Added examples

examples/example_a2c.py

@@ -0,0 +1,272 @@
+from gymclient import Environment
+import numpy as np
+import random
+from collections import deque
+import torch
+import torch.nn.functional as F
+import torch.nn as nn
+import torch.optim as optim
+import gym
+from gym import spaces
+from copy import deepcopy
+from collections import namedtuple
+from multiprocessing.pool import ThreadPool
+
+##
+# Deep Learning Model
+##
+class Value(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Value, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+    
+    self.conv1 = nn.Conv2d(state_size[1], 32, kernel_size = (8, 8), stride = (4, 4))
+    self.conv2 = nn.Conv2d(32, 64, kernel_size = (4, 4), stride = (2, 2))    
+    self.conv3 = nn.Conv2d(64, 64, kernel_size = (3, 3), stride = (1, 1))
+    
+    self.fc1 = nn.Linear(64 * 6 * 6, 384)
+    
+    self.value_fc = nn.Linear(384, 384)
+    self.value = nn.Linear(384, 1)
+    
+    self.advantage_fc = nn.Linear(384, 384)
+    self.advantage = nn.Linear(384, action_size)
+
+  
+  def forward(self, x):
+    x = x.float() / 255
+    # Size changes from (batch_size, 4, 80, 70) to ()
+    x = F.relu(self.conv1(x))
+
+    # Size changes from () to ()    
+    x = F.relu(self.conv2(x))
+    
+    # Size changes from () to ()
+    x = F.relu(self.conv3(x))
+    
+    # Size changes from (batch_size, 64, 6, 5) to (batch_size, 1920)
+    x = x.view(-1, 64 * 6 * 6)
+    x = F.relu(self.fc1(x))
+    
+    state_value = F.relu(self.value_fc(x))
+    state_value = self.value(state_value)
+    
+    advantage = F.relu(self.advantage_fc(x))
+    advantage = self.advantage(advantage)
+    
+    x = state_value + advantage - advantage.mean()
+    
+    if torch.isnan(x).any().item():
+      print("WARNING NAN IN MODEL DETECTED")
+    
+    return x
+    
+class DQNAgent:
+  def __init__(self, state_size, action_size):
+    self.state_size = state_size
+    self.action_size = action_size
+    self.gamma = 0.99 # Discount Rate
+    self.epsilon = 0.999
+    self.model = Value(state_size, action_size)
+    self.learning_rate = 0.0001
+    self.optimizer = optim.Adam(self.model.parameters(), lr = self.learning_rate)
+    ## Additional components for Fixed Q-Targets
+    self.target_model = deepcopy(self.model)
+    self.tau = 1e-3 # We want to adjust our network by .1% each time
+    self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
+    # Send to GPU if available
+    self.model.to(self.device)
+    self.target_model.to(self.device)
+  
+  def update_target_model(self):
+    for target_param, param in zip(self.target_model.parameters(), self.model.parameters()):
+        target_param.data.copy_(self.tau * param.data + (1.0 - self.tau) * target_param.data)
+  
+    
+  def act_random(self):
+    return random.randrange(self.action_size)
+  
+  def act(self, state):
+    action = self.best_act(state) if np.random.rand() > self.epsilon else self.act_random()
+    EPSILON_DECAY = 0.99999
+    self.epsilon *= EPSILON_DECAY
+    return action
+
+  def best_act(self, state):
+    # Choose the best action based on what we already know
+    # If all the action values for a given state is the same, then act randomly
+    state = torch.from_numpy(state._force()).float().unsqueeze(0).to(self.device)
+    with torch.no_grad():
+      action_values = self.target_model(state).squeeze(0)
+      action = self.act_random() if (action_values[0] == action_values).all() else action_values.argmax().item()
+      return action
+
+
+  def train(self, state_batch, action_batch, next_state_batch, reward_batch, done_batch):
+    state_batch = torch.from_numpy(np.stack(state_batch)).float().to(self.device)
+    action_batch = torch.tensor(action_batch, device = self.device)
+    reward_batch = torch.tensor(reward_batch, device = self.device)
+    not_done_batch = ~torch.tensor(done_batch, device = self.device)
+    next_state_batch = torch.from_numpy(np.stack(next_state_batch))[not_done_batch].float().to(self.device)
+    
+    
+    obtained_values = self.model(state_batch).gather(1, action_batch.view(batch_size, 1))
+
+    with torch.no_grad():
+      # Use the target model to produce action values for the next state
+      # and the regular model to select the action
+      # That way we decouple the value and action selecting processes (DOUBLE DQN)
+      not_done_size = not_done_batch.sum()
+      next_state_values = self.target_model(next_state_batch)
+      next_best_action = self.model(next_state_batch).argmax(1)
+      best_next_state_value = torch.zeros(batch_size, device = self.device)
+      best_next_state_value[not_done_batch] = next_state_values.gather(1, next_best_action.view((not_done_size, 1))).squeeze(1)
+      
+    expected_values = (reward_batch + (self.gamma * best_next_state_value)).unsqueeze(1)
+
+    loss = F.mse_loss(obtained_values, expected_values)
+
+    self.optimizer.zero_grad()
+    loss.backward()
+    # Clip gradients
+    for param in self.model.parameters():
+      param.grad.data.clamp_(-1, 1)
+    self.optimizer.step()
+    
+    self.update_target_model()
+
+##
+# OpenAI Wrappers
+##
+class FireResetEnv(gym.Wrapper):
+  def __init__(self, env):
+    """Take action on reset for environments that are fixed until firing."""
+    gym.Wrapper.__init__(self, env)
+    assert env.get_action_meanings()[1] == 'FIRE'
+    assert len(env.get_action_meanings()) >= 3
+
+  def reset(self, **kwargs):
+    self.env.reset(**kwargs)
+    obs, _, done, _ = self.env.step(1, **kwargs)
+    if done:
+      self.env.reset(**kwargs)
+    obs, _, done, _ = self.env.step(2, **kwargs)
+    if done:
+      self.env.reset(**kwargs)
+    return obs
+
+  def step(self, ac, **kwargs):
+    return self.env.step(ac, **kwargs)
+class LazyFrames(object):
+  def __init__(self, frames):
+    """This object ensures that common frames between the observations are only stored once.
+    It exists purely to optimize memory usage which can be huge for DQN's 1M frames replay
+    buffers.
+    This object should only be converted to numpy array before being passed to the model.
+    You'd not believe how complex the previous solution was."""
+    self._frames = frames
+    self._out = None
+
+  def _force(self):
+    if self._out is None:
+        self._out = np.stack(self._frames) # Custom change concatenate->stack
+        self._frames = None
+    return self._out
+ 
+  def __array__(self, dtype=None):
+    out = self._force()
+    if dtype is not None:
+        out = out.astype(dtype)
+    return out
+
+  def __len__(self):
+    return len(self._force())
+
+  def __getitem__(self, i):
+    return self._force()[i]
+
+class FrameStack(gym.Wrapper):
+  def __init__(self, env, k):
+    """Stack k last frames.
+    Returns lazy array, which is much more memory efficient.
+    See Also
+    --------
+    baselines.common.atari_wrappers.LazyFrames
+    """
+    gym.Wrapper.__init__(self, env)
+    self.k = k
+    self.frames = deque([], maxlen=k)
+    shp = env.observation_space.shape
+    self.observation_space = spaces.Box(low=0, high=255, shape=(shp[:-1] + (shp[-1] * k,)), dtype=env.observation_space.dtype)
+
+  def reset(self, **kwargs):
+    ob = self.env.reset(**kwargs)
+    for _ in range(self.k):
+      self.frames.append(ob)
+    return self._get_ob()
+
+  def step(self, action, **kwargs):
+    ob, reward, done, info = self.env.step(action, **kwargs)
+    self.frames.append(ob)
+    return self._get_ob(), reward, done, info
+
+  def _get_ob(self):
+    assert len(self.frames) == self.k
+    return LazyFrames(list(self.frames))
+
+NUMBER_ENVIRONMENTS = 32
+pool = ThreadPool(NUMBER_ENVIRONMENTS)
+envs = [Environment("127.0.0.1", i) for i in range(5000, 5000 + NUMBER_ENVIRONMENTS)]
+envs = [FrameStack(FireResetEnv(env), 4) for env in envs]
+# env.seed(SEED)
+state_size = [1, 4, 80, 70]
+action_size = envs[0].action_space.n
+
+agent = DQNAgent(state_size, action_size)
+done = False
+batch_size = NUMBER_ENVIRONMENTS
+EPISODES = 100
+
+def oneDone(dones):
+  for done in dones:
+    if done:
+      return True
+  return False
+
+def resetState(env):
+  return env.reset(preprocess = True)
+
+def sendAction(envaction):
+  env, action = envaction
+  return env.step(action, preprocess = True)
+
+##
+# TODO: Maybe once one of the agents are done, remove it from the pool
+# RATIONAL: We're currently finishing when the first agent is done, how are we supposed to learn good behaviors?
+##
+
+states = pool.map(resetState, envs)
+total_rewards = [0 for i in range(len(envs))]
+dones = [False for i in range(len(envs))]
+# Now that we have some experiences in our buffer, start training
+episode_num = 1
+while episode_num <= EPISODES:
+  actions = [agent.act(state) for state in states]
+  transitions = pool.map(sendAction, zip(envs, actions))
+  next_states, rewards, dones, _ = zip(*transitions)
+  agent.train(states, actions, next_states, rewards, dones)
+
+  total_rewards = [current_sum + reward for current_sum,reward in zip(total_rewards, rewards)]
+  states = next_states
+
+  for i in range(len(envs)):
+    if dones[i]:
+      print("episode: {}/{}, score: {}, epsilon: {}"
+        .format(episode_num, EPISODES, total_rewards[i], agent.epsilon))
+      episode_num += 1
+      states = list(states)
+      states[i] = resetState(envs[i])
+      total_rewards[i] = 0
+      dones = list(dones)
+      dones[i] = False

examples/example_dqn.py

@@ -0,0 +1,280 @@
+from gymclient import env
+import numpy as np
+import random
+from collections import deque
+import torch
+import torch.nn.functional as F
+import torch.nn as nn
+import torch.optim as optim
+import gym
+from gym import spaces
+from copy import deepcopy
+from collections import namedtuple
+
+Transition = namedtuple('Transition',
+                        ('state', 'action', 'reward', 'next_state', 'done'))
+
+class ReplayMemory(object):
+    def __init__(self, capacity):
+        self.capacity = capacity
+        self.memory = []
+        self.position = 0
+
+    def append(self, *args):
+        """Saves a transition."""
+        if len(self.memory) < self.capacity:
+            self.memory.append(None)
+        self.memory[self.position] = Transition(*args)
+        self.position = (self.position + 1) % self.capacity
+
+    def sample(self, batch_size):
+        return random.sample(self.memory, batch_size)
+
+    def __len__(self):
+        return len(self.memory)
+
+class Value(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Value, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+    
+    self.conv1 = nn.Conv2d(state_size[1], 32, kernel_size = (8, 8), stride = (4, 4))
+    self.conv2 = nn.Conv2d(32, 64, kernel_size = (4, 4), stride = (2, 2))    
+    self.conv3 = nn.Conv2d(64, 64, kernel_size = (3, 3), stride = (1, 1))
+    
+    self.fc1 = nn.Linear(64 * 6 * 6, 384)
+    
+    self.value_fc = nn.Linear(384, 384)
+    self.value = nn.Linear(384, 1)
+    
+    self.advantage_fc = nn.Linear(384, 384)
+    self.advantage = nn.Linear(384, action_size)
+
+  def forward(self, x):
+    x = x.float() / 255
+    # Size changes from (batch_size, 4, 80, 70) to ()
+    x = F.relu(self.conv1(x))
+
+    # Size changes from () to ()    
+    x = F.relu(self.conv2(x))
+    
+    # Size changes from () to ()
+    x = F.relu(self.conv3(x))
+    
+    # Size changes from (batch_size, 64, 6, 5) to (batch_size, 1920)
+    x = x.view(-1, 64 * 6 * 6)
+    x = F.relu(self.fc1(x))
+    
+    state_value = F.relu(self.value_fc(x))
+    state_value = self.value(state_value)
+    
+    advantage = F.relu(self.advantage_fc(x))
+    advantage = self.advantage(advantage)
+    
+    x = state_value + advantage - advantage.mean()
+    
+    if torch.isnan(x).any().item():
+      print("WARNING NAN IN MODEL DETECTED")
+    
+    return x
+    
+class DQNAgent:
+  def __init__(self, state_size, action_size):
+    self.state_size = state_size
+    self.action_size = action_size
+    # The deque will only contain the last 20,000 entries
+    self.memory = ReplayMemory(capacity=75000)
+    self.gamma = 0.99 # Discount Rate
+    self.model = Value(state_size, action_size)
+    self.learning_rate = 0.0001
+    self.optimizer = optim.Adam(self.model.parameters(), lr = self.learning_rate)
+    ## Additional components for Fixed Q-Targets
+    self.target_model = deepcopy(self.model)
+    self.tau = 1e-3 # We want to adjust our network by .1% each time
+    self.device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
+    # Send to GPU if available
+    self.model.to(self.device)
+    self.target_model.to(self.device)
+  
+  def update_target_model(self):
+    for target_param, param in zip(self.target_model.parameters(), self.model.parameters()):
+        target_param.data.copy_(self.tau * param.data + (1.0 - self.tau) * target_param.data)
+  
+  def remember(self, state, action, reward, next_state, done):
+    self.memory.append(state, action, reward, next_state, done)
+    
+  def act_random(self):
+    return random.randrange(self.action_size)
+  
+  def act(self, state):
+    # Choose the best action based on what we already know
+    # If all the action values for a given state is the same, then act randomly
+    state = torch.from_numpy(state._force()).float().unsqueeze(0).to(self.device)
+    with torch.no_grad():
+      action_values = self.target_model(state).squeeze(0)
+      action = self.act_random() if (action_values[0] == action_values).all() else action_values.argmax().item()
+      return action
+
+  def replay(self, batch_size):
+    minibatch = self.memory.sample(batch_size)
+    state_batch, action_batch, reward_batch, next_state_batch, done_batch = zip(*minibatch)
+    
+    state_batch = torch.from_numpy(np.stack(state_batch)).float().to(self.device)
+    action_batch = torch.tensor(action_batch, device = self.device)
+    reward_batch = torch.tensor(reward_batch, device = self.device)
+    not_done_batch = ~torch.tensor(done_batch, device = self.device)
+    next_state_batch = torch.from_numpy(np.stack(next_state_batch))[not_done_batch].float().to(self.device)
+    
+    
+    obtained_values = self.model(state_batch).gather(1, action_batch.view(batch_size, 1))
+
+    with torch.no_grad():
+      # Use the target model to produce action values for the next state
+      # and the regular model to select the action
+      # That way we decouple the value and action selecting processes (DOUBLE DQN)
+      not_done_size = not_done_batch.sum()
+      next_state_values = self.target_model(next_state_batch)
+      next_best_action = self.model(next_state_batch).argmax(1)
+      best_next_state_value = torch.zeros(batch_size, device = self.device)
+      best_next_state_value[not_done_batch] = next_state_values.gather(1, next_best_action.view((not_done_size, 1))).squeeze(1)
+      
+    expected_values = (reward_batch + (self.gamma * best_next_state_value)).unsqueeze(1)
+
+    loss = F.mse_loss(obtained_values, expected_values)
+
+    self.optimizer.zero_grad()
+    loss.backward()
+    # Clip gradients
+    for param in self.model.parameters():
+      param.grad.data.clamp_(-1, 1)
+    self.optimizer.step()
+    
+    self.update_target_model()
+
+
+class FireResetEnv(gym.Wrapper):
+  def __init__(self, env):
+    """Take action on reset for environments that are fixed until firing."""
+    gym.Wrapper.__init__(self, env)
+    assert env.get_action_meanings()[1] == 'FIRE'
+    assert len(env.get_action_meanings()) >= 3
+
+  def reset(self, **kwargs):
+    self.env.reset(**kwargs)
+    obs, _, done, _ = self.env.step(1, **kwargs)
+    if done:
+      self.env.reset(**kwargs)
+    obs, _, done, _ = self.env.step(2, **kwargs)
+    if done:
+      self.env.reset(**kwargs)
+    return obs
+
+  def step(self, ac, **kwargs):
+    return self.env.step(ac, **kwargs)
+
+class LazyFrames(object):
+  def __init__(self, frames):
+    """This object ensures that common frames between the observations are only stored once.
+    It exists purely to optimize memory usage which can be huge for DQN's 1M frames replay
+    buffers.
+    This object should only be converted to numpy array before being passed to the model.
+    You'd not believe how complex the previous solution was."""
+    self._frames = frames
+    self._out = None
+
+  def _force(self):
+    if self._out is None:
+        self._out = np.stack(self._frames) # Custom change concatenate->stack
+        self._frames = None
+    return self._out
+ 
+  def __array__(self, dtype=None):
+    out = self._force()
+    if dtype is not None:
+        out = out.astype(dtype)
+    return out
+
+  def __len__(self):
+    return len(self._force())
+
+  def __getitem__(self, i):
+    return self._force()[i]
+
+class FrameStack(gym.Wrapper):
+  def __init__(self, env, k):
+    """Stack k last frames.
+    Returns lazy array, which is much more memory efficient.
+    See Also
+    --------
+    baselines.common.atari_wrappers.LazyFrames
+    """
+    gym.Wrapper.__init__(self, env)
+    self.k = k
+    self.frames = deque([], maxlen=k)
+    shp = env.observation_space.shape
+    self.observation_space = spaces.Box(low=0, high=255, shape=(shp[:-1] + (shp[-1] * k,)), dtype=env.observation_space.dtype)
+
+  def reset(self, **kwargs):
+    ob = self.env.reset(**kwargs)
+    for _ in range(self.k):
+      self.frames.append(ob)
+    return self._get_ob()
+
+  def step(self, action, **kwargs):
+    ob, reward, done, info = self.env.step(action, **kwargs)
+    self.frames.append(ob)
+    return self._get_ob(), reward, done, info
+
+  def _get_ob(self):
+    assert len(self.frames) == self.k
+    return LazyFrames(list(self.frames))
+
+
+
+def train():
+  global env
+  # env = FrameStack(ProcessFrame(FireResetEnv(env)), 4)
+  env = FrameStack(FireResetEnv(env), 4)
+  # env.seed(SEED)
+  state_size = [1, 4, 80, 70]
+  action_size = env.action_space.n
+
+  agent = DQNAgent(state_size, action_size)
+  done = False
+  batch_size = 32
+  EPISODES = 100
+  epsilon = 0.999
+
+  replaySkip = 4
+  batch_size = batch_size * replaySkip
+  for episode_num in range(EPISODES):
+    state = env.reset(preprocess = True)
+    total_reward = 0
+    done = False
+    replaySkip = 4
+    while not done:
+      replaySkip = replaySkip - 1
+      if np.random.rand() > epsilon:
+          action = agent.act(state)
+      else:
+          action = agent.act_random()
+      epsilon = epsilon * 0.99997
+      next_state, reward, done, _ = env.step(action, preprocess = True)
+
+      agent.remember(state, action, reward, next_state, done)
+      total_reward = total_reward + reward
+      state = next_state
+    
+      if done:
+        print("episode: {}/{}, score: {}, epsilon: {}"
+            .format(episode_num, EPISODES, total_reward, epsilon))
+        break # We finished this episode
+    
+      if len(agent.memory) > batch_size and replaySkip <= 0:
+        replaySkip = 4
+        agent.replay(batch_size)
+
+train()
+
+