106 lines
4.1 KiB
Python
106 lines
4.1 KiB
Python
import torch
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import numpy as np
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from copy import deepcopy
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import torch.nn.functional as F
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from tianshou.data import Batch
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from tianshou.policy import DDPGPolicy
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class SACPolicy(DDPGPolicy):
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"""docstring for SACPolicy"""
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def __init__(self, actor, actor_optim, critic1, critic1_optim,
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critic2, critic2_optim, tau=0.005, gamma=0.99,
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alpha=0.2, action_range=None, reward_normalization=False,
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ignore_done=False):
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super().__init__(None, None, None, None, tau, gamma, 0,
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action_range, reward_normalization, ignore_done)
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self.actor, self.actor_optim = actor, actor_optim
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self.critic1, self.critic1_old = critic1, deepcopy(critic1)
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self.critic1_old.eval()
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self.critic1_optim = critic1_optim
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self.critic2, self.critic2_old = critic2, deepcopy(critic2)
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self.critic2_old.eval()
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self.critic2_optim = critic2_optim
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self._alpha = alpha
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self.__eps = np.finfo(np.float32).eps.item()
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def train(self):
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self.training = True
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self.actor.train()
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self.critic1.train()
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self.critic2.train()
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def eval(self):
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self.training = False
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self.actor.eval()
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self.critic1.eval()
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self.critic2.eval()
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def sync_weight(self):
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for o, n in zip(
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self.critic1_old.parameters(), self.critic1.parameters()):
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o.data.copy_(o.data * (1 - self._tau) + n.data * self._tau)
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for o, n in zip(
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self.critic2_old.parameters(), self.critic2.parameters()):
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o.data.copy_(o.data * (1 - self._tau) + n.data * self._tau)
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def __call__(self, batch, state=None, input='obs'):
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obs = getattr(batch, input)
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logits, h = self.actor(obs, state=state, info=batch.info)
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assert isinstance(logits, tuple)
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dist = torch.distributions.Normal(*logits)
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x = dist.rsample()
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y = torch.tanh(x)
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act = y * self._action_scale + self._action_bias
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log_prob = dist.log_prob(x) - torch.log(
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self._action_scale * (1 - y.pow(2)) + self.__eps)
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act = act.clamp(self._range[0], self._range[1])
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return Batch(
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logits=logits, act=act, state=h, dist=dist, log_prob=log_prob)
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def learn(self, batch, batch_size=None, repeat=1):
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obs_next_result = self(batch, input='obs_next')
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a_ = obs_next_result.act
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dev = a_.device
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batch.act = torch.tensor(batch.act, dtype=torch.float, device=dev)
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target_q = torch.min(
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self.critic1_old(batch.obs_next, a_),
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self.critic2_old(batch.obs_next, a_),
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) - self._alpha * obs_next_result.log_prob
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rew = torch.tensor(batch.rew, dtype=torch.float, device=dev)[:, None]
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done = torch.tensor(batch.done, dtype=torch.float, device=dev)[:, None]
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target_q = (rew + (1. - done) * self._gamma * target_q).detach()
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obs_result = self(batch)
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a = obs_result.act
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current_q1, current_q1a = self.critic1(
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np.concatenate([batch.obs, batch.obs]), torch.cat([batch.act, a])
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).split(batch.obs.shape[0])
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current_q2, current_q2a = self.critic2(
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np.concatenate([batch.obs, batch.obs]), torch.cat([batch.act, a])
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).split(batch.obs.shape[0])
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actor_loss = (self._alpha * obs_result.log_prob - torch.min(
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current_q1a, current_q2a)).mean()
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# critic 1
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critic1_loss = F.mse_loss(current_q1, target_q)
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self.critic1_optim.zero_grad()
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critic1_loss.backward(retain_graph=True)
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self.critic1_optim.step()
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# critic 2
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critic2_loss = F.mse_loss(current_q2, target_q)
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self.critic2_optim.zero_grad()
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critic2_loss.backward(retain_graph=True)
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self.critic2_optim.step()
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# actor
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self.actor_optim.zero_grad()
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actor_loss.backward()
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self.actor_optim.step()
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self.sync_weight()
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return {
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'loss/actor': actor_loss.detach().cpu().numpy(),
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'loss/critic1': critic1_loss.detach().cpu().numpy(),
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'loss/critic2': critic2_loss.detach().cpu().numpy(),
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}
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