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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270 行
11 KiB

import logging
import numpy as np
from typing import Any, Dict, Optional
from mlagents.tf_utils import tf
from mlagents.envs.timers import timed
from mlagents.envs.brain import BrainInfo, BrainParameters
from mlagents.trainers.models import EncoderType, LearningRateSchedule
from mlagents.trainers.ppo.models import PPOModel
from mlagents.trainers.tf_policy import TFPolicy
from mlagents.trainers.components.reward_signals.reward_signal_factory import (
create_reward_signal,
)
from mlagents.trainers.components.bc.module import BCModule
logger = logging.getLogger("mlagents.trainers")
class PPOPolicy(TFPolicy):
def __init__(
self,
seed: int,
brain: BrainParameters,
trainer_params: Dict[str, Any],
is_training: bool,
load: bool,
):
"""
Policy for Proximal Policy Optimization Networks.
:param seed: Random seed.
:param brain: Assigned Brain object.
:param trainer_params: Defined training parameters.
:param is_training: Whether the model should be trained.
:param load: Whether a pre-trained model will be loaded or a new one created.
"""
super().__init__(seed, brain, trainer_params)
reward_signal_configs = trainer_params["reward_signals"]
self.inference_dict: Dict[str, tf.Tensor] = {}
self.update_dict: Dict[str, tf.Tensor] = {}
self.stats_name_to_update_name = {
"Losses/Value Loss": "value_loss",
"Losses/Policy Loss": "policy_loss",
}
self.create_model(
brain, trainer_params, reward_signal_configs, is_training, load, seed
)
self.create_reward_signals(reward_signal_configs)
with self.graph.as_default():
self.bc_module: Optional[BCModule] = None
# Create pretrainer if needed
if "pretraining" in trainer_params:
BCModule.check_config(trainer_params["pretraining"])
self.bc_module = BCModule(
self,
policy_learning_rate=trainer_params["learning_rate"],
default_batch_size=trainer_params["batch_size"],
default_num_epoch=trainer_params["num_epoch"],
**trainer_params["pretraining"],
)
if load:
self._load_graph()
else:
self._initialize_graph()
def create_model(
self, brain, trainer_params, reward_signal_configs, is_training, load, seed
):
"""
Create PPO model
:param brain: Assigned Brain object.
:param trainer_params: Defined training parameters.
:param reward_signal_configs: Reward signal config
:param seed: Random seed.
"""
with self.graph.as_default():
self.model = PPOModel(
brain=brain,
lr=float(trainer_params["learning_rate"]),
lr_schedule=LearningRateSchedule(
trainer_params.get("learning_rate_schedule", "linear")
),
h_size=int(trainer_params["hidden_units"]),
epsilon=float(trainer_params["epsilon"]),
beta=float(trainer_params["beta"]),
max_step=float(trainer_params["max_steps"]),
normalize=trainer_params["normalize"],
use_recurrent=trainer_params["use_recurrent"],
num_layers=int(trainer_params["num_layers"]),
m_size=self.m_size,
seed=seed,
stream_names=list(reward_signal_configs.keys()),
vis_encode_type=EncoderType(
trainer_params.get("vis_encode_type", "simple")
),
)
self.model.create_ppo_optimizer()
self.inference_dict.update(
{
"action": self.model.output,
"log_probs": self.model.all_log_probs,
"value_heads": self.model.value_heads,
"value": self.model.value,
"entropy": self.model.entropy,
"learning_rate": self.model.learning_rate,
}
)
if self.use_continuous_act:
self.inference_dict["pre_action"] = self.model.output_pre
if self.use_recurrent:
self.inference_dict["memory_out"] = self.model.memory_out
self.total_policy_loss = self.model.abs_policy_loss
self.update_dict.update(
{
"value_loss": self.model.value_loss,
"policy_loss": self.total_policy_loss,
"update_batch": self.model.update_batch,
}
)
def create_reward_signals(self, reward_signal_configs):
"""
Create reward signals
:param reward_signal_configs: Reward signal config.
"""
self.reward_signals = {}
with self.graph.as_default():
# Create reward signals
for reward_signal, config in reward_signal_configs.items():
self.reward_signals[reward_signal] = create_reward_signal(
self, self.model, reward_signal, config
)
self.update_dict.update(self.reward_signals[reward_signal].update_dict)
@timed
def evaluate(self, brain_info):
"""
Evaluates policy for the agent experiences provided.
:param brain_info: BrainInfo object containing inputs.
:return: Outputs from network as defined by self.inference_dict.
"""
feed_dict = {
self.model.batch_size: len(brain_info.vector_observations),
self.model.sequence_length: 1,
}
epsilon = None
if self.use_recurrent:
if not self.use_continuous_act:
feed_dict[
self.model.prev_action
] = brain_info.previous_vector_actions.reshape(
[-1, len(self.model.act_size)]
)
feed_dict[self.model.memory_in] = self.retrieve_memories(brain_info.agents)
if self.use_continuous_act:
epsilon = np.random.normal(
size=(len(brain_info.vector_observations), self.model.act_size[0])
)
feed_dict[self.model.epsilon] = epsilon
feed_dict = self.fill_eval_dict(feed_dict, brain_info)
run_out = self._execute_model(feed_dict, self.inference_dict)
if self.use_continuous_act:
run_out["random_normal_epsilon"] = epsilon
return run_out
@timed
def update(self, mini_batch, num_sequences):
"""
Performs update on model.
:param mini_batch: Batch of experiences.
:param num_sequences: Number of sequences to process.
:return: Results of update.
"""
feed_dict = self.construct_feed_dict(self.model, mini_batch, num_sequences)
stats_needed = self.stats_name_to_update_name
update_stats = {}
# Collect feed dicts for all reward signals.
for _, reward_signal in self.reward_signals.items():
feed_dict.update(
reward_signal.prepare_update(self.model, mini_batch, num_sequences)
)
stats_needed.update(reward_signal.stats_name_to_update_name)
update_vals = self._execute_model(feed_dict, self.update_dict)
for stat_name, update_name in stats_needed.items():
update_stats[stat_name] = update_vals[update_name]
return update_stats
def construct_feed_dict(self, model, mini_batch, num_sequences):
feed_dict = {
model.batch_size: num_sequences,
model.sequence_length: self.sequence_length,
model.mask_input: mini_batch["masks"],
model.advantage: mini_batch["advantages"],
model.all_old_log_probs: mini_batch["action_probs"],
}
for name in self.reward_signals:
feed_dict[model.returns_holders[name]] = mini_batch[
"{}_returns".format(name)
]
feed_dict[model.old_values[name]] = mini_batch[
"{}_value_estimates".format(name)
]
if self.use_continuous_act:
feed_dict[model.output_pre] = mini_batch["actions_pre"]
feed_dict[model.epsilon] = mini_batch["random_normal_epsilon"]
else:
feed_dict[model.action_holder] = mini_batch["actions"]
if self.use_recurrent:
feed_dict[model.prev_action] = mini_batch["prev_action"]
feed_dict[model.action_masks] = mini_batch["action_mask"]
if self.use_vec_obs:
feed_dict[model.vector_in] = mini_batch["vector_obs"]
if self.model.vis_obs_size > 0:
for i, _ in enumerate(self.model.visual_in):
feed_dict[model.visual_in[i]] = mini_batch["visual_obs%d" % i]
if self.use_recurrent:
mem_in = [
mini_batch["memory"][i]
for i in range(0, len(mini_batch["memory"]), self.sequence_length)
]
feed_dict[model.memory_in] = mem_in
return feed_dict
def get_value_estimates(
self, brain_info: BrainInfo, idx: int, done: bool
) -> Dict[str, float]:
"""
Generates value estimates for bootstrapping.
:param brain_info: BrainInfo to be used for bootstrapping.
:param idx: Index in BrainInfo of agent.
:param done: Whether or not this is the last element of the episode, in which case the value estimate will be 0.
:return: The value estimate dictionary with key being the name of the reward signal and the value the
corresponding value estimate.
"""
feed_dict: Dict[tf.Tensor, Any] = {
self.model.batch_size: 1,
self.model.sequence_length: 1,
}
for i in range(len(brain_info.visual_observations)):
feed_dict[self.model.visual_in[i]] = [
brain_info.visual_observations[i][idx]
]
if self.use_vec_obs:
feed_dict[self.model.vector_in] = [brain_info.vector_observations[idx]]
if self.use_recurrent:
feed_dict[self.model.memory_in] = self.retrieve_memories([idx])
if not self.use_continuous_act and self.use_recurrent:
feed_dict[self.model.prev_action] = [
brain_info.previous_vector_actions[idx]
]
value_estimates = self.sess.run(self.model.value_heads, feed_dict)
value_estimates = {k: float(v) for k, v in value_estimates.items()}
# If we're done, reassign all of the value estimates that need terminal states.
if done:
for k in value_estimates:
if self.reward_signals[k].use_terminal_states:
value_estimates[k] = 0.0
return value_estimates