ppo-lunar-lander-reinforcement-learning.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "colab_type": "text",
    "id": "QX5n2MCa3VVz"
   },
   "source": [
    "## Setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "Jh3Pkq2A3VFl"
   },
   "outputs": [],
   "source": [
    "! apt update\n",
    "! apt install -y python3-dev zlib1g-dev libjpeg-dev cmake swig python-pyglet python3-opengl libboost-all-dev libsdl2-dev libosmesa6-dev patchelf ffmpeg xvfb\n",
    "! pip install git+https://github.com/openai/gym.git#egg=gym[box2d]\n",
    "! pip install xvfbwrapper\n",
    "\n",
    "from IPython.display import clear_output\n",
    "\n",
    "clear_output()\n",
    "\n",
    "from xvfbwrapper import Xvfb\n",
    "vdisplay = Xvfb(width=1280, height=740)\n",
    "vdisplay.start()\n",
    "\n",
    "import numpy as np\n",
    "import random\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib.animation as animation\n",
    "from matplotlib import animation, rc\n",
    "from IPython.display import Math, HTML\n",
    "\n",
    "from pylab import rcParams\n",
    "\n",
    "rcParams['figure.figsize'] = 5, 3\n",
    "\n",
    "import gym\n",
    "\n",
    "def render_frames(env, num_frame=50):\n",
    "    env.reset()\n",
    "    frames = []\n",
    "    for i in range(num_frame):\n",
    "        _, _, done, _ = env.step( env.action_space.sample() )\n",
    "        if done:\n",
    "            env.reset()        \n",
    "        frames.append(  env.render(mode=\"rgb_array\") )\n",
    "        \n",
    "    return frames\n",
    "\n",
    "def create_animation(frames):\n",
    "    rc('animation', html='jshtml')\n",
    "    fig = plt.figure()\n",
    "    plt.axis(\"off\")\n",
    "    im = plt.imshow(frames[0], animated=True)\n",
    "\n",
    "    def updatefig(i):\n",
    "        im.set_array(frames[i])\n",
    "        return im,\n",
    "\n",
    "    ani = animation.FuncAnimation(fig, updatefig, frames=len(frames), interval=len(frames)/10, blit=True)\n",
    "    display(HTML(ani.to_html5_video()))    \n",
    "    plt.close()    \n",
    "    \n",
    "    return ani"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "5ODWeH143Rbu"
   },
   "outputs": [
    {
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       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "env = gym.make('LunarLander-v2')\n",
    "game_obs = env.reset()\n",
    "\n",
    "ani = create_animation(render_frames(env, 300))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "FHoOrhJH3YL_"
   },
   "outputs": [],
   "source": [
    "%load_ext tensorboard.notebook \n",
    "\n",
    "! mkdir logs\n",
    "! pip install tensorboardX\n",
    "\n",
    "clear_output()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "colab_type": "text",
    "id": "_j8LSG5j3bx8"
   },
   "source": [
    "## Tensorboard"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "LodOX96l3cai"
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "\n",
       "<!-- JUPYTER_TENSORBOARD_TEST_MARKER -->\n",
       "<script>\n",
       "    const req = {\n",
       "        method: 'POST',\n",
       "        contentType: 'application/json',\n",
       "        body: JSON.stringify({ 'logdir': './logs' }),\n",
       "        headers: { 'Content-Type': 'application/json' }\n",
       "    };\n",
       "\n",
       "    const baseUrl = Jupyter.notebook.base_url;\n",
       "\n",
       "    fetch(baseUrl + 'api/tensorboard', req)\n",
       "        .then(res => res.json())\n",
       "        .then(res => {\n",
       "            const iframe = document.getElementById('tensorboard-cbe3385b-f550-45f6-bbf5-98a22353a439');\n",
       "            iframe.src = baseUrl + 'tensorboard/' + res.name;\n",
       "            iframe.style.display = 'block';\n",
       "        });\n",
       "</script>\n",
       "\n",
       "<iframe\n",
       "    id=\"tensorboard-cbe3385b-f550-45f6-bbf5-98a22353a439\"\n",
       "    style=\"width: 100%; height: 620px; display: none;\"\n",
       "    frameBorder=\"0\">\n",
       "</iframe>\n"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "%tensorboard --logdir ./logs"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "colab_type": "text",
    "id": "HeXy1gwi3fkd"
   },
   "source": [
    "## PPO"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "Nw0HsEhZyFC6"
   },
   "outputs": [],
   "source": [
    "γ = 0.99"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "T8iKpMg_3ct5"
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(array([-inf, -inf, -inf, -inf, -inf, -inf, -inf, -inf], dtype=float32),\n",
       " array([inf, inf, inf, inf, inf, inf, inf, inf], dtype=float32))"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "env.observation_space.low, env.observation_space.high"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "TraL3-3Z3fAn"
   },
   "outputs": [],
   "source": [
    "import torch\n",
    "import torch.nn as nn"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "cF61taMnxvcY"
   },
   "outputs": [],
   "source": [
    "class ValueFunction(nn.Module):\n",
    "    def __init__(self, input_size):\n",
    "        super().__init__()       \n",
    "        \n",
    "        self.V = nn.Sequential(\n",
    "            nn.Linear(input_size, 128),\n",
    "            nn.SELU(),\n",
    "            nn.Linear(128, 256),\n",
    "            nn.SELU(),\n",
    "            nn.Linear(256, 1),\n",
    "        )        \n",
    "        \n",
    "    def forward(self, x):\n",
    "        v = self.V(x)\n",
    "        return v"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "o8crkr2w3iJv"
   },
   "outputs": [],
   "source": [
    "class SoftmaxPolicy(nn.Module):\n",
    "    def __init__(self, input_size, num_actions):\n",
    "        super().__init__()\n",
    "        \n",
    "        self.input_size = input_size\n",
    "        self.num_actions = num_actions\n",
    "        \n",
    "        self.π = nn.Sequential(\n",
    "            nn.Linear(input_size, 128),\n",
    "            nn.SELU(),\n",
    "            nn.Linear(128, 256),\n",
    "            nn.SELU(),\n",
    "            nn.Linear(256, 256),\n",
    "            nn.SELU(),\n",
    "            nn.Linear(256, num_actions),\n",
    "            nn.LogSoftmax(dim=1)\n",
    "        )\n",
    "        \n",
    "    def forward(self, x):\n",
    "        logits = self.π(x)\n",
    "        \n",
    "        return logits"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "cc = 0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "RZwGqyu147XY"
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "tensor(0)"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from torch.distributions.categorical import Categorical\n",
    "def sample_action(logits):\n",
    "    return Categorical(logits=logits).sample()\n",
    "\n",
    "obs = env.reset()\n",
    "\n",
    "device = torch.device(\"cuda\" if torch.cuda.is_available() else \"cpu\")\n",
    "\n",
    "import itertools\n",
    "\n",
    "from tensorboardX import SummaryWriter\n",
    "\n",
    "cc = cc + 1\n",
    "writer = SummaryWriter(\"./logs/{}\".format(cc))\n",
    "\n",
    "step = 0\n",
    "\n",
    "my_π = SoftmaxPolicy(input_size=8, num_actions=4).to(device)\n",
    "my_π_old = SoftmaxPolicy(input_size=8, num_actions=4).to(device)\n",
    "my_V = ValueFunction( input_size=8 ).to(device)\n",
    "\n",
    "\n",
    "state = torch.from_numpy(obs).float()\n",
    "logits = my_π(state.unsqueeze(0).to(device))\n",
    "logits.squeeze(0)\n",
    "\n",
    "sample_action(logits.squeeze(0).cpu())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "6zZl9VFoyR2Q"
   },
   "outputs": [],
   "source": [
    "def roll_out(env, π):\n",
    "    obs = env.reset()\n",
    "    \n",
    "    memory = []\n",
    "    rewards = []\n",
    "    states = []\n",
    "    actions = []\n",
    "    logps = []\n",
    "    π.eval()\n",
    "    with torch.no_grad():\n",
    "        for i in itertools.count():\n",
    "            state = torch.from_numpy(obs).float()\n",
    "            logits = π(state.unsqueeze(0).to(device))\n",
    "            act = sample_action(logits.cpu().squeeze())\n",
    "            obs, reward, is_done, info = env.step(act.item())\n",
    "            \n",
    "#             reward = 1.0\n",
    "            states.append(state)\n",
    "            actions.append(act)\n",
    "            rewards.append(torch.tensor(reward/200.0, dtype=torch.float)) # .tanh())\n",
    "            logps.append(logits[0,act.item()])\n",
    "            \n",
    "            if is_done:\n",
    "                break\n",
    "                \n",
    "    values = []\n",
    "    acc = 0.0\n",
    "#     c = 0\n",
    "    for r in reversed(rewards):\n",
    "#         c += 1\n",
    "        acc = γ*acc + r\n",
    "        values.insert(0, acc )\n",
    "\n",
    "    return zip(states, actions, values, logps)\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "NMyBAcBrsgXj"
   },
   "outputs": [],
   "source": [
    "from torch.utils.data import DataLoader\n",
    "\n",
    "params = itertools.chain(my_π.parameters(), my_V.parameters() )\n",
    "optim = torch.optim.Adam(params,  lr=1e-4)\n",
    "\n",
    "import math\n",
    "\n",
    "from torch.nn.utils import clip_grad_value_"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "dWQyicSQsh4m"
   },
   "outputs": [],
   "source": [
    "eps = 0.2\n",
    "\n",
    "for loop in range(800):\n",
    "    experiences = []\n",
    "\n",
    "    for episole in range(30):\n",
    "        experiences.extend( roll_out(env, my_π) )\n",
    "    \n",
    "    dataloader = DataLoader(experiences, batch_size=32, shuffle=True)\n",
    "\n",
    "    my_V.train()\n",
    "        \n",
    "    my_π.train()\n",
    "    \n",
    "    my_π_old.load_state_dict( my_π.state_dict() )\n",
    "    my_π_old.eval()\n",
    "    \n",
    "    for state, action, value, logp_old in dataloader:\n",
    "        step += 1\n",
    "        ii = state.to(device)\n",
    "        ### V loss\n",
    "        vv = my_V(ii)\n",
    "        vv_loss = nn.functional.mse_loss(input=vv, target =value.unsqueeze(1).to(device) )\n",
    "\n",
    "        writer.add_scalar(\"V_loss\", vv_loss.item(), step)        \n",
    "        \n",
    "        ## Policy gradient\n",
    "        \n",
    "        logits = my_π(ii)\n",
    "        logp = logits.gather(dim=1, index=action.unsqueeze(1).to(device)) \n",
    "        with torch.no_grad():\n",
    "#             logits_old = my_π_old(ii)\n",
    "#             logp_old = logits_old.gather(dim=1, index=action.unsqueeze(1).to(device)) \n",
    "            advantage = value.unsqueeze(1).to(device) - vv\n",
    "            \n",
    "        ratio = (logp - logp_old.unsqueeze(1).to(device) ).exp()\n",
    "        \n",
    "        entropy = - logits * logits.exp()\n",
    "        pi_loss = - torch.min( ratio * advantage, torch.clamp(ratio, min=1.0 - eps, max=1.0 + eps) * advantage ) - 1e-4 * entropy\n",
    "\n",
    "        pi_loss = pi_loss.mean()\n",
    "                \n",
    "        loss = pi_loss + vv_loss\n",
    "    \n",
    "        writer.add_scalar(\"mean reward\", value.mean().item(), step)\n",
    "        writer.add_scalar(\"pi_loss\", pi_loss.item(), step)\n",
    "        writer.add_scalar(\"loss\", loss.item(), step)\n",
    "        \n",
    "        optim.zero_grad()\n",
    "        loss.backward()\n",
    "\n",
    "        clip_grad_value_( params , 1.0)\n",
    "        optim.step()\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "colab_type": "text",
    "id": "rWZWFJkvTM5R"
   },
   "source": [
    "## Results\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "799"
      ]
     },
     "execution_count": 15,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "loop"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "VOYYQEHXjLl7"
   },
   "outputs": [],
   "source": [
    "obs = env.reset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "_73H4G1x1_Vx"
   },
   "outputs": [],
   "source": [
    "def render_frames_with_env(env, π):\n",
    "\n",
    "    frames = []\n",
    "    \n",
    "    π.eval()\n",
    "    for i in range(10):\n",
    "        obs = env.reset()\n",
    "        with torch.no_grad():\n",
    "            for i in itertools.count():\n",
    "                state = torch.from_numpy(obs).float()\n",
    "                logits = π(state.unsqueeze(0).to(device))\n",
    "                act = sample_action(logits.cpu().squeeze())\n",
    "                obs, reward, is_done, info = env.step(act.item())\n",
    "\n",
    "                frames.append(  env.render(mode=\"rgb_array\") )\n",
    "\n",
    "                if is_done:\n",
    "                    break\n",
    "                \n",
    "    return frames\n",
    "\n",
    "def create_animation(frames):\n",
    "    rc('animation', html='jshtml')\n",
    "    fig = plt.figure()\n",
    "    plt.axis(\"off\")\n",
    "    im = plt.imshow(frames[0], animated=True)\n",
    "\n",
    "    def updatefig(i):\n",
    "        im.set_array(frames[i])\n",
    "        return im,\n",
    "\n",
    "    ani = animation.FuncAnimation(fig, updatefig, frames=len(frames), interval=20, blit=True)\n",
    "    display(HTML(ani.to_html5_video()))    \n",
    "    plt.close()    \n",
    "    \n",
    "    return ani"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "colab": {},
    "colab_type": "code",
    "id": "k6FYVevLTN_h"
   },
   "outputs": [
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       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ani = create_animation(render_frames_with_env(env, my_π))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "accelerator": "GPU",
  "colab": {
   "collapsed_sections": [],
   "name": "PPO.ipynb",
   "provenance": [],
   "version": "0.3.2"
  },
  "kernelspec": {
   "display_name": "Python 3",
   "name": "python3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}