05_dqn_prio_replay.py

#!/usr/bin/env python3
import gym
import ptan
import numpy as np
import argparse

import torch
import torch.optim as optim

from tensorboardX import SummaryWriter

from lib import dqn_model, common

PRIO_REPLAY_ALPHA = 0.6
BETA_START = 0.4
BETA_FRAMES = 100000


class PrioReplayBuffer:
    def __init__(self, exp_source, buf_size, prob_alpha=0.6):
        self.exp_source_iter = iter(exp_source)
        self.prob_alpha = prob_alpha
        self.capacity = buf_size
        self.pos = 0
        self.buffer = []
        self.priorities = np.zeros((buf_size, ), dtype=np.float32)

    def __len__(self):
        return len(self.buffer)

    def populate(self, count):
        max_prio = self.priorities.max() if self.buffer else 1.0
        for _ in range(count):
            sample = next(self.exp_source_iter)
            if len(self.buffer) < self.capacity:
                self.buffer.append(sample)
            else:
                self.buffer[self.pos] = sample
            self.priorities[self.pos] = max_prio
            self.pos = (self.pos + 1) % self.capacity

    def sample(self, batch_size, beta=0.4):
        if len(self.buffer) == self.capacity:
            prios = self.priorities
        else:
            prios = self.priorities[:self.pos]
        probs = prios ** self.prob_alpha

        probs /= probs.sum()
        indices = np.random.choice(len(self.buffer), batch_size, p=probs)
        samples = [self.buffer[idx] for idx in indices]
        total = len(self.buffer)
        weights = (total * probs[indices]) ** (-beta)
        weights /= weights.max()
        return samples, indices, np.array(weights, dtype=np.float32)

    def update_priorities(self, batch_indices, batch_priorities):
        for idx, prio in zip(batch_indices, batch_priorities):
            self.priorities[idx] = prio


def calc_loss(batch, batch_weights, net, tgt_net, gamma, device="cpu"):
    states, actions, rewards, dones, next_states = common.unpack_batch(batch)

    states_v = torch.tensor(states).to(device)
    next_states_v = torch.tensor(next_states).to(device)
    actions_v = torch.tensor(actions).to(device)
    rewards_v = torch.tensor(rewards).to(device)
    done_mask = torch.ByteTensor(dones).to(device)
    batch_weights_v = torch.tensor(batch_weights).to(device)

    state_action_values = net(states_v).gather(1, actions_v.unsqueeze(-1)).squeeze(-1)
    next_state_values = tgt_net(next_states_v).max(1)[0]
    next_state_values[done_mask] = 0.0

    expected_state_action_values = next_state_values.detach() * gamma + rewards_v
    losses_v = batch_weights_v * (state_action_values - expected_state_action_values) ** 2
    return losses_v.mean(), losses_v + 1e-5


if __name__ == "__main__":
    params = common.HYPERPARAMS['pong']
    parser = argparse.ArgumentParser()
    parser.add_argument("--cuda", default=False, action="store_true", help="Enable cuda")
    args = parser.parse_args()
    device = torch.device("cuda" if args.cuda else "cpu")

    env = gym.make(params['env_name'])
    env = ptan.common.wrappers.wrap_dqn(env)

    writer = SummaryWriter(comment="-" + params['run_name'] + "-prio-replay")
    net = dqn_model.DQN(env.observation_space.shape, env.action_space.n).to(device)
    tgt_net = ptan.agent.TargetNet(net)
    selector = ptan.actions.EpsilonGreedyActionSelector(epsilon=params['epsilon_start'])
    epsilon_tracker = common.EpsilonTracker(selector, params)
    agent = ptan.agent.DQNAgent(net, selector, device=device)

    exp_source = ptan.experience.ExperienceSourceFirstLast(env, agent, gamma=params['gamma'], steps_count=1)
    buffer = PrioReplayBuffer(exp_source, params['replay_size'], PRIO_REPLAY_ALPHA)
    optimizer = optim.Adam(net.parameters(), lr=params['learning_rate'])

    frame_idx = 0
    beta = BETA_START

    with common.RewardTracker(writer, params['stop_reward']) as reward_tracker:
        while True:
            frame_idx += 1
            buffer.populate(1)
            epsilon_tracker.frame(frame_idx)
            beta = min(1.0, BETA_START + frame_idx * (1.0 - BETA_START) / BETA_FRAMES)

            new_rewards = exp_source.pop_total_rewards()
            if new_rewards:
                writer.add_scalar("beta", beta, frame_idx)
                if reward_tracker.reward(new_rewards[0], frame_idx, selector.epsilon):
                    break

            if len(buffer) < params['replay_initial']:
                continue

            optimizer.zero_grad()
            batch, batch_indices, batch_weights = buffer.sample(params['batch_size'], beta)
            loss_v, sample_prios_v = calc_loss(batch, batch_weights, net, tgt_net.target_model,
                                               params['gamma'], device=device)
            loss_v.backward()
            optimizer.step()
            buffer.update_priorities(batch_indices, sample_prios_v.data.cpu().numpy())

            if frame_idx % params['target_net_sync'] == 0:
                tgt_net.sync()