_max_episode_steps=200)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
print(L_model.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
processor = PendulumProcessor()
memory = SequentialMemory(limit=MEMORY_LIMIT, window_length=WINDOW_LENGHT)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions,
V_model=V_model,
L_model=L_model,
mu_model=mu_model,
memory=memory,
nb_steps_warmup=NB_STEPS_WARMUP,
random_process=random_process,
gamma=GAMMA,
target_model_update=TARGET_MODEL_UPDATE,
processor=processor)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env,
nb_steps=NB_STEPS,
visualize=VISUALIZE_TRAIN,
verbose=VERBOSE,
nb_max_episode_steps=NB_MAX_EPISODE_STEPS)
action_input = Input(shape=(nb_actions,), name='action_input')
observation_input = Input(shape=(1,) + env.observation_space.shape, name='observation_input')
x = Concatenate()([action_input, Flatten()(observation_input)])
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(32)(x)
x = Activation('relu')(x)
x = Dense(((nb_actions * nb_actions + nb_actions) // 2))(x)
x = Activation('linear')(x)
L_model = Model(inputs=[action_input, observation_input], outputs=x)
print(L_model.summary())
# Finally, we configure and compile our agent. You can use every built-in Keras optimizer and
# even the metrics!
# processor = PendulumProcessor()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15, mu=0., sigma=.3, size=nb_actions)
agent = NAFAgent(nb_actions=nb_actions, V_model=V_model, L_model=L_model, mu_model=mu_model,
memory=memory, nb_steps_warmup=100, random_process=random_process,
gamma=.99, target_model_update=1e-3)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
# Okay, now it's time to learn something! We visualize the training here for show, but this
# slows down training quite a lot. You can always safely abort the training prematurely using
# Ctrl + C.
agent.fit(env, nb_steps=10000, visualize=False, verbose=1, nb_max_episode_steps=200)
# Finally, evaluate our algorithm for 5 episodes.
agent.test(env, nb_episodes=10, visualize=False, nb_max_episode_steps=200)
nb_actions = N
processor = PendulumProcessor()
memory = SequentialMemory(limit=100000, window_length=1)
random_process = OrnsteinUhlenbeckProcess(theta=.15,
mu=0.,
sigma=.3,
size=nb_actions)
agent = NAFAgent(covariance_mode='diag',
nb_actions=nb_actions,
V_model=Vmodel(N),
L_model=Lmodel(N),
mu_model=mumodel(N),
memory=memory,
nb_steps_warmup=100,
random_process=random_process,
gamma=.99,
target_model_update=1e-3)
agent.compile(Adam(lr=.001, clipnorm=1.), metrics=['mae'])
agent.fit(env,
nb_steps=150,
visualize=False,
verbose=0,
nb_max_episode_steps=20)
agent.save_weights('weight1.dhf5', overwrite=True)