continuous.py

Go to the documentation of this file.

"""
Deep actor-critic network,
From "Continuous control with deep reinforcement learning",
by Lillicrap et al, arXiv:1509.02971
"""
 
import random
import signal
import time
from collections import deque
 
import matplotlib.pyplot as plt
import numpy as np
import tensorflow as tf
import tflearn
from pendulum import Pendulum
 
 
RANDOM_SEED = int((time.time() % 10) * 1000)
print("Seed = %d" % RANDOM_SEED)
np.random.seed(RANDOM_SEED)
tf.set_random_seed(RANDOM_SEED)
random.seed(RANDOM_SEED)
n_init = tflearn.initializations.truncated_normal(seed=RANDOM_SEED)
u_init = tflearn.initializations.uniform(minval=-0.003, maxval=0.003, seed=RANDOM_SEED)
 
 
NEPISODES = 100  # Max training steps
NSTEPS = 100  # Max episode length
QVALUE_LEARNING_RATE = 0.001  # Base learning rate for the Q-value Network
POLICY_LEARNING_RATE = 0.0001  # Base learning rate for the policy network
DECAY_RATE = 0.99  # Discount factor
UPDATE_RATE = 0.01  # Homotopy rate to update the networks
REPLAY_SIZE = 10000  # Size of replay buffer
BATCH_SIZE = 64  # Number of points to be fed in stochastic gradient
NH1 = NH2 = 250  # Hidden layer size
 
 
env = Pendulum(1)  # Continuous pendulum
env.withSinCos = True  # State is dim-3: (cosq,sinq,qdot) ...
NX = env.nobs  # ... training converges with q,qdot with 2x more neurones.
NU = env.nu  # Control is dim-1: joint torque
 
 
 
 
class QValueNetwork:
    def __init__(self):
        nvars = len(tf.trainable_variables())
 
        x = tflearn.input_data(shape=[None, NX])
        u = tflearn.input_data(shape=[None, NU])
 
        netx1 = tflearn.fully_connected(x, NH1, weights_init=n_init, activation="relu")
        netx2 = tflearn.fully_connected(netx1, NH2, weights_init=n_init)
        netu1 = tflearn.fully_connected(
            u, NH1, weights_init=n_init, activation="linear"
        )
        netu2 = tflearn.fully_connected(netu1, NH2, weights_init=n_init)
        net = tflearn.activation(netx2 + netu2, activation="relu")
        qvalue = tflearn.fully_connected(net, 1, weights_init=u_init)
 
        self.x = x  # Network state   <x> input in Q(x,u)
        self.u = u  # Network control <u> input in Q(x,u)
        self.qvalue = qvalue  # Network output  <Q>
        self.variables = tf.trainable_variables()[nvars:]  # Variables to be trained
        self.hidens = [netx1, netx2, netu1, netu2]  # Hidden layers for debug
 
    def setupOptim(self):
        qref = tf.placeholder(tf.float32, [None, 1])
        loss = tflearn.mean_square(qref, self.qvalue)
        optim = tf.train.AdamOptimizer(QVALUE_LEARNING_RATE).minimize(loss)
        gradient = tf.gradients(self.qvalue, self.u)[0] / float(BATCH_SIZE)
 
        self.qref = qref  # Reference Q-values
        self.optim = optim  # Optimizer
        self.gradient = (
            gradient  # Gradient of Q wrt the control  dQ/du (for policy training)
        )
        return self
 
    def setupTargetAssign(self, nominalNet, tau=UPDATE_RATE):
        self.update_variables = [
            target.assign(tau * ref + (1 - tau) * target)
            for target, ref in zip(self.variables, nominalNet.variables)
        ]
        return self
 
 
class PolicyNetwork:
    def __init__(self):
        nvars = len(tf.trainable_variables())
 
        x = tflearn.input_data(shape=[None, NX])
        net = tflearn.fully_connected(x, NH1, activation="relu", weights_init=n_init)
        net = tflearn.fully_connected(net, NH2, activation="relu", weights_init=n_init)
        policy = (
            tflearn.fully_connected(net, NU, activation="tanh", weights_init=u_init)
            * env.umax
        )
 
        self.x = x  # Network input <x> in Pi(x)
        self.policy = policy  # Network output <Pi>
        self.variables = tf.trainable_variables()[nvars:]  # Variables to be trained
 
    def setupOptim(self):
        qgradient = tf.placeholder(tf.float32, [None, NU])
        grad = tf.gradients(self.policy, self.variables, -qgradient)
        optim = tf.train.AdamOptimizer(POLICY_LEARNING_RATE).apply_gradients(
            zip(grad, self.variables)
        )
 
        self.qgradient = qgradient  # Q-value gradient wrt control (input value)
        self.optim = optim  # Optimizer
        return self
 
    def setupTargetAssign(self, nominalNet, tau=UPDATE_RATE):
        self.update_variables = [
            target.assign(tau * ref + (1 - tau) * target)
            for target, ref in zip(self.variables, nominalNet.variables)
        ]
        return self
 
 
 
class ReplayItem:
    def __init__(self, x, u, r, d, x2):
        self.x = x
        self.u = u
        self.reward = r
        self.done = d
        self.x2 = x2
 
 
replayDeque = deque()
 
 
 
policy = PolicyNetwork().setupOptim()
policyTarget = PolicyNetwork().setupTargetAssign(policy)
 
qvalue = QValueNetwork().setupOptim()
qvalueTarget = QValueNetwork().setupTargetAssign(qvalue)
 
sess = tf.InteractiveSession()
tf.global_variables_initializer().run()
 
# Uncomment to save or restore networks
# tf.train.Saver().restore(sess, "netvalues/actorcritic.pre.ckpt")
# tf.train.Saver().save   (sess, "netvalues/actorcritic.full.ckpt")
 
 
def rendertrial(maxiter=NSTEPS, verbose=True):
    x = env.reset()
    rsum = 0.0
    for i in range(maxiter):
        u = sess.run(policy.policy, feed_dict={policy.x: x.T})
        x, reward = env.step(u)
        env.render()
        time.sleep(1e-2)
        rsum += reward
    if verbose:
        print("Lasted ", i, " timestep -- total reward:", rsum)
 
 
signal.signal(
    signal.SIGTSTP, lambda x, y: rendertrial()
)  # Roll-out when CTRL-Z is pressed
 
 
h_rwd = []
h_qva = []
h_ste = []
 
 
for episode in range(1, NEPISODES):
    x = env.reset().T
    rsum = 0.0
 
    for step in range(NSTEPS):
        u = sess.run(policy.policy, feed_dict={policy.x: x})  # Greedy policy ...
        u += 1.0 / (1.0 + episode + step)  # ... with noise
        x2, r = env.step(u)
        x2 = x2.T
        done = False  # pendulum scenario is endless.
 
        replayDeque.append(ReplayItem(x, u, r, done, x2))  # Feed replay memory ...
        if len(replayDeque) > REPLAY_SIZE:
            replayDeque.popleft()  # ... with FIFO forgetting.
 
        rsum += r
        if done or np.linalg.norm(x - x2) < 1e-3:
            break  # Break when pendulum is still.
        x = x2
 
        # Start optimizing networks when memory size > batch size.
        if len(replayDeque) > BATCH_SIZE:
            batch = random.sample(
                replayDeque, BATCH_SIZE
            )  # Random batch from replay memory.
            x_batch = np.vstack([b.x for b in batch])
            u_batch = np.vstack([b.u for b in batch])
            r_batch = np.vstack([b.reward for b in batch])
            d_batch = np.vstack([b.done for b in batch])
            x2_batch = np.vstack([b.x2 for b in batch])
 
            # Compute Q(x,u) from target network
            u2_batch = sess.run(
                policyTarget.policy, feed_dict={policyTarget.x: x2_batch}
            )
            q2_batch = sess.run(
                qvalueTarget.qvalue,
                feed_dict={qvalueTarget.x: x2_batch, qvalueTarget.u: u2_batch},
            )
            qref_batch = r_batch + (not d_batch) * (DECAY_RATE * q2_batch)
 
            # Update qvalue to solve HJB constraint: q = r + q'
            sess.run(
                qvalue.optim,
                feed_dict={
                    qvalue.x: x_batch,
                    qvalue.u: u_batch,
                    qvalue.qref: qref_batch,
                },
            )
 
            # Compute approximate policy gradient ...
            u_targ = sess.run(policy.policy, feed_dict={policy.x: x_batch})
            qgrad = sess.run(
                qvalue.gradient, feed_dict={qvalue.x: x_batch, qvalue.u: u_targ}
            )
            # ... and take an optimization step along this gradient.
            sess.run(
                policy.optim, feed_dict={policy.x: x_batch, policy.qgradient: qgrad}
            )
 
            # Update target networks by homotopy.
            sess.run(policyTarget.update_variables)
            sess.run(qvalueTarget.update_variables)
 
    # \\\END_FOR step in range(NSTEPS)
 
    # Display and logging (not mandatory).
    maxq = (
        np.max(
            sess.run(qvalue.qvalue, feed_dict={qvalue.x: x_batch, qvalue.u: u_batch})
        )
        if "x_batch" in locals()
        else 0
    )
    print(
        f"Ep#{episode:3d}: lasted {step:d} steps, "
        f"reward={rsum:3.0f}, max qvalue={maxq:2.3f}"
    )
    h_rwd.append(rsum)
    h_qva.append(maxq)
    h_ste.append(step)
    if not (episode + 1) % 20:
        rendertrial(100)
 
# \\\END_FOR episode in range(NEPISODES)
 
print("Average reward during trials: %.3f" % (sum(h_rwd) / NEPISODES))
rendertrial()
plt.plot(np.cumsum(h_rwd) / range(1, NEPISODES))
plt.show()