In [1]:
%matplotlib inline
Author: Adam Paszke <https://github.com/apaszke>_
This tutorial shows how to use PyTorch to train a Deep Q Learning (DQN) agent
on the CartPole-v0 task from the OpenAI Gym <https://gym.openai.com/>__.
Task
The agent has to decide between two actions - moving the cart left or
right - so that the pole attached to it stays upright. You can find an
official leaderboard with various algorithms and visualizations at the
Gym website <https://gym.openai.com/envs/CartPole-v0>__.
.. figure:: /_static/img/cartpole.gif :alt: cartpole
cartpole
As the agent observes the current state of the environment and chooses an action, the environment transitions to a new state, and also returns a reward that indicates the consequences of the action. In this task, the environment terminates if the pole falls over too far.
The CartPole task is designed so that the inputs to the agent are 4 real values representing the environment state (position, velocity, etc.). However, neural networks can solve the task purely by looking at the scene, so we'll use a patch of the screen centered on the cart as an input. Because of this, our results aren't directly comparable to the ones from the official leaderboard - our task is much harder. Unfortunately this does slow down the training, because we have to render all the frames.
Strictly speaking, we will present the state as the difference between the current screen patch and the previous one. This will allow the agent to take the velocity of the pole into account from one image.
Packages
First, let's import needed packages. Firstly, we need
gym <https://gym.openai.com/docs>__ for the environment
(Install using pip install gym).
We'll also use the following from PyTorch:
torch.nn)torch.optim)torch.autograd)torchvision - a separate
package <https://github.com/pytorch/vision>__).
In [2]:
import gym
import math
import random
import numpy as np
import matplotlib
import matplotlib.pyplot as plt
from collections import namedtuple
from itertools import count
from copy import deepcopy
from PIL import Image
import torch
import torch.nn as nn
import torch.optim as optim
import torch.autograd as autograd
import torch.nn.functional as F
import torchvision.transforms as T
env = gym.make('CartPole-v0')
is_ipython = 'inline' in matplotlib.get_backend()
if is_ipython:
from IPython import display
We'll be using experience replay memory for training our DQN. It stores the transitions that the agent observes, allowing us to reuse this data later. By sampling from it randomly, the transitions that build up a batch are decorrelated. It has been shown that this greatly stabilizes and improves the DQN training procedure.
For this, we're going to need two classses:
Transition - a named tuple representing a single transition in
our environmentReplayMemory - a cyclic buffer of bounded size that holds the
transitions observed recently. It also implements a .sample()
method for selecting a random batch of transitions for training.
In [3]:
# class Transition with tuples accessible by name with . operator (here name class=name instance)
Transition = namedtuple('Transition',
('state', 'action', 'next_state', 'reward'))
class ReplayMemory(object):
def __init__(self, capacity):
self.capacity = capacity
self.memory = []
self.position = 0
def push(self, *args):
"""Saves a transition."""
if len(self.memory) < self.capacity:
self.memory.append(None)
self.memory[self.position] = Transition(*args)
self.position = (self.position + 1) % self.capacity
def sample(self, batch_size):
return random.sample(self.memory, batch_size)
def __len__(self):
return len(self.memory)
Now, let's define our model. But first, let quickly recap what a DQN is.
Our environment is deterministic, so all equations presented here are also formulated deterministically for the sake of simplicity. In the reinforcement learning literature, they would also contain expectations over stochastic transitions in the environment.
Our aim will be to train a policy that tries to maximize the discounted, cumulative reward $R_{t_0} = \sum_{t=t_0}^{\infty} \gamma^{t - t_0} r_t$, where $R_{t_0}$ is also known as the return. The discount, $\gamma$, should be a constant between $0$ and $1$ that ensures the sum converges. It makes rewards from the uncertain far future less important for our agent than the ones in the near future that it can be fairly confident about.
The main idea behind Q-learning is that if we had a function $Q^*: State \times Action \rightarrow \mathbb{R}$, that could tell us what our return would be, if we were to take an action in a given state, then we could easily construct a policy that maximizes our rewards:
\begin{align}\pi^*(s) = \arg\!\max_a \ Q^*(s, a)\end{align}However, we don't know everything about the world, so we don't have access to $Q^*$. But, since neural networks are universal function approximators, we can simply create one and train it to resemble $Q^*$.
For our training update rule, we'll use a fact that every $Q$ function for some policy obeys the Bellman equation:
\begin{align}Q^{\pi}(s, a) = r + \gamma Q^{\pi}(s', \pi(s'))\end{align}The difference between the two sides of the equality is known as the temporal difference error, $\delta$:
\begin{align}\delta = Q(s, a) - (r + \gamma \max_a Q(s', a))\end{align}To minimise this error, we will use the Huber
loss <https://en.wikipedia.org/wiki/Huber_loss>__. The Huber loss acts
like the mean squared error when the error is small, but like the mean
absolute error when the error is large - this makes it more robust to
outliers when the estimates of $Q$ are very noisy. We calculate
this over a batch of transitions, $B$, sampled from the replay
memory:
Q-network ^^^^^^^^^
Our model will be a convolutional neural network that takes in the difference between the current and previous screen patches. It has two outputs, representing $Q(s, \mathrm{left})$ and $Q(s, \mathrm{right})$ (where $s$ is the input to the network). In effect, the network is trying to predict the quality of taking each action given the current input.
In [4]:
class DQN(nn.Module):
def __init__(self):
super(DQN, self).__init__()
self.conv1 = nn.Conv2d(3, 16, kernel_size=5, stride=2)
self.bn1 = nn.BatchNorm2d(16)
self.conv2 = nn.Conv2d(16, 32, kernel_size=5, stride=2)
self.bn2 = nn.BatchNorm2d(32)
self.conv3 = nn.Conv2d(32, 32, kernel_size=5, stride=2)
self.bn3 = nn.BatchNorm2d(32)
#448 = 32 * H * W, where H and W are the height and width of image after all convolutions
self.head = nn.Linear(448, 2)
def forward(self, x):
x = F.relu(self.bn1(self.conv1(x)))
x = F.relu(self.bn2(self.conv2(x)))
x = F.relu(self.bn3(self.conv3(x)))
return self.head(x.view(x.size(0), -1)) # the size -1 is inferred from other dimensions
In [42]:
# after first conv2d, size is
Hin = 40; Win = 80;
def dim_out(dim_in):
ks = 5
stride = 2
return math.floor((dim_in-ks)/stride+1)
HH=dim_out(dim_out(dim_out(Hin)))
WW=dim_out(dim_out(dim_out(Win)))
print(32*HH*WW)
Input extraction ^^^^^^^^^^^^^^^^
The code below are utilities for extracting and processing rendered
images from the environment. It uses the torchvision package, which
makes it easy to compose image transforms. Once you run the cell it will
display an example patch that it extracted.
In [5]:
resize = T.Compose([T.ToPILImage(),
T.Scale(40, interpolation=Image.CUBIC),
T.ToTensor()])
# This is based on the code from gym.
screen_width = 600
def get_cart_location():
world_width = env.unwrapped.x_threshold * 2
scale = screen_width / world_width
return int(env.unwrapped.state[0] * scale + screen_width / 2.0) # MIDDLE OF CART
def get_screen():
screen = env.render(mode='rgb_array').transpose(
(2, 0, 1)) # transpose into torch order (CHW)
# Strip off the top and bottom of the screen
screen = screen[:, 160:320]
view_width = 320
cart_location = get_cart_location()
if cart_location < view_width // 2:
slice_range = slice(view_width)
elif cart_location > (screen_width - view_width // 2):
slice_range = slice(-view_width, None)
else:
slice_range = slice(cart_location - view_width // 2,
cart_location + view_width // 2)
# Strip off the edges, so that we have a square image centered on a cart
screen = screen[:, :, slice_range]
# Convert to float, rescare, convert to torch tensor
# (this doesn't require a copy)
screen = np.ascontiguousarray(screen, dtype=np.float32) / 255
screen = torch.from_numpy(screen)
# Resize, and add a batch dimension (BCHW)
print(resize(screen).unsqueeze(0).size)
return resize(screen).unsqueeze(0)
env.reset()
plt.imshow(get_screen().squeeze(0).permute(
1, 2, 0).numpy(), interpolation='none')
plt.show()
Hyperparameters and utilities ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ This cell instantiates our model and its optimizer, and defines some utilities:
Variable - this is a simple wrapper around
torch.autograd.Variable that will automatically send the data to
the GPU every time we construct a Variable.select_action - will select an action accordingly to an epsilon
greedy policy. Simply put, we'll sometimes use our model for choosing
the action, and sometimes we'll just sample one uniformly. The
probability of choosing a random action will start at EPS_START
and will decay exponentially towards EPS_END. EPS_DECAY
controls the rate of the decay.plot_durations - a helper for plotting the durations of episodes,
along with an average over the last 100 episodes (the measure used in
the official evaluations). The plot will be underneath the cell
containing the main training loop, and will update after every
episode.
In [6]:
BATCH_SIZE = 128
GAMMA = 0.999
EPS_START = 0.9
EPS_END = 0.05
EPS_DECAY = 200
USE_CUDA = torch.cuda.is_available()
model = DQN()
memory = ReplayMemory(10000)
optimizer = optim.RMSprop(model.parameters())
if USE_CUDA:
model.cuda()
class Variable(autograd.Variable):
def __init__(self, data, *args, **kwargs):
if USE_CUDA:
data = data.cuda()
super(Variable, self).__init__(data, *args, **kwargs)
steps_done = 0
def select_action(state):
global steps_done
sample = random.random()
eps_threshold = EPS_END + (EPS_START - EPS_END) * \
math.exp(-1. * steps_done / EPS_DECAY)
steps_done += 1
if sample > eps_threshold:
return model(Variable(state, volatile=True)).data.max(1)[1].cpu()
else:
return torch.LongTensor([[random.randrange(2)]])
episode_durations = []
def plot_durations():
plt.figure(1)
plt.clf()
durations_t = torch.Tensor(episode_durations)
plt.xlabel('Episode')
plt.ylabel('Duration')
plt.plot(durations_t.numpy())
# Take 100 episode averages and plot them too
if len(durations_t) >= 100:
means = durations_t.unfold(0, 100, 1).mean(1).view(-1)
means = torch.cat((torch.zeros(99), means))
plt.plot(means.numpy())
if is_ipython:
display.clear_output(wait=True)
display.display(plt.gcf())
Training loop ^^^^^^^^^^^^^
Finally, the code for training our model.
Here, you can find an optimize_model function that performs a
single step of the optimization. It first samples a batch, concatenates
all the tensors into a single one, computes $Q(s_t, a_t)$ and
$V(s_{t+1}) = \max_a Q(s_{t+1}, a)$, and combines them into our
loss. By defition we set $V(s) = 0$ if $s$ is a terminal
state.
In [29]:
last_sync = 0
def optimize_model():
global last_sync
print("len<batch:",len(memory) < BATCH_SIZE)
# if the memory is smaller than wanted, don't do anything and keep building memory
if len(memory) < BATCH_SIZE:
return
transitions = memory.sample(BATCH_SIZE)
# Transpose the batch (see http://stackoverflow.com/a/19343/3343043 for
# detailed explanation).
batch = Transition(*zip(*transitions))
# Compute a mask of non-final states and concatenate the batch elements
non_final_mask = torch.ByteTensor(
tuple(map(lambda s: s is not None, batch.next_state)))
if USE_CUDA:
non_final_mask = non_final_mask.cuda()
# We don't want to backprop through the expected action values and volatile
# will save us on temporarily changing the model parameters'
# requires_grad to False!
non_final_next_states = Variable(torch.cat([s for s in batch.next_state
if s is not None]),
volatile=True)
state_batch = Variable(torch.cat(batch.state))
action_batch = Variable(torch.cat(batch.action))
reward_batch = Variable(torch.cat(batch.reward))
# Compute Q(s_t, a) - the model computes Q(s_t), then we select the
# columns of actions taken
print("In optimize: state_batch", state_batch.data.size())
state_action_values = model(state_batch).gather(1, action_batch)
# Compute V(s_{t+1})=max_a Q(s_{t+1}, a) for all next states.
next_state_values = Variable(torch.zeros(BATCH_SIZE))
next_state_values[non_final_mask] = model(non_final_next_states).max(1)[0]
# Now, we don't want to mess up the loss with a volatile flag, so let's
# clear it. After this, we'll just end up with a Variable that has
# requires_grad=False
next_state_values.volatile = False
# Compute the expected Q values
expected_state_action_values = (next_state_values * GAMMA) + reward_batch
# Compute Huber loss
loss = F.smooth_l1_loss(state_action_values, expected_state_action_values)
# Optimize the model
optimizer.zero_grad()
loss.backward()
for param in model.parameters():
param.grad.data.clamp_(-1, 1)
optimizer.step()
In [32]:
transitions = memory.sample(BATCH_SIZE)
batch = Transition(*zip(*transitions))
non_final_next_states = Variable(torch.cat([s for s in batch.next_state
if s is not None]),
volatile=True)
state_batch = Variable(torch.cat(batch.state))
action_batch = Variable(torch.cat(batch.action))
reward_batch = Variable(torch.cat(batch.reward))
In [45]:
#print(state_batch.data.size())
#print(action_batch.data.size())
#print(reward_batch.data.size())
x=state_batch
x.view(x.size(0), -1)
Out[45]:
In [47]:
40*80*3
Out[47]:
Below, you can find the main training loop. At the beginning we reset
the environment and initialize the state variable. Then, we sample
an action, execute it, observe the next screen and the reward (always
1), and optimize our model once. When the episode ends (our model
fails), we restart the loop.
Below, num_episodes is set small. You should download
the notebook and run lot more epsiodes.
In [30]:
num_episodes = 1
for i_episode in range(num_episodes):
# Initialize the environment and state
env.reset()
last_screen = get_screen()
current_screen = get_screen()
state = current_screen - last_screen
for t in count():
print(t)
# Select and perform an action
action = select_action(state)
_, reward, done, _ = env.step(action[0, 0])
reward = torch.Tensor([reward])
# Observe new state
last_screen = current_screen
current_screen = get_screen()
if not done:
next_state = current_screen - last_screen
else:
next_state = None
# Store the transition in memory
memory.push(state, action, next_state, reward)
# Move to the next state
state = next_state
# Perform one step of the optimization (on the target network)
optimize_model()
if done:
episode_durations.append(t + 1)
#plot_durations()
break
In [ ]: