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"""
Actor-Critic
-------------
It uses TD-error as the Advantage.
Actor Critic History
----------------------
A3C > DDPG > AC
Advantage
----------
AC converge faster than Policy Gradient.
Disadvantage (IMPORTANT)
------------------------
The Policy is oscillated (difficult to converge), DDPG can solve
this problem using advantage of DQN.
Reference
----------
paper: https://papers.nips.cc/paper/1786-actor-critic-algorithms.pdf
View more on MorvanZhou's tutorial page: https://morvanzhou.github.io/tutorials/
Environment
------------
CartPole-v0: https://gym.openai.com/envs/CartPole-v0
A pole is attached by an un-actuated joint to a cart, which moves along a
frictionless track. The system is controlled by applying a force of +1 or -1
to the cart. The pendulum starts upright, and the goal is to prevent it from
falling over.
A reward of +1 is provided for every timestep that the pole remains upright.
The episode ends when the pole is more than 15 degrees from vertical, or the
cart moves more than 2.4 units from the center.
Prerequisites
--------------
tensorflow >=2.0.0a0
tensorlayer >=2.0.0
To run
------
python tutorial_AC.py --train/test
"""
import argparse
import time
import gym
import numpy as np
import tensorflow as tf
import tensorlayer as tl
tl.logging.set_verbosity(tl.logging.DEBUG)
np.random.seed(2)
tf.random.set_seed(2) # reproducible
# add arguments in command --train/test
parser = argparse.ArgumentParser(description='Train or test neural net motor controller.')
parser.add_argument('--train', dest='train', action='store_true', default=True)
parser.add_argument('--test', dest='test', action='store_true', default=False)
print(parser.parse_args())
args = parser.parse_args()
##################### hyper parameters ####################
OUTPUT_GRAPH = False
MAX_EPISODE = 3000 # number of overall episodes for training
DISPLAY_REWARD_THRESHOLD = 100 # renders environment if running reward is greater then this threshold
MAX_EP_STEPS = 1000 # maximum time step in one episode
RENDER = False # rendering wastes time
LAMBDA = 0.9 # reward discount in TD error
LR_A = 0.001 # learning rate for actor
LR_C = 0.01 # learning rate for critic
############################### Actor-Critic ####################################
class Actor(object):
def __init__(self, n_features, n_actions, lr=0.001):
# 创建Actor网络
def get_model(inputs_shape):
ni = tl.layers.Input(inputs_shape, name='state')
nn = tl.layers.Dense(
n_units=30, act=tf.nn.relu6, W_init=tf.random_uniform_initializer(0, 0.01), name='hidden'
)(ni)
nn = tl.layers.Dense(
n_units=10, act=tf.nn.relu6, W_init=tf.random_uniform_initializer(0, 0.01), name='hidden2'
)(nn)
nn = tl.layers.Dense(n_units=n_actions, name='actions')(nn)
return tl.models.Model(inputs=ni, outputs=nn, name="Actor")
self.model = get_model([None, n_features])
self.model.train()
self.optimizer = tf.optimizers.Adam(lr)
# Actor学习
def learn(self, s, a, td):
with tf.GradientTape() as tape:
_logits = self.model(np.array([s]))
## 带权重更新。
_exp_v = tl.rein.cross_entropy_reward_loss(logits=_logits, actions=[a], rewards=td[0])
grad = tape.gradient(_exp_v, self.model.trainable_weights)
self.optimizer.apply_gradients(zip(grad, self.model.trainable_weights))
return _exp_v
# 按照分布随机动作。
def choose_action(self, s):
_logits = self.model(np.array([s]))
_probs = tf.nn.softmax(_logits).numpy()
return tl.rein.choice_action_by_probs(_probs.ravel()) # sample according to probability distribution
# 贪婪算法。
def choose_action_greedy(self, s):
_logits = self.model(np.array([s])) # logits: probability distribution of actions
_probs = tf.nn.softmax(_logits).numpy()
return np.argmax(_probs.ravel())
def save_ckpt(self): # save trained weights
tl.files.save_npz(self.model.trainable_weights, name='model_actor.npz')
def load_ckpt(self): # load trained weights
tl.files.load_and_assign_npz(name='model_actor.npz', network=self.model)
class Critic(object):
def __init__(self, n_features, lr=0.01):
# 创建Critic网络。
def get_model(inputs_shape):
ni = tl.layers.Input(inputs_shape, name='state')
nn = tl.layers.Dense(
n_units=30, act=tf.nn.relu6, W_init=tf.random_uniform_initializer(0, 0.01), name='hidden'
)(ni)
nn = tl.layers.Dense(
n_units=5, act=tf.nn.relu, W_init=tf.random_uniform_initializer(0, 0.01), name='hidden2'
)(nn)
nn = tl.layers.Dense(n_units=1, act=None, name='value')(nn)
return tl.models.Model(inputs=ni, outputs=nn, name="Critic")
self.model = get_model([1, n_features])
self.model.train()
self.optimizer = tf.optimizers.Adam(lr)
# Critic学习
def learn(self, s, r, s_):
v_ = self.model(np.array([s_]))
with tf.GradientTape() as tape:
v = self.model(np.array([s]))
## [敲黑板]计算TD-error
## TD_error = r + lambd * V(newS) - V(S)
td_error = r + LAMBDA * v_ - v
loss = tf.square(td_error)
grad = tape.gradient(loss, self.model.trainable_weights)
self.optimizer.apply_gradients(zip(grad, self.model.trainable_weights))
return td_error
def save_ckpt(self): # save trained weights
tl.files.save_npz(self.model.trainable_weights, name='model_critic.npz')
def load_ckpt(self): # load trained weights
tl.files.load_and_assign_npz(name='model_critic.npz', network=self.model)
if __name__ == '__main__':
'''
choose environment
1. Openai gym:
env = gym.make()
2. DeepMind Control Suite:
env = dm_control2gym.make()
'''
env = gym.make('CartPole-v1')
# dm_control2gym.create_render_mode('example mode', show=True, return_pixel=False, height=240, width=320, camera_id=-1, overlays=(),
# depth=False, scene_option=None)
# env = dm_control2gym.make(domain_name="cartpole", task_name="balance")
env.seed(2) # reproducible
# env = env.unwrapped
N_F = env.observation_space.shape[0]
# N_A = env.action_space.shape[0]
N_A = env.action_space.n
print("observation dimension: %d" % N_F) # 4
print("observation high: %s" % env.observation_space.high) # [ 2.4 , inf , 0.41887902 , inf]
print("observation low : %s" % env.observation_space.low) # [-2.4 , -inf , -0.41887902 , -inf]
print("num of actions: %d" % N_A) # 2 : left or right
actor = Actor(n_features=N_F, n_actions=N_A, lr=LR_A)
# we need a good teacher, so the teacher should learn faster than the actor
critic = Critic(n_features=N_F, lr=LR_C)
## 训练部分
if args.train:
t0 = time.time()
for i_episode in range(MAX_EPISODE):
# episode_time = time.time()
s = env.reset().astype(np.float32)
t = 0 # number of step in this episode
all_r = [] # rewards of all steps
while True:
if RENDER: env.render()
a = actor.choose_action(s)
s_new, r, done, info = env.step(a)
s_new = s_new.astype(np.float32)
# [敲黑板]，我们希望在濒死状态，可以减去一个大reward。让智能体学习如何力挽狂澜。
if done: r = -20
# these may helpful in some tasks
# if abs(s_new[0]) >= env.observation_space.high[0]:
# # cart moves more than 2.4 units from the center
# r = -20
# reward for the distance between cart to the center
# r -= abs(s_new[0]) * .1
all_r.append(r)
# Critic学习，并计算出td-error
td_error = critic.learn(
s, r, s_new
) # learn Value-function : gradient = grad[r + lambda * V(s_new) - V(s)]
# actor学习
try:
for _ in range(1):
actor.learn(s, a, td_error) # learn Policy : true_gradient = grad[logPi(s, a) * td_error]
except KeyboardInterrupt: # if Ctrl+C at running actor.learn(), then save model, or exit if not at actor.learn()
actor.save_ckpt()
critic.save_ckpt()
# logging
s = s_new
t += 1
if done or t >= MAX_EP_STEPS:
ep_rs_sum = sum(all_r)
if 'running_reward' not in globals():
running_reward = ep_rs_sum
else:
running_reward = running_reward * 0.95 + ep_rs_sum * 0.05
# start rending if running_reward greater than a threshold
# if running_reward > DISPLAY_REWARD_THRESHOLD: RENDER = True
# print("Episode: %d reward: %f running_reward %f took: %.5f" % \
# (i_episode, ep_rs_sum, running_reward, time.time() - episode_time))
print('Episode: {}/{} | Episode Reward: {:.4f} | Running Time: {:.4f}'\
.format(i_episode, MAX_EPISODE, ep_rs_sum, time.time()-t0 ))
# Early Stopping for quick check
if t >= MAX_EP_STEPS:
print("Early Stopping")
s = env.reset().astype(np.float32)
rall = 0
while True:
env.render()
# a = actor.choose_action(s)
a = actor.choose_action_greedy(s) # Hao Dong: it is important for this task
s_new, r, done, info = env.step(a)
s_new = np.concatenate((s_new[0:N_F], s[N_F:]), axis=0).astype(np.float32)
rall += r
s = s_new
if done:
print("reward", rall)
s = env.reset().astype(np.float32)
rall = 0
break
actor.save_ckpt()
critic.save_ckpt()
## 测试部分
if args.test:
actor.load_ckpt()
critic.load_ckpt()
t0 = time.time()
for i_episode in range(MAX_EPISODE):
episode_time = time.time()
s = env.reset().astype(np.float32)
t = 0 # number of step in this episode
all_r = [] # rewards of all steps
while True:
if RENDER: env.render()
a = actor.choose_action(s)
s_new, r, done, info = env.step(a)
s_new = s_new.astype(np.float32)
if done: r = -20
# these may helpful in some tasks
# if abs(s_new[0]) >= env.observation_space.high[0]:
# # cart moves more than 2.4 units from the center
# r = -20
# reward for the distance between cart to the center
# r -= abs(s_new[0]) * .1
all_r.append(r)
s = s_new
t += 1
if done or t >= MAX_EP_STEPS:
ep_rs_sum = sum(all_r)
if 'running_reward' not in globals():
running_reward = ep_rs_sum
else:
running_reward = running_reward * 0.95 + ep_rs_sum * 0.05
# start rending if running_reward greater than a threshold
# if running_reward > DISPLAY_REWARD_THRESHOLD: RENDER = True
# print("Episode: %d reward: %f running_reward %f took: %.5f" % \
# (i_episode, ep_rs_sum, running_reward, time.time() - episode_time))
print('Episode: {}/{} | Episode Reward: {:.4f} | Running Time: {:.4f}'\
.format(i_episode, MAX_EPISODE, ep_rs_sum, time.time()-t0 ))
# Early Stopping for quick check
if t >= MAX_EP_STEPS:
print("Early Stopping")
s = env.reset().astype(np.float32)
rall = 0
while True:
env.render()
# a = actor.choose_action(s)
a = actor.choose_action_greedy(s) # Hao Dong: it is important for this task
s_new, r, done, info = env.step(a)
s_new = np.concatenate((s_new[0:N_F], s[N_F:]), axis=0).astype(np.float32)
rall += r
s = s_new
if done:
print("reward", rall)
s = env.reset().astype(np.float32)
rall = 0
break
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