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| import os | |
| import numpy as np | |
| import gymnasium as gym | |
| from tqdm import tqdm | |
| import wandb | |
| from .Shared import Shared | |
| class MCAgent(Shared): | |
| def __init__( | |
| self, | |
| **kwargs, | |
| ): | |
| super().__init__(**kwargs) | |
| self.reset() | |
| def reset(self): | |
| print("Resetting all state variables...") | |
| self.Q = np.zeros((self.n_states, self.n_actions)) | |
| self.R = [[[] for _ in range(self.n_actions)] for _ in range(self.n_states)] | |
| # An arbitrary e-greedy policy | |
| self.Pi = np.full( | |
| (self.n_states, self.n_actions), self.epsilon / self.n_actions | |
| ) | |
| self.Pi[ | |
| np.arange(self.n_states), | |
| np.random.randint(self.n_actions, size=self.n_states), | |
| ] = ( | |
| 1 - self.epsilon + self.epsilon / self.n_actions | |
| ) | |
| print("=" * 80) | |
| print("Initial policy:") | |
| print(self.Pi) | |
| print("=" * 80) | |
| def update_first_visit(self, episode_hist): | |
| G = 0 | |
| # For each step of the episode, in reverse order | |
| for t in range(len(episode_hist) - 1, -1, -1): | |
| state, action, reward = episode_hist[t] | |
| # Update the expected return | |
| G = self.gamma * G + reward | |
| # If we haven't already visited this state-action pair up to this point, then we can update the Q-table and policy | |
| # This is the first-visit MC method | |
| if (state, action) not in [(x[0], x[1]) for x in episode_hist[:t]]: | |
| self.R[state][action].append(G) | |
| self.Q[state, action] = np.mean(self.R[state][action]) | |
| # Epsilon-greedy policy update | |
| self.Pi[state] = np.full(self.n_actions, self.epsilon / self.n_actions) | |
| # the greedy action is the one with the highest Q-value | |
| self.Pi[state, np.argmax(self.Q[state])] = ( | |
| 1 - self.epsilon + self.epsilon / self.n_actions | |
| ) | |
| def update_every_visit(self, episode_hist): | |
| G = 0 | |
| # For each step of the episode, in reverse order | |
| for t in range(len(episode_hist) - 1, -1, -1): | |
| state, action, reward = episode_hist[t] | |
| # Update the expected return | |
| G = self.gamma * G + reward | |
| # We update the Q-table and policy even if we have visited this state-action pair before | |
| # This is the every-visit MC method | |
| self.R[state][action].append(G) | |
| self.Q[state, action] = np.mean(self.R[state][action]) | |
| # Epsilon-greedy policy update | |
| self.Pi[state] = np.full(self.n_actions, self.epsilon / self.n_actions) | |
| # the greedy action is the one with the highest Q-value | |
| self.Pi[state, np.argmax(self.Q[state])] = ( | |
| 1 - self.epsilon + self.epsilon / self.n_actions | |
| ) | |
| def train( | |
| self, | |
| n_train_episodes=2000, | |
| test_every=100, | |
| update_type="first_visit", | |
| log_wandb=False, | |
| save_best=True, | |
| save_best_dir=None, | |
| **kwargs, | |
| ): | |
| print(f"Training agent for {n_train_episodes} episodes...") | |
| ( | |
| train_running_success_rate, | |
| test_success_rate, | |
| test_running_success_rate, | |
| avg_ep_len, | |
| ) = (0.0, 0.0, 0.0, 0.0) | |
| stats = { | |
| "train_running_success_rate": train_running_success_rate, | |
| "test_running_success_rate": test_running_success_rate, | |
| "test_success_rate": test_success_rate, | |
| "avg_ep_len": avg_ep_len, | |
| } | |
| update_func = getattr(self, f"update_{update_type}") | |
| tqrange = tqdm(range(n_train_episodes)) | |
| tqrange.set_description("Training") | |
| if log_wandb: | |
| self.wandb_log_img(episode=None) | |
| for e in tqrange: | |
| episode_hist, solved, _ = self.run_episode(**kwargs) | |
| rewards = [x[2] for x in episode_hist] | |
| total_reward, avg_reward = sum(rewards), np.mean(rewards) | |
| train_running_success_rate = ( | |
| 0.99 * train_running_success_rate + 0.01 * solved | |
| ) | |
| avg_ep_len = 0.99 * avg_ep_len + 0.01 * len(episode_hist) | |
| update_func(episode_hist) | |
| stats = { | |
| "train_running_success_rate": train_running_success_rate, | |
| "test_running_success_rate": test_running_success_rate, | |
| "test_success_rate": test_success_rate, | |
| "avg_ep_len": avg_ep_len, | |
| "total_reward": total_reward, | |
| "avg_reward": avg_reward, | |
| } | |
| tqrange.set_postfix(stats) | |
| # Test the agent every test_every episodes with the greedy policy (by default) | |
| if e % test_every == 0: | |
| test_success_rate = self.test(verbose=False, **kwargs) | |
| if save_best and test_success_rate > 0.9: | |
| if self.run_name is None: | |
| print(f"Warning: run_name is None, not saving best policy") | |
| else: | |
| self.save_policy(self.run_name, save_best_dir) | |
| if log_wandb: | |
| self.wandb_log_img(episode=e) | |
| test_running_success_rate = ( | |
| 0.99 * test_running_success_rate + 0.01 * test_success_rate | |
| ) | |
| stats["test_running_success_rate"] = test_running_success_rate | |
| stats["test_success_rate"] = test_success_rate | |
| tqrange.set_postfix(stats) | |
| if log_wandb: | |
| wandb.log(stats) | |
| def wandb_log_img(self, episode=None): | |
| caption_suffix = "Initial" if episode is None else f"After Episode {episode}" | |
| wandb.log( | |
| { | |
| "Q-table": wandb.Image( | |
| self.Q, | |
| caption=f"Q-table - {caption_suffix}", | |
| ), | |
| "Policy": wandb.Image( | |
| self.Pi, | |
| caption=f"Policy - {caption_suffix}", | |
| ), | |
| } | |
| ) | |