Merge branch 'master' of https://github.com/ShangtongZhang/DeepRL

README.md

@@ -9,6 +9,7 @@ Implemented algorithms:
 * Synchronous N-Step Q-Learning
 * Deep Deterministic Policy Gradient (DDPG)
 * (Continuous/Discrete) Synchronous Proximal Policy Optimization (PPO)
+* The Option-Critic Architecture (OC)
 * Action Conditional Video Prediction
 
 Asynchronous algorithms below are removed in current version but can be found in [v0.1](https://github.com/ShangtongZhang/DeepRL/releases/tag/v0.1).
@@ -22,6 +23,29 @@ Asynchronous algorithms below are removed in current version but can be found in
 
 Support for PyTorch v0.3.x can be found in [v0.2](https://github.com/ShangtongZhang/DeepRL/releases/tag/v0.2). Note all the figures are generated via this version. After the upgrade to PyTorch v0.4.0, I have only tested the classical control tasks. 
 
+# Dependency
+* MacOS 10.12 or Ubuntu 16.04
+* PyTorch v0.4.0
+* Python 3.6, 3.5 or 2.7 (deprecated)
+* Core dependencies: `pip install -e .`
+* Optional: [Roboschool](https://github.com/openai/roboschool), [DeepMind Control Suite](https://github.com/deepmind/dm_control)+[DMControl2Gym](dm_control2gym)
+
+# Usage
+
+```examples.py``` contains examples for all the implemented algorithms
+
+Please use this bibtex if you want to cite this repo
+```
+@misc{deeprl,
+  author = {Shangtong, Zhang},
+  title = {Modularized Implementation of Deep RL Algorithms in PyTorch},
+  year = {2018},
+  publisher = {GitHub},
+  journal = {GitHub Repository},
+  howpublished = {\url{https://github.com/ShangtongZhang/DeepRL}},
+}
+```
+
 # Curves
 > Curves for CartPole are trivial so I didn't place it here, and there isn't any fixed random seed. The curves are generated in the same manner as OpenAI baselines (one run and smoothed by recent 100 episodes)
 ## DQN
@@ -46,6 +70,11 @@ Support for PyTorch v0.3.x can be found in [v0.2](https://github.com/ShangtongZh
 ![Loading...](https://raw.githubusercontent.com/ShangtongZhang/DeepRL/master/images/ppo_continuous-180408-002056.png)
 ![Loading...](https://raw.githubusercontent.com/ShangtongZhang/DeepRL/master/images/ppo_pixel_atari-180410-235529.png)
 
+## OC
+![Loading...](https://raw.githubusercontent.com/ShangtongZhang/DeepRL/master/images/option_critic_pixel_atari-180417-092617.png)
+
+This is my synchronous option-critic implementation, not the original one.
+
 ## Action Conditional Video Prediction
 ![Loading...](https://raw.githubusercontent.com/ShangtongZhang/DeepRL/master/images/ACVP.png)
 
@@ -53,17 +82,6 @@ Support for PyTorch v0.3.x can be found in [v0.2](https://github.com/ShangtongZh
 
 Prediction is sampled after 110K iterations, and I only implemented one-step training
 
-# Dependency
-* MacOS 10.12 or Ubuntu 16.04
-* PyTorch v0.4.0
-* Python 3.6, 3.5 or 2.7 (deprecated)
-* Core dependencies: `pip install -e .`
-* Optional: [Roboschool](https://github.com/openai/roboschool), [DeepMind Control Suite](https://github.com/deepmind/dm_control)+[DMControl2Gym](dm_control2gym)
-
-# Usage
-
-```examples.py``` contains examples for all the implemented algorithms
-
 # References
 * [Human Level Control through Deep Reinforcement Learning](https://www.nature.com/nature/journal/v518/n7540/full/nature14236.html)
 * [Asynchronous Methods for Deep Reinforcement Learning](https://arxiv.org/abs/1602.01783)
@@ -81,4 +99,5 @@ Prediction is sampled after 110K iterations, and I only implemented one-step tra
 * [Action-Conditional Video Prediction using Deep Networks in Atari Games](https://arxiv.org/abs/1507.08750)
 * [A Distributional Perspective on Reinforcement Learning](https://arxiv.org/abs/1707.06887)
 * [Distributional Reinforcement Learning with Quantile Regression](https://arxiv.org/abs/1710.10044)
+* [The Option-Critic Architecture](https://arxiv.org/abs/1609.05140)
 * Some hyper-parameters are from [DeepMind Control Suite](https://arxiv.org/abs/1801.00690), [OpenAI Baselines](https://github.com/openai/baselines) and [Ilya Kostrikov](https://github.com/ikostrikov/pytorch-a2c-ppo-acktr)

deep_rl/agent/OptionCritic_agent.py

@@ -0,0 +1,115 @@
+#######################################################################
+# Copyright (C) 2017 Shangtong Zhang(zhangshangtong.cpp@gmail.com)    #
+# Permission given to modify the code as long as you keep this        #
+# declaration at the top                                              #
+#######################################################################
+
+from ..network import *
+from .BaseAgent import *
+
+class OptionCriticAgent(BaseAgent):
+    def __init__(self, config):
+        BaseAgent.__init__(self, config)
+        self.config = config
+        self.task = config.task_fn()
+        self.network = config.network_fn(self.task.state_dim, self.task.action_dim)
+        self.target_network = config.network_fn(self.task.state_dim, self.task.action_dim)
+        self.optimizer = config.optimizer_fn(self.network.parameters())
+        self.target_network.load_state_dict(self.network.state_dict())
+        self.policy = config.policy_fn()
+
+        self.episode_rewards = np.zeros(config.num_workers)
+        self.last_episode_rewards = np.zeros(config.num_workers)
+
+        self.total_steps = 0
+        states = self.config.state_normalizer(self.task.reset())
+        self.q_options, self.betas, self.log_pi = self.network.predict(states)
+        self.options = np.asarray([self.policy.sample(q) for q in self.q_options.detach().cpu().numpy()])
+        self.is_initial_betas = np.ones(self.config.num_workers)
+        self.prev_options = np.copy(self.options)
+
+    def iteration(self):
+        config = self.config
+        rollout = []
+
+        q_options, betas, options, log_pi = self.q_options, self.betas, self.options, self.log_pi
+        for _ in range(config.rollout_length):
+            var_options = self.network.tensor(options).long()
+            worker_index = self.network.tensor(np.arange(config.num_workers)).long()
+            intra_log_pi = log_pi[worker_index, var_options, :]
+            dist = torch.distributions.Categorical(intra_log_pi.exp())
+            actions = dist.sample()
+            next_states, rewards, terminals, _ = self.task.step(actions.cpu().detach().numpy().flatten())
+            next_states = config.state_normalizer(next_states)
+            self.episode_rewards += rewards
+            rewards = config.reward_normalizer(rewards)
+            q_options_next, betas_next, log_pi_next = self.network.predict(next_states)
+            rollout.append([q_options, betas, options, self.prev_options, rewards, 1 - terminals, np.copy(self.is_initial_betas), intra_log_pi, actions])
+            self.is_initial_betas = np.asarray(terminals, dtype=np.float32)
+
+            np_q_options_next = q_options_next.cpu().detach().numpy()
+            np_betas_next = betas_next.gather(1, var_options.unsqueeze(1)).cpu().detach().numpy().flatten()
+            options_next = np.copy(options)
+            dice = np.random.rand(len(options_next))
+            for j in range(len(dice)):
+                if dice[j] < np_betas_next[j]:
+                    options_next[j] = self.policy.sample(np_q_options_next[j])
+            for i, terminal in enumerate(terminals):
+                if terminals[i]:
+                    self.last_episode_rewards[i] = self.episode_rewards[i]
+                    self.episode_rewards[i] = 0
+            self.prev_options = options
+            options = options_next
+            q_options = q_options_next
+            betas = betas_next
+            log_pi = log_pi_next
+
+            self.policy.update_epsilon()
+            self.total_steps += config.num_workers
+            if self.total_steps / config.num_workers % config.target_network_update_freq == 0:
+                self.target_network.load_state_dict(self.network.state_dict())
+
+        self.options = options
+        self.q_options = q_options
+        self.betas = betas
+        self.log_pi = log_pi
+
+        target_q_options, _, _ = self.target_network.predict(next_states)
+        prev_options = self.network.tensor(self.prev_options).long().unsqueeze(1)
+        betas_prev_options = betas.gather(1, prev_options)
+
+        returns = (1 - betas_prev_options) * target_q_options.gather(1, prev_options) +\
+                  betas_prev_options * torch.max(target_q_options, dim=1, keepdim=True)[0]
+        returns = returns.detach()
+
+        processed_rollout = [None] * (len(rollout))
+        for i in reversed(range(len(rollout))):
+            q_options, betas, options, prev_options, rewards, terminals, is_initial_betas, log_pi, actions = rollout[i]
+            options = self.network.tensor(options).unsqueeze(1).long()
+            prev_options = self.network.tensor(prev_options).unsqueeze(1).long()
+            terminals = self.network.tensor(terminals).unsqueeze(1)
+            rewards = self.network.tensor(rewards).unsqueeze(1)
+            is_initial_betas = self.network.tensor(is_initial_betas).unsqueeze(1)
+            returns = rewards + config.discount * terminals * returns
+
+            q_omg = q_options.gather(1, options)
+            log_action_prob = log_pi.gather(1, actions.unsqueeze(1))
+            entropy_loss = (log_pi.exp() * log_pi).sum(-1).unsqueeze(1)
+
+            q_prev_omg = q_options.gather(1, prev_options)
+            v_prev_omg = torch.max(q_options, dim=1, keepdim=True)[0]
+            advantage_omg = q_prev_omg - v_prev_omg
+            advantage_omg.add_(config.termination_regularizer)
+            betas = betas.gather(1, prev_options)
+            betas = betas * (1 - is_initial_betas)
+            processed_rollout[i] = [q_omg, returns, betas, advantage_omg.detach(), log_action_prob, entropy_loss]
+
+        q_omg, returns, beta_omg, advantage_omg, log_action_prob, entropy_loss = map(lambda x: torch.cat(x, dim=0), zip(*processed_rollout))
+        pi_loss = -log_action_prob * (returns - q_omg.detach()) + config.entropy_weight * entropy_loss
+        pi_loss = pi_loss.mean()
+        q_loss = 0.5 * (q_omg - returns).pow(2).mean()
+        beta_loss = (advantage_omg * beta_omg).mean()
+        self.optimizer.zero_grad()
+        (pi_loss + q_loss + beta_loss).backward()
+        nn.utils.clip_grad_norm_(self.network.parameters(), config.gradient_clip)
+        self.optimizer.step()

deep_rl/agent/__init__.py

@@ -5,3 +5,4 @@ from .CategoricalDQN_agent import *
 from .NStepDQN_agent import *
 from .QuantileRegressionDQN_agent import *
 from .PPO_agent import *
+from .OptionCritic_agent import *

deep_rl/network/network_heads.py

@@ -89,6 +89,26 @@ class QuantileNet(nn.Module, BaseNet):
             quantiles = quantiles.cpu().detach().numpy()
         return quantiles
 
+class OptionCriticNet(nn.Module, BaseNet):
+    def __init__(self, body, action_dim, num_options, gpu=-1):
+        super(OptionCriticNet, self).__init__()
+        self.fc_q = layer_init(nn.Linear(body.feature_dim, num_options))
+        self.fc_pi = layer_init(nn.Linear(body.feature_dim, num_options * action_dim))
+        self.fc_beta = layer_init(nn.Linear(body.feature_dim, num_options))
+        self.num_options = num_options
+        self.action_dim = action_dim
+        self.body = body
+        self.set_gpu(gpu)
+
+    def predict(self, x):
+        phi = self.body(self.tensor(x))
+        q = self.fc_q(phi)
+        beta = F.sigmoid(self.fc_beta(phi))
+        pi = self.fc_pi(phi)
+        pi = pi.view(-1, self.num_options, self.action_dim)
+        log_pi = F.log_softmax(pi, dim=-1)
+        return q, beta, log_pi
+
 class GaussianActorNet(nn.Module, BaseNet):
     def __init__(self, action_dim, body, gpu=-1):
         super(GaussianActorNet, self).__init__()

deep_rl/network/network_utils.py

@@ -7,6 +7,7 @@
 import torch
 import torch.nn as nn
 import torch.nn.functional as F
+import numpy as np
 
 class BaseNet:
     def set_gpu(self, gpu):

deep_rl/utils/config.py

@@ -60,6 +60,7 @@ class Config:
         self.test_interval = 0
         self.test_repetitions = 10
         self.evaluation_env = None
+        self.termination_regularizer = 0
 
     def add_argument(self, *args, **kwargs):
         self.parser.add_argument(*args, **kwargs)

deep_rl/utils/plot.py

@@ -1,7 +1,7 @@
 # Adapted from  https://github.com/openai/baselines/blob/master/baselines/results_plotter.py
 
+from ..component.bench import load_monitor_log
 import numpy as np
-from ..component import *
 import os
 import re
 
@@ -44,7 +44,7 @@ class Plotter:
     def load_results(self, dirs, max_timesteps=1e8, x_axis=X_TIMESTEPS, episode_window=100):
         tslist = []
         for dir in dirs:
-            ts = component.load_monitor_log(dir)
+            ts = load_monitor_log(dir)
             ts = ts[ts.l.cumsum() <= max_timesteps]
             tslist.append(ts)
         xy_list = [self.ts2xy(ts, x_axis) for ts in tslist]

examples.py

@@ -117,6 +117,24 @@ def ppo_cart_pole():
     config.iteration_log_interval = 1
     run_iterations(PPOAgent(config))
 
+def option_critic_cart_pole():
+    config = Config()
+    game = 'CartPole-v0'
+    task_fn = lambda log_dir: ClassicalControl(game, max_steps=200, log_dir=log_dir)
+    config.num_workers = 5
+    config.task_fn = lambda: ParallelizedTask(task_fn, config.num_workers)
+    config.optimizer_fn = lambda params: torch.optim.RMSprop(params, 0.001)
+    config.network_fn = lambda state_dim, action_dim: OptionCriticNet(
+        FCBody(state_dim), action_dim, num_options=2)
+    config.policy_fn = lambda: GreedyPolicy(epsilon=1.0, final_step=10000, min_epsilon=0.1)
+    config.discount = 0.99
+    config.target_network_update_freq = 200
+    config.rollout_length = 5
+    config.termination_regularizer = 0.01
+    config.entropy_weight = 0.01
+    config.logger = Logger('./log', logger)
+    run_iterations(OptionCriticAgent(config))
+
 ## Atari games
 
 def dqn_pixel_atari(name):
@@ -247,6 +265,28 @@ def ppo_pixel_atari(name):
     config.iteration_log_interval = 1
     run_iterations(PPOAgent(config))
 
+def option_ciritc_pixel_atari(name):
+    config = Config()
+    config.history_length = 4
+    task_fn = lambda log_dir: PixelAtari(name, frame_skip=4, history_length=config.history_length, log_dir=log_dir)
+    config.num_workers = 16
+    config.task_fn = lambda: ParallelizedTask(task_fn, config.num_workers,
+                                              log_dir=get_default_log_dir(config.tag))
+    config.optimizer_fn = lambda params: torch.optim.RMSprop(params, lr=1e-4, alpha=0.99, eps=1e-5)
+    config.network_fn = lambda state_dim, action_dim: OptionCriticNet(NatureConvBody(), action_dim, num_options=4, gpu=0)
+    config.policy_fn = lambda: GreedyPolicy(epsilon=0.1, final_step=1000000, min_epsilon=0.1)
+    config.state_normalizer = ImageNormalizer()
+    config.reward_normalizer = SignNormalizer()
+    config.discount = 0.99
+    config.target_network_update_freq = 10000
+    config.rollout_length = 5
+    config.gradient_clip = 5
+    config.max_steps = 1e8
+    config.entropy_weight = 0.01
+    config.termination_regularizer = 0.01
+    config.logger = Logger('./log', logger)
+    run_iterations(OptionCriticAgent(config))
+
 def dqn_ram_atari(name):
     config = Config()
     config.task_fn = lambda: RamAtari(name, no_op=30, frame_skip=4,
@@ -331,7 +371,7 @@ def ddpg_continuous():
 def plot():
     import matplotlib.pyplot as plt
     plotter = Plotter()
-    names = plotter.load_log_dirs('')
+    names = plotter.load_log_dirs(pattern='.*')
     data = plotter.load_results(names)
 
     for i, name in enumerate(names):
@@ -371,6 +411,7 @@ if __name__ == '__main__':
     # quantile_regression_dqn_cart_pole()
     # n_step_dqn_cart_pole()
     # ppo_cart_pole()
+    # option_critic_cart_pole()
 
     # dqn_pixel_atari('BreakoutNoFrameskip-v4')
     # a2c_pixel_atari('BreakoutNoFrameskip-v4')
@@ -378,6 +419,7 @@ if __name__ == '__main__':
     # quantile_regression_dqn_pixel_atari('BreakoutNoFrameskip-v4')
     # n_step_dqn_pixel_atari('BreakoutNoFrameskip-v4')
     # ppo_pixel_atari('BreakoutNoFrameskip-v4')
+    # option_ciritc_pixel_atari('BreakoutNoFrameskip-v4')
     # dqn_ram_atari('Breakout-ramNoFrameskip-v4')
 
     # ddpg_continuous()