From 5744260c9056a2dd2ce0cc02aeb7b3e5bc63b0c8 Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Fri, 19 Apr 2019 15:45:29 +0200
Subject: [PATCH] added agent examples for testing the code
---
agents/dqn_agent.py | 189 ++++++++++++++++++++++++++++++++++
agents/model.py | 62 +++++++++++
examples/temporary_example.py | 12 +--
3 files changed, 257 insertions(+), 6 deletions(-)
create mode 100644 agents/dqn_agent.py
create mode 100644 agents/model.py
diff --git a/agents/dqn_agent.py b/agents/dqn_agent.py
new file mode 100644
index 00000000..63a1badb
--- /dev/null
+++ b/agents/dqn_agent.py
@@ -0,0 +1,189 @@
+import numpy as np
+import random
+from collections import namedtuple, deque
+import os
+from agent.model import QNetwork, QNetwork2
+import torch
+import torch.nn.functional as F
+import torch.optim as optim
+import copy
+
+BUFFER_SIZE = int(1e5) # replay buffer size
+BATCH_SIZE = 512 # minibatch size
+GAMMA = 0.99 # discount factor 0.99
+TAU = 1e-3 # for soft update of target parameters
+LR = 0.5e-4 # learning rate 5
+UPDATE_EVERY = 10 # how often to update the network
+double_dqn = True # If using double dqn algorithm
+input_channels = 5 # Number of Input channels
+
+device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
+device = torch.device("cpu")
+print(device)
+
+
+class Agent():
+ """Interacts with and learns from the environment."""
+
+ def __init__(self, state_size, action_size, net_type, seed, double_dqn=True, input_channels=5):
+ """Initialize an Agent object.
+
+ Params
+ ======
+ state_size (int): dimension of each state
+ action_size (int): dimension of each action
+ seed (int): random seed
+ """
+ self.state_size = state_size
+ self.action_size = action_size
+ self.seed = random.seed(seed)
+ self.version = net_type
+ self.double_dqn = double_dqn
+ # Q-Network
+ if self.version == "Conv":
+ self.qnetwork_local = QNetwork2(state_size, action_size, seed, input_channels).to(device)
+ self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
+ else:
+ self.qnetwork_local = QNetwork(state_size, action_size, seed).to(device)
+ self.qnetwork_target = copy.deepcopy(self.qnetwork_local)
+
+ self.optimizer = optim.Adam(self.qnetwork_local.parameters(), lr=LR)
+
+ # Replay memory
+ self.memory = ReplayBuffer(action_size, BUFFER_SIZE, BATCH_SIZE, seed)
+ # Initialize time step (for updating every UPDATE_EVERY steps)
+ self.t_step = 0
+
+ def save(self, filename):
+ torch.save(self.qnetwork_local.state_dict(), filename + ".local")
+ torch.save(self.qnetwork_target.state_dict(), filename + ".target")
+
+ def load(self, filename):
+ if os.path.exists(filename + ".local"):
+ self.qnetwork_local.load_state_dict(torch.load(filename + ".local"))
+ if os.path.exists(filename + ".target"):
+ self.qnetwork_target.load_state_dict(torch.load(filename + ".target"))
+
+ def step(self, state, action, reward, next_state, done):
+ # Save experience in replay memory
+ self.memory.add(state, action, reward, next_state, done)
+
+ # Learn every UPDATE_EVERY time steps.
+ self.t_step = (self.t_step + 1) % UPDATE_EVERY
+ if self.t_step == 0:
+ # If enough samples are available in memory, get random subset and learn
+ if len(self.memory) > BATCH_SIZE:
+ experiences = self.memory.sample()
+ self.learn(experiences, GAMMA)
+
+ def act(self, state, eps=0.):
+ """Returns actions for given state as per current policy.
+
+ Params
+ ======
+ state (array_like): current state
+ eps (float): epsilon, for epsilon-greedy action selection
+ """
+ state = torch.from_numpy(state).float().unsqueeze(0).to(device)
+ self.qnetwork_local.eval()
+ with torch.no_grad():
+ action_values = self.qnetwork_local(state)
+ self.qnetwork_local.train()
+
+ # Epsilon-greedy action selection
+ if random.random() > eps:
+ return np.argmax(action_values.cpu().data.numpy())
+ else:
+ return random.choice(np.arange(self.action_size))
+
+ def learn(self, experiences, gamma):
+
+ """Update value parameters using given batch of experience tuples.
+
+ Params
+ ======
+ experiences (Tuple[torch.Tensor]): tuple of (s, a, r, s', done) tuples
+ gamma (float): discount factor
+ """
+ states, actions, rewards, next_states, dones = experiences
+
+ # Get expected Q values from local model
+ Q_expected = self.qnetwork_local(states).gather(1, actions)
+
+ if self.double_dqn:
+ # Double DQN
+ q_best_action = self.qnetwork_local(next_states).max(1)[1]
+ Q_targets_next = self.qnetwork_target(next_states).gather(1, q_best_action.unsqueeze(-1))
+ else:
+ # DQN
+ Q_targets_next = self.qnetwork_target(next_states).detach().max(1)[0].unsqueeze(-1)
+
+ # Compute Q targets for current states
+
+ Q_targets = rewards + (gamma * Q_targets_next * (1 - dones))
+
+ # Compute loss
+ loss = F.mse_loss(Q_expected, Q_targets)
+ # Minimize the loss
+ self.optimizer.zero_grad()
+ loss.backward()
+ self.optimizer.step()
+
+ # ------------------- update target network ------------------- #
+ self.soft_update(self.qnetwork_local, self.qnetwork_target, TAU)
+
+ def soft_update(self, local_model, target_model, tau):
+ """Soft update model parameters.
+ θ_target = τ*θ_local + (1 - τ)*θ_target
+
+ Params
+ ======
+ local_model (PyTorch model): weights will be copied from
+ target_model (PyTorch model): weights will be copied to
+ tau (float): interpolation parameter
+ """
+ for target_param, local_param in zip(target_model.parameters(), local_model.parameters()):
+ target_param.data.copy_(tau * local_param.data + (1.0 - tau) * target_param.data)
+
+
+class ReplayBuffer:
+ """Fixed-size buffer to store experience tuples."""
+
+ def __init__(self, action_size, buffer_size, batch_size, seed):
+ """Initialize a ReplayBuffer object.
+
+ Params
+ ======
+ action_size (int): dimension of each action
+ buffer_size (int): maximum size of buffer
+ batch_size (int): size of each training batch
+ seed (int): random seed
+ """
+ self.action_size = action_size
+ self.memory = deque(maxlen=buffer_size)
+ self.batch_size = batch_size
+ self.experience = namedtuple("Experience", field_names=["state", "action", "reward", "next_state", "done"])
+ self.seed = random.seed(seed)
+
+ def add(self, state, action, reward, next_state, done):
+ """Add a new experience to memory."""
+ e = self.experience(np.expand_dims(state, 0), action, reward, np.expand_dims(next_state, 0), done)
+ self.memory.append(e)
+
+ def sample(self):
+ """Randomly sample a batch of experiences from memory."""
+ experiences = random.sample(self.memory, k=self.batch_size)
+
+ states = torch.from_numpy(np.vstack([e.state for e in experiences if e is not None])).float().to(device)
+ actions = torch.from_numpy(np.vstack([e.action for e in experiences if e is not None])).long().to(device)
+ rewards = torch.from_numpy(np.vstack([e.reward for e in experiences if e is not None])).float().to(device)
+ next_states = torch.from_numpy(np.vstack([e.next_state for e in experiences if e is not None])).float().to(
+ device)
+ dones = torch.from_numpy(np.vstack([e.done for e in experiences if e is not None]).astype(np.uint8)).float().to(
+ device)
+
+ return (states, actions, rewards, next_states, dones)
+
+ def __len__(self):
+ """Return the current size of internal memory."""
+ return len(self.memory)
diff --git a/agents/model.py b/agents/model.py
new file mode 100644
index 00000000..3b52e9f5
--- /dev/null
+++ b/agents/model.py
@@ -0,0 +1,62 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+class QNetwork(nn.Module):
+ def __init__(self, state_size, action_size, seed, hidsize1=128, hidsize2=128):
+ super(QNetwork, self).__init__()
+
+ self.fc1_val = nn.Linear(state_size, hidsize1)
+ self.fc2_val = nn.Linear(hidsize1, hidsize2)
+ self.fc3_val = nn.Linear(hidsize2, 1)
+
+ self.fc1_adv = nn.Linear(state_size, hidsize1)
+ self.fc2_adv = nn.Linear(hidsize1, hidsize2)
+ self.fc3_adv = nn.Linear(hidsize2, action_size)
+
+ def forward(self, x):
+ val = F.relu(self.fc1_val(x))
+ val = F.relu(self.fc2_val(val))
+ val = self.fc3_val(val)
+
+ # advantage calculation
+ adv = F.relu(self.fc1_adv(x))
+ adv = F.relu(self.fc2_adv(adv))
+ adv = self.fc3_adv(adv)
+ return val + adv - adv.mean()
+
+
+class QNetwork2(nn.Module):
+ def __init__(self, state_size, action_size, seed, input_channels, hidsize1=128, hidsize2=64):
+ super(QNetwork2, self).__init__()
+ self.conv1 = nn.Conv2d(input_channels, 16, kernel_size=3, stride=1)
+ self.bn1 = nn.BatchNorm2d(16)
+ self.conv2 = nn.Conv2d(16, 32, kernel_size=5, stride=3)
+ self.bn2 = nn.BatchNorm2d(32)
+ self.conv3 = nn.Conv2d(32, 64, kernel_size=5, stride=3)
+ self.bn3 = nn.BatchNorm2d(64)
+
+ self.fc1_val = nn.Linear(6400, hidsize1)
+ self.fc2_val = nn.Linear(hidsize1, hidsize2)
+ self.fc3_val = nn.Linear(hidsize2, 1)
+
+ self.fc1_adv = nn.Linear(6400, hidsize1)
+ self.fc2_adv = nn.Linear(hidsize1, hidsize2)
+ self.fc3_adv = nn.Linear(hidsize2, action_size)
+
+ def forward(self, x):
+ x = F.relu(self.conv1(x))
+ x = F.relu(self.conv2(x))
+ x = F.relu(self.conv3(x))
+
+ # value function approximation
+ val = F.relu(self.fc1_val(x.view(x.size(0), -1)))
+ val = F.relu(self.fc2_val(val))
+ val = self.fc3_val(val)
+
+ # advantage calculation
+ adv = F.relu(self.fc1_adv(x.view(x.size(0), -1)))
+ adv = F.relu(self.fc2_adv(adv))
+ adv = self.fc3_adv(adv)
+ return val + adv - adv.mean()
diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index 52927160..c015f614 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -21,12 +21,12 @@ transition_probability = [1.0, # empty cell - Case 0
"""
transition_probability = [1.0, # empty cell - Case 0
1.0, # Case 1 - straight
- 1.0, # Case 2 - simple switch
- 1.0, # Case 3 - diamond drossing
- 1.0, # Case 4 - single slip
- 1.0, # Case 5 - double slip
- 1.0, # Case 6 - symmetrical
- 1.0] # Case 7 - dead end
+ 0.5, # Case 2 - simple switch
+ 0.2, # Case 3 - diamond drossing
+ 0.5, # Case 4 - single slip
+ 0.1, # Case 5 - double slip
+ 0.2, # Case 6 - symmetrical
+ 0.01] # Case 7 - dead end
# Example generate a random rail
env = RailEnv(width=20,
--
GitLab