add duel dqn code

pinard.liu · pinard.liu · commit ff8d1f4965cd · 2018-11-08T11:29:16.000+08:00
diff --git a/reinforcement-learning/duel_dqn.py b/reinforcement-learning/duel_dqn.py
@@ -0,0 +1,210 @@
+#######################################################################
+# Copyright (C)                                                       #
+# 2016 - 2019 Pinard Liu(liujianping-ok@163.com)                      #
+# https://www.cnblogs.com/pinard                                      #
+# Permission given to modify the code as long as you keep this        #
+# declaration at the top                                              #
+#######################################################################
+####
+####
+
+import gym
+import tensorflow as tf
+import numpy as np
+import random
+from collections import deque
+
+# Hyper Parameters for DQN
+GAMMA = 0.9 # discount factor for target Q
+INITIAL_EPSILON = 0.5 # starting value of epsilon
+FINAL_EPSILON = 0.01 # final value of epsilon
+REPLAY_SIZE = 10000 # experience replay buffer size
+BATCH_SIZE = 128 # size of minibatch
+REPLACE_TARGET_FREQ = 10 # frequency to update target Q network
+
+class DQN():
+  # DQN Agent
+  def __init__(self, env):
+    # init experience replay
+    self.replay_buffer = deque()
+    # init some parameters
+    self.time_step = 0
+    self.epsilon = INITIAL_EPSILON
+    self.state_dim = env.observation_space.shape[0]
+    self.action_dim = env.action_space.n
+
+    self.create_Q_network()
+    self.create_training_method()
+
+    # Init session
+    self.session = tf.InteractiveSession()
+    self.session.run(tf.global_variables_initializer())
+
+  def create_Q_network(self):
+    # input layer
+    self.state_input = tf.placeholder("float", [None, self.state_dim])
+    # network weights
+    with tf.variable_scope('current_net'):
+        W1 = self.weight_variable([self.state_dim,20])
+        b1 = self.bias_variable([20])
+
+        # hidden layer 1
+        h_layer_1 = tf.nn.relu(tf.matmul(self.state_input,W1) + b1)
+
+        # hidden layer  for state value
+        with tf.variable_scope('Value'):
+          W21= self.weight_variable([20,1])
+          b21 = self.bias_variable([1])
+          self.V = tf.matmul(h_layer_1, W21) + b21
+
+        # hidden layer  for action value
+        with tf.variable_scope('Advantage'):
+          W22 = self.weight_variable([20,self.action_dim])
+          b22 = self.bias_variable([self.action_dim])
+          self.A = tf.matmul(h_layer_1, W22) + b22
+
+          # Q Value layer
+          self.Q_value = self.V + (self.A - tf.reduce_mean(self.A, axis=1, keep_dims=True))
+
+    with tf.variable_scope('target_net'):
+        W1t = self.weight_variable([self.state_dim,20])
+        b1t = self.bias_variable([20])
+
+        # hidden layer 1
+        h_layer_1t = tf.nn.relu(tf.matmul(self.state_input,W1t) + b1t)
+
+        # hidden layer  for state value
+        with tf.variable_scope('Value'):
+          W2v = self.weight_variable([20,1])
+          b2v = self.bias_variable([1])
+          self.VT = tf.matmul(h_layer_1t, W2v) + b2v
+
+        # hidden layer  for action value
+        with tf.variable_scope('Advantage'):
+          W2a = self.weight_variable([20,self.action_dim])
+          b2a = self.bias_variable([self.action_dim])
+          self.AT = tf.matmul(h_layer_1t, W2a) + b2a
+
+          # Q Value layer
+          self.target_Q_value = self.VT + (self.AT - tf.reduce_mean(self.AT, axis=1, keep_dims=True))
+
+    t_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='target_net')
+    e_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='current_net')
+
+    with tf.variable_scope('soft_replacement'):
+        self.target_replace_op = [tf.assign(t, e) for t, e in zip(t_params, e_params)]
+
+  def create_training_method(self):
+    self.action_input = tf.placeholder("float",[None,self.action_dim]) # one hot presentation
+    self.y_input = tf.placeholder("float",[None])
+    Q_action = tf.reduce_sum(tf.multiply(self.Q_value,self.action_input),reduction_indices = 1)
+    self.cost = tf.reduce_mean(tf.square(self.y_input - Q_action))
+    self.optimizer = tf.train.AdamOptimizer(0.0001).minimize(self.cost)
+
+  def perceive(self,state,action,reward,next_state,done):
+    one_hot_action = np.zeros(self.action_dim)
+    one_hot_action[action] = 1
+    self.replay_buffer.append((state,one_hot_action,reward,next_state,done))
+    if len(self.replay_buffer) > REPLAY_SIZE:
+      self.replay_buffer.popleft()
+
+    if len(self.replay_buffer) > BATCH_SIZE:
+      self.train_Q_network()
+
+  def train_Q_network(self):
+    self.time_step += 1
+    # Step 1: obtain random minibatch from replay memory
+    minibatch = random.sample(self.replay_buffer,BATCH_SIZE)
+    state_batch = [data[0] for data in minibatch]
+    action_batch = [data[1] for data in minibatch]
+    reward_batch = [data[2] for data in minibatch]
+    next_state_batch = [data[3] for data in minibatch]
+
+    # Step 2: calculate y
+    y_batch = []
+    Q_value_batch = self.target_Q_value.eval(feed_dict={self.state_input:next_state_batch})
+    for i in range(0,BATCH_SIZE):
+      done = minibatch[i][4]
+      if done:
+        y_batch.append(reward_batch[i])
+      else :
+        y_batch.append(reward_batch[i] + GAMMA * np.max(Q_value_batch[i]))
+
+    self.optimizer.run(feed_dict={
+      self.y_input:y_batch,
+      self.action_input:action_batch,
+      self.state_input:state_batch
+      })
+
+  def egreedy_action(self,state):
+    Q_value = self.Q_value.eval(feed_dict = {
+      self.state_input:[state]
+      })[0]
+    if random.random() <= self.epsilon:
+        self.epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / 10000
+        return random.randint(0,self.action_dim - 1)
+    else:
+        self.epsilon -= (INITIAL_EPSILON - FINAL_EPSILON) / 10000
+        return np.argmax(Q_value)
+
+  def action(self,state):
+    return np.argmax(self.Q_value.eval(feed_dict = {
+      self.state_input:[state]
+      })[0])
+
+  def update_target_q_network(self, episode):
+    # update target Q netowrk
+    if episode % REPLACE_TARGET_FREQ == 0:
+        self.session.run(self.target_replace_op)
+        #print('episode '+str(episode) +', target Q network params replaced!')
+
+  def weight_variable(self,shape):
+    initial = tf.truncated_normal(shape)
+    return tf.Variable(initial)
+
+  def bias_variable(self,shape):
+    initial = tf.constant(0.01, shape = shape)
+    return tf.Variable(initial)
+# ---------------------------------------------------------
+# Hyper Parameters
+ENV_NAME = 'CartPole-v0'
+EPISODE = 3000 # Episode limitation
+STEP = 300 # Step limitation in an episode
+TEST = 5 # The number of experiment test every 100 episode
+
+def main():
+  # initialize OpenAI Gym env and dqn agent
+  env = gym.make(ENV_NAME)
+  agent = DQN(env)
+
+  for episode in range(EPISODE):
+    # initialize task
+    state = env.reset()
+    # Train
+    for step in range(STEP):
+      action = agent.egreedy_action(state) # e-greedy action for train
+      next_state,reward,done,_ = env.step(action)
+      # Define reward for agent
+      reward = -1 if done else 0.1
+      agent.perceive(state,action,reward,next_state,done)
+      state = next_state
+      if done:
+        break
+    # Test every 100 episodes
+    if episode % 100 == 0:
+      total_reward = 0
+      for i in range(TEST):
+        state = env.reset()
+        for j in range(STEP):
+          env.render()
+          action = agent.action(state) # direct action for test
+          state,reward,done,_ = env.step(action)
+          total_reward += reward
+          if done:
+            break
+      ave_reward = total_reward/TEST
+      print ('episode: ',episode,'Evaluation Average Reward:',ave_reward)
+    agent.update_target_q_network(episode)
+
+if __name__ == '__main__':
+  main()
