Create cartpole-drqn.py

2-cartpole/1-dqn/cartpole-drqn.py

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+import sys
+import gym
+import pylab
+import random
+import numpy as np
+from collections import deque
+from keras.layers import Dense, LSTM
+from keras.optimizers import Adam
+from keras.models import Sequential
+
+EPISODES = 500
+
+
+# DRQN Agent for the Cartpole
+# it uses Neural Network to approximate q function
+# and replay memory & target q network
+class DRQNAgent:
+    def __init__(self, state_size, action_size):
+        # if you want to see Cartpole learning, then change to True
+        self.render = False
+        self.load_model = False
+
+        # get size of state and action
+        self.state_size = state_size
+        self.action_size = action_size
+
+        # These are hyper parameters for the DRQN
+        self.discount_factor = 0.99
+        self.learning_rate = 0.001
+        self.epsilon = 1.0
+        self.epsilon_decay = 0.999
+        self.epsilon_min = 0.01
+        self.batch_size = 64
+        self.train_start = 1000
+        # create replay memory using deque
+        self.memory = deque(maxlen=2000)
+
+        # create main model and target model
+        self.model = self.build_model()
+        self.target_model = self.build_model()
+
+        # initialize target model
+        self.update_target_model()
+
+        if self.load_model:
+            self.model.load_weights("./save_model/cartpole_drqn.h5")
+
+    # approximate Q function using Neural Network
+    # state is input and Q Value of each action is output of network
+    def build_model(self):
+        model = Sequential()
+        model.add(LSTM(32, input_shape=(self.state_size, 2)))
+        model.add(Dense(self.action_size))
+        model.compile(loss='mse', optimizer=Adam(lr=self.learning_rate))
+        return model
+
+    # after some time interval update the target model to be same with model
+    def update_target_model(self):
+        self.target_model.set_weights(self.model.get_weights())
+
+    # get action from model using epsilon-greedy policy
+    def get_action(self, state):
+        if np.random.rand() <= self.epsilon:
+            return random.randrange(self.action_size)
+        else:
+            q_value = self.model.predict(state)
+            return np.argmax(q_value[0])
+
+    # save sample <s,a,r,s'> to the replay memory
+    def append_sample(self, state, action, reward, next_state, done):
+        self.memory.append((state, action, reward, next_state, done))
+        if self.epsilon > self.epsilon_min:
+            self.epsilon *= self.epsilon_decay
+
+    # pick samples randomly from replay memory (with batch_size)
+    def train_model(self):
+        if len(self.memory) < self.train_start:
+            return
+        batch_size = min(self.batch_size, len(self.memory))
+        mini_batch = random.sample(self.memory, batch_size)
+
+        update_input = np.zeros((batch_size, self.state_size, 2))
+        update_target = np.zeros((batch_size, self.state_size, 2))
+        action, reward, done = [], [], []
+
+        for i in range(self.batch_size):
+            update_input[i] = mini_batch[i][0]
+            action.append(mini_batch[i][1])
+            reward.append(mini_batch[i][2])
+            update_target[i] = mini_batch[i][3]
+            done.append(mini_batch[i][4])
+
+        target = self.model.predict(update_input)
+        target_val = self.target_model.predict(update_target)
+
+        for i in range(self.batch_size):
+            # Q Learning: get maximum Q value at s' from target model
+            if done[i]:
+                target[i][action[i]] = reward[i]
+            else:
+                target[i][action[i]] = reward[i] + self.discount_factor * (
+                    np.amax(target_val[i]))
+
+        # and do the model fit!      
+        self.model.fit(update_input, target, batch_size=self.batch_size,
+                       epochs=1, verbose=0)
+
+
+if __name__ == "__main__":
+    # In case of CartPole-v1, maximum length of episode is 500
+    env = gym.make('CartPole-v1')
+
+    # Number of past state to use
+    number_of_past_state = 4
+
+    # get size of state and action from environment
+    state_size = env.observation_space.shape[0]
+    expanded_state_size = state_size * number_of_past_state
+    action_size = env.action_space.n
+
+    agent = DRQNAgent(expanded_state_size, action_size)
+
+    scores, episodes = [], []
+
+    for e in range(EPISODES):
+        done = False
+        score = 0
+        state = env.reset()
+
+        # expand the state with past states and initialize
+        expanded_state = np.zeros(expanded_state_size)
+        expanded_next_state = np.zeros(expanded_state_size)
+        for h in range(state_size):
+            expanded_state[(h + 1) * number_of_past_state - 1] = state[h]
+
+        # reshape states for LSTM input without embedding layer
+        reshaped_state = np.zeros((1, expanded_state_size, 2))
+        for i in range(expanded_state_size):
+            for j in range(2):
+                reshaped_state[0, i, j] = expanded_state[i]
+
+        while not done:
+            if agent.render:
+                env.render()
+
+            # get action for the current state and go one step in environment
+            action = agent.get_action(reshaped_state)
+            next_state, reward, done, info = env.step(action)
+
+            # update the expanded next state with next state values
+            for h in range(state_size):
+                expanded_next_state[(h + 1) * number_of_past_state - 1] = next_state[h]
+
+            # reshape expanded next state for LSTM input without embedding layer
+            reshaped_next_state = np.zeros((1, expanded_state_size, 2))
+            for i in range(expanded_state_size):
+                for j in range(2):
+                    reshaped_next_state[0, i, j] = expanded_next_state[i]
+
+            # if an action make the episode end, then gives penalty of -100
+            reward = reward if not done or score == 499 else -100
+
+            # save the sample <s, a, r, s'> to the replay memory
+            agent.append_sample(reshaped_state, action, reward, reshaped_next_state, done)
+
+            # every time step do the training
+            agent.train_model()
+            score += reward
+            reshaped_state = reshaped_next_state
+
+            # Shifting past state elements to the left by one
+            expanded_next_state = np.roll(expanded_next_state, -1)
+
+            if done:
+                # every episode update the target model to be same with model
+                agent.update_target_model()
+
+                # every episode, plot the play time
+                score = score if score == 500 else score + 100
+                scores.append(score)
+                episodes.append(e)
+                pylab.plot(episodes, scores, 'b')
+                pylab.savefig("./save_graph/cartpole_drqn.png")
+                print("episode:", e, "  score:", score, "  memory length:",
+                      len(agent.memory), "  epsilon:", agent.epsilon)
+
+            # if the mean of scores of last 10 episode is bigger than 490
+            # stop training
+            # revised to exit cleanly on Jupiter notebook
+            if np.mean(scores[-min(10, len(scores)):]) > 490:
+                #sys.exit()
+                env.close()
+                break
+
+        # save the model
+        if e % 50 == 0:
+            agent.model.save_weights("./save_model/cartpole_drqn.h5")