rainbow

Author: shixiaowen03

.idea/workspace.xml

@@ -13,7 +13,7 @@ def __init__(self,env,config):
         self.config = config
         self.v_max = self.config.v_max
         self.v_min = self.config.v_min
-        self.atoms = self.config.atoms
+        self.atoms = self.config.atoms # 价值采样点的个数
 
         self.epsilon = self.config.INITIAL_EPSILON
         self.state_shape = env.observation_space.shape
@@ -23,10 +23,8 @@ def __init__(self,env,config):
 
         target_state_shape = [1]
         target_state_shape.extend(self.state_shape)
-
         self.state_input = tf.placeholder(tf.float32,target_state_shape)
         self.action_input = tf.placeholder(tf.int32,[1,1])
-
         self.m_input = tf.placeholder(tf.float32,[self.atoms])
 
         self.delta_z = (self.v_max - self.v_min) / (self.atoms - 1)
@@ -80,7 +78,6 @@ def build_cate_dqn_net(self):
         self.q_target = tf.reduce_sum(self.z_target * self.z)
 
         self.cross_entropy_loss = -tf.reduce_sum(self.m_input * tf.log(self.z_eval))
-
         self.optimizer = tf.train.AdamOptimizer(self.config.LEARNING_RATE).minimize(self.cross_entropy_loss)
 
         eval_params = tf.get_collection("eval_net_params")
@@ -97,6 +94,7 @@ def train(self,s,r,action,s_,gamma):
         a_ = tf.argmax(list_q_).eval()
         m = np.zeros(self.atoms)
         p = self.sess.run(self.z_target,feed_dict = {self.state_input:[s_],self.action_input:[[a_]]})[0]
+        m = np.zeros(self.atoms)
         for j in range(self.atoms):
             Tz = min(self.v_max,max(self.v_min,r+gamma * self.z[j]))
             bj = (Tz - self.v_min) / self.delta_z # 分在第几个块里

RL/Basic-DisRL-Demo/Categorical_DQN.py

@@ -0,0 +1,294 @@
+"""Main DQN agent."""
+
+import numpy as np
+import tensorflow as tf
+from PIL import Image
+import random
+from huberLoss import mean_huber_loss, weighted_huber_loss
+
+EPSILON_BEGIN = 1.0
+EPSILON_END = 0.1
+BETA_BEGIN = 0.5
+BETA_END = 1.0
+
+class DQNAgent():
+    def __init__(self,
+                 eval_model,
+                 target_model,
+                 memory,
+                 num_actions,
+                 gamma,
+                 update_freq,
+                 target_update_freq,
+                 update_target_params_ops,
+                 batch_size,
+                 is_double_dqn,
+                 is_per,
+                 is_distributional,
+                 num_step,
+                 is_noisy,
+                 learning_rate,
+                 rmsp_decay,
+                 rmsp_momentum,
+                 rmsp_epsilon):
+
+        self._eval_model = eval_model
+        self._target_model = target_model
+        self._memory = memory
+        self._num_actions = num_actions
+        self._gamma = gamma
+        self._update_freq = update_freq
+        self._target_update_freq = target_update_freq
+        self._update_target_params_ops = update_target_params_ops
+        self._batch_size = batch_size
+        self._is_double_dqn = is_double_dqn
+        self._is_per = is_per
+        self._is_distributional = is_distributional
+        self._num_step = num_step
+        self._is_noisy = is_noisy
+        self._learning_rate = learning_rate
+        self._rmsp_decay = rmsp_decay
+        self._rmsp_momentum = rmsp_momentum
+        self._rmsp_epsilon = rmsp_epsilon
+        self._update_times = 0
+        self._beta = EPSILON_BEGIN
+        self._beta_increment = (EPSILON_END-BETA_BEGIN)/2000000.0
+        self._epsilon = EPSILON_BEGIN if is_noisy else 0.
+        self._epsilon_increment =  (EPSILON_END - EPSILON_BEGIN)/2000000.0 if is_noisy==0 else 0.
+        self._action_ph = tf.placeholder(tf.int32,[None,2],'action_ph')
+        self._reward_ph = tf.placeholder(tf.float32,name='reward_ph')
+        self._is_terminal_ph = tf.placeholder(tf.float32,name='is_terminal_ph')
+        self._action_chosen_by_eval_ph = tf.placeholder(tf.int32,[None,2],'action_chosen_by_eval_ph')
+        self._loss_weight_ph = tf.placeholder(tf.float32,name='loss_weight_ph')
+        self._error_op,self._train_op = self._get_error_and_train_op(self._reward_ph,self._is_terminal_ph,
+                                                                     self._action_ph,self._action_chosen_by_eval_ph,
+                                                                     self._loss_weight_ph)
+
+
+    def _get_error_and_train_op(self,reward_ph,
+                                is_terminal_ph,
+                                action_ph,
+                                action_chosen_by_eval_ph,
+                                loss_weight_ph):
+
+        if self._is_distributional == 0:
+            q_values_target = self._target_model['q_values']
+            q_values_eval = self._eval_model['q_values']
+
+            if self._is_double_dqn:
+                max_q = tf.gather_nd(q_values_target,action_chosen_by_eval_ph) # 如果是double-dqn，动作由eval-net选出，q值由target-net得到
+            else:
+                max_q = tf.reduce_max(q_values_target,axis=1)
+
+            target = reward_ph + (1.0 - is_terminal_ph) * (self._gamma ** self._num_step) * max_q # 这里是多步的dqn
+            gathered_outputs = tf.gather_nd(q_values_eval,action_ph,name='gathered_outputs')
+
+            if self._is_per == 1:
+                loss = weighted_huber_loss(target,gathered_outputs,loss_weight_ph)
+            else:
+                loss = mean_huber_loss(target,gathered_outputs)
+            train_op = tf.train.RMSPropOptimizer(self._learning_rate,decay=self._rmsp_decay,
+                                                 momentum=self._rmsp_momentum,epsilon=self._rmsp_epsilon).minimize(loss)
+
+            error_op = tf.abs(gathered_outputs - target,name='abs_error')
+            return train_op,error_op
+
+        else:
+            N_atoms = 51
+            V_Max = 20.0
+            V_Min = 0.0
+            Delta_z = (V_Max - V_Min) / (N_atoms - 1)
+            z_list = tf.constant([V_Min + i * Delta_z for i in range(N_atoms)], dtype=tf.float32)
+
+            q_distributional_values_target = self._target_model['q_distributional_network'] # batch_size * num_actions * N_atoms
+            tmp_batch_size = tf.shape(q_distributional_values_target)[0] # batch_size
+
+            if self._is_double_dqn:
+                q_distributional_chosen_by_action_target = tf.gather_nd(q_distributional_values_target,action_chosen_by_eval_ph)
+            else:
+                action_chosen_by_target_q = tf.cast(tf.argmax(self._target_model['q_values'], axis=1), tf.int32)
+                q_distributional_chosen_by_action_target = tf.gather_nd(q_distributional_values_target,
+                                                                  tf.concat([tf.reshape(tf.range(tmp_batch_size),[-1,1]),
+                                                                             tf.reshape(action_chosen_by_target_q,[-1,1])],axis=1))
+
+
+            target = tf.tile(tf.reshape(reward_ph,[-1,1]),[1,N_atoms]) + \
+                     (self._gamma * self._num_step) * \
+                     tf.multiply(tf.reshape(z_list,[1,N_atoms]),(1.0 - tf.tile(tf.reshape(is_terminal_ph,[-1,1]),[1,N_atoms])))
+
+            target = tf.clip_by_value(target,V_Min,V_Max)
+
+            b = (target - V_Min) / Delta_z
+
+            u,l = tf.ceil(b),tf.floor(b)
+
+            u_id,l_id = tf.cast(u,tf.int32),tf.cast(l,tf.int32)
+
+            u_minus_b,b_minus_l = u - b,b - l
+            q_distributional_values_eval = self._eval_model['q_distributional_network']
+
+            q_distributional_chosen_by_action_eval = tf.gather_nd(q_distributional_values_eval,action_ph)
+
+            index_help = tf.tile(tf.reshape(tf.range(tmp_batch_size),[-1,1]),[1,N_atoms])
+
+            index_help = tf.expand_dims(index_help,-1) # batch * N_atoms * 1
+            u_id = tf.concat([index_help,tf.expand_dims(u_id,-1)],axis=2)
+            l_id = tf.concat([index_help,tf.expand_dims(l_id,-1)],axis=2)
+
+            error = q_distributional_chosen_by_action_target * u_minus_b * \
+                    tf.log(tf.gather_nd(q_distributional_chosen_by_action_eval, l_id)) \
+                    + q_distributional_chosen_by_action_target * b_minus_l * \
+                      tf.log(tf.gather_nd(q_distributional_chosen_by_action_eval, u_id))
+            error = tf.reduce_sum(error, axis=1)
+
+            if self._is_per == 1:
+                loss = tf.negative(error * loss_weight_ph)
+            else:
+                loss = tf.negative(error)
+
+            train_op = tf.train.RMSPropOptimizer(self._learning_rate,
+                                                 decay=self._rmsp_decay, momentum=self._rmsp_momentum,
+                                                 epsilon=self._rmsp_epsilon).minimize(loss)
+            error_op = tf.abs(error, name='abs_error')
+            return error_op, train_op
+
+    def select_action(self,sess,state,epsilon,model):
+        batch_size = len(state)
+        if np.random.rand() < epsilon:
+            action = np.random.randint(0,self._num_actions,size=(batch_size,))
+        else:
+            state = state.astype(np.float32) / 255.0
+            feed_dict = {model['input_frames'] :state}
+            action = sess.run(model['action'],feed_dict=feed_dict)
+        return action
+
+    def get_multi_step_sample(self,env,sess,num_step,epsilon):
+        old_state,action,reward,new_state,is_terminal = env.get_state()
+        total_reward = np.sign(reward)
+        total_is_terminal = is_terminal
+
+        next_action = self.select_action(sess,new_state,epsilon,self._eval_model)
+        env.take_action(next_action)
+
+        for i in range(1,num_step):
+            _,_,reward,new_state,is_terminal = env.get_state()
+            total_reward += self._gamma ** i * np.sign(reward)
+            total_is_terminal += is_terminal
+            next_action = self.select_action(sess,new_state,epsilon,self._eval_model)
+            env.take_action(next_action)
+
+        return old_state,action,total_reward,new_state,np.sign(total_is_terminal)
+
+    def fit(self,sess,env,num_iterations,do_train=True):
+
+        num_environment = env.num_process
+        env.reset()
+
+        for t in range(0,num_iterations,num_environment):
+            # 准备数据
+            old_state,action,reward,new_state,is_terminal = self.get_multi_step_sample(env,sess,self._num_step,self._epsilon)
+            self._memory.append(old_state,action,reward,new_state,is_terminal) # 插入数据
+            if self._epsilon > EPSILON_END:
+                self._epsilon += num_environment * self._epsilon_increment
+            if do_train:
+                num_update = sum([1 if i % self._update_freq == 0 else 0 for i in range(t, t + num_environment)])
+                # 抽取数据
+                for _ in range(num_update):
+                    if self._is_per == 1:
+                        (old_state_list, action_list, reward_list, new_state_list, is_terminal_list), \
+                        idx_list, p_list, sum_p, count = self._memory.sample(self._batch_size)
+                    else:
+                        old_state_list, action_list, reward_list, new_state_list, is_terminal_list \
+                            = self._memory.sample(self._batch_size)
+
+                    feed_dict = {self._target_model['input_frames']: new_state_list.astype(np.float32) / 255.0,
+                                 self._eval_model['input_frames']: old_state_list.astype(np.float32) / 255.0,
+                                 self._action_ph: list(enumerate(action_list)),
+                                 self._reward_ph: np.array(reward_list).astype(np.float32),
+                                 self._is_terminal_ph: np.array(is_terminal_list).astype(np.float32),
+                                 }
+
+                    if self._is_double_dqn:
+                        action_chosen_by_online = sess.run(self._eval_model['action'], feed_dict={
+                                    self._eval_model['input_frames']: new_state_list.astype(np.float32)/255.0})
+                        feed_dict[self._action_chosen_by_eval_ph] = list(enumerate(action_chosen_by_online))
+
+                    if self._is_per == 1:
+                        # Annealing weight beta
+                        feed_dict[self._loss_weight_ph] = (np.array(p_list)*count/sum_p)**(-self._beta)
+                        error, _ = sess.run([self._error_op, self._train_op], feed_dict=feed_dict)
+                        self._memory.update(idx_list, error)
+                    else:
+                        sess.run(self._train_op, feed_dict=feed_dict)
+
+                    self._update_times += 1
+                    if self._beta < BETA_END:
+                        self._beta += self._beta_increment
+
+                    if self._update_times%self._target_update_freq == 0:
+                        sess.run(self._update_target_params_ops)
+
+
+    def _get_error(self, sess, old_state, action, reward, new_state, is_terminal):
+        '''
+        Get TD error for Prioritized Experience Replay
+        '''
+        feed_dict = {self._target_model['input_frames']: new_state.astype(np.float32)/255.0,
+                     self._eval_model['input_frames']: old_state.astype(np.float32)/255.0,
+                     self._action_ph: list(enumerate(action)),
+                     self._reward_ph: np.array(reward).astype(np.float32),
+                     self._is_terminal_ph: np.array(is_terminal).astype(np.float32),
+                     }
+
+        if self._is_double_dqn:
+            action_chosen_by_online = sess.run(self._eval_model['action'], feed_dict={
+                        self._eval_model['input_frames']: new_state.astype(np.float32)/255.0})
+            feed_dict[self._action_chosen_by_eval_ph] = list(enumerate(action_chosen_by_online))
+
+        error = sess.run(self._error_op, feed_dict=feed_dict)
+        return error
+
+    def get_mean_max_Q(self, sess, samples):
+        mean_max = []
+        INCREMENT = 1000
+        for i in range(0, len(samples), INCREMENT):
+            feed_dict = {self._eval_model['input_frames']:
+                samples[i: i + INCREMENT].astype(np.float32)/255.0}
+            mean_max.append(sess.run(self._eval_model['mean_max_Q'],
+                feed_dict = feed_dict))
+        return np.mean(mean_max)
+
+
+    def evaluate(self, sess, env, num_episode):
+        """Evaluate num_episode games by online model.
+        Parameters
+        ----------
+        sess: tf.Session
+        env: batchEnv.BatchEnvironment
+          This is your paralleled Atari environment.
+        num_episode: int
+          This is the number of episode of games to evaluate
+        Returns
+        -------
+        reward list for each episode
+        """
+        num_environment = env.num_process
+        env.reset()
+        reward_of_each_environment  = np.zeros(num_environment)
+        rewards_list = []
+
+        num_finished_episode = 0
+
+        while num_finished_episode < num_episode:
+            old_state, action, reward, new_state, is_terminal = env.get_state()
+            action = self.select_action(sess, new_state, 0, self._eval_model)
+            env.take_action(action)
+            for i, r, is_t in zip(range(num_environment), reward, is_terminal):
+                if not is_t:
+                    reward_of_each_environment[i] += r
+                else:
+                    rewards_list.append(reward_of_each_environment[i])
+                    reward_of_each_environment[i] = 0
+                    num_finished_episode += 1
+        return np.mean(rewards_list), np.std(rewards_list)
+