update nec and value optimization agents to work with recurrent middleware

agents/actor_critic_agent.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

agents/agent.py

@@ -204,10 +204,11 @@ class Agent(object):
                 for action in self.env.actions_description:
                     self.episode_running_info[action] = []
             plt.clf()
+
         if self.tp.agent.middleware_type == MiddlewareTypes.LSTM:
             for network in self.networks:
-                network.curr_rnn_c_in = network.middleware_embedder.c_init
+                network.online_network.curr_rnn_c_in = network.online_network.middleware_embedder.c_init
-                network.curr_rnn_h_in = network.middleware_embedder.h_init
+                network.online_network.curr_rnn_h_in = network.online_network.middleware_embedder.h_init
 
     def preprocess_observation(self, observation):
         """

agents/nec_agent.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,6 +14,8 @@
 # limitations under the License.
 #
 
+import numpy as np
+
 from agents.value_optimization_agent import *
 
 
@@ -43,26 +45,34 @@ class NECAgent(ValueOptimizationAgent):
         return total_loss
 
     def choose_action(self, curr_state, phase=RunPhase.TRAIN):
-        # convert to batch so we can run it through the network
+        """
-        observation = np.expand_dims(np.array(curr_state['observation']), 0)
+        this method modifies the superclass's behavior in only 3 ways:
+
+        1) the embedding is saved and stored in self.current_episode_state_embeddings
+        2) the dnd output head is only called if it has a minimum number of entries in it
+            ideally, the dnd had would do this on its own, but in my attempt in encoding this
+            behavior in tensorflow, I ran into problems. Would definitely be worth
+            revisiting in the future
+        3) during training, actions are saved and stored in self.current_episode_actions
+            if behaviors 1 and 2 were handled elsewhere, this could easily be implemented
+            as a wrapper around super instead of overriding this method entirelysearch
+        """
 
         # get embedding
-        embedding = self.main_network.sess.run(self.main_network.online_network.state_embedding,
+        embedding = self.main_network.online_network.predict(
-                                               feed_dict={self.main_network.online_network.inputs[0]: observation})
+            self.tf_input_state(curr_state),
-        self.current_episode_state_embeddings.append(embedding[0])
+            outputs=self.main_network.online_network.state_embedding)
+        self.current_episode_state_embeddings.append(embedding)
 
-        # get action values
+        # TODO: support additional heads.  Right now all other heads are ignored
         if self.main_network.online_network.output_heads[0].DND.has_enough_entries(self.tp.agent.number_of_knn):
             # if there are enough entries in the DND then we can query it to get the action values
-            actions_q_values = []
+            # actions_q_values = []
-            for action in range(self.action_space_size):
+            feed_dict = {
-                feed_dict = {
+                self.main_network.online_network.state_embedding: [embedding],
-                    self.main_network.online_network.state_embedding: embedding,
+            }
-                    self.main_network.online_network.output_heads[0].input[0]: np.array([action])
+            actions_q_values = self.main_network.sess.run(
-                }
+                self.main_network.online_network.output_heads[0].output, feed_dict=feed_dict)
-                q_value = self.main_network.sess.run(
-                    self.main_network.online_network.output_heads[0].output, feed_dict=feed_dict)
-                actions_q_values.append(q_value[0])
         else:
             # get only the embedding so we can insert it to the DND
             actions_q_values = [0] * self.action_space_size
@@ -70,6 +80,8 @@ class NECAgent(ValueOptimizationAgent):
         # choose action according to the exploration policy and the current phase (evaluating or training the agent)
         if phase == RunPhase.TRAIN:
             action = self.exploration_policy.get_action(actions_q_values)
+            # NOTE: this next line is not in the parent implementation
+            # NOTE: it could be implemented as a wrapper around the parent since action is returned
             self.current_episode_actions.append(action)
         else:
             action = np.argmax(actions_q_values)

agents/value_optimization_agent.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,6 +14,8 @@
 # limitations under the License.
 #
 
+import numpy as np
+
 from agents.agent import *
 
 
@@ -30,15 +32,28 @@ class ValueOptimizationAgent(Agent):
     def get_q_values(self, prediction):
         return prediction
 
-    def choose_action(self, curr_state, phase=RunPhase.TRAIN):
+    def tf_input_state(self, curr_state):
+        """
+        convert curr_state into input tensors tensorflow is expecting.
+
+        TODO: move this function into Agent and use in as many agent implementations as possible
+        currently, other agents will likely not work with environment measurements.
+        This will become even more important as we support more complex and varied environment states.
+        """
         # convert to batch so we can run it through the network
         observation = np.expand_dims(np.array(curr_state['observation']), 0)
         if self.tp.agent.use_measurements:
             measurements = np.expand_dims(np.array(curr_state['measurements']), 0)
-            prediction = self.main_network.online_network.predict([observation, measurements])
+            tf_input_state = [observation, measurements]
         else:
-            prediction = self.main_network.online_network.predict(observation)
+            tf_input_state = observation
+        return tf_input_state
 
+    def get_prediction(self, curr_state):
+        return self.main_network.online_network.predict(self.tf_input_state(curr_state))
+
+    def choose_action(self, curr_state, phase=RunPhase.TRAIN):
+        prediction = self.get_prediction(curr_state)
         actions_q_values = self.get_q_values(prediction)
 
         # choose action according to the exploration policy and the current phase (evaluating or training the agent)

architectures/neon_components/general_network.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

architectures/network_wrapper.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -30,16 +30,19 @@ except ImportError:
 
 
 class NetworkWrapper(object):
+    """
+    Contains multiple networks and managers syncing and gradient updates
+    between them.
+    """
     def __init__(self, tuning_parameters, has_target, has_global, name, replicated_device=None, worker_device=None):
         """
-        
+        :param tuning_parameters:
-        :param tuning_parameters: 
         :type tuning_parameters: Preset
-        :param has_target: 
+        :param has_target:
-        :param has_global: 
+        :param has_global:
-        :param name: 
+        :param name:
-        :param replicated_device: 
+        :param replicated_device:
-        :param worker_device: 
+        :param worker_device:
         """
         self.tp = tuning_parameters
         self.has_target = has_target
@@ -87,7 +90,7 @@ class NetworkWrapper(object):
     def sync(self):
         """
         Initializes the weights of the networks to match each other
-        :return: 
+        :return:
         """
         self.update_online_network()
         self.update_target_network()
@@ -111,14 +114,14 @@ class NetworkWrapper(object):
     def apply_gradients_to_global_network(self):
         """
         Apply gradients from the online network on the global network
-        :return: 
+        :return:
         """
         self.global_network.apply_gradients(self.online_network.accumulated_gradients)
 
     def apply_gradients_to_online_network(self):
         """
         Apply gradients from the online network on itself
-        :return: 
+        :return:
         """
         self.online_network.apply_gradients(self.online_network.accumulated_gradients)
 
@@ -135,7 +138,7 @@ class NetworkWrapper(object):
 
     def apply_gradients_and_sync_networks(self):
         """
-        Applies the gradients accumulated in the online network to the global network or to itself and syncs the 
+        Applies the gradients accumulated in the online network to the global network or to itself and syncs the
         networks if necessary
         """
         if self.global_network:

architectures/tensorflow_components/architecture.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -64,7 +64,7 @@ class TensorFlowArchitecture(Architecture):
                                                     trainable=False)
                 self.lock = self.lock_counter.assign_add(1, use_locking=True)
                 self.lock_init = self.lock_counter.assign(0)
-    
+
                 self.release_counter = tf.get_variable("release_counter", [], tf.int32,
                                                        initializer=tf.constant_initializer(0, dtype=tf.int32),
                                                        trainable=False)
@@ -86,6 +86,7 @@ class TensorFlowArchitecture(Architecture):
                                                                              tuning_parameters.clip_gradients)
 
             # gradients of the outputs w.r.t. the inputs
+            # at the moment, this is only used by ddpg
             if len(self.outputs) == 1:
                 self.gradients_wrt_inputs = [tf.gradients(self.outputs[0], input_ph) for input_ph in self.inputs]
                 self.gradients_weights_ph = tf.placeholder('float32', self.outputs[0].shape, 'output_gradient_weights')
@@ -126,7 +127,7 @@ class TensorFlowArchitecture(Architecture):
 
     def accumulate_gradients(self, inputs, targets, additional_fetches=None):
         """
-        Runs a forward pass & backward pass, clips gradients if needed and accumulates them into the accumulation 
+        Runs a forward pass & backward pass, clips gradients if needed and accumulates them into the accumulation
         placeholders
         :param additional_fetches: Optional tensors to fetch during gradients calculation
         :param inputs: The input batch for the network
@@ -164,6 +165,7 @@ class TensorFlowArchitecture(Architecture):
 
             # feed the lstm state if necessary
             if self.tp.agent.middleware_type == MiddlewareTypes.LSTM:
+                # we can't always assume that we are starting from scratch here can we?
                 feed_dict[self.middleware_embedder.c_in] = self.middleware_embedder.c_init
                 feed_dict[self.middleware_embedder.h_in] = self.middleware_embedder.h_init
 
@@ -231,20 +233,27 @@ class TensorFlowArchitecture(Architecture):
                 while self.tp.sess.run(self.release_counter) % self.tp.num_threads != 0:
                     time.sleep(0.00001)
 
-    def predict(self, inputs):
+    def predict(self, inputs, outputs=None):
         """
         Run a forward pass of the network using the given input
         :param inputs: The input for the network
+        :param outputs: The output for the network, defaults to self.outputs
         :return: The network output
+
+        WARNING: must only call once per state since each call is assumed by LSTM to be a new time step.
         """
 
         feed_dict = dict(zip(self.inputs, force_list(inputs)))
+        if outputs is None:
+            outputs = self.outputs
+
         if self.tp.agent.middleware_type == MiddlewareTypes.LSTM:
             feed_dict[self.middleware_embedder.c_in] = self.curr_rnn_c_in
             feed_dict[self.middleware_embedder.h_in] = self.curr_rnn_h_in
-            output, (self.curr_rnn_c_in, self.curr_rnn_h_in) = self.tp.sess.run([self.outputs, self.middleware_embedder.state_out], feed_dict=feed_dict)
+
+            output, (self.curr_rnn_c_in, self.curr_rnn_h_in) = self.tp.sess.run([outputs, self.middleware_embedder.state_out], feed_dict=feed_dict)
         else:
-            output = self.tp.sess.run(self.outputs, feed_dict)
+            output = self.tp.sess.run(outputs, feed_dict)
 
         return squeeze_list(output)
 
@@ -299,7 +308,7 @@ class TensorFlowArchitecture(Architecture):
 
     def set_variable_value(self, assign_op, value, placeholder=None):
         """
-        Updates the value of a variable. 
+        Updates the value of a variable.
         This requires having an assign operation for the variable, and a placeholder which will provide the value
         :param assign_op: an assign operation for the variable
         :param value: a value to set the variable to

architectures/tensorflow_components/general_network.py

@@ -22,6 +22,9 @@ from configurations import InputTypes, OutputTypes, MiddlewareTypes
 
 
 class GeneralTensorFlowNetwork(TensorFlowArchitecture):
+    """
+    A generalized version of all possible networks implemented using tensorflow.
+    """
     def __init__(self, tuning_parameters, name="", global_network=None, network_is_local=True):
         self.global_network = global_network
         self.network_is_local = network_is_local
@@ -79,7 +82,7 @@ class GeneralTensorFlowNetwork(TensorFlowArchitecture):
             OutputTypes.DNDQ: DNDQHead,
             OutputTypes.NAF: NAFHead,
             OutputTypes.PPO: PPOHead,
-            OutputTypes.PPO_V : PPOVHead,
+            OutputTypes.PPO_V: PPOVHead,
             OutputTypes.CategoricalQ: CategoricalQHead,
             OutputTypes.QuantileRegressionQ: QuantileRegressionQHead
         }

architectures/tensorflow_components/heads.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -67,6 +67,10 @@ class Head(object):
     def _build_module(self, input_layer):
         """
         Builds the graph of the module
+
+        This method is called early on from __call__. It is expected to store the graph
+        in self.output.
+
         :param input_layer: the input to the graph
         :return: None
         """
@@ -279,20 +283,26 @@ class DNDQHead(Head):
                 key_error_threshold=self.DND_key_error_threshold)
 
         # Retrieve info from DND dictionary
-        self.action = tf.placeholder(tf.int8, [None], name="action")
+        # self.action = tf.placeholder(tf.int8, [None], name="action")
-        self.input = self.action
+        # self.input = self.action
+        self.output = [
+            self._q_value(input_layer, action)
+            for action in range(self.num_actions)
+        ]
+
+    def _q_value(self, input_layer, action):
         result = tf.py_func(self.DND.query,
-                            [input_layer, self.action, self.number_of_nn],
+                            [input_layer, [action], self.number_of_nn],
                             [tf.float64, tf.float64])
-        self.dnd_embeddings = tf.to_float(result[0])
+        dnd_embeddings = tf.to_float(result[0])
-        self.dnd_values = tf.to_float(result[1])
+        dnd_values = tf.to_float(result[1])
 
         # DND calculation
-        square_diff = tf.square(self.dnd_embeddings - tf.expand_dims(input_layer, 1))
+        square_diff = tf.square(dnd_embeddings - tf.expand_dims(input_layer, 1))
         distances = tf.reduce_sum(square_diff, axis=2) + [self.l2_norm_added_delta]
         weights = 1.0 / distances
         normalised_weights = weights / tf.reduce_sum(weights, axis=1, keep_dims=True)
-        self.output = tf.reduce_sum(self.dnd_values * normalised_weights, axis=1)
+        return tf.reduce_sum(dnd_values * normalised_weights, axis=1)
 
 
 class NAFHead(Head):

install.sh

@@ -43,8 +43,8 @@ GET_PREFERENCES_MANUALLY=1
 INSTALL_COACH=0
 INSTALL_DASHBOARD=0
 INSTALL_GYM=0
-INSTALL_VIRTUAL_ENVIRONMENT=1
 INSTALL_NEON=0
+INSTALL_VIRTUAL_ENVIRONMENT=1
 
 # Get user preferences
 TEMP=`getopt -o cpgvrmeNndh \
@@ -202,4 +202,3 @@ else
     # GPU supported TensorFlow
     pip3 install tensorflow-gpu
 fi
-

presets.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -907,6 +907,19 @@ class Doom_Health_DQN(Preset):
         self.agent.num_steps_between_copying_online_weights_to_target = 1000
 
 
+class Pong_NEC_LSTM(Preset):
+    def __init__(self):
+        Preset.__init__(self, NEC, Atari, ExplorationParameters)
+        self.env.level = 'PongDeterministic-v4'
+        self.learning_rate = 0.001
+        self.agent.num_transitions_in_experience_replay = 1000000
+        self.agent.middleware_type = MiddlewareTypes.LSTM
+        self.exploration.initial_epsilon = 0.5
+        self.exploration.final_epsilon = 0.1
+        self.exploration.epsilon_decay_steps = 1000000
+        self.num_heatup_steps = 500
+
+
 class Pong_NEC(Preset):
     def __init__(self):
         Preset.__init__(self, NEC, Atari, ExplorationParameters)

utils.py

@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 Intel Corporation 
+# Copyright (c) 2017 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -180,6 +180,10 @@ def threaded_cmd_line_run(run_cmd, id=-1):
 
 
 class Signal(object):
+    """
+    Stores a stream of values and provides methods like get_mean and get_max
+    which returns the statistics about accumulated values.
+    """
     def __init__(self, name):
         self.name = name
         self.sample_count = 0
@@ -190,39 +194,36 @@ class Signal(object):
         self.values = []
 
     def add_sample(self, sample):
+        """
+        :param sample: either a single value or an array of values
+        """
         self.values.append(sample)
 
+    def _get_values(self):
+        if type(self.values[0]) == np.ndarray:
+            return np.concatenate(self.values)
+        else:
+            return self.values
+
     def get_mean(self):
         if len(self.values) == 0:
             return ''
-        if type(self.values[0]) == np.ndarray:
+        return np.mean(self._get_values())
-            return np.mean(np.concatenate(self.values))
-        else:
-            return np.mean(self.values)
 
     def get_max(self):
         if len(self.values) == 0:
             return ''
-        if type(self.values[0]) == np.ndarray:
+        return np.max(self._get_values())
-            return np.max(np.concatenate(self.values))
-        else:
-            return np.max(self.values)
 
     def get_min(self):
         if len(self.values) == 0:
             return ''
-        if type(self.values[0]) == np.ndarray:
+        return np.min(self._get_values())
-            return np.min(np.concatenate(self.values))
-        else:
-            return np.min(self.values)
 
     def get_stdev(self):
         if len(self.values) == 0:
             return ''
-        if type(self.values[0]) == np.ndarray:
+        return np.std(self._get_values())
-            return np.std(np.concatenate(self.values))
-        else:
-            return np.std(self.values)
 
 
 def force_list(var):