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875d6ef017
* Adding target reward * Adding target successs * Addressing comments * Using custom_reward_threshold and target_success_rate * Adding exit message * Moving success rate to environment * Making target_success_rate optional
269 lines
12 KiB
Python
269 lines
12 KiB
Python
#
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# Copyright (c) 2017 Intel Corporation
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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import copy
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from typing import Union, Dict
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from rl_coach.agents.composite_agent import CompositeAgent
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from rl_coach.core_types import EnvResponse, ActionInfo, RunPhase, ActionType, EnvironmentSteps
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from rl_coach.environments.environment import Environment
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from rl_coach.environments.environment_interface import EnvironmentInterface
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from rl_coach.spaces import ActionSpace, SpacesDefinition
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class LevelManager(EnvironmentInterface):
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"""
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The LevelManager is in charge of managing a level in the hierarchy of control. Each level can have one or more
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CompositeAgents and an environment to control. Its API is double-folded:
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1. Expose services of a LevelManager such as training the level, or stepping it (while behaving according to a
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LevelBehaviorScheme, e.g. as SelfPlay between two identical agents). These methods are implemented in the
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LevelManagerLogic class.
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2. Disguise as appearing as an environment to the upper level control so it will believe it is interacting with
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an environment. This includes stepping through what appears to be a regular environment, setting its phase
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or resetting it. These methods are implemented directly in LevelManager as it inherits from
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EnvironmentInterface.
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"""
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def __init__(self,
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name: str,
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agents: Union['Agent', CompositeAgent, Dict[str, Union['Agent', CompositeAgent]]],
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environment: Union['LevelManager', Environment],
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real_environment: Environment=None,
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steps_limit: EnvironmentSteps=EnvironmentSteps(1),
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should_reset_agent_state_after_time_limit_passes: bool=False
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):
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"""
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A level manager controls a single or multiple composite agents and a single environment.
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The environment can be either a real environment or another level manager behaving as an environment.
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:param agents: a list of agents or composite agents to control
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:param environment: an environment or level manager to control
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:param real_environment: the real environment that is is acted upon. if this is None (which it should be for
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the most bottom level), it will be replaced by the environment parameter. For simple RL schemes, where there
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is only a single level of hierarchy, this removes the requirement of defining both the environment and the
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real environment, as they are the same.
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:param steps_limit: the number of time steps to run when stepping the internal components
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:param should_reset_agent_state_after_time_limit_passes: reset the agent after stepping for steps_limit
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:param name: the level's name
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"""
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super().__init__()
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if not isinstance(agents, dict):
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# insert the single composite agent to a dictionary for compatibility
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agents = {agents.name: agents}
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if real_environment is None:
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self._real_environment = real_environment = environment
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self.agents = agents
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self.environment = environment
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self.real_environment = real_environment
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self.steps_limit = steps_limit
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self.should_reset_agent_state_after_time_limit_passes = should_reset_agent_state_after_time_limit_passes
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self.full_name_id = self.name = name
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self._phase = RunPhase.HEATUP
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self.reset_required = False
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# set self as the parent for all the composite agents
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for agent in self.agents.values():
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agent.parent = self
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agent.parent_level_manager = self
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# create all agents in all composite_agents - we do it here so agents will have access to their level manager
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for agent in self.agents.values():
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if isinstance(agent, CompositeAgent):
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agent.create_agents()
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if not isinstance(self.steps_limit, EnvironmentSteps):
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raise ValueError("The num consecutive steps for acting must be defined in terms of environment steps")
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self.build()
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self.last_env_response = self.real_environment.last_env_response
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self.parent_graph_manager = None
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def handle_episode_ended(self) -> None:
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"""
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End the environment episode
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:return: None
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"""
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[agent.handle_episode_ended() for agent in self.agents.values()]
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def reset_internal_state(self, force_environment_reset: bool = False) -> EnvResponse:
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"""
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Reset the environment episode parameters
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:param force_enviro nment_reset: in some cases, resetting the environment can be suppressed by the environment
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itself. This flag allows force the reset.
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:return: the environment response as returned in get_last_env_response
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"""
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[agent.reset_internal_state() for agent in self.agents.values()]
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self.reset_required = False
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if self.real_environment.current_episode_steps_counter == 0:
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self.last_env_response = self.real_environment.last_env_response
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return self.last_env_response
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@property
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def action_space(self) -> Dict[str, ActionSpace]:
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"""
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Get the action space of each of the agents wrapped in this environment.
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:return: the action space
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"""
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cagents_dict = self.agents
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cagents_names = cagents_dict.keys()
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return {name: cagents_dict[name].in_action_space for name in cagents_names}
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def get_random_action(self) -> Dict[str, ActionType]:
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"""
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Get a random action from the environment action space
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:return: An action that follows the definition of the action space.
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"""
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action_spaces = self.action_space # The action spaces of the abstracted composite agents in this level
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return {name: action_space.sample() for name, action_space in action_spaces.items()}
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def get_random_action_with_info(self) -> Dict[str, ActionInfo]:
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"""
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Get a random action from the environment action space and wrap it with additional info
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:return: An action that follows the definition of the action space with additional generated info.
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"""
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return {k: ActionInfo(v) for k, v in self.get_random_action().items()}
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def build(self) -> None:
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"""
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Build all the internal components of the level manager (composite agents and environment).
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:return: None
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"""
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# TODO: move the spaces definition class to the environment?
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action_space = self.environment.action_space
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if isinstance(action_space, dict): # TODO: shouldn't be a dict
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action_space = list(action_space.values())[0]
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spaces = SpacesDefinition(state=self.real_environment.state_space,
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goal=self.real_environment.goal_space, # in HRL the agent might want to override this
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action=action_space,
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reward=self.real_environment.reward_space)
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[agent.set_environment_parameters(spaces) for agent in self.agents.values()]
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def setup_logger(self) -> None:
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"""
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Setup the logger for all the agents in the level
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:return: None
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"""
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[agent.setup_logger() for agent in self.agents.values()]
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def set_session(self, sess) -> None:
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"""
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Set the deep learning framework session for all the composite agents in the level manager
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:return: None
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"""
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[agent.set_session(sess) for agent in self.agents.values()]
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def train(self) -> None:
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"""
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Make a training step for all the composite agents in this level manager
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:return: the loss?
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"""
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# both to screen and to csv
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[agent.train() for agent in self.agents.values()]
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@property
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def phase(self) -> RunPhase:
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"""
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Get the phase of the level manager
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:return: the current phase
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"""
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return self._phase
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@phase.setter
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def phase(self, val: RunPhase):
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"""
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Change the phase of the level manager and all the hierarchy levels below it
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:param val: the new phase
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:return: None
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"""
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self._phase = val
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for agent in self.agents.values():
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agent.phase = val
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def step(self, action: Union[None, Dict[str, ActionType]]) -> EnvResponse:
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"""
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Run a single step of following the behavioral scheme set for this environment.
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:param action: the action to apply to the agents held in this level, before beginning following
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the scheme.
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:return: None
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"""
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# set the incoming directive for the sub-agent (goal / skill selection / etc.)
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if action is not None:
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for agent_name, agent in self.agents.items():
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agent.set_incoming_directive(action)
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if self.reset_required:
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self.reset_internal_state()
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# get last response or initial response from the environment
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env_response = copy.copy(self.environment.last_env_response)
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# step for several time steps
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accumulated_reward = 0
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acting_agent = list(self.agents.values())[0]
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for i in range(self.steps_limit.num_steps):
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# let the agent observe the result and decide if it wants to terminate the episode
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done = acting_agent.observe(env_response)
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if done:
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break
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else:
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# get action
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action_info = acting_agent.act()
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# imitation agents will return no action since they don't play during training
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if action_info:
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# step environment
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env_response = self.environment.step(action_info.action)
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# accumulate rewards such that the master policy will see the total reward during the step phase
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accumulated_reward += env_response.reward
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# update the env response that will be exposed to the parent agent
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env_response_for_upper_level = copy.copy(env_response)
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env_response_for_upper_level.reward = accumulated_reward
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self.last_env_response = env_response_for_upper_level
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# if the environment terminated the episode -> let the agent observe the last response
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# in HRL,excluding top level one, we will always enter the below if clause
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# (because should_reset_agent_state_after_time_limit_passes is set to True)
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if env_response.game_over or self.should_reset_agent_state_after_time_limit_passes:
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# this is the agent's only opportunity to observe this transition - he will not get another one
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acting_agent.observe(env_response) # TODO: acting agent? maybe all of the agents in the layer?
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self.handle_episode_ended()
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self.reset_required = True
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return env_response_for_upper_level
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def save_checkpoint(self, checkpoint_id: int) -> None:
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"""
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Save checkpoints of the networks of all agents
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:return: None
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"""
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[agent.save_checkpoint(checkpoint_id) for agent in self.agents.values()]
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def sync(self) -> None:
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"""
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Sync the networks of the agents with the global network parameters
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:return:
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"""
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[agent.sync() for agent in self.agents.values()]
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def should_train(self) -> bool:
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return any([agent._should_train_helper() for agent in self.agents.values()])
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def should_stop(self) -> bool:
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return all([agent.get_success_rate() >= self.environment.get_target_success_rate() for agent in self.agents.values()])
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