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network_imporvements branch merge

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This commit is contained in:
Shadi Endrawis
2018-10-02 13:41:46 +03:00
parent 72ea933384
commit 51726a5b80
110 changed files with 1639 additions and 1161 deletions
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3
docs_raw/mkdocs.yml
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@@ -16,7 +16,8 @@ pages:
- 'Control Flow' : design/control_flow.md
- 'Network' : design/network.md
- 'Filters' : design/filters.md
- API Reference:
- 'Agent Parameters' : api_reference/agent_parameters/agent_parameters.md
- Algorithms:
- 'DQN' : algorithms/value_optimization/dqn.md
- 'Double DQN' : algorithms/value_optimization/double_dqn.md

34
rl_coach/agents/actor_critic_agent.py
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@@ -25,14 +25,38 @@ from rl_coach.architectures.tensorflow_components.heads.v_head import VHeadParam
from rl_coach.architectures.tensorflow_components.middlewares.fc_middleware import FCMiddlewareParameters
from rl_coach.base_parameters import AlgorithmParameters, NetworkParameters, \
AgentParameters
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.exploration_policies.continuous_entropy import ContinuousEntropyParameters
from rl_coach.logger import screen
from rl_coach.memories.episodic.single_episode_buffer import SingleEpisodeBufferParameters
from rl_coach.spaces import DiscreteActionSpace
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace
from rl_coach.utils import last_sample
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
class ActorCriticAlgorithmParameters(AlgorithmParameters):
"""
:param policy_gradient_rescaler: (PolicyGradientRescaler)
The value that will be used to rescale the policy gradient
:param apply_gradients_every_x_episodes: (int)
The number of episodes to wait before applying the accumulated gradients to the network.
The training iterations only accumulate gradients without actually applying them.
:param beta_entropy: (float)
The weight that will be given to the entropy regularization which is used in order to improve exploration.
:param num_steps_between_gradient_updates: (int)
Every num_steps_between_gradient_updates transitions will be considered as a single batch and use for
accumulating gradients. This is also the number of steps used for bootstrapping according to the n-step formulation.
:param gae_lambda: (float)
If the policy gradient rescaler was defined as PolicyGradientRescaler.GAE, the generalized advantage estimation
scheme will be used, in which case the lambda value controls the decay for the different n-step lengths.
:param estimate_state_value_using_gae: (bool)
If set to True, the state value targets for the V head will be estimated using the GAE scheme.
"""
def __init__(self):
super().__init__()
self.policy_gradient_rescaler = PolicyGradientRescaler.A_VALUE
@@ -48,9 +72,7 @@ class ActorCriticNetworkParameters(NetworkParameters):
super().__init__()
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [VHeadParameters(), PolicyHeadParameters()]
self.loss_weights = [0.5, 1.0]
self.rescale_gradient_from_head_by_factor = [1, 1]
self.heads_parameters = [VHeadParameters(loss_weight=0.5), PolicyHeadParameters(loss_weight=1.0)]
self.optimizer_type = 'Adam'
self.clip_gradients = 40.0
self.async_training = True
@@ -59,8 +81,8 @@ class ActorCriticNetworkParameters(NetworkParameters):
class ActorCriticAgentParameters(AgentParameters):
def __init__(self):
super().__init__(algorithm=ActorCriticAlgorithmParameters(),
exploration=None, #TODO this should be different for continuous (ContinuousEntropyExploration)
# and discrete (CategoricalExploration) action spaces.
exploration={DiscreteActionSpace: CategoricalParameters(),
BoxActionSpace: ContinuousEntropyParameters()},
memory=SingleEpisodeBufferParameters(),
networks={"main": ActorCriticNetworkParameters()})

24
rl_coach/agents/agent.py
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@@ -157,6 +157,10 @@ class Agent(AgentInterface):
if self.ap.task_parameters.seed is not None:
random.seed(self.ap.task_parameters.seed)
np.random.seed(self.ap.task_parameters.seed)
else:
# we need to seed the RNG since the different processes are initialized with the same parent seed
random.seed()
np.random.seed()
@property
def parent(self):
@@ -269,6 +273,10 @@ class Agent(AgentInterface):
spaces=self.spaces,
replicated_device=self.replicated_device,
worker_device=self.worker_device)
if self.ap.visualization.print_networks_summary:
print(networks[network_name])
return networks
def init_environment_dependent_modules(self) -> None:
@@ -278,6 +286,14 @@ class Agent(AgentInterface):
:return: None
"""
# initialize exploration policy
if isinstance(self.ap.exploration, dict):
if self.spaces.action.__class__ in self.ap.exploration.keys():
self.ap.exploration = self.ap.exploration[self.spaces.action.__class__]
else:
raise ValueError("The exploration parameters were defined as a mapping between action space types and "
"exploration types, but the action space used by the environment ({}) was not part of "
"the exploration parameters dictionary keys ({})"
.format(self.spaces.action.__class__, list(self.ap.exploration.keys())))
self.ap.exploration.action_space = self.spaces.action
self.exploration_policy = dynamic_import_and_instantiate_module_from_params(self.ap.exploration)
@@ -543,6 +559,9 @@ class Agent(AgentInterface):
"""
loss = 0
if self._should_train():
for network in self.networks.values():
network.set_is_training(True)
for training_step in range(self.ap.algorithm.num_consecutive_training_steps):
# TODO: this should be network dependent
network_parameters = list(self.ap.network_wrappers.values())[0]
@@ -586,9 +605,14 @@ class Agent(AgentInterface):
if self.imitation:
self.log_to_screen()
for network in self.networks.values():
network.set_is_training(False)
# run additional commands after the training is done
self.post_training_commands()
return loss
def choose_action(self, curr_state):

4
rl_coach/agents/bc_agent.py
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@@ -26,6 +26,7 @@ from rl_coach.base_parameters import AgentParameters, AlgorithmParameters, Netwo
from rl_coach.exploration_policies.e_greedy import EGreedyParameters
from rl_coach.memories.episodic.episodic_experience_replay import EpisodicExperienceReplayParameters
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.memories.non_episodic.experience_replay import ExperienceReplayParameters
class BCAlgorithmParameters(AlgorithmParameters):
@@ -40,7 +41,6 @@ class BCNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters(scheme=MiddlewareScheme.Medium)
self.heads_parameters = [PolicyHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.batch_size = 32
self.replace_mse_with_huber_loss = False
@@ -51,7 +51,7 @@ class BCAgentParameters(AgentParameters):
def __init__(self):
super().__init__(algorithm=BCAlgorithmParameters(),
exploration=EGreedyParameters(),
memory=EpisodicExperienceReplayParameters(),
memory=ExperienceReplayParameters(),
networks={"main": BCNetworkParameters()})
@property

4
rl_coach/agents/bootstrapped_dqn_agent.py
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@@ -28,8 +28,8 @@ from rl_coach.memories.non_episodic.experience_replay import ExperienceReplayPar
class BootstrappedDQNNetworkParameters(DQNNetworkParameters):
def __init__(self):
super().__init__()
self.num_output_head_copies = 10
self.rescale_gradient_from_head_by_factor = [1.0/self.num_output_head_copies]*self.num_output_head_copies
self.heads_parameters[0].num_output_head_copies = 10
self.heads_parameters[0].rescale_gradient_from_head_by_factor = 1.0/self.heads_parameters[0].num_output_head_copies
class BootstrappedDQNAgentParameters(AgentParameters):

1
rl_coach/agents/cil_agent.py
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@@ -38,7 +38,6 @@ class CILNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters(scheme=MiddlewareScheme.Medium)
self.heads_parameters = [RegressionHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.batch_size = 32
self.replace_mse_with_huber_loss = False

14
rl_coach/agents/clipped_ppo_agent.py
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@@ -31,10 +31,11 @@ from rl_coach.base_parameters import AlgorithmParameters, NetworkParameters, \
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.core_types import EnvironmentSteps, Batch, EnvResponse, StateType
from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.logger import screen
from rl_coach.memories.episodic.episodic_experience_replay import EpisodicExperienceReplayParameters
from rl_coach.schedules import ConstantSchedule
from rl_coach.spaces import DiscreteActionSpace
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace
class ClippedPPONetworkParameters(NetworkParameters):
@@ -43,8 +44,6 @@ class ClippedPPONetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters(activation_function='tanh')}
self.middleware_parameters = FCMiddlewareParameters(activation_function='tanh')
self.heads_parameters = [VHeadParameters(), PPOHeadParameters()]
self.loss_weights = [1.0, 1.0]
self.rescale_gradient_from_head_by_factor = [1, 1]
self.batch_size = 64
self.optimizer_type = 'Adam'
self.clip_gradients = None
@@ -79,7 +78,8 @@ class ClippedPPOAlgorithmParameters(AlgorithmParameters):
class ClippedPPOAgentParameters(AgentParameters):
def __init__(self):
super().__init__(algorithm=ClippedPPOAlgorithmParameters(),
exploration=AdditiveNoiseParameters(),
exploration={DiscreteActionSpace: CategoricalParameters(),
BoxActionSpace: AdditiveNoiseParameters()},
memory=EpisodicExperienceReplayParameters(),
networks={"main": ClippedPPONetworkParameters()})
@@ -253,6 +253,9 @@ class ClippedPPOAgent(ActorCriticAgent):
def train(self):
if self._should_train(wait_for_full_episode=True):
for network in self.networks.values():
network.set_is_training(True)
dataset = self.memory.transitions
dataset = self.pre_network_filter.filter(dataset, deep_copy=False)
batch = Batch(dataset)
@@ -269,6 +272,9 @@ class ClippedPPOAgent(ActorCriticAgent):
self.train_network(batch, self.ap.algorithm.optimization_epochs)
for network in self.networks.values():
network.set_is_training(False)
self.post_training_commands()
self.training_iteration += 1
# should be done in order to update the data that has been accumulated * while not playing *

4
rl_coach/agents/ddpg_agent.py
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@@ -41,8 +41,6 @@ class DDPGCriticNetworkParameters(NetworkParameters):
'action': InputEmbedderParameters(scheme=EmbedderScheme.Shallow)}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [VHeadParameters()]
self.loss_weights = [1.0]
self.rescale_gradient_from_head_by_factor = [1]
self.optimizer_type = 'Adam'
self.batch_size = 64
self.async_training = False
@@ -58,8 +56,6 @@ class DDPGActorNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters(batchnorm=True)}
self.middleware_parameters = FCMiddlewareParameters(batchnorm=True)
self.heads_parameters = [DDPGActorHeadParameters()]
self.loss_weights = [1.0]
self.rescale_gradient_from_head_by_factor = [1]
self.optimizer_type = 'Adam'
self.batch_size = 64
self.async_training = False

23
rl_coach/agents/dfp_agent.py
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@@ -21,7 +21,7 @@ from typing import Union
import numpy as np
from rl_coach.agents.agent import Agent
from rl_coach.architectures.tensorflow_components.architecture import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.layers import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.heads.measurements_prediction_head import \
MeasurementsPredictionHeadParameters
from rl_coach.architectures.tensorflow_components.middlewares.fc_middleware import FCMiddlewareParameters
@@ -48,28 +48,27 @@ class DFPNetworkParameters(NetworkParameters):
'goal': InputEmbedderParameters(activation_function='leaky_relu')}
self.input_embedders_parameters['observation'].scheme = [
Conv2d([32, 8, 4]),
Conv2d([64, 4, 2]),
Conv2d([64, 3, 1]),
Dense([512]),
Conv2d(32, 8, 4),
Conv2d(64, 4, 2),
Conv2d(64, 3, 1),
Dense(512),
]
self.input_embedders_parameters['measurements'].scheme = [
Dense([128]),
Dense([128]),
Dense([128]),
Dense(128),
Dense(128),
Dense(128),
]
self.input_embedders_parameters['goal'].scheme = [
Dense([128]),
Dense([128]),
Dense([128]),
Dense(128),
Dense(128),
Dense(128),
]
self.middleware_parameters = FCMiddlewareParameters(activation_function='leaky_relu',
scheme=MiddlewareScheme.Empty)
self.heads_parameters = [MeasurementsPredictionHeadParameters(activation_function='leaky_relu')]
self.loss_weights = [1.0]
self.async_training = False
self.batch_size = 64
self.adam_optimizer_beta1 = 0.95

1
rl_coach/agents/dqn_agent.py
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@@ -44,7 +44,6 @@ class DQNNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters(scheme=MiddlewareScheme.Medium)
self.heads_parameters = [QHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.batch_size = 32
self.replace_mse_with_huber_loss = True

2
rl_coach/agents/human_agent.py
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@@ -46,8 +46,6 @@ class HumanNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.input_embedders_parameters['observation'].scheme = EmbedderScheme.Medium
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [PolicyHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.batch_size = 32
self.replace_mse_with_huber_loss = False

1
rl_coach/agents/n_step_q_agent.py
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@@ -37,7 +37,6 @@ class NStepQNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [QHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.async_training = True
self.shared_optimizer = True

1
rl_coach/agents/naf_agent.py
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@@ -37,7 +37,6 @@ class NAFNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [NAFHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.learning_rate = 0.001
self.async_training = True

2
rl_coach/agents/nec_agent.py
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@@ -39,8 +39,6 @@ class NECNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [DNDQHeadParameters()]
self.loss_weights = [1.0]
self.rescale_gradient_from_head_by_factor = [1]
self.optimizer_type = 'Adam'

7
rl_coach/agents/policy_gradients_agent.py
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@@ -26,9 +26,10 @@ from rl_coach.base_parameters import NetworkParameters, AlgorithmParameters, \
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.logger import screen
from rl_coach.memories.episodic.single_episode_buffer import SingleEpisodeBufferParameters
from rl_coach.spaces import DiscreteActionSpace
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace
class PolicyGradientNetworkParameters(NetworkParameters):
@@ -37,7 +38,6 @@ class PolicyGradientNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [PolicyHeadParameters()]
self.loss_weights = [1.0]
self.async_training = True
@@ -53,7 +53,8 @@ class PolicyGradientAlgorithmParameters(AlgorithmParameters):
class PolicyGradientsAgentParameters(AgentParameters):
def __init__(self):
super().__init__(algorithm=PolicyGradientAlgorithmParameters(),
exploration=AdditiveNoiseParameters(),
exploration={DiscreteActionSpace: CategoricalParameters(),
BoxActionSpace: AdditiveNoiseParameters()},
memory=SingleEpisodeBufferParameters(),
networks={"main": PolicyGradientNetworkParameters()})

5
rl_coach/agents/policy_optimization_agent.py
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@@ -93,6 +93,8 @@ class PolicyOptimizationAgent(Agent):
total_loss = 0
if num_steps_passed_since_last_update > 0:
for network in self.networks.values():
network.set_is_training(True)
# we need to update the returns of the episode until now
episode.update_returns()
@@ -124,6 +126,9 @@ class PolicyOptimizationAgent(Agent):
network.apply_gradients_and_sync_networks()
self.training_iteration += 1
for network in self.networks.values():
network.set_is_training(False)
# run additional commands after the training is done
self.post_training_commands()

14
rl_coach/agents/ppo_agent.py
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@@ -31,9 +31,10 @@ from rl_coach.architectures.tensorflow_components.embedders.embedder import Inpu
from rl_coach.core_types import EnvironmentSteps, Batch
from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.logger import screen
from rl_coach.memories.episodic.episodic_experience_replay import EpisodicExperienceReplayParameters
from rl_coach.spaces import DiscreteActionSpace
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace
from rl_coach.utils import force_list
@@ -43,7 +44,6 @@ class PPOCriticNetworkParameters(NetworkParameters):
self.input_embedders_parameters = {'observation': InputEmbedderParameters(activation_function='tanh')}
self.middleware_parameters = FCMiddlewareParameters(activation_function='tanh')
self.heads_parameters = [VHeadParameters()]
self.loss_weights = [1.0]
self.async_training = True
self.l2_regularization = 0
self.create_target_network = True
@@ -57,7 +57,6 @@ class PPOActorNetworkParameters(NetworkParameters):
self.middleware_parameters = FCMiddlewareParameters(activation_function='tanh')
self.heads_parameters = [PPOHeadParameters()]
self.optimizer_type = 'Adam'
self.loss_weights = [1.0]
self.async_training = True
self.l2_regularization = 0
self.create_target_network = True
@@ -84,7 +83,8 @@ class PPOAlgorithmParameters(AlgorithmParameters):
class PPOAgentParameters(AgentParameters):
def __init__(self):
super().__init__(algorithm=PPOAlgorithmParameters(),
exploration=AdditiveNoiseParameters(),
exploration={DiscreteActionSpace: CategoricalParameters(),
BoxActionSpace: AdditiveNoiseParameters()},
memory=EpisodicExperienceReplayParameters(),
networks={"critic": PPOCriticNetworkParameters(), "actor": PPOActorNetworkParameters()})
@@ -313,6 +313,9 @@ class PPOAgent(ActorCriticAgent):
def train(self):
loss = 0
if self._should_train(wait_for_full_episode=True):
for network in self.networks.values():
network.set_is_training(True)
for training_step in range(self.ap.algorithm.num_consecutive_training_steps):
self.networks['actor'].sync()
self.networks['critic'].sync()
@@ -330,6 +333,9 @@ class PPOAgent(ActorCriticAgent):
self.value_loss.add_sample(value_loss)
self.policy_loss.add_sample(policy_loss)
for network in self.networks.values():
network.set_is_training(False)
self.post_training_commands()
self.training_iteration += 1
self.update_log() # should be done in order to update the data that has been accumulated * while not playing *

25
rl_coach/architectures/network_wrapper.py
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@@ -199,6 +199,16 @@ class NetworkWrapper(object):
global_variables = [v for v in tf.global_variables() if self.global_network.name in v.name]
return global_variables
def set_is_training(self, state: bool):
"""
Set the phase of the network between training and testing
:param state: The current state (True = Training, False = Testing)
:return: None
"""
self.online_network.set_is_training(state)
if self.has_target:
self.target_network.set_is_training(state)
def set_session(self, sess):
self.sess = sess
self.online_network.set_session(sess)
@@ -207,3 +217,18 @@ class NetworkWrapper(object):
if self.target_network:
self.target_network.set_session(sess)
def __str__(self):
sub_networks = []
if self.global_network:
sub_networks.append("global network")
if self.online_network:
sub_networks.append("online network")
if self.target_network:
sub_networks.append("target network")
result = []
result.append("Network: {}, Copies: {} ({})".format(self.name, len(sub_networks), ' | '.join(sub_networks)))
result.append("-"*len(result[-1]))
result.append(str(self.online_network))
result.append("")
return '\n'.join(result)

139
rl_coach/architectures/tensorflow_components/architecture.py
View File

@@ -13,9 +13,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
import math
import time
from typing import List, Union
import numpy as np
import tensorflow as tf
@@ -27,135 +25,6 @@ from rl_coach.spaces import SpacesDefinition
from rl_coach.utils import force_list, squeeze_list
def batchnorm_activation_dropout(input_layer, batchnorm, activation_function, dropout, dropout_rate, layer_idx):
layers = [input_layer]
# batchnorm
if batchnorm:
layers.append(
tf.layers.batch_normalization(layers[-1], name="batchnorm{}".format(layer_idx))
)
# activation
if activation_function:
layers.append(
activation_function(layers[-1], name="activation{}".format(layer_idx))
)
# dropout
if dropout:
layers.append(
tf.layers.dropout(layers[-1], dropout_rate, name="dropout{}".format(layer_idx))
)
# remove the input layer from the layers list
del layers[0]
return layers
class Conv2d(object):
def __init__(self, params: List):
"""
:param params: list of [num_filters, kernel_size, strides]
"""
self.params = params
def __call__(self, input_layer, name: str=None):
"""
returns a tensorflow conv2d layer
:param input_layer: previous layer
:param name: layer name
:return: conv2d layer
"""
return tf.layers.conv2d(input_layer, filters=self.params[0], kernel_size=self.params[1], strides=self.params[2],
data_format='channels_last', name=name)
class Dense(object):
def __init__(self, params: Union[List, int]):
"""
:param params: list of [num_output_neurons]
"""
self.params = force_list(params)
def __call__(self, input_layer, name: str=None, kernel_initializer=None, activation=None):
"""
returns a tensorflow dense layer
:param input_layer: previous layer
:param name: layer name
:return: dense layer
"""
return tf.layers.dense(input_layer, self.params[0], name=name, kernel_initializer=kernel_initializer,
activation=activation)
class NoisyNetDense(object):
"""
A factorized Noisy Net layer
https://arxiv.org/abs/1706.10295.
"""
def __init__(self, params: List):
"""
:param params: list of [num_output_neurons]
"""
self.params = force_list(params)
self.sigma0 = 0.5
def __call__(self, input_layer, name: str, kernel_initializer=None, activation=None):
"""
returns a NoisyNet dense layer
:param input_layer: previous layer
:param name: layer name
:param kernel_initializer: initializer for kernels. Default is to use Gaussian noise that preserves stddev.
:param activation: the activation function
:return: dense layer
"""
#TODO: noise sampling should be externally controlled. DQN is fine with sampling noise for every
# forward (either act or train, both for online and target networks).
# A3C, on the other hand, should sample noise only when policy changes (i.e. after every t_max steps)
num_inputs = input_layer.get_shape()[-1].value
num_outputs = self.params[0]
stddev = 1 / math.sqrt(num_inputs)
activation = activation if activation is not None else (lambda x: x)
if kernel_initializer is None:
kernel_mean_initializer = tf.random_uniform_initializer(-stddev, stddev)
kernel_stddev_initializer = tf.random_uniform_initializer(-stddev * self.sigma0, stddev * self.sigma0)
else:
kernel_mean_initializer = kernel_stddev_initializer = kernel_initializer
with tf.variable_scope(None, default_name=name):
weight_mean = tf.get_variable('weight_mean', shape=(num_inputs, num_outputs),
initializer=kernel_mean_initializer)
bias_mean = tf.get_variable('bias_mean', shape=(num_outputs,), initializer=tf.zeros_initializer())
weight_stddev = tf.get_variable('weight_stddev', shape=(num_inputs, num_outputs),
initializer=kernel_stddev_initializer)
bias_stddev = tf.get_variable('bias_stddev', shape=(num_outputs,),
initializer=kernel_stddev_initializer)
bias_noise = self.f(tf.random_normal((num_outputs,)))
weight_noise = self.factorized_noise(num_inputs, num_outputs)
bias = bias_mean + bias_stddev * bias_noise
weight = weight_mean + weight_stddev * weight_noise
return activation(tf.matmul(input_layer, weight) + bias)
def factorized_noise(self, inputs, outputs):
# TODO: use factorized noise only for compute intensive algos (e.g. DQN).
# lighter algos (e.g. DQN) should not use it
noise1 = self.f(tf.random_normal((inputs, 1)))
noise2 = self.f(tf.random_normal((1, outputs)))
return tf.matmul(noise1, noise2)
@staticmethod
def f(values):
return tf.sqrt(tf.abs(values)) * tf.sign(values)
def variable_summaries(var):
"""Attach a lot of summaries to a Tensor (for TensorBoard visualization)."""
with tf.name_scope('summaries'):
@@ -720,6 +589,14 @@ class TensorFlowArchitecture(Architecture):
"""
self.sess.run(assign_op, feed_dict={placeholder: value})
def set_is_training(self, state: bool):
"""
Set the phase of the network between training and testing
:param state: The current state (True = Training, False = Testing)
:return: None
"""
self.set_variable_value(self.assign_is_training, state, self.is_training_placeholder)
def reset_internal_memory(self):
"""
Reset any internal memory used by the network. For example, an LSTM internal state

57
rl_coach/architectures/tensorflow_components/embedders/embedder.py
View File

@@ -15,20 +15,23 @@
#
from typing import List, Union
import copy
import numpy as np
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.layers import batchnorm_activation_dropout, Dense, \
BatchnormActivationDropout
from rl_coach.base_parameters import EmbedderScheme, NetworkComponentParameters
from rl_coach.core_types import InputEmbedding
from rl_coach.utils import force_list
class InputEmbedderParameters(NetworkComponentParameters):
def __init__(self, activation_function: str='relu', scheme: Union[List, EmbedderScheme]=EmbedderScheme.Medium,
batchnorm: bool=False, dropout=False, name: str='embedder', input_rescaling=None, input_offset=None,
input_clipping=None, dense_layer=Dense):
input_clipping=None, dense_layer=Dense, is_training=False):
super().__init__(dense_layer=dense_layer)
self.activation_function = activation_function
self.scheme = scheme
@@ -44,6 +47,7 @@ class InputEmbedderParameters(NetworkComponentParameters):
self.input_offset = input_offset
self.input_clipping = input_clipping
self.name = name
self.is_training = is_training
@property
def path(self):
@@ -61,7 +65,8 @@ class InputEmbedder(object):
"""
def __init__(self, input_size: List[int], activation_function=tf.nn.relu,
scheme: EmbedderScheme=None, batchnorm: bool=False, dropout: bool=False,
name: str= "embedder", input_rescaling=1.0, input_offset=0.0, input_clipping=None, dense_layer=Dense):
name: str= "embedder", input_rescaling=1.0, input_offset=0.0, input_clipping=None, dense_layer=Dense,
is_training=False):
self.name = name
self.input_size = input_size
self.activation_function = activation_function
@@ -72,11 +77,29 @@ class InputEmbedder(object):
self.output = None
self.scheme = scheme
self.return_type = InputEmbedding
self.layers_params = []
self.layers = []
self.input_rescaling = input_rescaling
self.input_offset = input_offset
self.input_clipping = input_clipping
self.dense_layer = dense_layer
self.is_training = is_training
# layers order is conv -> batchnorm -> activation -> dropout
if isinstance(self.scheme, EmbedderScheme):
self.layers_params = copy.copy(self.schemes[self.scheme])
else:
self.layers_params = copy.copy(self.scheme)
# we allow adding batchnorm, dropout or activation functions after each layer.
# The motivation is to simplify the transition between a network with batchnorm and a network without
# batchnorm to a single flag (the same applies to activation function and dropout)
if self.batchnorm or self.activation_function or self.dropout:
for layer_idx in reversed(range(len(self.layers_params))):
self.layers_params.insert(layer_idx+1,
BatchnormActivationDropout(batchnorm=self.batchnorm,
activation_function=self.activation_function,
dropout_rate=self.dropout_rate))
def __call__(self, prev_input_placeholder=None):
with tf.variable_scope(self.get_name()):
@@ -102,19 +125,11 @@ class InputEmbedder(object):
self.layers.append(input_layer)
# layers order is conv -> batchnorm -> activation -> dropout
if isinstance(self.scheme, EmbedderScheme):
layers_params = self.schemes[self.scheme]
else:
layers_params = self.scheme
for idx, layer_params in enumerate(layers_params):
self.layers.append(
layer_params(input_layer=self.layers[-1], name='{}_{}'.format(layer_params.__class__.__name__, idx))
)
self.layers.extend(batchnorm_activation_dropout(self.layers[-1], self.batchnorm,
self.activation_function, self.dropout,
self.dropout_rate, idx))
for idx, layer_params in enumerate(self.layers_params):
self.layers.extend(force_list(
layer_params(input_layer=self.layers[-1], name='{}_{}'.format(layer_params.__class__.__name__, idx),
is_training=self.is_training)
))
self.output = tf.contrib.layers.flatten(self.layers[-1])
@@ -141,3 +156,13 @@ class InputEmbedder(object):
def get_name(self):
return self.name
def __str__(self):
result = []
if self.input_rescaling != 1.0 or self.input_offset != 0.0:
result.append('Input Normalization (scale = {}, offset = {})'.format(self.input_rescaling, self.input_offset))
result.extend([str(l) for l in self.layers_params])
if self.layers_params:
return '\n'.join(result)
else:
return 'No layers'

30
rl_coach/architectures/tensorflow_components/embedders/image_embedder.py
View File

@@ -18,7 +18,7 @@ from typing import List
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.layers import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedder
from rl_coach.base_parameters import EmbedderScheme
from rl_coach.core_types import InputImageEmbedding
@@ -34,9 +34,9 @@ class ImageEmbedder(InputEmbedder):
def __init__(self, input_size: List[int], activation_function=tf.nn.relu,
scheme: EmbedderScheme=EmbedderScheme.Medium, batchnorm: bool=False, dropout: bool=False,
name: str= "embedder", input_rescaling: float=255.0, input_offset: float=0.0, input_clipping=None,
dense_layer=Dense):
dense_layer=Dense, is_training=False):
super().__init__(input_size, activation_function, scheme, batchnorm, dropout, name, input_rescaling,
input_offset, input_clipping, dense_layer=dense_layer)
input_offset, input_clipping, dense_layer=dense_layer, is_training=is_training)
self.return_type = InputImageEmbedding
if len(input_size) != 3 and scheme != EmbedderScheme.Empty:
raise ValueError("Image embedders expect the input size to have 3 dimensions. The given size is: {}"
@@ -50,28 +50,28 @@ class ImageEmbedder(InputEmbedder):
EmbedderScheme.Shallow:
[
Conv2d([32, 3, 1])
Conv2d(32, 3, 1)
],
# atari dqn
EmbedderScheme.Medium:
[
Conv2d([32, 8, 4]),
Conv2d([64, 4, 2]),
Conv2d([64, 3, 1])
Conv2d(32, 8, 4),
Conv2d(64, 4, 2),
Conv2d(64, 3, 1)
],
# carla
EmbedderScheme.Deep: \
[
Conv2d([32, 5, 2]),
Conv2d([32, 3, 1]),
Conv2d([64, 3, 2]),
Conv2d([64, 3, 1]),
Conv2d([128, 3, 2]),
Conv2d([128, 3, 1]),
Conv2d([256, 3, 2]),
Conv2d([256, 3, 1])
Conv2d(32, 5, 2),
Conv2d(32, 3, 1),
Conv2d(64, 3, 2),
Conv2d(64, 3, 1),
Conv2d(128, 3, 2),
Conv2d(128, 3, 1),
Conv2d(256, 3, 2),
Conv2d(256, 3, 1)
]
}

17
rl_coach/architectures/tensorflow_components/embedders/vector_embedder.py
View File

@@ -18,7 +18,7 @@ from typing import List
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedder
from rl_coach.base_parameters import EmbedderScheme
from rl_coach.core_types import InputVectorEmbedding
@@ -33,9 +33,10 @@ class VectorEmbedder(InputEmbedder):
def __init__(self, input_size: List[int], activation_function=tf.nn.relu,
scheme: EmbedderScheme=EmbedderScheme.Medium, batchnorm: bool=False, dropout: bool=False,
name: str= "embedder", input_rescaling: float=1.0, input_offset:float=0.0, input_clipping=None,
dense_layer=Dense):
dense_layer=Dense, is_training=False):
super().__init__(input_size, activation_function, scheme, batchnorm, dropout, name,
input_rescaling, input_offset, input_clipping, dense_layer=dense_layer)
input_rescaling, input_offset, input_clipping, dense_layer=dense_layer,
is_training=is_training)
self.return_type = InputVectorEmbedding
if len(self.input_size) != 1 and scheme != EmbedderScheme.Empty:
@@ -49,20 +50,20 @@ class VectorEmbedder(InputEmbedder):
EmbedderScheme.Shallow:
[
self.dense_layer([128])
self.dense_layer(128)
],
# dqn
EmbedderScheme.Medium:
[
self.dense_layer([256])
self.dense_layer(256)
],
# carla
EmbedderScheme.Deep: \
[
self.dense_layer([128]),
self.dense_layer([128]),
self.dense_layer([128])
self.dense_layer(128),
self.dense_layer(128),
self.dense_layer(128)
]
}

73
rl_coach/architectures/tensorflow_components/general_network.py
View File

@@ -27,7 +27,7 @@ from rl_coach.architectures.tensorflow_components.middlewares.middleware import
from rl_coach.base_parameters import AgentParameters, EmbeddingMergerType
from rl_coach.core_types import PredictionType
from rl_coach.spaces import SpacesDefinition, PlanarMapsObservationSpace
from rl_coach.utils import get_all_subclasses, dynamic_import_and_instantiate_module_from_params
from rl_coach.utils import get_all_subclasses, dynamic_import_and_instantiate_module_from_params, indent_string
class GeneralTensorFlowNetwork(TensorFlowArchitecture):
@@ -80,6 +80,7 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
return ret_dict
self.available_return_types = fill_return_types()
self.is_training = None
def predict_with_prediction_type(self, states: Dict[str, np.ndarray],
prediction_type: PredictionType) -> Dict[str, np.ndarray]:
@@ -161,7 +162,7 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
module = dynamic_import_and_instantiate_module_from_params(middleware_params_copy)
return module
def get_output_head(self, head_params: HeadParameters, head_idx: int, loss_weight: float=1.):
def get_output_head(self, head_params: HeadParameters, head_idx: int):
"""
Given a head type, creates the head and returns it
:param head_params: the parameters of the head to create
@@ -176,7 +177,7 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
head_params_copy.activation_function = self.get_activation_function(head_params_copy.activation_function)
return dynamic_import_and_instantiate_module_from_params(head_params_copy, extra_kwargs={
'agent_parameters': self.ap, 'spaces': self.spaces, 'network_name': self.network_wrapper_name,
'head_idx': head_idx, 'loss_weight': loss_weight, 'is_local': self.network_is_local})
'head_idx': head_idx, 'is_local': self.network_is_local})
def get_model(self):
# validate the configuration
@@ -189,11 +190,10 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
if self.network_parameters.middleware_parameters is None:
raise ValueError("Exactly one middleware type should be defined")
if len(self.network_parameters.loss_weights) == 0:
raise ValueError("At least one loss weight should be defined")
if len(self.network_parameters.heads_parameters) != len(self.network_parameters.loss_weights):
raise ValueError("Number of loss weights should match the number of output types")
# ops for defining the training / testing phase
self.is_training = tf.Variable(False, trainable=False, collections=[tf.GraphKeys.LOCAL_VARIABLES])
self.is_training_placeholder = tf.placeholder("bool")
self.assign_is_training = tf.assign(self.is_training, self.is_training_placeholder)
for network_idx in range(self.num_networks):
with tf.variable_scope('network_{}'.format(network_idx)):
@@ -245,28 +245,27 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
head_count = 0
for head_idx in range(self.num_heads_per_network):
for head_copy_idx in range(self.network_parameters.num_output_head_copies):
if self.network_parameters.use_separate_networks_per_head:
# if we use separate networks per head, then the head type corresponds top the network idx
# if we use separate networks per head, then the head type corresponds to the network idx
head_type_idx = network_idx
head_count = network_idx
else:
# if we use a single network with multiple embedders, then the head type is the current head idx
head_type_idx = head_idx
head_params = self.network_parameters.heads_parameters[head_type_idx]
for head_copy_idx in range(head_params.num_output_head_copies):
# create output head and add it to the output heads list
self.output_heads.append(
self.get_output_head(self.network_parameters.heads_parameters[head_type_idx],
head_idx*self.network_parameters.num_output_head_copies + head_copy_idx,
self.network_parameters.loss_weights[head_type_idx])
self.get_output_head(head_params,
head_idx*head_params.num_output_head_copies + head_copy_idx)
)
# rescale the gradients from the head
self.gradients_from_head_rescalers.append(
tf.get_variable('gradients_from_head_{}-{}_rescalers'.format(head_idx, head_copy_idx),
initializer=float(
self.network_parameters.rescale_gradient_from_head_by_factor[head_count]
),
initializer=float(head_params.rescale_gradient_from_head_by_factor),
dtype=tf.float32))
self.gradients_from_head_rescalers_placeholders.append(
@@ -344,4 +343,46 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
else:
raise Exception("{} is not a valid optimizer type".format(self.network_parameters.optimizer_type))
def __str__(self):
result = []
for network in range(self.num_networks):
network_structure = []
# embedder
for embedder in self.input_embedders:
network_structure.append("Input Embedder: {}".format(embedder.name))
network_structure.append(indent_string(str(embedder)))
if len(self.input_embedders) > 1:
network_structure.append("{} ({})".format(self.network_parameters.embedding_merger_type.name,
", ".join(["{} embedding".format(e.name) for e in self.input_embedders])))
# middleware
network_structure.append("Middleware:")
network_structure.append(indent_string(str(self.middleware)))
# head
if self.network_parameters.use_separate_networks_per_head:
heads = range(network, network+1)
else:
heads = range(0, len(self.output_heads))
for head_idx in heads:
head = self.output_heads[head_idx]
head_params = self.network_parameters.heads_parameters[head_idx]
if head_params.num_output_head_copies > 1:
network_structure.append("Output Head: {} (num copies = {})".format(head.name, head_params.num_output_head_copies))
else:
network_structure.append("Output Head: {}".format(head.name))
network_structure.append(indent_string(str(head)))
# finalize network
if self.num_networks > 1:
result.append("Sub-network for head: {}".format(self.output_heads[network].name))
result.append(indent_string('\n'.join(network_structure)))
else:
result.append('\n'.join(network_structure))
result = '\n'.join(result)
return result

19
rl_coach/architectures/tensorflow_components/heads/categorical_q_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -25,9 +25,13 @@ from rl_coach.spaces import SpacesDefinition
class CategoricalQHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='categorical_q_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='categorical_q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=CategoricalQHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class CategoricalQHead(Head):
@@ -54,3 +58,12 @@ class CategoricalQHead(Head):
self.target = self.distributions
self.loss = tf.nn.softmax_cross_entropy_with_logits(labels=self.target, logits=values_distribution)
tf.losses.add_loss(self.loss)
def __str__(self):
result = [
"Dense (num outputs = {})".format(self.num_actions * self.num_atoms),
"Reshape (output size = {} x {})".format(self.num_actions, self.num_atoms),
"Softmax"
]
return '\n'.join(result)

30
rl_coach/architectures/tensorflow_components/heads/cil_head.py
View File

@@ -16,27 +16,34 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense, batchnorm_activation_dropout
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import QActionStateValue
from rl_coach.spaces import SpacesDefinition, BoxActionSpace, DiscreteActionSpace
from rl_coach.utils import force_list
class RegressionHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='q_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense, scheme=[Dense(256), Dense(256)]):
super().__init__(parameterized_class=RegressionHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class RegressionHead(Head):
def __init__(self, agent_parameters: AgentParameters, spaces: SpacesDefinition, network_name: str,
head_idx: int = 0, loss_weight: float = 1., is_local: bool = True, activation_function: str='relu',
dense_layer=Dense):
dense_layer=Dense, scheme=[Dense(256), Dense(256)]):
super().__init__(agent_parameters, spaces, network_name, head_idx, loss_weight, is_local, activation_function,
dense_layer=dense_layer)
self.name = 'regression_head'
self.scheme = scheme
self.layers = []
if isinstance(self.spaces.action, BoxActionSpace):
self.num_actions = self.spaces.action.shape[0]
elif isinstance(self.spaces.action, DiscreteActionSpace):
@@ -48,9 +55,18 @@ class RegressionHead(Head):
self.loss_type = tf.losses.mean_squared_error
def _build_module(self, input_layer):
self.fc1 = self.dense_layer(256)(input_layer)
self.fc2 = self.dense_layer(256)(self.fc1)
self.output = self.dense_layer(self.num_actions)(self.fc2, name='output')
self.layers.append(input_layer)
for idx, layer_params in enumerate(self.scheme):
self.layers.extend(force_list(
layer_params(input_layer=self.layers[-1], name='{}_{}'.format(layer_params.__class__.__name__, idx))
))
self.layers.append(self.dense_layer(self.num_actions)(self.layers[-1], name='output'))
self.output = self.layers[-1]
def __str__(self):
result = []
for layer in self.layers:
result.append(str(layer))
return '\n'.join(result)

17
rl_coach/architectures/tensorflow_components/heads/ddpg_actor_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.layers import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import ActionProbabilities
@@ -25,9 +25,12 @@ from rl_coach.spaces import SpacesDefinition
class DDPGActorHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='tanh', name: str='policy_head_params', batchnorm: bool=True,
dense_layer=Dense):
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=DDPGActor, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
self.batchnorm = batchnorm
@@ -56,7 +59,7 @@ class DDPGActor(Head):
pre_activation_policy_values_mean = self.dense_layer(self.num_actions)(input_layer, name='fc_mean')
policy_values_mean = batchnorm_activation_dropout(pre_activation_policy_values_mean, self.batchnorm,
self.activation_function,
False, 0, 0)[-1]
False, 0, is_training=False, name="BatchnormActivationDropout_0")[-1]
self.policy_mean = tf.multiply(policy_values_mean, self.output_scale, name='output_mean')
if self.is_local:
@@ -66,3 +69,9 @@ class DDPGActor(Head):
[self.action_penalty * tf.reduce_mean(tf.square(pre_activation_policy_values_mean))]
self.output = [self.policy_mean]
def __str__(self):
result = [
'Dense (num outputs = {})'.format(self.num_actions[0])
]
return '\n'.join(result)

16
rl_coach/architectures/tensorflow_components/heads/dnd_q_head.py
View File

@@ -15,7 +15,7 @@
#
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import HeadParameters
from rl_coach.architectures.tensorflow_components.heads.q_head import QHead
from rl_coach.base_parameters import AgentParameters
@@ -24,9 +24,13 @@ from rl_coach.spaces import SpacesDefinition
class DNDQHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='dnd_q_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='dnd_q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=DNDQHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class DNDQHead(QHead):
@@ -89,3 +93,9 @@ class DNDQHead(QHead):
# DND gradients
self.dnd_embeddings_grad = tf.gradients(self.loss[0], self.dnd_embeddings)
self.dnd_values_grad = tf.gradients(self.loss[0], self.dnd_values)
def __str__(self):
result = [
"DND fetch (num outputs = {})".format(self.num_actions)
]
return '\n'.join(result)

25
rl_coach/architectures/tensorflow_components/heads/dueling_q_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import HeadParameters
from rl_coach.architectures.tensorflow_components.heads.q_head import QHead
from rl_coach.base_parameters import AgentParameters
@@ -24,9 +24,13 @@ from rl_coach.spaces import SpacesDefinition
class DuelingQHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='dueling_q_head_params', dense_layer=Dense):
super().__init__(parameterized_class=DuelingQHead, activation_function=activation_function, name=name, dense_layer=dense_layer)
def __init__(self, activation_function: str ='relu', name: str='dueling_q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=DuelingQHead, activation_function=activation_function, name=name,
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class DuelingQHead(QHead):
def __init__(self, agent_parameters: AgentParameters, spaces: SpacesDefinition, network_name: str,
@@ -51,3 +55,16 @@ class DuelingQHead(QHead):
# merge to state-action value function Q
self.output = tf.add(self.state_value, self.action_advantage, name='output')
def __str__(self):
result = [
"State Value Stream - V",
"\tDense (num outputs = 512)",
"\tDense (num outputs = 1)",
"Action Advantage Stream - A",
"\tDense (num outputs = 512)",
"\tDense (num outputs = {})".format(self.num_actions),
"\tSubtract(A, Mean(A))".format(self.num_actions),
"Add (V, A)"
]
return '\n'.join(result)

8
rl_coach/architectures/tensorflow_components/heads/head.py
View File

@@ -18,7 +18,7 @@ from typing import Type
import numpy as np
import tensorflow as tf
from tensorflow.python.ops.losses.losses_impl import Reduction
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.base_parameters import AgentParameters, Parameters, NetworkComponentParameters
from rl_coach.spaces import SpacesDefinition
from rl_coach.utils import force_list
@@ -35,10 +35,14 @@ def normalized_columns_initializer(std=1.0):
class HeadParameters(NetworkComponentParameters):
def __init__(self, parameterized_class: Type['Head'], activation_function: str = 'relu', name: str= 'head',
dense_layer=Dense):
num_output_head_copies: int=1, rescale_gradient_from_head_by_factor: float=1.0,
loss_weight: float=1.0, dense_layer=Dense):
super().__init__(dense_layer=dense_layer)
self.activation_function = activation_function
self.name = name
self.num_output_head_copies = num_output_head_copies
self.rescale_gradient_from_head_by_factor = rescale_gradient_from_head_by_factor
self.loss_weight = loss_weight
self.parameterized_class_name = parameterized_class.__name__

25
rl_coach/architectures/tensorflow_components/heads/measurements_prediction_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -26,9 +26,12 @@ from rl_coach.spaces import SpacesDefinition
class MeasurementsPredictionHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='measurements_prediction_head_params',
dense_layer=Dense):
super().__init__(parameterized_class=MeasurementsPredictionHead,
activation_function=activation_function, name=name, dense_layer=dense_layer)
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=MeasurementsPredictionHead, activation_function=activation_function, name=name,
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class MeasurementsPredictionHead(Head):
@@ -68,3 +71,17 @@ class MeasurementsPredictionHead(Head):
targets_nonan = tf.where(tf.is_nan(self.target), self.output, self.target)
self.loss = tf.reduce_sum(tf.reduce_mean(tf.square(targets_nonan - self.output), reduction_indices=0))
tf.losses.add_loss(self.loss_weight[0] * self.loss)
def __str__(self):
result = [
"State Value Stream - V",
"\tDense (num outputs = 256)",
"\tDense (num outputs = {})".format(self.multi_step_measurements_size),
"Action Advantage Stream - A",
"\tDense (num outputs = 256)",
"\tDense (num outputs = {})".format(self.num_actions * self.multi_step_measurements_size),
"\tReshape (new size = {} x {})".format(self.num_actions, self.multi_step_measurements_size),
"\tSubtract(A, Mean(A))".format(self.num_actions),
"Add (V, A)"
]
return '\n'.join(result)

28
rl_coach/architectures/tensorflow_components/heads/naf_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import QActionStateValue
@@ -25,9 +25,13 @@ from rl_coach.spaces import SpacesDefinition
class NAFHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='tanh', name: str='naf_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='tanh', name: str='naf_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=NAFHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class NAFHead(Head):
@@ -90,3 +94,21 @@ class NAFHead(Head):
self.Q = tf.add(self.V, self.A, name='Q')
self.output = self.Q
def __str__(self):
result = [
"State Value Stream - V",
"\tDense (num outputs = 1)",
"Action Advantage Stream - A",
"\tDense (num outputs = {})".format((self.num_actions * (self.num_actions + 1)) / 2),
"\tReshape to lower triangular matrix L (new size = {} x {})".format(self.num_actions, self.num_actions),
"\tP = L*L^T",
"\tA = -1/2 * (u - mu)^T * P * (u - mu)",
"Action Stream - mu",
"\tDense (num outputs = {})".format(self.num_actions),
"\tActivation (type = {})".format(self.activation_function.__name__),
"\tMultiply (factor = {})".format(self.output_scale),
"State-Action Value Stream - Q",
"\tAdd (V, A)"
]
return '\n'.join(result)

57
rl_coach/architectures/tensorflow_components/heads/policy_head.py
View File

@@ -17,20 +17,25 @@
import numpy as np
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, normalized_columns_initializer, HeadParameters
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import ActionProbabilities
from rl_coach.exploration_policies.continuous_entropy import ContinuousEntropyParameters
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace, CompoundActionSpace
from rl_coach.spaces import SpacesDefinition
from rl_coach.utils import eps
from rl_coach.utils import eps, indent_string
class PolicyHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='tanh', name: str='policy_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='tanh', name: str='policy_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=PolicyHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class PolicyHead(Head):
@@ -112,7 +117,7 @@ class PolicyHead(Head):
self.actions.append(tf.placeholder(tf.float32, [None, num_actions], name="actions"))
# output activation function
if np.all(self.spaces.action.max_abs_range < np.inf):
if np.all(action_space.max_abs_range < np.inf):
# bounded actions
self.output_scale = action_space.max_abs_range
self.continuous_output_activation = self.activation_function
@@ -158,3 +163,45 @@ class PolicyHead(Head):
if self.action_penalty and self.action_penalty != 0:
self.regularizations += [
self.action_penalty * tf.reduce_mean(tf.square(pre_activation_policy_values_mean))]
def __str__(self):
action_spaces = [self.spaces.action]
if isinstance(self.spaces.action, CompoundActionSpace):
action_spaces = self.spaces.action.sub_action_spaces
result = []
for action_space_idx, action_space in enumerate(action_spaces):
action_head_mean_result = []
if isinstance(action_space, DiscreteActionSpace):
# create a discrete action network (softmax probabilities output)
action_head_mean_result.append("Dense (num outputs = {})".format(len(action_space.actions)))
action_head_mean_result.append("Softmax")
elif isinstance(action_space, BoxActionSpace):
# create a continuous action network (bounded mean and stdev outputs)
action_head_mean_result.append("Dense (num outputs = {})".format(action_space.shape))
if np.all(action_space.max_abs_range < np.inf):
# bounded actions
action_head_mean_result.append("Activation (type = {})".format(self.activation_function.__name__))
action_head_mean_result.append("Multiply (factor = {})".format(action_space.max_abs_range))
action_head_stdev_result = []
if isinstance(self.exploration_policy, ContinuousEntropyParameters):
action_head_stdev_result.append("Dense (num outputs = {})".format(action_space.shape))
action_head_stdev_result.append("Softplus")
action_head_result = []
if action_head_stdev_result:
action_head_result.append("Mean Stream")
action_head_result.append(indent_string('\n'.join(action_head_mean_result)))
action_head_result.append("Stdev Stream")
action_head_result.append(indent_string('\n'.join(action_head_stdev_result)))
else:
action_head_result.append('\n'.join(action_head_mean_result))
if len(action_spaces) > 1:
result.append("Action head {}".format(action_space_idx))
result.append(indent_string('\n'.join(action_head_result)))
else:
result.append('\n'.join(action_head_result))
return '\n'.join(result)

22
rl_coach/architectures/tensorflow_components/heads/ppo_head.py
View File

@@ -17,7 +17,7 @@
import numpy as np
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters, normalized_columns_initializer
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import ActionProbabilities
@@ -27,9 +27,13 @@ from rl_coach.utils import eps
class PPOHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='tanh', name: str='ppo_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='tanh', name: str='ppo_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=PPOHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class PPOHead(Head):
@@ -146,3 +150,15 @@ class PPOHead(Head):
self.old_policy_distribution = tf.contrib.distributions.MultivariateNormalDiag(self.old_policy_mean, self.old_policy_std + eps)
self.output = [self.policy_mean, self.policy_std]
def __str__(self):
action_head_mean_result = []
if isinstance(self.spaces.action, DiscreteActionSpace):
# create a discrete action network (softmax probabilities output)
action_head_mean_result.append("Dense (num outputs = {})".format(len(self.spaces.action.actions)))
action_head_mean_result.append("Softmax")
elif isinstance(self.spaces.action, BoxActionSpace):
# create a continuous action network (bounded mean and stdev outputs)
action_head_mean_result.append("Dense (num outputs = {})".format(self.spaces.action.shape))
return '\n'.join(action_head_mean_result)

16
rl_coach/architectures/tensorflow_components/heads/ppo_v_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, normalized_columns_initializer, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -25,9 +25,13 @@ from rl_coach.spaces import SpacesDefinition
class PPOVHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='ppo_v_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='ppo_v_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=PPOVHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class PPOVHead(Head):
@@ -55,3 +59,9 @@ class PPOVHead(Head):
self.vf_loss = tf.reduce_mean(tf.maximum(value_loss_1, value_loss_2))
self.loss = self.vf_loss
tf.losses.add_loss(self.loss)
def __str__(self):
result = [
"Dense (num outputs = 1)"
]
return '\n'.join(result)

15
rl_coach/architectures/tensorflow_components/heads/q_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -25,9 +25,13 @@ from rl_coach.spaces import SpacesDefinition, BoxActionSpace, DiscreteActionSpac
class QHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='q_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=QHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class QHead(Head):
@@ -51,5 +55,10 @@ class QHead(Head):
# Standard Q Network
self.output = self.dense_layer(self.num_actions)(input_layer, name='output')
def __str__(self):
result = [
"Dense (num outputs = {})".format(self.num_actions)
]
return '\n'.join(result)

19
rl_coach/architectures/tensorflow_components/heads/quantile_regression_q_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -26,9 +26,12 @@ from rl_coach.spaces import SpacesDefinition
class QuantileRegressionQHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='quantile_regression_q_head_params',
dense_layer=Dense):
super().__init__(parameterized_class=QuantileRegressionQHead, activation_function=activation_function,
name=name, dense_layer=dense_layer)
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=QuantileRegressionQHead, activation_function=activation_function, name=name,
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class QuantileRegressionQHead(Head):
@@ -79,3 +82,11 @@ class QuantileRegressionQHead(Head):
quantile_regression_loss = tf.reduce_sum(quantile_huber_loss) / float(self.num_atoms)
self.loss = quantile_regression_loss
tf.losses.add_loss(self.loss)
def __str__(self):
result = [
"Dense (num outputs = {})".format(self.num_actions * self.num_atoms),
"Reshape (new size = {} x {})".format(self.num_actions, self.num_atoms)
]
return '\n'.join(result)

24
rl_coach/architectures/tensorflow_components/heads/rainbow_q_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import HeadParameters, Head
from rl_coach.base_parameters import AgentParameters
from rl_coach.core_types import QActionStateValue
@@ -24,9 +24,13 @@ from rl_coach.spaces import SpacesDefinition
class RainbowQHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='rainbow_q_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='rainbow_q_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=RainbowQHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class RainbowQHead(Head):
@@ -69,3 +73,17 @@ class RainbowQHead(Head):
self.loss = tf.nn.softmax_cross_entropy_with_logits(labels=self.target, logits=values_distribution)
tf.losses.add_loss(self.loss)
def __str__(self):
result = [
"State Value Stream - V",
"\tDense (num outputs = 512)",
"\tDense (num outputs = {})".format(self.num_atoms),
"Action Advantage Stream - A",
"\tDense (num outputs = 512)",
"\tDense (num outputs = {})".format(self.num_actions * self.num_atoms),
"\tReshape (new size = {} x {})".format(self.num_actions, self.num_atoms),
"\tSubtract(A, Mean(A))".format(self.num_actions),
"Add (V, A)",
"Softmax"
]
return '\n'.join(result)

16
rl_coach/architectures/tensorflow_components/heads/v_head.py
View File

@@ -16,7 +16,7 @@
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.heads.head import Head, normalized_columns_initializer, HeadParameters
from rl_coach.base_parameters import AgentParameters
@@ -25,9 +25,13 @@ from rl_coach.spaces import SpacesDefinition
class VHeadParameters(HeadParameters):
def __init__(self, activation_function: str ='relu', name: str='v_head_params', dense_layer=Dense):
def __init__(self, activation_function: str ='relu', name: str='v_head_params',
num_output_head_copies: int = 1, rescale_gradient_from_head_by_factor: float = 1.0,
loss_weight: float = 1.0, dense_layer=Dense):
super().__init__(parameterized_class=VHead, activation_function=activation_function, name=name,
dense_layer=dense_layer)
dense_layer=dense_layer, num_output_head_copies=num_output_head_copies,
rescale_gradient_from_head_by_factor=rescale_gradient_from_head_by_factor,
loss_weight=loss_weight)
class VHead(Head):
@@ -48,3 +52,9 @@ class VHead(Head):
# Standard V Network
self.output = self.dense_layer(1)(input_layer, name='output',
kernel_initializer=normalized_columns_initializer(1.0))
def __str__(self):
result = [
"Dense (num outputs = 1)"
]
return '\n'.join(result)

167
rl_coach/architectures/tensorflow_components/layers.py Normal file
View File

@@ -0,0 +1,167 @@
import math
from typing import List, Union
import tensorflow as tf
from rl_coach.utils import force_list
def batchnorm_activation_dropout(input_layer, batchnorm, activation_function, dropout, dropout_rate, is_training, name):
layers = [input_layer]
# batchnorm
if batchnorm:
layers.append(
tf.layers.batch_normalization(layers[-1], name="{}_batchnorm".format(name), training=is_training)
)
# activation
if activation_function:
layers.append(
activation_function(layers[-1], name="{}_activation".format(name))
)
# dropout
if dropout:
layers.append(
tf.layers.dropout(layers[-1], dropout_rate, name="{}_dropout".format(name), training=is_training)
)
# remove the input layer from the layers list
del layers[0]
return layers
class Conv2d(object):
def __init__(self, num_filters: int, kernel_size: int, strides: int):
self.num_filters = num_filters
self.kernel_size = kernel_size
self.strides = strides
def __call__(self, input_layer, name: str=None, is_training=None):
"""
returns a tensorflow conv2d layer
:param input_layer: previous layer
:param name: layer name
:return: conv2d layer
"""
return tf.layers.conv2d(input_layer, filters=self.num_filters, kernel_size=self.kernel_size,
strides=self.strides, data_format='channels_last', name=name)
def __str__(self):
return "Convolution (num filters = {}, kernel size = {}, stride = {})"\
.format(self.num_filters, self.kernel_size, self.strides)
class BatchnormActivationDropout(object):
def __init__(self, batchnorm: bool=False, activation_function=None, dropout_rate: float=0):
self.batchnorm = batchnorm
self.activation_function = activation_function
self.dropout_rate = dropout_rate
def __call__(self, input_layer, name: str=None, is_training=None):
"""
returns a list of tensorflow batchnorm, activation and dropout layers
:param input_layer: previous layer
:param name: layer name
:return: batchnorm, activation and dropout layers
"""
return batchnorm_activation_dropout(input_layer, batchnorm=self.batchnorm,
activation_function=self.activation_function,
dropout=self.dropout_rate > 0, dropout_rate=self.dropout_rate,
is_training=is_training, name=name)
def __str__(self):
result = []
if self.batchnorm:
result += ["Batch Normalization"]
if self.activation_function:
result += ["Activation (type = {})".format(self.activation_function.__name__)]
if self.dropout_rate > 0:
result += ["Dropout (rate = {})".format(self.dropout_rate)]
return "\n".join(result)
class Dense(object):
def __init__(self, units: int):
self.units = units
def __call__(self, input_layer, name: str=None, kernel_initializer=None, activation=None, is_training=None):
"""
returns a tensorflow dense layer
:param input_layer: previous layer
:param name: layer name
:return: dense layer
"""
return tf.layers.dense(input_layer, self.units, name=name, kernel_initializer=kernel_initializer,
activation=activation)
def __str__(self):
return "Dense (num outputs = {})".format(self.units)
class NoisyNetDense(object):
"""
A factorized Noisy Net layer
https://arxiv.org/abs/1706.10295.
"""
def __init__(self, units: int):
self.units = units
self.sigma0 = 0.5
def __call__(self, input_layer, name: str, kernel_initializer=None, activation=None, is_training=None):
"""
returns a NoisyNet dense layer
:param input_layer: previous layer
:param name: layer name
:param kernel_initializer: initializer for kernels. Default is to use Gaussian noise that preserves stddev.
:param activation: the activation function
:return: dense layer
"""
#TODO: noise sampling should be externally controlled. DQN is fine with sampling noise for every
# forward (either act or train, both for online and target networks).
# A3C, on the other hand, should sample noise only when policy changes (i.e. after every t_max steps)
num_inputs = input_layer.get_shape()[-1].value
num_outputs = self.units
stddev = 1 / math.sqrt(num_inputs)
activation = activation if activation is not None else (lambda x: x)
if kernel_initializer is None:
kernel_mean_initializer = tf.random_uniform_initializer(-stddev, stddev)
kernel_stddev_initializer = tf.random_uniform_initializer(-stddev * self.sigma0, stddev * self.sigma0)
else:
kernel_mean_initializer = kernel_stddev_initializer = kernel_initializer
with tf.variable_scope(None, default_name=name):
weight_mean = tf.get_variable('weight_mean', shape=(num_inputs, num_outputs),
initializer=kernel_mean_initializer)
bias_mean = tf.get_variable('bias_mean', shape=(num_outputs,), initializer=tf.zeros_initializer())
weight_stddev = tf.get_variable('weight_stddev', shape=(num_inputs, num_outputs),
initializer=kernel_stddev_initializer)
bias_stddev = tf.get_variable('bias_stddev', shape=(num_outputs,),
initializer=kernel_stddev_initializer)
bias_noise = self.f(tf.random_normal((num_outputs,)))
weight_noise = self.factorized_noise(num_inputs, num_outputs)
bias = bias_mean + bias_stddev * bias_noise
weight = weight_mean + weight_stddev * weight_noise
return activation(tf.matmul(input_layer, weight) + bias)
def factorized_noise(self, inputs, outputs):
# TODO: use factorized noise only for compute intensive algos (e.g. DQN).
# lighter algos (e.g. DQN) should not use it
noise1 = self.f(tf.random_normal((inputs, 1)))
noise2 = self.f(tf.random_normal((1, outputs)))
return tf.matmul(noise1, noise2)
@staticmethod
def f(values):
return tf.sqrt(tf.abs(values)) * tf.sign(values)
def __str__(self):
return "Noisy Dense (num outputs = {})".format(self.units)

39
rl_coach/architectures/tensorflow_components/middlewares/fc_middleware.py
View File

@@ -17,46 +17,41 @@ from typing import Union, List
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.layers import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.middlewares.middleware import Middleware, MiddlewareParameters
from rl_coach.base_parameters import MiddlewareScheme
from rl_coach.core_types import Middleware_FC_Embedding
from rl_coach.utils import force_list
class FCMiddlewareParameters(MiddlewareParameters):
def __init__(self, activation_function='relu',
scheme: Union[List, MiddlewareScheme] = MiddlewareScheme.Medium,
batchnorm: bool = False, dropout: bool = False,
name="middleware_fc_embedder", dense_layer=Dense):
name="middleware_fc_embedder", dense_layer=Dense, is_training=False):
super().__init__(parameterized_class=FCMiddleware, activation_function=activation_function,
scheme=scheme, batchnorm=batchnorm, dropout=dropout, name=name, dense_layer=dense_layer)
scheme=scheme, batchnorm=batchnorm, dropout=dropout, name=name, dense_layer=dense_layer,
is_training=is_training)
class FCMiddleware(Middleware):
def __init__(self, activation_function=tf.nn.relu,
scheme: MiddlewareScheme = MiddlewareScheme.Medium,
batchnorm: bool = False, dropout: bool = False,
name="middleware_fc_embedder", dense_layer=Dense):
name="middleware_fc_embedder", dense_layer=Dense, is_training=False):
super().__init__(activation_function=activation_function, batchnorm=batchnorm,
dropout=dropout, scheme=scheme, name=name, dense_layer=dense_layer)
dropout=dropout, scheme=scheme, name=name, dense_layer=dense_layer, is_training=is_training)
self.return_type = Middleware_FC_Embedding
self.layers = []
def _build_module(self):
self.layers.append(self.input)
if isinstance(self.scheme, MiddlewareScheme):
layers_params = self.schemes[self.scheme]
else:
layers_params = self.scheme
for idx, layer_params in enumerate(layers_params):
self.layers.append(
layer_params(self.layers[-1], name='{}_{}'.format(layer_params.__class__.__name__, idx))
)
self.layers.extend(batchnorm_activation_dropout(self.layers[-1], self.batchnorm,
self.activation_function, self.dropout,
self.dropout_rate, idx))
for idx, layer_params in enumerate(self.layers_params):
self.layers.extend(force_list(
layer_params(self.layers[-1], name='{}_{}'.format(layer_params.__class__.__name__, idx),
is_training=self.is_training)
))
self.output = self.layers[-1]
@@ -69,20 +64,20 @@ class FCMiddleware(Middleware):
# ppo
MiddlewareScheme.Shallow:
[
self.dense_layer([64])
self.dense_layer(64)
],
# dqn
MiddlewareScheme.Medium:
[
self.dense_layer([512])
self.dense_layer(512)
],
MiddlewareScheme.Deep: \
[
self.dense_layer([128]),
self.dense_layer([128]),
self.dense_layer([128])
self.dense_layer(128),
self.dense_layer(128),
self.dense_layer(128)
]
}

41
rl_coach/architectures/tensorflow_components/middlewares/lstm_middleware.py
View File

@@ -18,19 +18,21 @@
import numpy as np
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.layers import batchnorm_activation_dropout, Dense
from rl_coach.architectures.tensorflow_components.middlewares.middleware import Middleware, MiddlewareParameters
from rl_coach.base_parameters import MiddlewareScheme
from rl_coach.core_types import Middleware_LSTM_Embedding
from rl_coach.utils import force_list
class LSTMMiddlewareParameters(MiddlewareParameters):
def __init__(self, activation_function='relu', number_of_lstm_cells=256,
scheme: MiddlewareScheme = MiddlewareScheme.Medium,
batchnorm: bool = False, dropout: bool = False,
name="middleware_lstm_embedder", dense_layer=Dense):
name="middleware_lstm_embedder", dense_layer=Dense, is_training=False):
super().__init__(parameterized_class=LSTMMiddleware, activation_function=activation_function,
scheme=scheme, batchnorm=batchnorm, dropout=dropout, name=name, dense_layer=dense_layer)
scheme=scheme, batchnorm=batchnorm, dropout=dropout, name=name, dense_layer=dense_layer,
is_training=is_training)
self.number_of_lstm_cells = number_of_lstm_cells
@@ -38,9 +40,9 @@ class LSTMMiddleware(Middleware):
def __init__(self, activation_function=tf.nn.relu, number_of_lstm_cells: int=256,
scheme: MiddlewareScheme = MiddlewareScheme.Medium,
batchnorm: bool = False, dropout: bool = False,
name="middleware_lstm_embedder", dense_layer=Dense):
name="middleware_lstm_embedder", dense_layer=Dense, is_training=False):
super().__init__(activation_function=activation_function, batchnorm=batchnorm,
dropout=dropout, scheme=scheme, name=name, dense_layer=dense_layer)
dropout=dropout, scheme=scheme, name=name, dense_layer=dense_layer, is_training=is_training)
self.return_type = Middleware_LSTM_Embedding
self.number_of_lstm_cells = number_of_lstm_cells
self.layers = []
@@ -57,19 +59,12 @@ class LSTMMiddleware(Middleware):
self.layers.append(self.input)
# optionally insert some dense layers before the LSTM
if isinstance(self.scheme, MiddlewareScheme):
layers_params = self.schemes[self.scheme]
else:
layers_params = self.scheme
for idx, layer_params in enumerate(layers_params):
self.layers.append(
tf.layers.dense(self.layers[-1], layer_params[0], name='fc{}'.format(idx))
)
self.layers.extend(batchnorm_activation_dropout(self.layers[-1], self.batchnorm,
self.activation_function, self.dropout,
self.dropout_rate, idx))
# optionally insert some layers before the LSTM
for idx, layer_params in enumerate(self.layers_params):
self.layers.extend(force_list(
layer_params(self.layers[-1], name='fc{}'.format(idx),
is_training=self.is_training)
))
# add the LSTM layer
lstm_cell = tf.nn.rnn_cell.BasicLSTMCell(self.number_of_lstm_cells, state_is_tuple=True)
@@ -97,20 +92,20 @@ class LSTMMiddleware(Middleware):
# ppo
MiddlewareScheme.Shallow:
[
[64]
self.dense_layer(64)
],
# dqn
MiddlewareScheme.Medium:
[
[512]
self.dense_layer(512)
],
MiddlewareScheme.Deep: \
[
[128],
[128],
[128]
self.dense_layer(128),
self.dense_layer(128),
self.dense_layer(128)
]
}

35
rl_coach/architectures/tensorflow_components/middlewares/middleware.py
View File

@@ -13,25 +13,27 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
import copy
from typing import Type, Union, List
import tensorflow as tf
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.base_parameters import MiddlewareScheme, Parameters, NetworkComponentParameters
from rl_coach.architectures.tensorflow_components.layers import Dense, BatchnormActivationDropout
from rl_coach.base_parameters import MiddlewareScheme, NetworkComponentParameters
from rl_coach.core_types import MiddlewareEmbedding
class MiddlewareParameters(NetworkComponentParameters):
def __init__(self, parameterized_class: Type['Middleware'],
activation_function: str='relu', scheme: Union[List, MiddlewareScheme]=MiddlewareScheme.Medium,
batchnorm: bool=False, dropout: bool=False, name='middleware', dense_layer=Dense):
batchnorm: bool=False, dropout: bool=False, name='middleware', dense_layer=Dense, is_training=False):
super().__init__(dense_layer=dense_layer)
self.activation_function = activation_function
self.scheme = scheme
self.batchnorm = batchnorm
self.dropout = dropout
self.name = name
self.is_training = is_training
self.parameterized_class_name = parameterized_class.__name__
@@ -43,7 +45,8 @@ class Middleware(object):
"""
def __init__(self, activation_function=tf.nn.relu,
scheme: MiddlewareScheme = MiddlewareScheme.Medium,
batchnorm: bool = False, dropout: bool = False, name="middleware_embedder", dense_layer=Dense):
batchnorm: bool = False, dropout: bool = False, name="middleware_embedder", dense_layer=Dense,
is_training=False):
self.name = name
self.input = None
self.output = None
@@ -54,6 +57,23 @@ class Middleware(object):
self.scheme = scheme
self.return_type = MiddlewareEmbedding
self.dense_layer = dense_layer
self.is_training = is_training
# layers order is conv -> batchnorm -> activation -> dropout
if isinstance(self.scheme, MiddlewareScheme):
self.layers_params = copy.copy(self.schemes[self.scheme])
else:
self.layers_params = copy.copy(self.scheme)
# we allow adding batchnorm, dropout or activation functions after each layer.
# The motivation is to simplify the transition between a network with batchnorm and a network without
# batchnorm to a single flag (the same applies to activation function and dropout)
if self.batchnorm or self.activation_function or self.dropout:
for layer_idx in reversed(range(len(self.layers_params))):
self.layers_params.insert(layer_idx+1,
BatchnormActivationDropout(batchnorm=self.batchnorm,
activation_function=self.activation_function,
dropout_rate=self.dropout_rate))
def __call__(self, input_layer):
with tf.variable_scope(self.get_name()):
@@ -72,3 +92,10 @@ class Middleware(object):
def schemes(self):
raise NotImplementedError("Inheriting middleware must define schemes matching its allowed default "
"configurations.")
def __str__(self):
result = [str(l) for l in self.layers_params]
if self.layers_params:
return '\n'.join(result)
else:
return 'No layers'

202
rl_coach/base_parameters.py
View File

@@ -22,7 +22,8 @@ from collections import OrderedDict
from enum import Enum
from typing import Dict, List, Union
from rl_coach.core_types import TrainingSteps, EnvironmentSteps, GradientClippingMethod
from rl_coach.core_types import TrainingSteps, EnvironmentSteps, GradientClippingMethod, RunPhase
# from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.filters.filter import NoInputFilter
@@ -173,7 +174,71 @@ class PresetValidationParameters(Parameters):
class NetworkParameters(Parameters):
def __init__(self):
def __init__(self,
force_cpu = False,
async_training = False,
shared_optimizer = True,
scale_down_gradients_by_number_of_workers_for_sync_training = True,
clip_gradients = None,
gradients_clipping_method = GradientClippingMethod.ClipByGlobalNorm,
l2_regularization = 0,
learning_rate = 0.00025,
learning_rate_decay_rate = 0,
learning_rate_decay_steps = 0,
input_embedders_parameters = {},
embedding_merger_type = EmbeddingMergerType.Concat,
middleware_parameters = None,
heads_parameters = [],
use_separate_networks_per_head = False,
optimizer_type = 'Adam',
optimizer_epsilon = 0.0001,
adam_optimizer_beta1 = 0.9,
adam_optimizer_beta2 = 0.99,
rms_prop_optimizer_decay = 0.9,
batch_size = 32,
replace_mse_with_huber_loss = False,
create_target_network = False,
tensorflow_support = True):
"""
:param force_cpu:
Force the neural networks to run on the CPU even if a GPU is available
:param async_training:
If set to True, asynchronous training will be used, meaning that each workers will progress in its own
speed, while not waiting for the rest of the workers to calculate their gradients.
:param shared_optimizer:
If set to True, a central optimizer which will be shared with all the workers will be used for applying
gradients to the network. Otherwise, each worker will have its own optimizer with its own internal
parameters that will only be affected by the gradients calculated by that worker
:param scale_down_gradients_by_number_of_workers_for_sync_training:
If set to True, in synchronous training, the gradients of each worker will be scaled down by the
number of workers. This essentially means that the gradients applied to the network are the average
of the gradients over all the workers.
:param clip_gradients:
A value that will be used for clipping the gradients of the network. If set to None, no gradient clipping
will be applied. Otherwise, the gradients will be clipped according to the gradients_clipping_method.
:param gradients_clipping_method:
A gradient clipping method, defined by a GradientClippingMethod enum, and that will be used to clip the
gradients of the network. This will only be used if the clip_gradients value is defined as a value other
than None.
:param l2_regularization:
:param learning_rate:
:param learning_rate_decay_rate:
:param learning_rate_decay_steps:
:param input_embedders_parameters:
:param embedding_merger_type:
:param middleware_parameters:
:param heads_parameters:
:param use_separate_networks_per_head:
:param optimizer_type:
:param optimizer_epsilon:
:param adam_optimizer_beta1:
:param adam_optimizer_beta2:
:param rms_prop_optimizer_decay:
:param batch_size:
:param replace_mse_with_huber_loss:
:param create_target_network:
:param tensorflow_support:
"""
super().__init__()
self.framework = Frameworks.tensorflow
self.sess = None
@@ -182,9 +247,6 @@ class NetworkParameters(Parameters):
self.force_cpu = False
# distributed training options
self.num_threads = 1
self.synchronize_over_num_threads = 1
self.distributed = False
self.async_training = False
self.shared_optimizer = True
self.scale_down_gradients_by_number_of_workers_for_sync_training = True
@@ -192,7 +254,6 @@ class NetworkParameters(Parameters):
# regularization
self.clip_gradients = None
self.gradients_clipping_method = GradientClippingMethod.ClipByGlobalNorm
self.kl_divergence_constraint = None
self.l2_regularization = 0
# learning rate
@@ -205,9 +266,6 @@ class NetworkParameters(Parameters):
self.embedding_merger_type = EmbeddingMergerType.Concat
self.middleware_parameters = None
self.heads_parameters = []
self.num_output_head_copies = 1
self.loss_weights = []
self.rescale_gradient_from_head_by_factor = [1]
self.use_separate_networks_per_head = False
self.optimizer_type = 'Adam'
self.optimizer_epsilon = 0.0001
@@ -227,35 +285,113 @@ class NetworkComponentParameters(Parameters):
self.dense_layer = dense_layer
class VisualizationParameters(Parameters):
def __init__(self):
def __init__(self,
print_networks_summary=False,
dump_csv=True,
dump_signals_to_csv_every_x_episodes=5,
dump_gifs=False,
dump_mp4=False,
video_dump_methods=[],
dump_in_episode_signals=False,
dump_parameters_documentation=True,
render=False,
native_rendering=False,
max_fps_for_human_control=10,
tensorboard=False,
add_rendered_image_to_env_response=False):
"""
:param print_networks_summary:
If set to True, a summary of all the networks structure will be printed at the beginning of the experiment
:param dump_csv:
If set to True, the logger will dump logs to a csv file once in every dump_signals_to_csv_every_x_episodes
episodes. The logs can be later used to visualize the training process using Coach Dashboard.
:param dump_signals_to_csv_every_x_episodes:
Defines the number of episodes between writing new data to the csv log files. Lower values can affect
performance, as writing to disk may take time, and it is done synchronously.
:param dump_gifs:
If set to True, GIF videos of the environment will be stored into the experiment directory according to
the filters defined in video_dump_methods.
:param dump_mp4:
If set to True, MP4 videos of the environment will be stored into the experiment directory according to
the filters defined in video_dump_methods.
:param dump_in_episode_signals:
If set to True, csv files will be dumped for each episode for inspecting different metrics within the
episode. This means that for each step in each episode, different metrics such as the reward, the
future return, etc. will be saved. Setting this to True may affect performance severely, and therefore
this should be used only for debugging purposes.
:param dump_parameters_documentation:
If set to True, a json file containing all the agent parameters will be saved in the experiment directory.
This may be very useful for inspecting the values defined for each parameters and making sure that all
the parameters are defined as expected.
:param render:
If set to True, the environment render function will be called for each step, rendering the image of the
environment. This may affect the performance of training, and is highly dependent on the environment.
By default, Coach uses PyGame to render the environment image instead of the environment specific rendered.
To change this, use the native_rendering flag.
:param native_rendering:
If set to True, the environment native renderer will be used for rendering the environment image.
In some cases this can be slower than rendering using PyGame through Coach, but in other cases the
environment opens its native renderer by default, so rendering with PyGame is an unnecessary overhead.
:param max_fps_for_human_control:
The maximum number of frames per second used while playing the environment as a human. This only has
effect while using the --play flag for Coach.
:param tensorboard:
If set to True, TensorBoard summaries will be stored in the experiment directory. This can later be
loaded in TensorBoard in order to visualize the training process.
:param video_dump_methods:
A list of dump methods that will be used as filters for deciding when to save videos.
The filters in the list will be checked one after the other until the first dump method that returns
false for should_dump() in the environment class. This list will only be used if dump_mp4 or dump_gif are
set to True.
:param add_rendered_image_to_env_response:
Some environments have a different observation compared to the one displayed while rendering.
For some cases it can be useful to pass the rendered image to the agent for visualization purposes.
If this flag is set to True, the rendered image will be added to the environment EnvResponse object,
which will be passed to the agent and allow using those images.
"""
super().__init__()
# Visualization parameters
self.print_summary = True
self.dump_csv = True
self.dump_gifs = False
self.dump_mp4 = False
self.dump_signals_to_csv_every_x_episodes = 5
self.dump_in_episode_signals = False
self.dump_parameters_documentation = True
self.render = False
self.native_rendering = False
self.max_fps_for_human_control = 10
self.tensorboard = False
self.video_dump_methods = [] # a list of dump methods which will be checked one after the other until the first
# dump method that returns false for should_dump()
self.add_rendered_image_to_env_response = False
self.print_networks_summary = print_networks_summary
self.dump_csv = dump_csv
self.dump_gifs = dump_gifs
self.dump_mp4 = dump_mp4
self.dump_signals_to_csv_every_x_episodes = dump_signals_to_csv_every_x_episodes
self.dump_in_episode_signals = dump_in_episode_signals
self.dump_parameters_documentation = dump_parameters_documentation
self.render = render
self.native_rendering = native_rendering
self.max_fps_for_human_control = max_fps_for_human_control
self.tensorboard = tensorboard
self.video_dump_methods = video_dump_methods
self.add_rendered_image_to_env_response = add_rendered_image_to_env_response
class AgentParameters(Parameters):
def __init__(self, algorithm: AlgorithmParameters, exploration: 'ExplorationParameters', memory: 'MemoryParameters',
networks: Dict[str, NetworkParameters], visualization: VisualizationParameters=VisualizationParameters()):
"""
:param algorithm: the algorithmic parameters
:param exploration: the exploration policy parameters
:param memory: the memory module parameters
:param networks: the parameters for the networks of the agent
:param visualization: the visualization parameters
:param algorithm:
A class inheriting AlgorithmParameters.
The parameters used for the specific algorithm used by the agent.
These parameters can be later referenced in the agent implementation through self.ap.algorithm.
:param exploration:
Either a class inheriting ExplorationParameters or a dictionary mapping between action
space types and their corresponding ExplorationParameters. If a dictionary was used,
when the agent will be instantiated, the correct exploration policy parameters will be used
according to the real type of the environment action space.
These parameters will be used to instantiate the exporation policy.
:param memory:
A class inheriting MemoryParameters. It defines all the parameters used by the memory module.
:param networks:
A dictionary mapping between network names and their corresponding network parmeters, defined
as a class inheriting NetworkParameters. Each element will be used in order to instantiate
a NetworkWrapper class, and all the network wrappers will be stored in the agent under
self.network_wrappers. self.network_wrappers is a dict mapping between the network name that
was given in the networks dict, and the instantiated network wrapper.
:param visualization:
A class inheriting VisualizationParameters and defining various parameters that can be
used for visualization purposes, such as printing to the screen, rendering, and saving videos.
"""
super().__init__()
self.visualization = visualization
@@ -278,13 +414,14 @@ class AgentParameters(Parameters):
class TaskParameters(Parameters):
def __init__(self, framework_type: str, evaluate_only: bool=False, use_cpu: bool=False, experiment_path=None,
seed=None):
def __init__(self, framework_type: str="tensorflow", evaluate_only: bool=False, use_cpu: bool=False,
experiment_path="./experiments/test/", seed=None, save_checkpoint_secs=None):
"""
:param framework_type: deep learning framework type. currently only tensorflow is supported
:param evaluate_only: the task will be used only for evaluating the model
:param use_cpu: use the cpu for this task
:param experiment_path: the path to the directory which will store all the experiment outputs
:param save_checkpoint_secs: the number of seconds between each checkpoint saving
:param seed: a seed to use for the random numbers generator
"""
self.framework_type = framework_type
@@ -292,6 +429,7 @@ class TaskParameters(Parameters):
self.evaluate_only = evaluate_only
self.use_cpu = use_cpu
self.experiment_path = experiment_path
self.save_checkpoint_secs = save_checkpoint_secs
self.seed = seed

8
rl_coach/coach.py
View File

@@ -77,6 +77,7 @@ def get_graph_manager_from_args(args: argparse.Namespace) -> 'GraphManager':
graph_manager.visualization_parameters.dump_mp4 = graph_manager.visualization_parameters.dump_mp4 or args.dump_mp4
graph_manager.visualization_parameters.render = args.render
graph_manager.visualization_parameters.tensorboard = args.tensorboard
graph_manager.visualization_parameters.print_networks_summary = args.print_networks_summary
# update the custom parameters
if args.custom_parameter is not None:
@@ -291,8 +292,8 @@ def main():
"\"visualization.render=False; num_training_iterations=500; optimizer='rmsprop'\"",
default=None,
type=str)
parser.add_argument('--print_parameters',
help="(flag) Print tuning_parameters to stdout",
parser.add_argument('--print_networks_summary',
help="(flag) Print network summary to stdout",
action='store_true')
parser.add_argument('-tb', '--tensorboard',
help="(flag) When using the TensorFlow backend, enable TensorBoard log dumps. ",
@@ -336,7 +337,8 @@ def main():
evaluate_only=args.evaluate,
experiment_path=args.experiment_path,
seed=args.seed,
use_cpu=args.use_cpu)
use_cpu=args.use_cpu,
save_checkpoint_secs=args.save_checkpoint_secs)
task_parameters.__dict__ = add_items_to_dict(task_parameters.__dict__, args.__dict__)
start_graph(graph_manager=graph_manager, task_parameters=task_parameters)

6
rl_coach/environments/carla_environment.py
View File

@@ -97,8 +97,8 @@ class CarlaEnvironmentParameters(EnvironmentParameters):
LOW = "Low"
EPIC = "Epic"
def __init__(self):
super().__init__()
def __init__(self, level="town1"):
super().__init__(level=level)
self.frame_skip = 3 # the frame skip affects the fps of the server directly. fps = 30 / frameskip
self.server_height = 512
self.server_width = 720
@@ -106,7 +106,7 @@ class CarlaEnvironmentParameters(EnvironmentParameters):
self.camera_width = 180
self.experiment_suite = None # an optional CARLA experiment suite to use
self.config = None
self.level = 'town1'
self.level = level
self.quality = self.Quality.LOW
self.cameras = [CameraTypes.FRONT]
self.weather_id = [1]

4
rl_coach/environments/control_suite_environment.py
View File

@@ -43,8 +43,8 @@ class ObservationType(Enum):
# Parameters
class ControlSuiteEnvironmentParameters(EnvironmentParameters):
def __init__(self):
super().__init__()
def __init__(self, level=None):
super().__init__(level=level)
self.observation_type = ObservationType.Measurements
self.default_input_filter = ControlSuiteInputFilter
self.default_output_filter = ControlSuiteOutputFilter

4
rl_coach/environments/doom_environment.py
View File

@@ -104,8 +104,8 @@ DoomOutputFilter.add_action_filter('to_discrete', FullDiscreteActionSpaceMap())
class DoomEnvironmentParameters(EnvironmentParameters):
def __init__(self):
super().__init__()
def __init__(self, level=None):
super().__init__(level=level)
self.default_input_filter = DoomInputFilter
self.default_output_filter = DoomOutputFilter
self.cameras = [DoomEnvironment.CameraTypes.OBSERVATION]

4
rl_coach/environments/environment.py
View File

@@ -92,9 +92,9 @@ class CustomWrapper(object):
class EnvironmentParameters(Parameters):
def __init__(self):
def __init__(self, level=None):
super().__init__()
self.level = None
self.level = level
self.frame_skip = 4
self.seed = None
self.human_control = False

70
rl_coach/environments/gym_environment.py
View File

@@ -18,6 +18,7 @@ import gym
import numpy as np
import scipy.ndimage
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.utils import lower_under_to_upper, short_dynamic_import
try:
@@ -40,7 +41,7 @@ except ImportError:
failed_imports.append("PyBullet")
from typing import Dict, Any, Union
from rl_coach.core_types import RunPhase
from rl_coach.core_types import RunPhase, EnvironmentSteps
from rl_coach.environments.environment import Environment, EnvironmentParameters, LevelSelection
from rl_coach.spaces import DiscreteActionSpace, BoxActionSpace, ImageObservationSpace, VectorObservationSpace, \
StateSpace, RewardSpace
@@ -57,10 +58,9 @@ from rl_coach.logger import screen
# Parameters
class GymEnvironmentParameters(EnvironmentParameters):
def __init__(self):
super().__init__()
def __init__(self, level=None):
super().__init__(level=level)
self.random_initialization_steps = 0
self.max_over_num_frames = 1
self.additional_simulator_parameters = None
@@ -70,64 +70,32 @@ class GymEnvironmentParameters(EnvironmentParameters):
return 'rl_coach.environments.gym_environment:GymEnvironment'
"""
Roboschool Environment Components
"""
RoboSchoolInputFilters = NoInputFilter()
RoboSchoolOutputFilters = NoOutputFilter()
class Roboschool(GymEnvironmentParameters):
def __init__(self):
super().__init__()
# Generic parameters for vector environments such as mujoco, roboschool, bullet, etc.
class GymVectorEnvironment(GymEnvironmentParameters):
def __init__(self, level=None):
super().__init__(level=level)
self.frame_skip = 1
self.default_input_filter = RoboSchoolInputFilters
self.default_output_filter = RoboSchoolOutputFilters
self.default_input_filter = NoInputFilter()
self.default_output_filter = NoOutputFilter()
# Roboschool
gym_roboschool_envs = ['inverted_pendulum', 'inverted_pendulum_swingup', 'inverted_double_pendulum', 'reacher',
'hopper', 'walker2d', 'half_cheetah', 'ant', 'humanoid', 'humanoid_flagrun',
'humanoid_flagrun_harder', 'pong']
roboschool_v0 = {e: "{}".format(lower_under_to_upper(e) + '-v0') for e in gym_roboschool_envs}
"""
Mujoco Environment Components
"""
MujocoInputFilter = NoInputFilter()
MujocoOutputFilter = NoOutputFilter()
class Mujoco(GymEnvironmentParameters):
def __init__(self):
super().__init__()
self.frame_skip = 1
self.default_input_filter = MujocoInputFilter
self.default_output_filter = MujocoOutputFilter
# Mujoco
gym_mujoco_envs = ['inverted_pendulum', 'inverted_double_pendulum', 'reacher', 'hopper', 'walker2d', 'half_cheetah',
'ant', 'swimmer', 'humanoid', 'humanoid_standup', 'pusher', 'thrower', 'striker']
mujoco_v2 = {e: "{}".format(lower_under_to_upper(e) + '-v2') for e in gym_mujoco_envs}
mujoco_v2['walker2d'] = 'Walker2d-v2'
# Fetch
gym_fetch_envs = ['reach', 'slide', 'push', 'pick_and_place']
fetch_v1 = {e: "{}".format('Fetch' + lower_under_to_upper(e) + '-v1') for e in gym_fetch_envs}
"""
Bullet Environment Components
"""
BulletInputFilter = NoInputFilter()
BulletOutputFilter = NoOutputFilter()
class Bullet(GymEnvironmentParameters):
def __init__(self):
super().__init__()
self.frame_skip = 1
self.default_input_filter = BulletInputFilter
self.default_output_filter = BulletOutputFilter
"""
Atari Environment Components
@@ -145,8 +113,8 @@ AtariOutputFilter = NoOutputFilter()
class Atari(GymEnvironmentParameters):
def __init__(self):
super().__init__()
def __init__(self, level=None):
super().__init__(level=level)
self.frame_skip = 4
self.max_over_num_frames = 2
self.random_initialization_steps = 30
@@ -167,6 +135,14 @@ atari_deterministic_v4 = {e: "{}".format(lower_under_to_upper(e) + 'Deterministi
atari_no_frameskip_v4 = {e: "{}".format(lower_under_to_upper(e) + 'NoFrameskip-v4') for e in gym_atari_envs}
# default atari schedule used in the DeepMind papers
atari_schedule = ScheduleParameters()
atari_schedule.improve_steps = EnvironmentSteps(50000000)
atari_schedule.steps_between_evaluation_periods = EnvironmentSteps(250000)
atari_schedule.evaluation_steps = EnvironmentSteps(135000)
atari_schedule.heatup_steps = EnvironmentSteps(50000)
class MaxOverFramesAndFrameskipEnvWrapper(gym.Wrapper):
def __init__(self, env, frameskip=4, max_over_num_frames=2):
super().__init__(env)

4
rl_coach/environments/starcraft2_environment.py
View File

@@ -85,8 +85,8 @@ StarcraftNormalizingOutputFilter.add_action_filter(
class StarCraft2EnvironmentParameters(EnvironmentParameters):
def __init__(self):
super().__init__()
def __init__(self, level=None):
super().__init__(level=level)
self.screen_size = 84
self.minimap_size = 64
self.feature_minimap_maps_to_use = range(7)

2
rl_coach/exploration_policies/parameter_noise.py
View File

@@ -19,7 +19,7 @@ from typing import List, Dict
import numpy as np
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import NoisyNetDense
from rl_coach.architectures.tensorflow_components.layers import NoisyNetDense
from rl_coach.base_parameters import AgentParameters, NetworkParameters
from rl_coach.spaces import ActionSpace, BoxActionSpace, DiscreteActionSpace

75
rl_coach/graph_managers/graph_manager.py
View File

@@ -30,7 +30,7 @@ from rl_coach.core_types import TotalStepsCounter, RunPhase, PlayingStepsType, T
from rl_coach.environments.environment import Environment
from rl_coach.level_manager import LevelManager
from rl_coach.logger import screen, Logger
from rl_coach.utils import set_cpu
from rl_coach.utils import set_cpu, start_shell_command_and_wait
class ScheduleParameters(Parameters):
@@ -51,6 +51,27 @@ class HumanPlayScheduleParameters(ScheduleParameters):
self.improve_steps = TrainingSteps(10000000000)
class SimpleScheduleWithoutEvaluation(ScheduleParameters):
def __init__(self, improve_steps=TrainingSteps(10000000000)):
super().__init__()
self.heatup_steps = EnvironmentSteps(0)
self.evaluation_steps = EnvironmentEpisodes(0)
self.steps_between_evaluation_periods = improve_steps
self.improve_steps = improve_steps
class SimpleSchedule(ScheduleParameters):
def __init__(self,
improve_steps=TrainingSteps(10000000000),
steps_between_evaluation_periods=EnvironmentEpisodes(50),
evaluation_steps=EnvironmentEpisodes(5)):
super().__init__()
self.heatup_steps = EnvironmentSteps(0)
self.evaluation_steps = evaluation_steps
self.steps_between_evaluation_periods = steps_between_evaluation_periods
self.improve_steps = improve_steps
class GraphManager(object):
"""
A graph manager is responsible for creating and initializing a graph of agents, including all its internal
@@ -78,6 +99,7 @@ class GraphManager(object):
# timers
self.graph_initialization_time = time.time()
self.graph_creation_time = None
self.heatup_start_time = None
self.training_start_time = None
self.last_evaluation_start_time = None
@@ -94,7 +116,8 @@ class GraphManager(object):
self.checkpoint_saver = None
self.graph_logger = Logger()
def create_graph(self, task_parameters: TaskParameters):
def create_graph(self, task_parameters: TaskParameters=TaskParameters()):
self.graph_creation_time = time.time()
self.task_parameters = task_parameters
if isinstance(task_parameters, DistributedTaskParameters):
@@ -129,6 +152,8 @@ class GraphManager(object):
self.setup_logger()
return self
def _create_graph(self, task_parameters: TaskParameters) -> Tuple[List[LevelManager], List[Environment]]:
"""
Create all the graph modules and the graph scheduler
@@ -207,6 +232,29 @@ class GraphManager(object):
# restore from checkpoint if given
self.restore_checkpoint()
# tf.train.write_graph(tf.get_default_graph(),
# logdir=self.task_parameters.save_checkpoint_dir,
# name='graphdef.pb',
# as_text=False)
# self.save_checkpoint()
#
# output_nodes = []
# for level in self.level_managers:
# for agent in level.agents.values():
# for network in agent.networks.values():
# for output in network.online_network.outputs:
# output_nodes.append(output.name.split(":")[0])
#
# freeze_graph_command = [
# "python -m tensorflow.python.tools.freeze_graph",
# "--input_graph={}".format(os.path.join(self.task_parameters.save_checkpoint_dir, "graphdef.pb")),
# "--input_binary=true",
# "--output_node_names='{}'".format(','.join(output_nodes)),
# "--input_checkpoint={}".format(os.path.join(self.task_parameters.save_checkpoint_dir, "0_Step-0.ckpt")),
# "--output_graph={}".format(os.path.join(self.task_parameters.save_checkpoint_dir, "frozen_graph.pb"))
# ]
# start_shell_command_and_wait(" ".join(freeze_graph_command))
def setup_logger(self) -> None:
# dump documentation
logger_prefix = "{graph_name}".format(graph_name=self.name)
@@ -250,6 +298,8 @@ class GraphManager(object):
:param steps: the number of steps as a tuple of steps time and steps count
:return: None
"""
self.verify_graph_was_created()
steps_copy = copy.copy(steps)
if steps_copy.num_steps > 0:
@@ -284,6 +334,8 @@ class GraphManager(object):
:param steps: number of training iterations to perform
:return: None
"""
self.verify_graph_was_created()
# perform several steps of training interleaved with acting
count_end = self.total_steps_counters[RunPhase.TRAIN][TrainingSteps] + steps.num_steps
while self.total_steps_counters[RunPhase.TRAIN][TrainingSteps] < count_end:
@@ -299,6 +351,8 @@ class GraphManager(object):
lives available
:return: None
"""
self.verify_graph_was_created()
self.reset_required = False
[environment.reset_internal_state(force_environment_reset) for environment in self.environments]
[manager.reset_internal_state() for manager in self.level_managers]
@@ -314,6 +368,8 @@ class GraphManager(object):
:return: the actual number of steps done, a boolean value that represent if the episode was done when finishing
the function call
"""
self.verify_graph_was_created()
# perform several steps of playing
result = None
@@ -366,6 +422,8 @@ class GraphManager(object):
:param steps: the number of steps as a tuple of steps time and steps count
:return: None
"""
self.verify_graph_was_created()
# perform several steps of training interleaved with acting
if steps.num_steps > 0:
self.phase = RunPhase.TRAIN
@@ -395,6 +453,8 @@ class GraphManager(object):
:param keep_networks_in_sync: sync the network parameters with the global network before each episode
:return: None
"""
self.verify_graph_was_created()
if steps.num_steps > 0:
self.phase = RunPhase.TEST
self.last_evaluation_start_time = time.time()
@@ -411,6 +471,8 @@ class GraphManager(object):
self.phase = RunPhase.UNDEFINED
def restore_checkpoint(self):
self.verify_graph_was_created()
# TODO: find better way to load checkpoints that were saved with a global network into the online network
if hasattr(self.task_parameters, 'checkpoint_restore_dir') and self.task_parameters.checkpoint_restore_dir:
import tensorflow as tf
@@ -473,6 +535,7 @@ class GraphManager(object):
2.2. Evaluate
:return: None
"""
self.verify_graph_was_created()
# initialize the network parameters from the global network
self.sync_graph()
@@ -491,6 +554,14 @@ class GraphManager(object):
self.train_and_act(self.steps_between_evaluation_periods)
self.evaluate(self.evaluation_steps)
def verify_graph_was_created(self):
"""
Verifies that the graph was already created, and if not, it creates it with the default task parameters
:return: None
"""
if self.graph_creation_time is None:
self.create_graph()
def __str__(self):
result = ""
for key, val in self.__dict__.items():

16
rl_coach/presets/Atari_A3C.py
View File

@@ -1,10 +1,9 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.architectures.tensorflow_components.middlewares.fc_middleware import FCMiddlewareParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SingleLevelSelection, SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -29,17 +28,10 @@ agent_params.algorithm.beta_entropy = 0.05
agent_params.network_wrappers['main'].middleware_parameters = FCMiddlewareParameters()
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -48,5 +40,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

17
rl_coach/presets/Atari_A3C_LSTM.py
View File

@@ -1,10 +1,9 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.architectures.tensorflow_components.middlewares.lstm_middleware import LSTMMiddlewareParameters
from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SingleLevelSelection, SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, AtariInputFilter
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -29,17 +28,11 @@ agent_params.algorithm.beta_entropy = 0.05
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.network_wrappers['main'].middleware_parameters = LSTMMiddlewareParameters(scheme=MiddlewareScheme.Medium,
number_of_lstm_cells=256)
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = True
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -48,5 +41,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

13
rl_coach/presets/Atari_Bootstrapped_DQN.py
View File

@@ -1,7 +1,7 @@
from rl_coach.agents.bootstrapped_dqn_agent import BootstrappedDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.core_types import EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -25,12 +25,7 @@ agent_params.network_wrappers['main'].learning_rate = 0.00025
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -39,5 +34,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_C51.py
View File

@@ -1,19 +1,8 @@
from rl_coach.agents.categorical_dqn_agent import CategoricalDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -24,12 +13,7 @@ agent_params.network_wrappers['main'].learning_rate = 0.00025
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -38,5 +22,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_DDQN.py
View File

@@ -1,19 +1,8 @@
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -24,12 +13,7 @@ agent_params.network_wrappers['main'].learning_rate = 0.00025
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -38,5 +22,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

25
rl_coach/presets/Atari_DDQN_with_PER.py
View File

@@ -1,23 +1,11 @@
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.non_episodic.prioritized_experience_replay import PrioritizedExperienceReplayParameters
from rl_coach.schedules import LinearSchedule
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
#########
@@ -29,12 +17,7 @@ agent_params.memory.beta = LinearSchedule(0.4, 1, 12500000) # 12.5M training it
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -43,5 +26,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_DQN.py
View File

@@ -1,19 +1,8 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -25,12 +14,7 @@ agent_params.network_wrappers['main'].learning_rate = 0.0001
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -39,5 +23,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

23
rl_coach/presets/Atari_DQN_with_PER.py
View File

@@ -1,21 +1,11 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.non_episodic.prioritized_experience_replay import PrioritizedExperienceReplayParameters
from rl_coach.schedules import LinearSchedule
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -28,12 +18,7 @@ agent_params.memory.beta = LinearSchedule(0.4, 1, 12500000) # 12.5M training it
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -42,5 +27,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

28
rl_coach/presets/Atari_Dueling_DDQN.py
View File

@@ -3,20 +3,9 @@ import math
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -26,19 +15,14 @@ agent_params = DDQNAgentParameters()
# since we are using Adam instead of RMSProp, we adjust the learning rate as well
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.network_wrappers['main'].middleware_parameters.scheme = MiddlewareScheme.Empty
agent_params.network_wrappers['main'].heads_parameters = [DuelingQHeadParameters()]
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1/math.sqrt(2)]
agent_params.network_wrappers['main'].heads_parameters = \
[DuelingQHeadParameters(rescale_gradient_from_head_by_factor=1/math.sqrt(2))]
agent_params.network_wrappers['main'].clip_gradients = 10
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -47,5 +31,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_Dueling_DDQN_with_PER_OpenAI.py
View File

@@ -1,22 +1,13 @@
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.core_types import EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.non_episodic.prioritized_experience_replay import PrioritizedExperienceReplayParameters
from rl_coach.schedules import LinearSchedule, PieceWiseSchedule, ConstantSchedule
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -38,12 +29,7 @@ agent_params.memory.beta = LinearSchedule(0.4, 1, 12500000) # 12.5M training it
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -52,5 +38,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

13
rl_coach/presets/Atari_NEC.py
View File

@@ -1,7 +1,7 @@
from rl_coach.agents.nec_agent import NECAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SingleLevelSelection, SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, AtariInputFilter, atari_deterministic_v4
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -27,14 +27,9 @@ agent_params.input_filter.remove_reward_filter('clipping')
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
env_params.random_initialization_steps = 1
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
########
@@ -42,5 +37,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.test_using_a_trace_test = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

21
rl_coach/presets/Atari_NStepQ.py
View File

@@ -1,8 +1,8 @@
from rl_coach.agents.n_step_q_agent import NStepQAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.layers import Conv2d, Dense
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SingleLevelSelection, SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -22,19 +22,14 @@ schedule_params.heatup_steps = EnvironmentSteps(0)
agent_params = NStepQAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].scheme = [Conv2d([16, 8, 4]),
Conv2d([32, 4, 2])]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense([256])]
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].scheme = [Conv2d(16, 8, 4),
Conv2d(32, 4, 2)]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense(256)]
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -43,5 +38,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_QR_DQN.py
View File

@@ -1,19 +1,8 @@
from rl_coach.agents.qr_dqn_agent import QuantileRegressionDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -25,12 +14,7 @@ agent_params.algorithm.huber_loss_interval = 1 # k = 0 for strict quantile loss
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -39,5 +23,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

13
rl_coach/presets/Atari_Rainbow.py
View File

@@ -1,7 +1,7 @@
from rl_coach.agents.rainbow_dqn_agent import RainbowDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.core_types import EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -30,12 +30,7 @@ agent_params.memory.alpha = 0.5
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -44,5 +39,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

24
rl_coach/presets/Atari_UCB_with_Q_Ensembles.py
View File

@@ -1,20 +1,9 @@
from rl_coach.agents.bootstrapped_dqn_agent import BootstrappedDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import Atari, atari_deterministic_v4, atari_schedule
from rl_coach.exploration_policies.ucb import UCBParameters
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = EnvironmentSteps(50000000)
schedule_params.steps_between_evaluation_periods = EnvironmentSteps(250000)
schedule_params.evaluation_steps = EnvironmentSteps(135000)
schedule_params.heatup_steps = EnvironmentSteps(50000)
#########
# Agent #
@@ -26,12 +15,7 @@ agent_params.exploration = UCBParameters()
###############
# Environment #
###############
env_params = Atari()
env_params.level = SingleLevelSelection(atari_deterministic_v4)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = Atari(level=SingleLevelSelection(atari_deterministic_v4))
########
# Test #
@@ -40,5 +24,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['breakout', 'pong', 'space_invaders']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=atari_schedule, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

17
rl_coach/presets/BitFlip_DQN.py
View File

@@ -1,11 +1,10 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, \
PresetValidationParameters
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -28,7 +27,7 @@ schedule_params.heatup_steps = EnvironmentSteps(0)
agent_params = DQNAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.001
agent_params.network_wrappers['main'].batch_size = 128
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense([256])]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense(256)]
agent_params.network_wrappers['main'].input_embedders_parameters = {
'state': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)
@@ -45,12 +44,10 @@ agent_params.exploration.evaluation_epsilon = 0
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'rl_coach.environments.toy_problems.bit_flip:BitFlip'
env_params = GymVectorEnvironment(level='rl_coach.environments.toy_problems.bit_flip:BitFlip')
env_params.additional_simulator_parameters = {'bit_length': bit_length, 'mean_zero': True}
# env_params.custom_reward_threshold = -bit_length + 1
env_params.custom_reward_threshold = -bit_length + 1
vis_params = VisualizationParameters()
########
# Test #
@@ -61,7 +58,7 @@ preset_validation_params.min_reward_threshold = -7.9
preset_validation_params.max_episodes_to_achieve_reward = 10000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

15
rl_coach/presets/BitFlip_DQN_HER.py
View File

@@ -1,10 +1,10 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, \
PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.episodic.episodic_hindsight_experience_replay import \
@@ -30,7 +30,7 @@ schedule_params.heatup_steps = EnvironmentSteps(0)
agent_params = DQNAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.001
agent_params.network_wrappers['main'].batch_size = 128
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense([256])]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense(256)]
agent_params.network_wrappers['main'].input_embedders_parameters = {
'state': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)}
@@ -55,13 +55,10 @@ agent_params.memory.goals_space = GoalsSpace(goal_name='state',
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'rl_coach.environments.toy_problems.bit_flip:BitFlip'
env_params = GymVectorEnvironment(level='rl_coach.environments.toy_problems.bit_flip:BitFlip')
env_params.additional_simulator_parameters = {'bit_length': bit_length, 'mean_zero': True}
env_params.custom_reward_threshold = -bit_length + 1
vis_params = VisualizationParameters()
# currently no tests for this preset as the max reward can be accidently achieved. will be fixed with trace based tests.
########
@@ -73,7 +70,7 @@ preset_validation_params.min_reward_threshold = -15
preset_validation_params.max_episodes_to_achieve_reward = 10000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

10
rl_coach/presets/CARLA_3_Cameras_DDPG.py
View File

@@ -2,9 +2,8 @@ import copy
from rl_coach.agents.ddpg_agent import DDPGAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.carla_environment import CarlaEnvironmentParameters, CameraTypes, CarlaInputFilter
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -49,12 +48,7 @@ agent_params.input_filter.copy_filters_from_one_observation_to_another('forward_
# Environment #
###############
env_params = CarlaEnvironmentParameters()
env_params.level = 'town1'
env_params.cameras = [CameraTypes.FRONT, CameraTypes.LEFT, CameraTypes.RIGHT]
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

96
rl_coach/presets/CARLA_CIL.py
View File

@@ -1,19 +1,19 @@
import numpy as np
import os
from logger import screen
import numpy as np
import tensorflow as tf
# make sure you have $CARLA_ROOT/PythonClient in your PYTHONPATH
from carla.driving_benchmark.experiment_suites import CoRL2017
from rl_coach.logger import screen
from rl_coach.agents.cil_agent import CILAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Conv2d, Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.architectures.tensorflow_components.heads.cil_head import RegressionHeadParameters
from rl_coach.architectures.tensorflow_components.layers import Conv2d, Dense, BatchnormActivationDropout
from rl_coach.architectures.tensorflow_components.middlewares.fc_middleware import FCMiddlewareParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.carla_environment import CarlaEnvironmentParameters, CameraTypes
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.carla_environment import CarlaEnvironmentParameters
from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_crop_filter import ObservationCropFilter
@@ -27,7 +27,6 @@ from rl_coach.schedules import ConstantSchedule
from rl_coach.spaces import ImageObservationSpace
from rl_coach.utilities.carla_dataset_to_replay_buffer import create_dataset
####################
# Graph Scheduling #
####################
@@ -44,38 +43,64 @@ agent_params = CILAgentParameters()
# forward camera and measurements input
agent_params.network_wrappers['main'].input_embedders_parameters = {
'CameraRGB': InputEmbedderParameters(scheme=[Conv2d([32, 5, 2]),
Conv2d([32, 3, 1]),
Conv2d([64, 3, 2]),
Conv2d([64, 3, 1]),
Conv2d([128, 3, 2]),
Conv2d([128, 3, 1]),
Conv2d([256, 3, 1]),
Conv2d([256, 3, 1]),
Dense([512]),
Dense([512])],
dropout=True,
batchnorm=True),
'measurements': InputEmbedderParameters(scheme=[Dense([128]),
Dense([128])])
'CameraRGB': InputEmbedderParameters(
scheme=[
Conv2d(32, 5, 2),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(32, 3, 1),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(64, 3, 2),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(64, 3, 1),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(128, 3, 2),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(128, 3, 1),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(256, 3, 1),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Conv2d(256, 3, 1),
BatchnormActivationDropout(batchnorm=True, activation_function=tf.tanh),
Dense(512),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.3),
Dense(512),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.3)
],
activation_function='none' # we define the activation function for each layer explicitly
),
'measurements': InputEmbedderParameters(
scheme=[
Dense(128),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.5),
Dense(128),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.5)
],
activation_function='none' # we define the activation function for each layer explicitly
)
}
# TODO: batch norm is currently applied to the fc layers which is not desired
# TODO: dropout should be configured differenetly per layer [1.0] * 8 + [0.7] * 2 + [0.5] * 2 + [0.5] * 1 + [0.5, 1.] * 5
# simple fc middleware
agent_params.network_wrappers['main'].middleware_parameters = FCMiddlewareParameters(scheme=[Dense([512])])
agent_params.network_wrappers['main'].middleware_parameters = \
FCMiddlewareParameters(
scheme=[
Dense(512),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.5)
],
activation_function='none'
)
# output branches
agent_params.network_wrappers['main'].heads_parameters = [
RegressionHeadParameters(),
RegressionHeadParameters(),
RegressionHeadParameters(),
RegressionHeadParameters()
RegressionHeadParameters(
scheme=[
Dense(256),
BatchnormActivationDropout(activation_function=tf.tanh, dropout_rate=0.5),
Dense(256),
BatchnormActivationDropout(activation_function=tf.tanh)
],
num_output_head_copies=4 # follow lane, left, right, straight
)
]
# agent_params.network_wrappers['main'].num_output_head_copies = 4 # follow lane, left, right, straight
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1, 1, 1, 1]
agent_params.network_wrappers['main'].loss_weights = [1, 1, 1, 1]
# TODO: there should be another head predicting the speed which is connected directly to the forward camera embedding
agent_params.network_wrappers['main'].batch_size = 120
@@ -125,7 +150,6 @@ if not os.path.exists(agent_params.memory.load_memory_from_file_path):
# Environment #
###############
env_params = CarlaEnvironmentParameters()
env_params.level = 'town1'
env_params.cameras = ['CameraRGB']
env_params.camera_height = 600
env_params.camera_width = 800
@@ -134,9 +158,5 @@ env_params.allow_braking = True
env_params.quality = CarlaEnvironmentParameters.Quality.EPIC
env_params.experiment_suite = CoRL2017('Town01')
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST)]
vis_params.dump_mp4 = True
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

10
rl_coach/presets/CARLA_DDPG.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.ddpg_agent import DDPGAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.carla_environment import CarlaEnvironmentParameters
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -29,11 +28,6 @@ agent_params.network_wrappers['critic'].input_embedders_parameters['forward_came
# Environment #
###############
env_params = CarlaEnvironmentParameters()
env_params.level = 'town1'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

14
rl_coach/presets/CARLA_Dueling_DDQN.py
View File

@@ -3,9 +3,8 @@ import math
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.carla_environment import CarlaEnvironmentParameters
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.filters.action.box_discretization import BoxDiscretization
from rl_coach.filters.filter import OutputFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -26,9 +25,9 @@ schedule_params.heatup_steps = EnvironmentSteps(1000)
#########
agent_params = DDQNAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.00025
agent_params.network_wrappers['main'].heads_parameters = [DuelingQHeadParameters()]
agent_params.network_wrappers['main'].heads_parameters = \
[DuelingQHeadParameters(rescale_gradient_from_head_by_factor=1/math.sqrt(2))]
agent_params.network_wrappers['main'].middleware_parameters.scheme = MiddlewareScheme.Empty
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1/math.sqrt(2), 1/math.sqrt(2)]
agent_params.network_wrappers['main'].clip_gradients = 10
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(4)
agent_params.network_wrappers['main'].input_embedders_parameters['forward_camera'] = \
@@ -40,11 +39,6 @@ agent_params.output_filter.add_action_filter('discretization', BoxDiscretization
# Environment #
###############
env_params = CarlaEnvironmentParameters()
env_params.level = 'town1'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

20
rl_coach/presets/CartPole_A3C.py
View File

@@ -1,10 +1,9 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.agents.policy_optimization_agent import PolicyGradientRescaler
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import MujocoInputFilter, Mujoco
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -33,20 +32,13 @@ agent_params.algorithm.beta_entropy = 0.01
agent_params.network_wrappers['main'].optimizer_type = 'Adam'
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/200.))
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -58,5 +50,5 @@ preset_validation_params.max_episodes_to_achieve_reward = 300
preset_validation_params.num_workers = 8
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

14
rl_coach/presets/CartPole_DFP.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.dfp_agent import DFPAgentParameters, HandlingTargetsAfterEpisodeEnd
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import LinearSchedule
@@ -37,12 +36,7 @@ agent_params.algorithm.handling_targets_after_episode_end = HandlingTargetsAfter
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -53,5 +47,5 @@ preset_validation_params.min_reward_threshold = 120
preset_validation_params.max_episodes_to_achieve_reward = 250
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

14
rl_coach/presets/CartPole_DQN.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -41,12 +40,7 @@ agent_params.exploration.epsilon_schedule = LinearSchedule(1.0, 0.01, 10000)
################
# Environment #
################
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -57,5 +51,5 @@ preset_validation_params.min_reward_threshold = 150
preset_validation_params.max_episodes_to_achieve_reward = 250
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

18
rl_coach/presets/CartPole_Dueling_DDQN.py
View File

@@ -3,9 +3,8 @@ import math
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -34,8 +33,8 @@ agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(1)
# NN configuration
agent_params.network_wrappers['main'].learning_rate = 0.00025
agent_params.network_wrappers['main'].replace_mse_with_huber_loss = False
agent_params.network_wrappers['main'].heads_parameters = [DuelingQHeadParameters()]
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1/math.sqrt(2), 1/math.sqrt(2)]
agent_params.network_wrappers['main'].heads_parameters = \
[DuelingQHeadParameters(rescale_gradient_from_head_by_factor=1/math.sqrt(2))]
# ER size
agent_params.memory.max_size = (MemoryGranularity.Transitions, 40000)
@@ -46,12 +45,7 @@ agent_params.exploration.epsilon_schedule = LinearSchedule(1.0, 0.01, 10000)
################
# Environment #
################
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -62,5 +56,5 @@ preset_validation_params.min_reward_threshold = 150
preset_validation_params.max_episodes_to_achieve_reward = 250
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

17
rl_coach/presets/CartPole_NEC.py
View File

@@ -1,8 +1,8 @@
from rl_coach.agents.nec_agent import NECAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Atari, MujocoInputFilter
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -30,18 +30,13 @@ agent_params.exploration.epsilon_schedule = LinearSchedule(0.5, 0.1, 1000)
agent_params.exploration.evaluation_epsilon = 0
agent_params.algorithm.discount = 0.99
agent_params.memory.max_size = (MemoryGranularity.Episodes, 200)
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/200.))
###############
# Environment #
###############
env_params = Atari()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -53,5 +48,5 @@ preset_validation_params.max_episodes_to_achieve_reward = 300
preset_validation_params.test_using_a_trace_test = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

17
rl_coach/presets/CartPole_NStepQ.py
View File

@@ -1,8 +1,8 @@
from rl_coach.agents.n_step_q_agent import NStepQAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import MujocoInputFilter, Mujoco
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -24,18 +24,13 @@ agent_params = NStepQAgentParameters()
agent_params.algorithm.discount = 0.99
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentSteps(100)
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/200.))
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -47,5 +42,5 @@ preset_validation_params.max_episodes_to_achieve_reward = 200
preset_validation_params.num_workers = 8
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

14
rl_coach/presets/CartPole_PAL.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.pal_agent import PALAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -41,12 +40,7 @@ agent_params.exploration.epsilon_schedule = LinearSchedule(1.0, 0.01, 10000)
################
# Environment #
################
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -57,5 +51,5 @@ preset_validation_params.min_reward_threshold = 150
preset_validation_params.max_episodes_to_achieve_reward = 250
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

20
rl_coach/presets/CartPole_PG.py
View File

@@ -1,9 +1,8 @@
from rl_coach.agents.policy_gradients_agent import PolicyGradientsAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import MujocoInputFilter, Mujoco
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -29,20 +28,13 @@ agent_params.algorithm.num_steps_between_gradient_updates = 20000
agent_params.network_wrappers['main'].optimizer_type = 'Adam'
agent_params.network_wrappers['main'].learning_rate = 0.0005
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/200.))
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'CartPole-v0'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level='CartPole-v0')
########
# Test #
@@ -53,6 +45,6 @@ preset_validation_params.min_reward_threshold = 130
preset_validation_params.max_episodes_to_achieve_reward = 550
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

27
rl_coach/presets/ControlSuite_DDPG.py
View File

@@ -1,10 +1,10 @@
from rl_coach.agents.ddpg_agent import DDPGAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.control_suite_environment import ControlSuiteEnvironmentParameters, control_suite_envs
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import MujocoInputFilter
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -27,23 +27,18 @@ agent_params.network_wrappers['actor'].input_embedders_parameters['measurements'
agent_params.network_wrappers['actor'].input_embedders_parameters.pop('observation')
agent_params.network_wrappers['critic'].input_embedders_parameters['measurements'] = \
agent_params.network_wrappers['critic'].input_embedders_parameters.pop('observation')
agent_params.network_wrappers['actor'].input_embedders_parameters['measurements'].scheme = [Dense([300])]
agent_params.network_wrappers['actor'].middleware_parameters.scheme = [Dense([200])]
agent_params.network_wrappers['critic'].input_embedders_parameters['measurements'].scheme = [Dense([400])]
agent_params.network_wrappers['critic'].middleware_parameters.scheme = [Dense([300])]
agent_params.network_wrappers['actor'].input_embedders_parameters['measurements'].scheme = [Dense(300)]
agent_params.network_wrappers['actor'].middleware_parameters.scheme = [Dense(200)]
agent_params.network_wrappers['critic'].input_embedders_parameters['measurements'].scheme = [Dense(400)]
agent_params.network_wrappers['critic'].middleware_parameters.scheme = [Dense(300)]
agent_params.network_wrappers['critic'].input_embedders_parameters['action'].scheme = EmbedderScheme.Empty
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter("rescale", RewardRescaleFilter(1/10.))
###############
# Environment #
###############
env_params = ControlSuiteEnvironmentParameters()
env_params.level = SingleLevelSelection(control_suite_envs)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = ControlSuiteEnvironmentParameters(level=SingleLevelSelection(control_suite_envs))
########
# Test #
@@ -52,5 +47,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_test_levels = ['cartpole:swingup', 'hopper:hop']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

18
rl_coach/presets/Doom_Basic_A3C.py
View File

@@ -1,11 +1,9 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.agents.policy_optimization_agent import PolicyGradientRescaler
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.environments.gym_environment import MujocoInputFilter
from rl_coach.exploration_policies.categorical import CategoricalParameters
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -27,24 +25,18 @@ schedule_params.heatup_steps = EnvironmentSteps(0)
agent_params = ActorCriticAgentParameters()
agent_params.algorithm.policy_gradient_rescaler = PolicyGradientRescaler.GAE
agent_params.network_wrappers['main'].learning_rate = 0.0001
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/100.))
agent_params.algorithm.num_steps_between_gradient_updates = 30
agent_params.algorithm.apply_gradients_every_x_episodes = 1
agent_params.algorithm.gae_lambda = 1.0
agent_params.algorithm.beta_entropy = 0.01
agent_params.network_wrappers['main'].clip_gradients = 40.
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'basic'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = DoomEnvironmentParameters(level='basic')
########
# Test #
@@ -57,5 +49,5 @@ preset_validation_params.num_workers = 8
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

3
rl_coach/presets/Doom_Basic_BC.py
View File

@@ -35,8 +35,7 @@ agent_params.memory.load_memory_from_file_path = 'datasets/doom_basic.p'
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'basic'
env_params = DoomEnvironmentParameters(level='basic')
########
# Test #

11
rl_coach/presets/Doom_Basic_DFP.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.dfp_agent import DFPAgentParameters, HandlingTargetsAfterEpisodeEnd
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import LinearSchedule
@@ -39,12 +38,8 @@ agent_params.algorithm.handling_targets_after_episode_end = HandlingTargetsAfter
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'basic'
env_params = DoomEnvironmentParameters(level='basic')
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
@@ -53,5 +48,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.trace_max_env_steps = 2000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

11
rl_coach/presets/Doom_Basic_DQN.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.dqn_agent import DQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -35,12 +34,8 @@ agent_params.network_wrappers['main'].replace_mse_with_huber_loss = False
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'basic'
env_params = DoomEnvironmentParameters(level='basic')
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
@@ -52,5 +47,5 @@ preset_validation_params.max_episodes_to_achieve_reward = 400
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

11
rl_coach/presets/Doom_Basic_Dueling_DDQN.py
View File

@@ -1,9 +1,8 @@
from rl_coach.agents.ddqn_agent import DDQNAgentParameters
from rl_coach.architectures.tensorflow_components.heads.dueling_q_head import DuelingQHeadParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -36,12 +35,8 @@ agent_params.network_wrappers['main'].heads_parameters = [DuelingQHeadParameters
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'basic'
env_params = DoomEnvironmentParameters(level='basic')
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

11
rl_coach/presets/Doom_Battle_DFP.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.dfp_agent import DFPAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase
from rl_coach.core_types import EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters, DoomEnvironment
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import LinearSchedule
@@ -44,13 +43,9 @@ agent_params.network_wrappers['main'].input_embedders_parameters['observation'].
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'BATTLE_COACH_LOCAL'
env_params = DoomEnvironmentParameters(level='BATTLE_COACH_LOCAL')
env_params.cameras = [DoomEnvironment.CameraTypes.OBSERVATION]
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

12
rl_coach/presets/Doom_Health_DFP.py
View File

@@ -1,9 +1,8 @@
from rl_coach.agents.dfp_agent import DFPAgentParameters
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, MiddlewareScheme, \
PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase, EnvironmentEpisodes
from rl_coach.core_types import EnvironmentSteps, EnvironmentEpisodes
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import LinearSchedule
@@ -54,11 +53,8 @@ agent_params.algorithm.scale_measurements_targets['GameVariable.HEALTH'] = 30.0
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'HEALTH_GATHERING'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = DoomEnvironmentParameters(level='HEALTH_GATHERING')
########
# Test #
@@ -71,5 +67,5 @@ preset_validation_params.max_episodes_to_achieve_reward = 70
preset_validation_params.test_using_a_trace_test = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

11
rl_coach/presets/Doom_Health_MMC.py
View File

@@ -1,8 +1,7 @@
from rl_coach.agents.mmc_agent import MixedMonteCarloAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.memories.memory import MemoryGranularity
@@ -35,11 +34,7 @@ agent_params.network_wrappers['main'].replace_mse_with_huber_loss = False
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'HEALTH_GATHERING'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = DoomEnvironmentParameters(level='HEALTH_GATHERING')
########
# Test #
@@ -52,5 +47,5 @@ preset_validation_params.test_using_a_trace_test = False
# preset_validation_params.max_episodes_to_achieve_reward = 300
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

12
rl_coach/presets/Doom_Health_Supreme_DFP.py
View File

@@ -1,9 +1,8 @@
from rl_coach.agents.dfp_agent import DFPAgentParameters
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, MiddlewareScheme, \
PresetValidationParameters
from rl_coach.core_types import EnvironmentSteps, RunPhase, EnvironmentEpisodes
from rl_coach.core_types import EnvironmentSteps, EnvironmentEpisodes
from rl_coach.environments.doom_environment import DoomEnvironmentParameters
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
from rl_coach.schedules import LinearSchedule
@@ -54,11 +53,8 @@ agent_params.algorithm.scale_measurements_targets['GameVariable.HEALTH'] = 30.0
###############
# Environment #
###############
env_params = DoomEnvironmentParameters()
env_params.level = 'HEALTH_GATHERING_SUPREME_COACH_LOCAL'
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = DoomEnvironmentParameters(level='HEALTH_GATHERING_SUPREME_COACH_LOCAL')
########
# Test #
@@ -67,5 +63,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.test_using_a_trace_test = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

27
rl_coach/presets/ExplorationChain_Bootstrapped_DQN.py
View File

@@ -1,7 +1,7 @@
from rl_coach.agents.bootstrapped_dqn_agent import BootstrappedDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import NoInputFilter, NoOutputFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -29,8 +29,8 @@ agent_params.network_wrappers['main'].learning_rate = 0.00025
agent_params.memory.max_size = (MemoryGranularity.Transitions, 1000000)
agent_params.algorithm.discount = 0.99
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(4)
agent_params.network_wrappers['main'].num_output_head_copies = num_output_head_copies
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1.0/num_output_head_copies]*num_output_head_copies
agent_params.network_wrappers['main'].heads_parameters[0].num_output_head_copies = num_output_head_copies
agent_params.network_wrappers['main'].heads_parameters[0].rescale_gradient_from_head_by_factor = 1.0/num_output_head_copies
agent_params.exploration.bootstrapped_data_sharing_probability = 1.0
agent_params.exploration.architecture_num_q_heads = num_output_head_copies
agent_params.exploration.epsilon_schedule = ConstantSchedule(0)
@@ -40,26 +40,9 @@ agent_params.output_filter = NoOutputFilter()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'rl_coach.environments.toy_problems.exploration_chain:ExplorationChain'
env_params = GymVectorEnvironment(level='rl_coach.environments.toy_problems.exploration_chain:ExplorationChain')
env_params.additional_simulator_parameters = {'chain_length': N, 'max_steps': N+7}
vis_params = VisualizationParameters()
########
# Test #
########
# currently no test here as bootstrapped_dqn seems to be broken
# preset_validation_params = PresetValidationParameters()
# preset_validation_params.test = True
# preset_validation_params.min_reward_threshold = 1600
# preset_validation_params.max_episodes_to_achieve_reward = 70
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,)
# preset_validation_params=preset_validation_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

14
rl_coach/presets/ExplorationChain_Dueling_DDQN.py
View File

@@ -38,18 +38,8 @@ agent_params.output_filter = NoOutputFilter()
###############
# Environment #
###############
env_params = GymEnvironmentParameters()
env_params.level = 'rl_coach.environments.toy_problems.exploration_chain:ExplorationChain'
env_params = GymEnvironmentParameters(level='rl_coach.environments.toy_problems.exploration_chain:ExplorationChain')
env_params.additional_simulator_parameters = {'chain_length': N, 'max_steps': N+7}
vis_params = VisualizationParameters()
# preset_validation_params = PresetValidationParameters()
# preset_validation_params.test = True
# preset_validation_params.min_reward_threshold = 1600
# preset_validation_params.max_episodes_to_achieve_reward = 70
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,)
# preset_validation_params=preset_validation_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

14
rl_coach/presets/ExplorationChain_UCB_Q_ensembles.py
View File

@@ -1,7 +1,7 @@
from rl_coach.agents.bootstrapped_dqn_agent import BootstrappedDQNAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import Mujoco
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.exploration_policies.ucb import UCBParameters
from rl_coach.filters.filter import NoInputFilter, NoOutputFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -30,8 +30,8 @@ agent_params.network_wrappers['main'].learning_rate = 0.00025
agent_params.memory.max_size = (MemoryGranularity.Transitions, 1000000)
agent_params.algorithm.discount = 0.99
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(4)
agent_params.network_wrappers['main'].num_output_head_copies = num_output_head_copies
agent_params.network_wrappers['main'].rescale_gradient_from_head_by_factor = [1.0/num_output_head_copies]*num_output_head_copies
agent_params.network_wrappers['main'].heads_parameters[0].num_output_head_copies = num_output_head_copies
agent_params.network_wrappers['main'].heads_parameters[0].rescale_gradient_from_head_by_factor = 1.0/num_output_head_copies
agent_params.exploration = UCBParameters()
agent_params.exploration.bootstrapped_data_sharing_probability = 1.0
agent_params.exploration.architecture_num_q_heads = num_output_head_copies
@@ -43,12 +43,8 @@ agent_params.output_filter = NoOutputFilter()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = 'rl_coach.environments.toy_problems.exploration_chain:ExplorationChain'
env_params = GymVectorEnvironment(level='rl_coach.environments.toy_problems.exploration_chain:ExplorationChain')
env_params.additional_simulator_parameters = {'chain_length': N, 'max_steps': N+7}
vis_params = VisualizationParameters()
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

33
rl_coach/presets/Fetch_DDPG_HER_baselines.py
View File

@@ -1,12 +1,13 @@
from rl_coach.agents.ddpg_agent import DDPGAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.middlewares.fc_middleware import FCMiddlewareParameters
from rl_coach.base_parameters import VisualizationParameters, EmbedderScheme, PresetValidationParameters
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps, TrainingSteps, RunPhase
from rl_coach.environments.environment import SelectedPhaseOnlyDumpMethod, MaxDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Mujoco, MujocoInputFilter, fetch_v1
from rl_coach.core_types import EnvironmentEpisodes, EnvironmentSteps, TrainingSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import GymVectorEnvironment, fetch_v1
from rl_coach.exploration_policies.e_greedy import EGreedyParameters
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_clipping_filter import ObservationClippingFilter
from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -44,7 +45,7 @@ actor_network.input_embedders_parameters = {
'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)
}
actor_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense([256]), Dense([256]), Dense([256])])
actor_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense(256), Dense(256), Dense(256)])
actor_network.heads_parameters[0].batchnorm = False
# critic
@@ -59,7 +60,7 @@ critic_network.input_embedders_parameters = {
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty)
}
critic_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense([256]), Dense([256]), Dense([256])])
critic_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense(256), Dense(256), Dense(256)])
agent_params.algorithm.discount = 0.98
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(1)
@@ -90,10 +91,10 @@ agent_params.exploration.evaluation_epsilon = 0
agent_params.exploration.continuous_exploration_policy_parameters.noise_percentage_schedule = ConstantSchedule(0.1)
agent_params.exploration.continuous_exploration_policy_parameters.evaluation_noise_percentage = 0
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_observation_filter('observation', 'clipping', ObservationClippingFilter(-200, 200))
agent_params.pre_network_filter = MujocoInputFilter()
agent_params.pre_network_filter = InputFilter()
agent_params.pre_network_filter.add_observation_filter('observation', 'normalize_observation',
ObservationNormalizationFilter(name='normalize_observation'))
agent_params.pre_network_filter.add_observation_filter('achieved_goal', 'normalize_achieved_goal',
@@ -104,27 +105,17 @@ agent_params.pre_network_filter.add_observation_filter('desired_goal', 'normaliz
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = SingleLevelSelection(fetch_v1)
env_params = GymVectorEnvironment(level=SingleLevelSelection(fetch_v1))
env_params.custom_reward_threshold = -49
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
# preset_validation_params.test = True
# preset_validation_params.min_reward_threshold = 200
# preset_validation_params.max_episodes_to_achieve_reward = 600
# preset_validation_params.reward_test_level = 'inverted_pendulum'
preset_validation_params.trace_test_levels = ['slide', 'pick_and_place', 'push', 'reach']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

17
rl_coach/presets/InvertedPendulum_PG.py
View File

@@ -1,8 +1,8 @@
from rl_coach.agents.policy_gradients_agent import PolicyGradientsAgentParameters
from rl_coach.base_parameters import VisualizationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.environments.gym_environment import Mujoco, MujocoInputFilter
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import GymVectorEnvironment
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -25,7 +25,7 @@ agent_params.algorithm.apply_gradients_every_x_episodes = 5
agent_params.algorithm.num_steps_between_gradient_updates = 20000
agent_params.network_wrappers['main'].learning_rate = 0.0005
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/20.))
agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter())
@@ -33,14 +33,9 @@ agent_params.input_filter.add_observation_filter('observation', 'normalize', Obs
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = "InvertedPendulum-v2"
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level="InvertedPendulum-v2")
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
schedule_params=schedule_params, vis_params=VisualizationParameters())

12
rl_coach/presets/MontezumaRevenge_BC.py
View File

@@ -1,7 +1,6 @@
from rl_coach.agents.bc_agent import BCAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.gym_environment import Atari
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -31,14 +30,9 @@ agent_params.memory.load_memory_from_file_path = 'datasets/montezuma_revenge.p'
###############
# Environment #
###############
env_params = Atari()
env_params.level = 'MontezumaRevenge-v0'
env_params = Atari(level='MontezumaRevenge-v0')
env_params.random_initialization_steps = 30
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
########
@@ -46,5 +40,5 @@ preset_validation_params = PresetValidationParameters()
preset_validation_params.test_using_a_trace_test = False
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

20
rl_coach/presets/Mujoco_A3C.py
View File

@@ -1,9 +1,9 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Mujoco, mujoco_v2, MujocoInputFilter
from rl_coach.exploration_policies.continuous_entropy import ContinuousEntropyParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import GymVectorEnvironment, mujoco_v2
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -27,21 +27,15 @@ agent_params.algorithm.num_steps_between_gradient_updates = 10000000
agent_params.algorithm.beta_entropy = 0.0001
agent_params.network_wrappers['main'].learning_rate = 0.00001
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/20.))
agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter())
agent_params.exploration = ContinuousEntropyParameters()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = SingleLevelSelection(mujoco_v2)
env_params = GymVectorEnvironment(level=SingleLevelSelection(mujoco_v2))
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
########
# Test #
@@ -55,7 +49,7 @@ preset_validation_params.reward_test_level = 'inverted_pendulum'
preset_validation_params.trace_test_levels = ['inverted_pendulum', 'hopper']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

27
rl_coach/presets/Mujoco_A3C_LSTM.py
View File

@@ -1,12 +1,12 @@
from rl_coach.agents.actor_critic_agent import ActorCriticAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.architectures.tensorflow_components.middlewares.lstm_middleware import LSTMMiddlewareParameters
from rl_coach.base_parameters import VisualizationParameters, MiddlewareScheme, PresetValidationParameters
from rl_coach.architectures.tensorflow_components.embedders.embedder import InputEmbedderParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Mujoco, mujoco_v2, MujocoInputFilter
from rl_coach.exploration_policies.continuous_entropy import ContinuousEntropyParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import GymVectorEnvironment, mujoco_v2
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
from rl_coach.filters.reward.reward_rescale_filter import RewardRescaleFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
@@ -30,25 +30,18 @@ agent_params.algorithm.num_steps_between_gradient_updates = 20
agent_params.algorithm.beta_entropy = 0.005
agent_params.network_wrappers['main'].learning_rate = 0.00002
agent_params.network_wrappers['main'].input_embedders_parameters['observation'] = \
InputEmbedderParameters(scheme=[Dense([200])])
InputEmbedderParameters(scheme=[Dense(200)])
agent_params.network_wrappers['main'].middleware_parameters = LSTMMiddlewareParameters(scheme=MiddlewareScheme.Empty,
number_of_lstm_cells=128)
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/20.))
agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter())
agent_params.exploration = ContinuousEntropyParameters()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = SingleLevelSelection(mujoco_v2)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level=SingleLevelSelection(mujoco_v2))
########
# Test #
@@ -62,7 +55,7 @@ preset_validation_params.reward_test_level = 'inverted_pendulum'
preset_validation_params.trace_test_levels = ['inverted_pendulum', 'hopper']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

26
rl_coach/presets/Mujoco_ClippedPPO.py
View File

@@ -1,10 +1,11 @@
from rl_coach.agents.clipped_ppo_agent import ClippedPPOAgentParameters
from rl_coach.architectures.tensorflow_components.architecture import Dense
from rl_coach.architectures.tensorflow_components.layers import Dense
from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
from rl_coach.environments.gym_environment import Mujoco, mujoco_v2, MujocoInputFilter
from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps
from rl_coach.environments.environment import SingleLevelSelection
from rl_coach.environments.gym_environment import GymVectorEnvironment, mujoco_v2
from rl_coach.exploration_policies.additive_noise import AdditiveNoiseParameters
from rl_coach.filters.filter import InputFilter
from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
from rl_coach.graph_managers.graph_manager import ScheduleParameters
@@ -28,8 +29,8 @@ agent_params = ClippedPPOAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.0003
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].activation_function = 'tanh'
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].scheme = [Dense([64])]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense([64])]
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].scheme = [Dense(64)]
agent_params.network_wrappers['main'].middleware_parameters.scheme = [Dense(64)]
agent_params.network_wrappers['main'].middleware_parameters.activation_function = 'tanh'
agent_params.network_wrappers['main'].batch_size = 64
agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5
@@ -43,21 +44,16 @@ agent_params.algorithm.discount = 0.99
agent_params.algorithm.optimization_epochs = 10
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter = InputFilter()
agent_params.exploration = AdditiveNoiseParameters()
agent_params.pre_network_filter = MujocoInputFilter()
agent_params.pre_network_filter = InputFilter()
agent_params.pre_network_filter.add_observation_filter('observation', 'normalize_observation',
ObservationNormalizationFilter(name='normalize_observation'))
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = SingleLevelSelection(mujoco_v2)
vis_params = VisualizationParameters()
vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
vis_params.dump_mp4 = False
env_params = GymVectorEnvironment(level=SingleLevelSelection(mujoco_v2))
########
# Test #
@@ -70,7 +66,7 @@ preset_validation_params.reward_test_level = 'inverted_pendulum'
preset_validation_params.trace_test_levels = ['inverted_pendulum', 'hopper']
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
schedule_params=schedule_params, vis_params=VisualizationParameters(),
preset_validation_params=preset_validation_params)

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