Added Evolutionary Strategies Network and added more example scripts

examples/acrobot_a2c.py

@@ -0,0 +1,161 @@
+import gym
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import rltorch
+import rltorch.network as rn
+import rltorch.memory as M
+import rltorch.env as E
+from rltorch.action_selector import StochasticSelector
+from tensorboardX import SummaryWriter
+import torch.multiprocessing as mp
+import signal
+from copy import deepcopy
+
+class Value(nn.Module):
+  def __init__(self, state_size):
+    super(Value, self).__init__()
+    self.state_size = state_size
+
+    self.fc1 = rn.NoisyLinear(state_size, 64)
+    self.fc_norm = nn.LayerNorm(64)
+
+    self.fc2 = rn.NoisyLinear(64, 64)
+    self.fc2_norm = nn.LayerNorm(64)
+
+    self.fc3 = rn.NoisyLinear(64, 1)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+
+    x = self.fc3(x)
+    
+    return x
+
+class Policy(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Policy, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+
+    self.fc1 = rn.NoisyLinear(state_size, 64)
+    self.fc_norm = nn.LayerNorm(64)
+
+    self.fc2 = rn.NoisyLinear(64, 64)
+    self.fc2_norm = nn.LayerNorm(64)
+
+    self.fc3 = rn.NoisyLinear(64, action_size)
+    # self.fc3_norm = nn.LayerNorm(action_size)
+    
+    # self.value_fc = rn.NoisyLinear(64, 64)
+    # self.value_fc_norm = nn.LayerNorm(64)
+    # self.value = rn.NoisyLinear(64, 1)
+    
+    # self.advantage_fc = rn.NoisyLinear(64, 64)
+    # self.advantage_fc_norm = nn.LayerNorm(64)
+    # self.advantage = rn.NoisyLinear(64, action_size)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+
+    x = F.softmax(self.fc3(x), dim = 1)
+    
+    # state_value = F.relu(self.value_fc_norm(self.value_fc(x)))
+    # state_value = self.value(state_value)
+    
+    # advantage = F.relu(self.advantage_fc_norm(self.advantage_fc(x)))
+    # advantage = self.advantage(advantage)
+    
+    # x = F.softmax(state_value + advantage - advantage.mean(), dim = 1)
+    
+    return x
+
+
+config = {}
+config['seed'] = 901
+config['environment_name'] = 'Acrobot-v1'
+config['memory_size'] = 2000
+config['total_training_episodes'] = 500
+config['total_evaluation_episodes'] = 10
+config['batch_size'] = 32
+config['learning_rate'] = 1e-3
+config['target_sync_tau'] = 1e-1
+config['discount_rate'] = 0.99
+config['replay_skip'] = 0
+# How many episodes between printing out the episode stats
+config['print_stat_n_eps'] = 1
+config['disable_cuda'] = False
+
+
+def train(runner, agent, config, logger = None, logwriter = None):
+    finished = False
+    last_episode_num = 1
+    while not finished:
+        runner.run(config['replay_skip'] + 1)
+        agent.learn()
+        if logwriter is not None:
+          if last_episode_num < runner.episode_num:
+            last_episode_num = runner.episode_num
+            agent.value_net.log_named_parameters()
+            agent.policy_net.log_named_parameters()
+          logwriter.write(logger)
+        finished = runner.episode_num > config['total_training_episodes']
+
+if __name__ == "__main__":
+  torch.multiprocessing.set_sharing_strategy('file_system') # To not hit file descriptor memory limit
+
+  # Setting up the environment
+  rltorch.set_seed(config['seed'])
+  print("Setting up environment...", end = " ")
+  env = E.TorchWrap(gym.make(config['environment_name']))
+  env.seed(config['seed'])
+  print("Done.")
+      
+  state_size = env.observation_space.shape[0]
+  action_size = env.action_space.n
+
+  # Logging
+  logger = rltorch.log.Logger()
+  logwriter = rltorch.log.LogWriter(SummaryWriter())
+
+  # Setting up the networks
+  device = torch.device("cuda:0" if torch.cuda.is_available() and not config['disable_cuda'] else "cpu")
+  policy_net = rn.Network(Policy(state_size, action_size), 
+                      torch.optim.Adam, config, device = device, name = "Policy")
+  value_net = rn.Network(Value(state_size), 
+                      torch.optim.Adam, config, device = device, name = "DQN")
+
+
+  # Memory stores experiences for later training
+  memory = M.EpisodeMemory()
+
+  # Actor takes a net and uses it to produce actions from given states
+  actor = StochasticSelector(policy_net, action_size, memory, device = device)
+
+  # Agent is what performs the training
+  # agent = rltorch.agents.REINFORCEAgent(net, memory, config, target_net = target_net, logger = logger)
+  agent = rltorch.agents.A2CSingleAgent(policy_net, value_net, memory, config, logger = logger)
+
+  # Runner performs a certain number of steps in the environment
+  runner = rltorch.env.EnvironmentRunSync(env, actor, config, name = "Training", memory = memory, logwriter = logwriter)
+    
+  print("Training...")
+  train(runner, agent, config, logger = logger, logwriter = logwriter) 
+
+  # For profiling...
+  # import cProfile
+  # cProfile.run('train(runner, agent, config, logger = logger, logwriter = logwriter )')
+  # python -m torch.utils.bottleneck /path/to/source/script.py [args] is also a good solution...
+
+  print("Training Finished.")
+
+  print("Evaluating...")
+  rltorch.env.simulateEnvEps(env, actor, config, total_episodes = config['total_evaluation_episodes'], logger = logger, name = "Evaluation")
+  print("Evaulations Done.")
+
+  logwriter.close() # We don't need to write anything out to disk anymore

examples/acrobot_es.py

@@ -0,0 +1,120 @@
+import gym
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from torch.distributions import Categorical
+import rltorch
+import rltorch.network as rn
+import rltorch.memory as M
+import rltorch.env as E
+from rltorch.action_selector import StochasticSelector
+from tensorboardX import SummaryWriter
+import torch.multiprocessing as mp
+
+class Policy(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Policy, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+
+    self.fc1 = nn.Linear(state_size, 125)
+    self.fc_norm = nn.LayerNorm(125)
+    
+    self.fc2 = nn.Linear(125, 125)
+    self.fc2_norm = nn.LayerNorm(125)
+
+    self.action_prob = nn.Linear(125, action_size)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+    x = F.softmax(self.action_prob(x), dim = 1)
+    return x
+
+config = {}
+config['seed'] = 901
+config['environment_name'] = 'Acrobot-v1'
+config['memory_size'] = 2000
+config['total_training_episodes'] = 50
+config['total_evaluation_episodes'] = 5
+config['batch_size'] = 32
+config['learning_rate'] = 1e-1
+config['target_sync_tau'] = 1e-1
+config['discount_rate'] = 0.99
+config['replay_skip'] = 0
+# How many episodes between printing out the episode stats
+config['print_stat_n_eps'] = 1
+config['disable_cuda'] = False
+
+
+
+def train(env, net, actor, config, logger = None, logwriter = None):
+  finished = False
+  episode_num = 1
+  while not finished:
+    rltorch.env.simulateEnvEps(env, actor, config, logger = logger, name = "Training")
+    episode_num += 1
+    net.calc_gradients()
+    net.step()
+    # When the episode number changes, log network paramters
+    if logwriter is not None:
+      net.log_named_parameters()
+      logwriter.write(logger)
+    finished = episode_num > config['total_training_episodes']
+ 
+def fitness(model):
+  env = gym.make("Acrobot-v1")
+  state = torch.from_numpy(env.reset()).float().unsqueeze(0)
+  total_reward = 0
+  done = False
+  while not done:
+    action_probabilities = model(state)
+    distribution = Categorical(action_probabilities)
+    action = distribution.sample().item()
+    next_state, reward, done, _ = env.step(action)
+    total_reward += reward
+    state = torch.from_numpy(next_state).float().unsqueeze(0)
+  return total_reward
+
+if __name__ == "__main__":
+  # Setting up the environment
+  rltorch.set_seed(config['seed'])
+  print("Setting up environment...", end = " ")
+  env = E.TorchWrap(gym.make(config['environment_name']))
+  env.seed(config['seed'])
+  print("Done.")
+      
+  state_size = env.observation_space.shape[0]
+  action_size = env.action_space.n
+
+  # Logging
+  logger = rltorch.log.Logger()
+  # logwriter = rltorch.log.LogWriter(logger, SummaryWriter())
+  logwriter = rltorch.log.LogWriter(SummaryWriter())
+
+  # Setting up the networks
+  device = torch.device("cuda:0" if torch.cuda.is_available() and not config['disable_cuda'] else "cpu")
+  net = rn.ESNetwork(Policy(state_size, action_size), 
+                      torch.optim.Adam, 100, fitness, config, device = device, name = "ES", logger = logger)
+  net.model.share_memory()
+
+  # Actor takes a net and uses it to produce actions from given states
+  actor = StochasticSelector(net, action_size, device = device)
+
+  print("Training...")
+
+  train(env, net, actor, config, logger = logger, logwriter = logwriter) 
+
+  # For profiling...
+  # import cProfile
+  # cProfile.run('train(runner, agent, config, logger = logger, logwriter = logwriter )')
+  # python -m torch.utils.bottleneck /path/to/source/script.py [args] is also a good solution...
+
+  print("Training Finished.")
+
+  print("Evaluating...")
+  rltorch.env.simulateEnvEps(env, actor, config, total_episodes = config['total_evaluation_episodes'], logger = logger, name = "Evaluation")
+  print("Evaulations Done.")
+
+  logwriter.close() # We don't need to write anything out to disk anymore

examples/acrobot_ppo.py

@@ -0,0 +1,161 @@
+import gym
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import rltorch
+import rltorch.network as rn
+import rltorch.memory as M
+import rltorch.env as E
+from rltorch.action_selector import StochasticSelector
+from tensorboardX import SummaryWriter
+import torch.multiprocessing as mp
+import signal
+from copy import deepcopy
+
+class Value(nn.Module):
+  def __init__(self, state_size):
+    super(Value, self).__init__()
+    self.state_size = state_size
+
+    self.fc1 = rn.NoisyLinear(state_size, 64)
+    self.fc_norm = nn.LayerNorm(64)
+
+    self.fc2 = rn.NoisyLinear(64, 64)
+    self.fc2_norm = nn.LayerNorm(64)
+
+    self.fc3 = rn.NoisyLinear(64, 1)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+
+    x = self.fc3(x)
+    
+    return x
+
+class Policy(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Policy, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+
+    self.fc1 = rn.NoisyLinear(state_size, 64)
+    self.fc_norm = nn.LayerNorm(64)
+
+    self.fc2 = rn.NoisyLinear(64, 64)
+    self.fc2_norm = nn.LayerNorm(64)
+
+    self.fc3 = rn.NoisyLinear(64, action_size)
+    # self.fc3_norm = nn.LayerNorm(action_size)
+    
+    # self.value_fc = rn.NoisyLinear(64, 64)
+    # self.value_fc_norm = nn.LayerNorm(64)
+    # self.value = rn.NoisyLinear(64, 1)
+    
+    # self.advantage_fc = rn.NoisyLinear(64, 64)
+    # self.advantage_fc_norm = nn.LayerNorm(64)
+    # self.advantage = rn.NoisyLinear(64, action_size)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+
+    x = F.softmax(self.fc3(x), dim = 1)
+    
+    # state_value = F.relu(self.value_fc_norm(self.value_fc(x)))
+    # state_value = self.value(state_value)
+    
+    # advantage = F.relu(self.advantage_fc_norm(self.advantage_fc(x)))
+    # advantage = self.advantage(advantage)
+    
+    # x = F.softmax(state_value + advantage - advantage.mean(), dim = 1)
+    
+    return x
+
+
+config = {}
+config['seed'] = 901
+config['environment_name'] = 'Acrobot-v1'
+config['memory_size'] = 2000
+config['total_training_episodes'] = 500
+config['total_evaluation_episodes'] = 10
+config['batch_size'] = 32
+config['learning_rate'] = 1e-3
+config['target_sync_tau'] = 1e-1
+config['discount_rate'] = 0.99
+config['replay_skip'] = 0
+# How many episodes between printing out the episode stats
+config['print_stat_n_eps'] = 1
+config['disable_cuda'] = False
+
+
+def train(runner, agent, config, logger = None, logwriter = None):
+    finished = False
+    last_episode_num = 1
+    while not finished:
+        runner.run(config['replay_skip'] + 1)
+        agent.learn()
+        if logwriter is not None:
+          if last_episode_num < runner.episode_num:
+            last_episode_num = runner.episode_num
+            agent.value_net.log_named_parameters()
+            agent.policy_net.log_named_parameters()
+          logwriter.write(logger)
+        finished = runner.episode_num > config['total_training_episodes']
+
+if __name__ == "__main__":
+  torch.multiprocessing.set_sharing_strategy('file_system') # To not hit file descriptor memory limit
+
+  # Setting up the environment
+  rltorch.set_seed(config['seed'])
+  print("Setting up environment...", end = " ")
+  env = E.TorchWrap(gym.make(config['environment_name']))
+  env.seed(config['seed'])
+  print("Done.")
+      
+  state_size = env.observation_space.shape[0]
+  action_size = env.action_space.n
+
+  # Logging
+  logger = rltorch.log.Logger()
+  logwriter = rltorch.log.LogWriter(SummaryWriter())
+
+  # Setting up the networks
+  device = torch.device("cuda:0" if torch.cuda.is_available() and not config['disable_cuda'] else "cpu")
+  policy_net = rn.Network(Policy(state_size, action_size), 
+                      torch.optim.Adam, config, device = device, name = "Policy")
+  value_net = rn.Network(Value(state_size), 
+                      torch.optim.Adam, config, device = device, name = "DQN")
+
+
+  # Memory stores experiences for later training
+  memory = M.EpisodeMemory()
+
+  # Actor takes a net and uses it to produce actions from given states
+  actor = StochasticSelector(policy_net, action_size, memory, device = device)
+
+  # Agent is what performs the training
+  # agent = rltorch.agents.REINFORCEAgent(net, memory, config, target_net = target_net, logger = logger)
+  agent = rltorch.agents.PPOAgent(policy_net, value_net, memory, config, logger = logger)
+
+  # Runner performs a certain number of steps in the environment
+  runner = rltorch.env.EnvironmentRunSync(env, actor, config, name = "Training", memory = memory, logwriter = logwriter)
+    
+  print("Training...")
+  train(runner, agent, config, logger = logger, logwriter = logwriter) 
+
+  # For profiling...
+  # import cProfile
+  # cProfile.run('train(runner, agent, config, logger = logger, logwriter = logwriter )')
+  # python -m torch.utils.bottleneck /path/to/source/script.py [args] is also a good solution...
+
+  print("Training Finished.")
+
+  print("Evaluating...")
+  rltorch.env.simulateEnvEps(env, actor, config, total_episodes = config['total_evaluation_episodes'], logger = logger, name = "Evaluation")
+  print("Evaulations Done.")
+
+  logwriter.close() # We don't need to write anything out to disk anymore

examples/acrobot_qep.py

@@ -7,9 +7,10 @@ import rltorch
 import rltorch.network as rn
 import rltorch.memory as M
 import rltorch.env as E
-from rltorch.action_selector import ArgMaxSelector
+from rltorch.action_selector import StochasticSelector
 from tensorboardX import SummaryWriter
 import torch.multiprocessing as mp
+from copy import deepcopy
 
 class Value(nn.Module):
   def __init__(self, state_size, action_size):
@@ -17,16 +18,16 @@ class Value(nn.Module):
     self.state_size = state_size
     self.action_size = action_size
 
-    self.fc1 = rn.NoisyLinear(state_size, 64)
+    self.fc1 = rn.NoisyLinear(state_size, 255)
-    self.fc_norm = nn.LayerNorm(64)
+    self.fc_norm = nn.LayerNorm(255)
     
-    self.value_fc = rn.NoisyLinear(64, 64)
+    self.value_fc = rn.NoisyLinear(255, 255)
-    self.value_fc_norm = nn.LayerNorm(64)
+    self.value_fc_norm = nn.LayerNorm(255)
-    self.value = rn.NoisyLinear(64, 1)
+    self.value = rn.NoisyLinear(255, 1)
     
-    self.advantage_fc = rn.NoisyLinear(64, 64)
+    self.advantage_fc = rn.NoisyLinear(255, 255)
-    self.advantage_fc_norm = nn.LayerNorm(64)
+    self.advantage_fc_norm = nn.LayerNorm(255)
-    self.advantage = rn.NoisyLinear(64, action_size)
+    self.advantage = rn.NoisyLinear(255, action_size)
 
   def forward(self, x):
     x = F.relu(self.fc_norm(self.fc1(x)))
@@ -42,12 +43,32 @@ class Value(nn.Module):
     return x
 
 
+class Policy(nn.Module):
+  def __init__(self, state_size, action_size):
+    super(Policy, self).__init__()
+    self.state_size = state_size
+    self.action_size = action_size
+
+    self.fc1 = nn.Linear(state_size, 125)
+    self.fc_norm = nn.LayerNorm(125)
+    
+    self.fc2 = nn.Linear(125, 125)
+    self.fc2_norm = nn.LayerNorm(125)
+
+    self.action_prob = nn.Linear(125, action_size)
+
+  def forward(self, x):
+    x = F.relu(self.fc_norm(self.fc1(x)))
+    x = F.relu(self.fc2_norm(self.fc2(x)))
+    x = F.softmax(self.action_prob(x), dim = 1)
+    return x
+
 config = {}
 config['seed'] = 901
 config['environment_name'] = 'Acrobot-v1'
 config['memory_size'] = 2000
 config['total_training_episodes'] = 50
-config['total_evaluation_episodes'] = 10
+config['total_evaluation_episodes'] = 5
 config['batch_size'] = 32
 config['learning_rate'] = 1e-3
 config['target_sync_tau'] = 1e-1
@@ -65,28 +86,24 @@ config['prioritized_replay_sampling_priority'] = 0.6
 # 1 - Lower the importance of high losses
 # Should ideally start from 0 and move your way to 1 to prevent overfitting
 config['prioritized_replay_weight_importance'] = rltorch.scheduler.ExponentialScheduler(initial_value = 0.4, end_value = 1, iterations = 5000)
-  
+
+
+
 def train(runner, agent, config, logger = None, logwriter = None):
     finished = False
     last_episode_num = 1
     while not finished:
-        runner.run()
+        runner.run(config['replay_skip'] + 1)
         agent.learn()
-        runner.join()
+        if logwriter is not None:
-        # When the episode number changes, log network paramters
+          if last_episode_num < runner.episode_num:
-        with runner.episode_num.get_lock():
+            last_episode_num = runner.episode_num
-          if logwriter is not None and last_episode_num < runner.episode_num.value:
+            agent.value_net.log_named_parameters()
-              last_episode_num = runner.episode_num.value
+            agent.policy_net.log_named_parameters()
-              agent.net.log_named_parameters()
+          logwriter.write(logger)
-          if logwriter is not None:
+        finished = runner.episode_num > config['total_training_episodes']
-            logwriter.write(logger)
-          finished = runner.episode_num.value > config['total_training_episodes']
-
-
 
 if __name__ == "__main__":
-  torch.multiprocessing.set_sharing_strategy('file_system') # To not hit file descriptor memory limit
-
   # Setting up the environment
   rltorch.set_seed(config['seed'])
   print("Setting up environment...", end = " ")
@@ -104,24 +121,29 @@ if __name__ == "__main__":
 
   # Setting up the networks
   device = torch.device("cuda:0" if torch.cuda.is_available() and not config['disable_cuda'] else "cpu")
-  net = rn.Network(Value(state_size, action_size), 
+  config2 = deepcopy(config)
-                      torch.optim.Adam, config, device = device, name = "DQN")
+  config2['learning_rate'] = 0.01
-  target_net = rn.TargetNetwork(net, device = device)
+  policy_net = rn.ESNetwork(Policy(state_size, action_size), 
-  net.model.share_memory()
+                      torch.optim.Adam, 500, None, config2, sigma = 0.1, device = device, name = "ES", logger = logger)
+  value_net = rn.Network(Value(state_size, action_size), 
+                      torch.optim.Adam, config, device = device, name = "DQN", logger = logger)
+
+  target_net = rn.TargetNetwork(value_net, device = device)
+  value_net.model.share_memory()
   target_net.model.share_memory()
 
   # Actor takes a net and uses it to produce actions from given states
-  actor = ArgMaxSelector(net, action_size, device = device)
+  actor = StochasticSelector(policy_net, action_size, device = device)
   # Memory stores experiences for later training
   memory = M.PrioritizedReplayMemory(capacity = config['memory_size'], alpha = config['prioritized_replay_sampling_priority'])
-  # memory = M.ReplayMemory(capacity = config['memory_size'])
 
   # Runner performs a certain number of steps in the environment
-  runner = rltorch.mp.EnvironmentRun(env, actor, config, name = "Training", memory = memory, logwriter = logwriter)
+  runner = rltorch.env.EnvironmentRunSync(env, actor, config, name = "Training", memory = memory, logwriter = logwriter)
 
   # Agent is what performs the training
-  agent = rltorch.agents.DQNAgent(net, memory, config, target_net = target_net, logger = logger)
+  # agent = TestAgent(policy_net, value_net, memory, config, target_value_net = target_net, logger = logger)
-    
+  agent = rltorch.agents.QEPAgent(policy_net, value_net, memory, config, target_value_net = target_net, logger = logger)
+
   print("Training...")
 
   train(runner, agent, config, logger = logger, logwriter = logwriter) 
@@ -132,7 +154,6 @@ if __name__ == "__main__":
   # python -m torch.utils.bottleneck /path/to/source/script.py [args] is also a good solution...
 
   print("Training Finished.")
-  runner.terminate() # We don't need the extra process anymore
 
   print("Evaluating...")
   rltorch.env.simulateEnvEps(env, actor, config, total_episodes = config['total_evaluation_episodes'], logger = logger, name = "Evaluation")

examples/acrobot_reinforce.py

@@ -48,7 +48,7 @@ config = {}
 config['seed'] = 901
 config['environment_name'] = 'Acrobot-v1'
 config['memory_size'] = 2000
-config['total_training_episodes'] = 100
+config['total_training_episodes'] = 500
 config['total_evaluation_episodes'] = 10
 config['batch_size'] = 32
 config['learning_rate'] = 1e-3

examples/acrobot_single_process.py

@@ -46,8 +46,8 @@ config = {}
 config['seed'] = 901
 config['environment_name'] = 'Acrobot-v1'
 config['memory_size'] = 2000
-config['total_training_episodes'] = 5
+config['total_training_episodes'] = 50
-config['total_evaluation_episodes'] = 2
+config['total_evaluation_episodes'] = 5
 config['batch_size'] = 32
 config['learning_rate'] = 1e-3
 config['target_sync_tau'] = 1e-1

rltorch/action_selector/IdentitySelector.py

@@ -0,0 +1,14 @@
+from .ArgMaxSelector import ArgMaxSelector
+import torch
+class IdentitySelector(ArgMaxSelector):
+    def __init__(self, model, action_size, device = None):
+        super(IdentitySelector, self).__init__(model, action_size, device = device)
+    # random_act is already implemented in ArgMaxSelector
+    def best_act(self, state):
+        with torch.no_grad():
+            if self.device is not None:
+                state = state.to(self.device)
+            action = self.model(state).squeeze(0).item()
+        return action
+    def act(self, state):
+        return self.best_act(state)

rltorch/action_selector/StochasticSelector.py

@@ -5,7 +5,7 @@ import rltorch
 from rltorch.action_selector import ArgMaxSelector
 
 class StochasticSelector(ArgMaxSelector):
-    def __init__(self, model, action_size, memory, device = None):
+    def __init__(self, model, action_size, memory = None, device = None):
         super(StochasticSelector, self).__init__(model, action_size, device = device)
         self.model = model
         self.action_size = action_size

rltorch/action_selector/__init__.py

@@ -1,4 +1,5 @@
 from .ArgMaxSelector import * 
 from .EpsilonGreedySelector import * 
+from .IdentitySelector import * 
 from .RandomSelector import * 
 from .StochasticSelector import * 

rltorch/agents/A2CSingleAgent.py

@@ -1,5 +1,3 @@
-# Deprecated since the idea of the idea shouldn't work without having some sort of "mental model" of the environment
-
 from copy import deepcopy
 import numpy as np
 import torch

rltorch/agents/QEPAgent.py

@@ -0,0 +1,110 @@
+from copy import deepcopy
+import collections
+import torch
+from torch.distributions import Categorical
+import rltorch
+import rltorch.memory as M
+
+# Q-Evolutionary Policy Agent
+# Maximizes the policy with respect to the Q-Value function.
+# Since function is non-differentiabile, depends on the Evolutionary Strategy algorithm
+class QEPAgent:
+    def __init__(self, policy_net, value_net, memory, config, target_value_net = None, logger = None):
+        self.policy_net = policy_net
+        assert isinstance(self.policy_net, rltorch.network.ESNetwork)
+        self.policy_net.fitness = self.fitness
+        self.value_net = value_net
+        self.target_value_net = target_value_net
+        self.memory = memory
+        self.config = deepcopy(config)
+        self.logger = logger
+        self.policy_skip = 10
+
+    def fitness(self, policy_net, value_net, state_batch):
+      action_probabilities = policy_net(state_batch)
+      distributions = list(map(Categorical, action_probabilities))
+      actions = torch.tensor([d.sample() for d in distributions])
+      
+      with torch.no_grad():
+        state_values = value_net(state_batch)
+      obtained_values = state_values.gather(1, actions.view(len(state_batch), 1)).squeeze(1)
+
+      return -obtained_values.mean().item()
+
+    def learn(self, logger = None):
+        if len(self.memory) < self.config['batch_size']:
+            return
+        
+        if (isinstance(self.memory, M.PrioritizedReplayMemory)):
+            weight_importance = self.config['prioritized_replay_weight_importance']
+            # If it's a scheduler then get the next value by calling next, otherwise just use it's value
+            beta = next(weight_importance) if isinstance(weight_importance, collections.Iterable) else weight_importance
+            minibatch = self.memory.sample(self.config['batch_size'], beta = beta)
+            state_batch, action_batch, reward_batch, next_state_batch, not_done_batch, importance_weights, batch_indexes = M.zip_batch(minibatch, priority = True)
+        else:
+            minibatch = self.memory.sample(self.config['batch_size'])
+            state_batch, action_batch, reward_batch, next_state_batch, not_done_batch = M.zip_batch(minibatch)
+        
+        # Send to their appropriate devices
+        state_batch = state_batch.to(self.value_net.device)
+        action_batch = action_batch.to(self.value_net.device)
+        reward_batch = reward_batch.to(self.value_net.device)
+        next_state_batch = next_state_batch.to(self.value_net.device)
+        not_done_batch = not_done_batch.to(self.value_net.device)
+
+        state_values = self.value_net(state_batch)
+        obtained_values = state_values.gather(1, action_batch.view(self.config['batch_size'], 1))
+
+        with torch.no_grad():
+            # Use the target net to produce action values for the next state
+            # and the regular net 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 = torch.zeros_like(state_values, device = self.value_net.device)
+            if self.target_value_net is not None:
+                next_state_values[not_done_batch] = self.target_value_net(next_state_batch[not_done_batch])
+                next_best_action = self.value_net(next_state_batch[not_done_batch]).argmax(1)
+            else:
+                next_state_values[not_done_batch] = self.value_net(next_state_batch[not_done_batch])
+                next_best_action = next_state_values[not_done_batch].argmax(1)
+
+            best_next_state_value = torch.zeros(self.config['batch_size'], device = self.value_net.device)
+            best_next_state_value[not_done_batch] = next_state_values[not_done_batch].gather(1, next_best_action.view((not_done_size, 1))).squeeze(1)
+            
+        expected_values = (reward_batch + (self.config['discount_rate'] * best_next_state_value)).unsqueeze(1)
+
+        if (isinstance(self.memory, M.PrioritizedReplayMemory)):
+            value_loss = (torch.as_tensor(importance_weights, device = self.value_net.device) * ((obtained_values - expected_values)**2).squeeze(1)).mean()
+        else:
+            value_loss = F.mse_loss(obtained_values, expected_values)
+        
+        if self.logger is not None:
+            self.logger.append("Loss/Value", value_loss.item())
+
+        self.value_net.zero_grad()
+        value_loss.backward()
+        self.value_net.clamp_gradients()
+        self.value_net.step()
+
+        if self.target_value_net is not None:
+            if 'target_sync_tau' in self.config:
+                self.target_value_net.partial_sync(self.config['target_sync_tau'])
+            else:
+                self.target_value_net.sync()
+
+        if (isinstance(self.memory, M.PrioritizedReplayMemory)):
+            td_error = (obtained_values - expected_values).detach().abs()
+            self.memory.update_priorities(batch_indexes, td_error)
+
+        ## Policy Training
+        if self.policy_skip > 0:
+          self.policy_skip -= 1
+          return
+        self.policy_skip = 10
+        if self.target_value_net is not None:
+          self.policy_net.calc_gradients(self.target_value_net, state_batch)
+        else:
+          self.policy_net.calc_gradients(self.value_net, state_batch)
+        self.policy_net.clamp_gradients()
+        self.policy_net.step()
+

rltorch/agents/__init__.py

@@ -1,4 +1,5 @@
 from .A2CSingleAgent import *
 from .DQNAgent import *
 from .PPOAgent import *
+from .QEPAgent import *
 from .REINFORCEAgent import *

rltorch/network/ESNetwork.py

@@ -0,0 +1,66 @@
+import numpy as np
+import torch
+from .Network import Network
+from copy import deepcopy
+
+class ESNetwork(Network):
+    """
+    Network that functions from the paper Evolutionary Strategies (https://arxiv.org/abs/1703.03864)
+    fitness_fun := model, *args -> fitness_value (float)
+    We wish to find a model that maximizes the fitness function
+    """
+    def __init__(self, model, optimizer, population_size, fitness_fn, config, sigma = 0.05, device = None, logger = None, name = ""):
+        super(ESNetwork, self).__init__(model, optimizer, config, device, logger, name)
+        self.population_size = population_size
+        self.fitness = fitness_fn
+        self.sigma = sigma
+
+    # We're not going to be calculating gradients in the traditional way
+    # So there's no need to waste computation time keeping track
+    def __call__(self, *args):
+        with torch.no_grad():
+            result = self.model(*args)
+        return result
+
+
+    def _generate_noise_dicts(self):
+        model_dict = self.model.state_dict()
+        white_noise_dict = {}
+        noise_dict = {}
+        for key in model_dict.keys():
+            white_noise_dict[key] = torch.randn(self.population_size, *model_dict[key].shape)
+            noise_dict[key] = self.sigma * white_noise_dict[key]
+        return white_noise_dict, noise_dict
+
+    def _generate_candidate_solutions(self, noise_dict):
+        model_dict = self.model.state_dict()
+        candidate_solutions = []
+        for i in range(self.population_size):
+            candidate_statedict = {}
+            for key in model_dict.keys():
+                candidate_statedict[key] = model_dict[key] + noise_dict[key][i]
+            candidate = deepcopy(self.model)
+            candidate.load_state_dict(candidate_statedict)
+            candidate_solutions.append(candidate)
+        return candidate_solutions
+
+    def calc_gradients(self, *args):
+        ## Generate Noise
+        white_noise_dict, noise_dict = self._generate_noise_dicts()
+        
+        ## Generate candidate solutions
+        candidate_solutions = self._generate_candidate_solutions(noise_dict)
+        
+        ## Calculate fitness then mean shift, scale
+        fitness_values = torch.tensor([self.fitness(x, *args) for x in candidate_solutions])
+        if self.logger is not None:
+            self.logger.append(self.name + "/" + "fitness_value", fitness_values.mean().item())
+        fitness_values = (fitness_values - fitness_values.mean()) / (fitness_values.std() + np.finfo('float').eps)
+
+        ## Insert adjustments into gradients slot
+        self.zero_grad()
+        for name, param in self.model.named_parameters():
+            if param.requires_grad:
+                noise_dim_n = len(white_noise_dict[name].shape)
+                dim = np.repeat(1, noise_dim_n - 1).tolist() if noise_dim_n > 0 else []
+                param.grad = (white_noise_dict[name] * fitness_values.float().reshape(self.population_size, *dim)).mean(0) / self.sigma

rltorch/network/__init__.py

@@ -1,3 +1,4 @@
+from .ESNetwork import *
 from .Network import *
 from .NoisyLinear import *
 from .TargetNetwork import *