[PYTHON] Stärkung des Lernens 17 Colaboratory + CartPole + ChainerRL

Es wird davon ausgegangen, dass Sie das Verstärkungslernen 16 abgeschlossen haben. Nach Versuch und Irrtum sieht es so aus. Der Punkt ist, dass Sie Dateien direkt in Google Drive speichern und laden können. Ich kann die Abbildung unter der letzten Animation nicht löschen.

Google Drive-Mount

import google.colab.drive
google.colab.drive.mount('gdrive')
!ln -s gdrive/My\ Drive mydrive

Installation

!apt-get install -y xvfb python-opengl ffmpeg > /dev/null 2>&1
!pip install pyvirtualdisplay > /dev/null 2>&1
!pip -q install JSAnimation
!pip -q install chainerrl

Parameterinitialisierung

gamename='CartPole-v0'
# Set the discount factor that discounts future rewards.
gamma = 0.95
# Use epsilon-greedy for exploration
myepsilon=0.3

mySteps=20000 # Train the agent for 2000 steps
my_eval_n_episodes=1 # 10 episodes are sampled for each evaluation
my_eval_max_episode_len=200  # Maximum length of each episodes
my_eval_interval=1000   # Evaluate the agent after every 1000 steps
myOutDir='mydrive/OpenAI/CartPole/result'      # Save everything to 'result' directory
myAgentDir='mydrive/OpenAI/CartPole/agent'      # Save Agent to 'agent' directory
myAnimName='mydrive/OpenAI/CartPole/movie_cartpole.mp4'
myScoreName="mydrive/OpenAI/CartPole/result/scores.txt"

Program

import

import chainer
import chainer.functions as F
import chainer.links as L
import chainerrl
import gym
import numpy as np

env initialize

env = gym.make(gamename)
print('observation space:', env.observation_space)
print('action space:', env.action_space)

obs = env.reset()
print('initial observation:', obs)
action = env.action_space.sample()
obs, r, done, info = env.step(action)
print('next observation:', obs)
print('reward:', r)
print('done:', done)
print('info:', info)

Deep Q Network setting

obs_size = env.observation_space.shape[0]
n_actions = env.action_space.n
q_func = chainerrl.q_functions.FCStateQFunctionWithDiscreteAction(
    obs_size, n_actions,
    n_hidden_layers=2, n_hidden_channels=50)

Use Adam to optimize q_func. eps=1e-2 is for stability.

optimizer = chainer.optimizers.Adam(eps=1e-2)
optimizer.setup(q_func)

Agent Setting DQN uses Experience Replay.

Specify a replay buffer and its capacity.

Since observations from CartPole-v0 is numpy.float64 while

Chainer only accepts numpy.float32 by default, specify a converter as a feature extractor function phi.

explorer = chainerrl.explorers.ConstantEpsilonGreedy(
    epsilon=myepsilon, random_action_func=env.action_space.sample)
replay_buffer = chainerrl.replay_buffer.ReplayBuffer(capacity=10 ** 6)
phi = lambda x: x.astype(np.float32, copy=False)
agent = chainerrl.agents.DoubleDQN(
    q_func, optimizer, replay_buffer, gamma, explorer,
    replay_start_size=500, update_interval=1,
    target_update_interval=100, phi=phi)

Train

Set up the logger to print info messages for understandability.

import logging
import sys
logging.basicConfig(level=logging.INFO, stream=sys.stdout, format='')
chainerrl.experiments.train_agent_with_evaluation(
    agent, env,steps=mySteps,eval_n_steps=None,eval_n_episodes=my_eval_n_episodes,eval_max_episode_len=my_eval_max_episode_len,
    eval_interval=my_eval_interval,outdir=myOutDir)
agent.save(myAgentDir)

Data Table

import pandas as pd
import glob
import os
score_files = glob.glob(myScoreName)
score_files.sort(key=os.path.getmtime)
score_file = score_files[-1]
df = pd.read_csv(score_file, delimiter='\t' )
df

figure Average_Q

df.plot(x='steps',y='average_q')

Test

import2

from pyvirtualdisplay import Display
display = Display(visible=0, size=(1024, 768))
display.start()

from JSAnimation.IPython_display import display_animation
from matplotlib import animation
import matplotlib.pyplot as plt
%matplotlib inline

Test Program

frames = []
env = gym.make(gamename)
envw = gym.wrappers.Monitor(env, myOutDir, force=True)

for i in range(3):
    obs = envw.reset()
    done = False
    R = 0
    t = 0
    while not done and t < 200:
        frames.append(envw.render(mode = 'rgb_array'))
        action = agent.act(obs)
        obs, r, done, _ = envw.step(action)
        R += r
        t += 1
    print('test episode:', i, 'R:', R)
    agent.stop_episode()
envw.render()
envw.close()

from IPython.display import HTML
plt.figure(figsize=(frames[0].shape[1]/72.0, frames[0].shape[0]/72.0),dpi=72)
patch = plt.imshow(frames[0])
plt.axis('off') 
def animate(i):
    patch.set_data(frames[i])
anim = animation.FuncAnimation(plt.gcf(), animate, frames=len(frames),interval=50)
anim.save(myAnimName)
HTML(anim.to_jshtml())