93 lines
3.6 KiB
Python
93 lines
3.6 KiB
Python
import torch
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from copy import deepcopy
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import torch.nn.functional as F
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from tianshou.policy import DDPGPolicy
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class TD3Policy(DDPGPolicy):
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"""docstring for TD3Policy"""
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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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exploration_noise=0.1, policy_noise=0.2, update_actor_freq=2,
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noise_clip=0.5, action_range=None,
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reward_normalization=False, ignore_done=False):
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super().__init__(actor, actor_optim, None, None, tau, gamma,
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exploration_noise, action_range, reward_normalization,
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ignore_done)
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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._policy_noise = policy_noise
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self._freq = update_actor_freq
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self._noise_clip = noise_clip
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self._cnt = 0
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self._last = 0
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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(self.actor_old.parameters(), self.actor.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.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 learn(self, batch, batch_size=None, repeat=1):
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a_ = self(batch, model='actor_old', input='obs_next').act
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dev = a_.device
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noise = torch.randn(size=a_.shape, device=dev) * self._policy_noise
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if self._noise_clip >= 0:
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noise = noise.clamp(-self._noise_clip, self._noise_clip)
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a_ += noise
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a_ = a_.clamp(self._range[0], self._range[1])
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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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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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# critic 1
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current_q1 = self.critic1(batch.obs, batch.act)
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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()
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self.critic1_optim.step()
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# critic 2
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current_q2 = self.critic2(batch.obs, batch.act)
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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()
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self.critic2_optim.step()
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if self._cnt % self._freq == 0:
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actor_loss = -self.critic1(
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batch.obs, self(batch, eps=0).act).mean()
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self.actor_optim.zero_grad()
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actor_loss.backward()
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self._last = actor_loss.detach().cpu().numpy()
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self.actor_optim.step()
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self.sync_weight()
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self._cnt += 1
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return {
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'loss/actor': self._last,
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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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