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player_util.py
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player_util.py
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from __future__ import division
import numpy as np
import torch
from torch.autograd import Variable
from torch.nn import L1Loss
from utils import ensure_shared_grads
class Agent(object):
def __init__(self, model, env, args, state, device):
self.model = model
self.env = env
self.num_agents = min(len(env.observation_space),2)
if 'continuous' in args.network:
self.action_high = [env.action_space[i].high for i in range(self.num_agents)]
self.action_low = [env.action_space[i].low for i in range(self.num_agents)]
self.dim_action = env.action_space[0].shape[0]
else:
self.dim_action = 1
self.eps_len = 0
self.args = args
self.values = []
self.log_probs = []
self.rewards = []
self.entropies = []
self.preds = []
self.done = True
self.info = None
self.reward = 0
self.device = device
self.rnn_out = args.rnn_out
self.num_steps = 0
self.n_steps = 0
self.state = state
self.hxs = torch.zeros(self.num_agents, self.rnn_out).to(device)
self.cxs = torch.zeros(self.num_agents, self.rnn_out).to(device)
def wrap_action(self, action, high, low):
action = np.squeeze(action)
out = action * (high - low)/2.0 + (high + low)/2.0
return out
def action_train(self):
self.n_steps += 1
value_multi, action_env_multi, entropy, log_prob, (self.hxs, self.cxs), R_pred = self.model(
(Variable(self.state, requires_grad=True), (self.hxs, self.cxs)))
if 'continuous' in self.args.network:
action_env_multi = [self.wrap_action(action_env_multi[i], self.action_high[i], self.action_low[i])
for i in range(self.num_agents)]
# model return action_env_multi, entropy, log_prob
state_multi, reward_multi, self.done, self.info = self.env.step(action_env_multi)
print(state_multi.shape)
print('state_multi{}'.format(state_multi))
# add to buffer
self.reward_org = reward_multi.copy()
self.reward = torch.tensor(reward_multi).float().to(self.device)
self.state = torch.from_numpy(state_multi).float().to(self.device)
self.eps_len += 1
self.values.append(value_multi)
# print('reward:{},{}'.format(self.reward.unsqueeze(1),self.reward.size()))
self.entropies.append(entropy)
self.log_probs.append(log_prob)
self.rewards.append(self.reward.unsqueeze(1))
print('reward:{},{}'.format(self.rewards,self.rewards[0].size()))
self.preds.append(R_pred)
return self
def action_test(self):
with torch.no_grad():
value_multi, action_env_multi, entropy, log_prob, (self.hxs, self.cxs), R_pred = self.model(
(Variable(self.state), (self.hxs, self.cxs)), True)
if 'continuous' in self.args.network:
action_env_multi = [self.wrap_action(action_env_multi[i], self.action_high[i], self.action_low[i])
for i in range(self.num_agents)]
state_multi, self.reward, self.done, self.info = self.env.step(action_env_multi)
self.state = torch.from_numpy(state_multi).float().to(self.device)
self.eps_len += 1
return self
def reset(self):
self.state = torch.from_numpy(self.env.reset()).float().to(self.device)
self.num_agents = self.state.shape[0]
self.eps_len = 0
self.reset_rnn_hiden()
def clear_actions(self):
self.values = []
self.log_probs = []
self.rewards = []
self.entropies = []
self.preds = []
return self
def reset_rnn_hiden(self):
self.cxs = torch.zeros(self.num_agents, self.rnn_out).to(self.device)
self.hxs = torch.zeros(self.num_agents, self.rnn_out).to(self.device)
self.cxs = Variable(self.cxs)
self.hxs = Variable(self.hxs)
def update_rnn_hiden(self):
self.cxs = Variable(self.cxs.data)
self.hxs = Variable(self.hxs.data)
def optimize(self, params, optimizer, shared_model, training_mode, device_share):
R = torch.zeros(self.num_agents, 1).to(self.device)
if not self.done:
# predict value
state = self.state
value_multi, _, _, _, _, _ = self.model(
(Variable(state, requires_grad=True), (self.hxs, self.cxs)))
for i in range(self.num_agents):
R[i][0] = value_multi[i].data
self.values.append(Variable(R).to(self.device))
policy_loss = torch.zeros(self.num_agents, 1).to(self.device)
value_loss = torch.zeros(self.num_agents, 1).to(self.device)
pred_loss = torch.zeros(1, 1).to(self.device)
entropies = torch.zeros(self.num_agents, self.dim_action).to(self.device)
w_entropies = float(self.args.entropy)*torch.ones(self.num_agents, self.dim_action).to(self.device)
if self.num_agents > 1:
w_entropies[1:][:] = float(self.w_entropy_target)
R = Variable(R, requires_grad=True).to(self.device)
gae = torch.zeros(1, 1).to(self.device)
l1_loss = L1Loss()
for i in reversed(range(len(self.rewards))):
if 'reward' in self.args.aux:
pred_loss = pred_loss + l1_loss(self.preds[i][0], self.rewards[i][0])
R = self.args.gamma * R + self.rewards[i]
advantage = R - self.values[i]
value_loss = value_loss + 0.5 * advantage.pow(2)
# Generalized Advantage Estimataion
delta_t = self.rewards[i] + self.args.gamma * self.values[i + 1].data - self.values[i].data
gae = gae * self.args.gamma * self.args.tau + delta_t
policy_loss = policy_loss - \
(self.log_probs[i] * Variable(gae)) - \
(w_entropies * self.entropies[i])
entropies += self.entropies[i]
self.model.zero_grad()
loss_tracker = (policy_loss[0] + 0.5 * value_loss[0]).mean()
if self.num_agents > 1:
loss_target = (policy_loss[1] + 0.5 * value_loss[1]).mean()
if training_mode == 0: # train tracker
loss = loss_tracker
elif training_mode == 1: # train target
loss = loss_target
else:
loss = loss_tracker + loss_target
if 'reward' in self.args.aux and training_mode != 0:
loss += pred_loss.mean()
loss.backward()
torch.nn.utils.clip_grad_norm_(params, 50)
ensure_shared_grads(self.model, shared_model, self.device, device_share)
optimizer.step()
self.clear_actions()
return policy_loss, value_loss, entropies, pred_loss