Merge branch 'master' of github.com:schroederdewitt/rl_games into master

algos_tf14/dqnagent.py

@@ -11,7 +11,7 @@
 from common.categorical import CategoricalQ
 
 class DQNAgent:
-    def __init__(self, sess, base_name, observation_space, action_space, config, logger):
+    def __init__(self, sess, base_name, observation_space, action_space, config, logger, central_state_space=None):
         observation_shape = observation_space.shape
         actions_num = action_space.n
         self.config = config
@@ -60,12 +60,14 @@ def __init__(self, sess, base_name, observation_space, action_space, config, log
             self.v_max = self.config['v_max']
             self.delta_z = (self.v_max - self.v_min) / (self.atoms_num - 1)
             self.all_z = tf.range(self.v_min, self.v_max + self.delta_z, self.delta_z)
-            self.categorical = CategoricalQ(self.atoms_num, self.v_min, self.v_max)     
+            self.categorical = CategoricalQ(self.atoms_num, self.v_min, self.v_max)
+
+        self.n_agents = self.env.env_info['n_agents']
 
         if not self.is_prioritized:
-            self.exp_buffer = experience.ReplayBuffer(config['replay_buffer_size'])
+            self.exp_buffer = experience.ReplayBuffer(config['replay_buffer_size'], observation_space, self.n_agents)
         else: 
-            self.exp_buffer = experience.PrioritizedReplayBuffer(config['replay_buffer_size'], config['priority_alpha'])
+            self.exp_buffer = experience.PrioritizedReplayBuffer(config['replay_buffer_size'], config['priority_alpha'], observation_space, self.n_agents)
             self.sample_weights_ph = tf.placeholder(tf.float32, shape= [None,] , name='sample_weights')
 
         self.obs_ph = tf.placeholder(observation_space.dtype, shape=(None,) + self.state_shape , name = 'obs_ph')

algos_tf14/model_builder.py

@@ -14,6 +14,7 @@ def __init__(self):
         self.model_factory.register_builder('continuous_a2c_lstm_logstd', lambda network, **kwargs : models.LSTMModelA2CContinuousLogStd(network))
         self.model_factory.register_builder('dqn', lambda network, **kwargs : models.AtariDQN(network))
         self.model_factory.register_builder('vdn', lambda network, **kwargs : models.VDN_DQN(network))
+        self.model_factory.register_builder('iql', lambda network, **kwargs : models.IQL_DQN(network))
 
 
         self.network_factory = object_factory.ObjectFactory()

algos_tf14/vdnagent.py

@@ -77,7 +77,7 @@ def __init__(self, sess, base_name, observation_space, action_space, config, log
         self.n_agents = self.env.env_info['n_agents']
 
         if not self.is_prioritized:
-            self.exp_buffer = experience.ReplayBufferCentralState(config['replay_buffer_size'])
+            self.exp_buffer = experience.ReplayBufferCentralState(config['replay_buffer_size'], observation_space, central_state_space, self.n_agents)
         else:
             raise NotImplementedError("Not implemented! PrioritizedReplayBuffer with CentralState")
             #self.exp_buffer = experience.PrioritizedReplayBufferCentralState(config['replay_buffer_size'], config['priority_alpha'])

common/env_configurations.py

@@ -192,6 +192,12 @@ def create_flex(path):
 
     return env
 
+def create_staghunt(name, **kwargs):
+    from envs.stag_hunt import StagHuntEnv
+    frames = kwargs.pop('frames', 1)
+    print(kwargs)
+    return wrappers.BatchedFrameStack(StagHuntEnv(1, **kwargs), frames, transpose=False, flatten=True)
+
 def create_smac(name, **kwargs):
     from envs.smac_env import SMACEnv
     frames = kwargs.pop('frames', 1)
@@ -212,6 +218,13 @@ def create_smac_cnn(name, **kwargs):
     env = wrappers.BatchedFrameStack(env, frames, transpose=transpose)
     return env
 
+def create_staghunt_cnn(name, **kwargs):
+    from envs.stag_hunt import StagHuntEnv
+    env = StagHuntEnv(1, **kwargs)
+    frames = kwargs.pop('frames', 4)
+    transpose = kwargs.pop('transpose', False)
+    env = wrappers.BatchedFrameStack(env, frames, transpose=transpose)
+    return env
 
 configurations = {
     'CartPole-v1' : {
@@ -314,6 +327,10 @@ def create_smac_cnn(name, **kwargs):
         'env_creator' : lambda **kwargs  : create_flex(FLEX_PATH + '/demo/gym/cfg/humanoid_hard.yaml'),
         'vecenv_type' : 'ISAAC'
     },
+    'staghunt': {
+        'env_creator': lambda **kwargs: create_staghunt_cnn(**kwargs),
+        'vecenv_type': 'RAY_SMAC'
+    },
     'smac' : {
         'env_creator' : lambda **kwargs : create_smac(**kwargs),
         'vecenv_type' : 'RAY_SMAC'

common/experience.py

@@ -5,41 +5,60 @@
 
 
 class ReplayBufferCentralState(object):
-    def __init__(self, size):
+    def __init__(self, size, ob_space, st_space, n_agents):
         """Create Replay buffer.
         Parameters
         ----------
         size: int
             Max number of transitions to store in the buffer. When the buffer
             overflows the old memories are dropped.
         """
-        self._storage = []
+
+        self._obses = np.zeros((size,) + (n_agents,) + ob_space.shape, dtype=ob_space.dtype)
+        self._next_obses = np.zeros((size,) + (n_agents,) + ob_space.shape, dtype=ob_space.dtype)
+        self._rewards = np.zeros(size)
+        self._actions = np.zeros((size,) + (n_agents,), dtype=np.int32)
+        self._dones = np.zeros(size, dtype=np.bool)
+        self._states = np.zeros((size,) + st_space.shape, dtype=st_space.dtype)
+
         self._maxsize = size
         self._next_idx = 0
+        self._curr_size = 0
 
     def __len__(self):
-        return len(self._storage)
+        return self._curr_size
 
     def add(self, obs_t, action, state_t, reward, obs_tp1, done):
-        data = (obs_t, action, state_t, reward, obs_tp1, done)
+        # print("CAlled")
+        self._curr_size = min(self._curr_size + 1, self._maxsize)
+
+        self._obses[self._next_idx] = obs_t
+        self._next_obses[self._next_idx] = obs_tp1
+        self._rewards[self._next_idx] = reward
+        self._actions[self._next_idx] = action
+        self._dones[self._next_idx] = done
+        self._states[self._next_idx] = state_t
 
-        if self._next_idx >= len(self._storage):
-            self._storage.append(data)
-        else:
-            self._storage[self._next_idx] = data
         self._next_idx = (self._next_idx + 1) % self._maxsize
+        # print(self._curr_size)
+
+    def _get(self, idx):
+        return self._obses[idx], self._actions[idx], self._states[idx], self._rewards[idx], self._next_obses[idx], self._dones[idx]
 
     def _encode_sample(self, idxes):
-        obses_t, actions, states_t, rewards, obses_tp1, dones = [], [], [], [], [], []
+        batch_size = len(idxes)
+        obses_t, actions, states_t, rewards, obses_tp1, dones = [None] * batch_size, [None] * batch_size, [None] * batch_size, [None] * batch_size, [None] * batch_size, [None] * batch_size
+        it = 0
         for i in idxes:
-            data = self._storage[i]
-            obs_t, action, state_t, reward, obs_tp1, done = data
-            obses_t.append(np.array(obs_t, copy=False))
-            actions.append(np.array(action, copy=False))
-            states_t.append(np.array(state_t, copy=False))
-            rewards.append(reward)
-            obses_tp1.append(np.array(obs_tp1, copy=False))
-            dones.append(done)
+            data = self._get(i)
+            obs_t, action, state, reward, obs_tp1, done = data
+            obses_t[it] = np.array(obs_t, copy=False)
+            actions[it] = np.array(action, copy=False)
+            states_t[it] = np.array(state, copy=False)
+            rewards[it] = reward
+            obses_tp1[it] = np.array(obs_tp1, copy=False)
+            dones[it] = done
+            it = it + 1
         return np.array(obses_t), np.array(actions), np.array(states_t), np.array(rewards), np.array(obses_tp1), np.array(dones)
 
     def sample(self, batch_size):
@@ -62,44 +81,61 @@ def sample(self, batch_size):
             done_mask[i] = 1 if executing act_batch[i] resulted in
             the end of an episode and 0 otherwise.
         """
-        idxes = [random.randint(0, len(self._storage) - 1) for _ in range(batch_size)]
+        # print(self._curr_size)
+        idxes = [random.randint(0, self._curr_size - 1) for _ in range(batch_size)]
         return self._encode_sample(idxes)
 
+
 class ReplayBuffer(object):
-    def __init__(self, size):
+    def __init__(self, size, ob_space, n_agents):
         """Create Replay buffer.
         Parameters
         ----------
         size: int
             Max number of transitions to store in the buffer. When the buffer
             overflows the old memories are dropped.
         """
-        self._storage = []
+        self._obses = np.zeros((size,) + (n_agents,) + ob_space.shape, dtype=ob_space.dtype)
+        self._next_obses = np.zeros((size,) + (n_agents,) + ob_space.shape, dtype=ob_space.dtype)
+        self._rewards = np.zeros(size)
+        self._actions = np.zeros((size,) + (n_agents,), dtype=np.int32)
+        self._dones = np.zeros(size, dtype=np.bool)
+
         self._maxsize = size
         self._next_idx = 0
+        self._curr_size = 0
 
     def __len__(self):
-        return len(self._storage)
+        return self._curr_size
 
     def add(self, obs_t, action, reward, obs_tp1, done):
-        data = (obs_t, action, reward, obs_tp1, done)
 
-        if self._next_idx >= len(self._storage):
-            self._storage.append(data)
-        else:
-            self._storage[self._next_idx] = data
+        self._curr_size = min(self._curr_size + 1, self._maxsize )
+
+        self._obses[self._next_idx] = obs_t
+        self._next_obses[self._next_idx] = obs_tp1
+        self._rewards[self._next_idx] = reward
+        self._actions[self._next_idx] = action
+        self._dones[self._next_idx] = done
+
         self._next_idx = (self._next_idx + 1) % self._maxsize
 
+    def _get(self, idx):
+        return self._obses[idx], self._actions[idx], self._rewards[idx], self._next_obses[idx], self._dones[idx]
+
     def _encode_sample(self, idxes):
-        obses_t, actions, rewards, obses_tp1, dones = [], [], [], [], []
+        batch_size = len(idxes)
+        obses_t, actions, rewards, obses_tp1, dones = [None] * batch_size, [None] * batch_size, [None] * batch_size, [None] * batch_size, [None] * batch_size
+        it = 0
         for i in idxes:
-            data = self._storage[i]
+            data = self._get(i)
             obs_t, action, reward, obs_tp1, done = data
-            obses_t.append(np.array(obs_t, copy=False))
-            actions.append(np.array(action, copy=False))
-            rewards.append(reward)
-            obses_tp1.append(np.array(obs_tp1, copy=False))
-            dones.append(done)
+            obses_t[it] = np.array(obs_t, copy=False)
+            actions[it] = np.array(action, copy=False)
+            rewards[it] = reward
+            obses_tp1[it] = np.array(obs_tp1, copy=False)
+            dones[it] = done
+            it = it + 1
         return np.array(obses_t), np.array(actions), np.array(rewards), np.array(obses_tp1), np.array(dones)
 
     def sample(self, batch_size):
@@ -122,12 +158,12 @@ def sample(self, batch_size):
             done_mask[i] = 1 if executing act_batch[i] resulted in
             the end of an episode and 0 otherwise.
         """
-        idxes = [random.randint(0, len(self._storage) - 1) for _ in range(batch_size)]
+        idxes = [random.randint(0, self._curr_size - 1) for _ in range(batch_size)]
         return self._encode_sample(idxes)
 
 
 class PrioritizedReplayBuffer(ReplayBuffer):
-    def __init__(self, size, alpha):
+    def __init__(self, size, alpha, ob_space, n_agents):
         """Create Prioritized Replay buffer.
         Parameters
         ----------
@@ -141,7 +177,7 @@ def __init__(self, size, alpha):
         --------
         ReplayBuffer.__init__
         """
-        super(PrioritizedReplayBuffer, self).__init__(size)
+        super(PrioritizedReplayBuffer, self).__init__(size, ob_space, n_agents)
         assert alpha >= 0
         self._alpha = alpha
 
@@ -162,7 +198,7 @@ def add(self, *args, **kwargs):
 
     def _sample_proportional(self, batch_size):
         res = []
-        p_total = self._it_sum.sum(0, len(self._storage) - 1)
+        p_total = self._it_sum.sum(0, self._curr_size - 1)
         every_range_len = p_total / batch_size
         for i in range(batch_size):
             mass = random.random() * every_range_len + i * every_range_len
@@ -208,11 +244,11 @@ def sample(self, batch_size, beta):
 
         weights = []
         p_min = self._it_min.min() / self._it_sum.sum()
-        max_weight = (p_min * len(self._storage)) ** (-beta)
+        max_weight = (p_min * self._curr_size) ** (-beta)
 
         for idx in idxes:
             p_sample = self._it_sum[idx] / self._it_sum.sum()
-            weight = (p_sample * len(self._storage)) ** (-beta)
+            weight = (p_sample * self._curr_size) ** (-beta)
             weights.append(weight / max_weight)
         weights = np.array(weights)
         encoded_sample = self._encode_sample(idxes)
@@ -234,8 +270,8 @@ def update_priorities(self, idxes, priorities):
         assert len(idxes) == len(priorities)
         for idx, priority in zip(idxes, priorities):
             assert priority > 0
-            assert 0 <= idx < len(self._storage)
+            assert 0 <= idx < self._curr_size
             self._it_sum[idx] = priority ** self._alpha
             self._it_min[idx] = priority ** self._alpha
 
-            self._max_priority = max(self._max_priority, priority)
+            self._max_priority = max(self._max_priority, priority)

common/vecenv.py

@@ -34,7 +34,12 @@ def reset(self):
 class RayWorker:
     def __init__(self, config_name, config):
         self.env = configurations[config_name]['env_creator'](**config)
-        self.obs = self.env.reset()
+
+        res = self.env.reset()
+        if isinstance(res, tuple):
+            self.obs, self.central_state = res
+        else:
+            self.obs = res
 
     def step(self, action):
         next_state, reward, is_done, info = self.env.step(action)
@@ -136,7 +141,16 @@ def step(self, actions):
             newrewards.append(crewards)
             newdones.append(cdones)
             newinfos.append(cinfos)
-        return np.concatenate(newobs, axis=0), np.concatenate(newrewards, axis=0), np.concatenate(newdones, axis=0), newinfos
+        #print("newobs: ", newobs)
+        #print("newrewards: ", newrewards)
+        #print("newdones: ", newdones)
+        #print("newinfos:", newinfos)
+        #raise Exception()
+        ro = np.concatenate(newobs, axis=0)
+        rr = np.concatenate(newrewards, axis=0)
+        rd = np.concatenate(newdones, axis=0)
+        ri = newinfos
+        return ro, rr, rd, ri
 
     def has_action_masks(self):
         return True