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SOTO-GGF-CLDE-continuous.py
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import numpy as np
from keras.utils import to_categorical
import copy
from common.utils import eligibility_traces, default_config, make_env, str2bool, get_omega, get_more_obs_com, discount_rewards
from common.ppo_independant import PPOPolicyNetwork, ValueNetwork, CPPOPolicyNetwork
from collections import deque
render = False
normalize_inputs = True
config = default_config()
LAMBDA = float(config['agent']['lambda'])
lr_actor = float(config['agent']['lr_actor'])
twophase_proportion = float(config['agent']['twophase_proportion'])
if_tanh = str2bool(config['agent']['if_tanh'])
stdev = float(config['agent']['stdev'])
env = make_env(config, normalize_inputs)
env.toggle_compute_neighbors()
n_agent = env.n_agent
T = env.T
GAMMA = env.GAMMA
n_episode = env.n_episode
max_steps = env.max_steps
n_actions = env.n_actions
omega = get_omega(config, n_agent)
i_episode = 0
gPi = []
Pi = []
gV = []
V = []
more_obs_size=env.neighbors_size+1
more_obs_size2 = n_agent
for i in range(n_agent):
gPi.append(CPPOPolicyNetwork(num_features=env.input_size, if_tanh=if_tanh, num_actions=n_actions, layer_size=256, epsilon=0.1,
learning_rate=lr_actor, std=stdev))
Pi.append(CPPOPolicyNetwork(num_features=env.input_size+more_obs_size+more_obs_size2+n_actions, if_tanh=if_tanh, num_actions=n_actions,
layer_size=64, epsilon=0.1, learning_rate=lr_actor, std=stdev))
gV.append(ValueNetwork(num_features=env.input_size, hidden_size=256, learning_rate=0.001))
V.append(ValueNetwork(num_features=env.input_size+more_obs_size+more_obs_size2+n_actions, hidden_size=256, learning_rate=0.001))
memory_ep_rewards = [deque() for _ in range(n_agent)]
average_jpi = np.zeros(n_agent)
while i_episode < n_episode:
beta = max(1 - float(i_episode) / (twophase_proportion * float(n_episode)), 0.0)
i_episode += 1
memory_ep_rewards = [deque() for _ in range(n_agent)]
average_jpi = np.zeros(n_agent)
avg = [0.] * n_agent
ep_actions = [[] for _ in range(n_agent)]
ep_neglogproba = [[] for _ in range(n_agent)]
ep_rewards = [[] for _ in range(n_agent)]
ep_states = [[] for _ in range(n_agent)]
greedy = np.zeros(n_agent).astype(bool)
for i in range(n_agent):
greedyc = np.random.rand() <= beta
greedy[i] = greedyc
score = 0
steps = 0
su = [0.] * n_agent
su = np.array(su)
obs = env.reset()
neighbors = env.neighbors()
done = False
while steps < max_steps and not done:
steps += 1
action = []
for i in range(n_agent):
h = copy.deepcopy(obs[i])
if not greedy[i]:
more_obs = gPi[i].get_mean(np.array([h]))[0]
h.extend(more_obs)
more_obs = get_more_obs_com(True, neighbors, average_jpi, i, more_obs_size)
h.extend(more_obs)
more_obs = average_jpi
more_obs = (more_obs - np.mean(more_obs)) / (np.std(more_obs) + 0.0000000001)
h.extend(more_obs)
s, nlp = Pi[i].get_dist(np.array([h]))
else:
s, nlp = gPi[i].get_dist(np.array([h]))
ep_states[i].append(h)
action.append(s[0])
ep_actions[i].append(s[0])
ep_neglogproba[i].append(nlp[0])
obs, rewards, done = env.step(action)
neighbors = env.neighbors()
su += np.array(rewards)
score += sum(rewards)
for i in range(n_agent):
ep_rewards[i].append(rewards[i])
memory_ep_rewards[i].append(rewards[i])
average_jpi[i] += rewards[i]
if len(memory_ep_rewards[i]) > max_steps * 5:
average_jpi[i] -= memory_ep_rewards[i].popleft()
if steps % T == 0:
all_ep_advantages=[]
for i in range(n_agent):
ep_actions[i] = np.array(ep_actions[i])
ep_neglogproba[i] = np.array(ep_neglogproba[i])
ep_rewards[i] = np.array(ep_rewards[i], dtype=np.float_)
ep_states[i] = np.array(ep_states[i])
if LAMBDA < -0.1:
targets = discount_rewards(ep_rewards[i], GAMMA)
if not greedy[i]:
V[i].update(ep_states[i], targets)
vs = V[i].get(ep_states[i])
else:
gV[i].update(ep_states[i], targets)
vs = gV[i].get(ep_states[i])
else:
next_s = copy.deepcopy(obs[i])
if not greedy[i]:
vs = V[i].get(ep_states[i])
more_obs = gPi[i].get_dist(np.array([obs[i]]))[0]
next_s.extend(more_obs)
more_obs = get_more_obs_com(True, neighbors, average_jpi, i, more_obs_size)
next_s.extend(more_obs)
more_obs = average_jpi
more_obs = (more_obs - np.mean(more_obs)) / (np.std(more_obs) + 0.0000000001)
next_s.extend(more_obs)
targets = eligibility_traces(ep_rewards[i], vs, V[i].get([next_s]), GAMMA, LAMBDA)
V[i].update(ep_states[i], targets)
else:
vs = gV[i].get(ep_states[i])
targets = eligibility_traces(ep_rewards[i], vs, gV[i].get([next_s]), GAMMA, LAMBDA)
gV[i].update(ep_states[i], targets)
ep_advantages = targets - vs
ep_advantages = (ep_advantages - np.mean(ep_advantages)) / (np.std(ep_advantages) + 0.0000000001)
all_ep_advantages.append(ep_advantages)
sorted_index = average_jpi.argsort()
sorted_index = [np.where(sorted_index == i)[0][0] for i in range(n_agent)]
all_ep_advantages = np.array(all_ep_advantages)
all_ep_advantages_saved = all_ep_advantages
all_ep_advantages = omega[sorted_index] @ all_ep_advantages
for i in range(n_agent):
if not greedy[i]:
Pi[i].update(ep_states[i], ep_actions[i], ep_neglogproba[i], all_ep_advantages)
else:
gPi[i].update(ep_states[i], ep_actions[i], ep_neglogproba[i], all_ep_advantages_saved[i])
ep_actions = [[] for _ in range(n_agent)]
ep_neglogproba = [[] for _ in range(n_agent)]
ep_rewards = [[] for _ in range(n_agent)]
ep_states = [[] for _ in range(n_agent)]
greedy=np.zeros(n_agent).astype(bool)
for i in range(n_agent):
greedyc = np.random.rand() <= beta
greedy[i] = greedyc
if render:
env.render()
print(i_episode)
print(score / max_steps)
print(omega @ su[su.argsort()])
print(su)
print(env.rinfo.flatten())
env.end_episode()