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| """ | |
| Reinforcement Learning (A3C) using Pytroch + multiprocessing. | |
| The most simple implementation for continuous action. | |
| View more on my Chinese tutorial page [莫烦Python](https://morvanzhou.github.io/). | |
| """ | |
| import torch | |
| import torch.nn as nn | |
| import torch.nn.functional as F | |
| import gym | |
| import torch.multiprocessing as mp | |
| from .utils import v_wrap, set_init, push_and_pull, record | |
| import numpy as np | |
| UPDATE_GLOBAL_ITER = 5 | |
| GAMMA = 0.9 | |
| MAX_EP = 100000 | |
| class Net(nn.Module): | |
| def __init__(self, s_dim, a_dim, word_list, words_width): | |
| super(Net, self).__init__() | |
| self.s_dim = s_dim | |
| self.a_dim = a_dim | |
| n_emb = 32 | |
| # self.pi1 = nn.Linear(s_dim, 128) | |
| # self.pi2 = nn.Linear(128, a_dim) | |
| self.v1 = nn.Linear(s_dim, 128) | |
| self.v2 = nn.Linear(128, n_emb) | |
| self.v3 = nn.Linear(n_emb, 1) | |
| set_init([ self.v1, self.v2]) # n_emb | |
| self.distribution = torch.distributions.Categorical | |
| assert a_dim == len(word_list), "putos" | |
| word_width = 26 * words_width | |
| word_array = np.zeros((len(word_list), word_width)) | |
| self.actor_head = nn.Linear(n_emb, n_emb) | |
| for i, word in enumerate(word_list): | |
| for j, c in enumerate(word): | |
| word_array[i, j*26 + (ord(c) - ord('A'))] = 1 | |
| self.words = torch.Tensor(word_array) | |
| self.f_word = nn.Sequential( | |
| nn.Linear(word_width, 128), | |
| nn.Tanh(), | |
| nn.Linear(128, n_emb), | |
| ) | |
| def forward(self, x): | |
| # pi1 = torch.tanh(self.pi1(x)) | |
| fw = self.f_word( | |
| self.words.to(x.device.index), | |
| ).transpose(0, 1) | |
| # logits = self.pi2(pi1) | |
| v1 = torch.tanh(self.v1(x)) | |
| values = self.v2(v1) | |
| logits = torch.log_softmax( | |
| torch.tensordot(self.actor_head(values), fw, | |
| dims=((1,), (0,))), | |
| dim=-1) | |
| values = self.v3(values) | |
| return logits, values | |
| def choose_action(self, s): | |
| self.eval() | |
| logits, _ = self.forward(s) | |
| prob = F.softmax(logits, dim=1).data | |
| m = self.distribution(prob) | |
| return m.sample().numpy()[0] | |
| def loss_func(self, s, a, v_t): | |
| self.train() | |
| logits, values = self.forward(s) | |
| td = v_t - values | |
| c_loss = td.pow(2) | |
| probs = F.softmax(logits, dim=1) | |
| m = self.distribution(probs) | |
| exp_v = m.log_prob(a) * td.detach().squeeze() | |
| a_loss = -exp_v | |
| total_loss = (c_loss + a_loss).mean() | |
| return total_loss | |
| class Worker(mp.Process): | |
| def __init__(self, gnet, opt, global_ep, global_ep_r, res_queue, name, env, N_S, N_A, words_list, word_width): | |
| super(Worker, self).__init__() | |
| self.name = 'w%02i' % name | |
| self.g_ep, self.g_ep_r, self.res_queue = global_ep, global_ep_r, res_queue | |
| self.gnet, self.opt = gnet, opt | |
| self.word_list = words_list | |
| self.lnet = Net(N_S, N_A, words_list, word_width) # local network | |
| self.env = env.unwrapped | |
| def run(self): | |
| total_step = 1 | |
| while self.g_ep.value < MAX_EP: | |
| s = self.env.reset() | |
| buffer_s, buffer_a, buffer_r = [], [], [] | |
| ep_r = 0. | |
| while True: | |
| if self.name == 'w00': | |
| self.env.render() | |
| a = self.lnet.choose_action(v_wrap(s[None, :])) | |
| s_, r, done, _ = self.env.step(self.env.encode_word(self.word_list[a])) | |
| ep_r += r | |
| buffer_a.append(a) | |
| buffer_s.append(s) | |
| buffer_r.append(r) | |
| if total_step % UPDATE_GLOBAL_ITER == 0 or done: # update global and assign to local net | |
| # sync | |
| push_and_pull(self.opt, self.lnet, self.gnet, done, s_, buffer_s, buffer_a, buffer_r, GAMMA) | |
| buffer_s, buffer_a, buffer_r = [], [], [] | |
| if done: # done and print information | |
| goal_word = self.env.decode_word(self.env.goal_word) | |
| record(self.g_ep, self.g_ep_r, ep_r, self.res_queue, self.name, goal_word, self.word_list[a]) | |
| break | |
| s = s_ | |
| total_step += 1 | |
| self.res_queue.put(None) | |