Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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from mlagents.tf_utils import tf
from mlagents.trainers.policy.tf_policy import TFPolicy
class BCModel:
def __init__(
self, policy: TFPolicy, learning_rate: float = 3e-4, anneal_steps: int = 0
):
"""
Tensorflow operations to perform Behavioral Cloning on a Policy model
:param policy: The policy of the learning algorithm
:param lr: The initial learning Rate for behavioral cloning
:param anneal_steps: Number of steps over which to anneal BC training
"""
self.policy = policy
self.expert_visual_in = self.policy.visual_in
self.obs_in_expert = self.policy.vector_in
self.make_inputs()
self.create_loss(learning_rate, anneal_steps)
def make_inputs(self) -> None:
"""
Creates the input layers for the discriminator
"""
self.done_expert = tf.placeholder(shape=[None, 1], dtype=tf.float32)
self.done_policy = tf.placeholder(shape=[None, 1], dtype=tf.float32)
if self.policy.behavior_spec.is_action_continuous():
action_length = self.policy.act_size[0]
self.action_in_expert = tf.placeholder(
shape=[None, action_length], dtype=tf.float32
)
self.expert_action = tf.identity(self.action_in_expert)
else:
action_length = len(self.policy.act_size)
self.action_in_expert = tf.placeholder(
shape=[None, action_length], dtype=tf.int32
)
self.expert_action = tf.concat(
[
tf.one_hot(self.action_in_expert[:, i], act_size)
for i, act_size in enumerate(self.policy.act_size)
],
axis=1,
)
def create_loss(self, learning_rate: float, anneal_steps: int) -> None:
"""
Creates the loss and update nodes for the BC module
:param learning_rate: The learning rate for the optimizer
:param anneal_steps: Number of steps over which to anneal the learning_rate
"""
selected_action = self.policy.output
if self.policy.use_continuous_act:
self.loss = tf.reduce_mean(
tf.squared_difference(selected_action, self.expert_action)
)
else:
log_probs = self.policy.all_log_probs
self.loss = tf.reduce_mean(
-tf.log(tf.nn.softmax(log_probs) + 1e-7) * self.expert_action
)
if anneal_steps > 0:
self.annealed_learning_rate = tf.train.polynomial_decay(
learning_rate, self.policy.global_step, anneal_steps, 0.0, power=1.0
)
else:
self.annealed_learning_rate = tf.Variable(learning_rate)
optimizer = tf.train.AdamOptimizer(
learning_rate=self.annealed_learning_rate, name="bc_adam"
)
self.update_batch = optimizer.minimize(self.loss)