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January 17, 2017 07:16
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./sarsa.py --max_episodes 10000 --alpha 0.3 --gamma 0.9 --eps 0.2 --eps_schedule 200 --goal 25 --env copy --upload
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#!/usr/local/bin/python | |
""" | |
SARSA - on policy TD(0) learning. | |
Q(S, A) <- Q(S, A) + alpha * ((R + gamma * Q(S', A')) - Q(S, A)) | |
A, A' ~ e-greedy from pi(A|S) | |
""" | |
import argparse | |
import numpy as np | |
from collections import defaultdict | |
import gym | |
from gym import wrappers | |
import pdb | |
EXP_NAME_PREFIX = 'exp/sarsa' | |
API_KEY = '???' | |
ENVS = { | |
'copy': 'Copy-v0', | |
} | |
def decode(a, dims): | |
if len(dims) == 1: | |
return a | |
res = [] | |
for d in reversed(dims): | |
res.append(a % d) | |
a /= d | |
res.reverse() | |
return res | |
def sarsa(env, max_episodes, alpha, gamma, eps, eps_schedule, goal): | |
if hasattr(env.action_space, 'spaces'): | |
dims = [d.n for d in env.action_space.spaces] | |
else: | |
dims = [env.action_space.n] | |
nA = np.prod(dims) | |
nS = env.observation_space.n | |
Q = np.zeros((nS, nA), np.float32) | |
P = np.zeros(nA, np.float32) | |
def exec_policy(s): | |
P.fill(eps / nA) | |
P[np.argmax(Q[s])] += 1 - eps | |
return np.random.choice(xrange(nA), p=P) | |
tR = np.zeros(100, np.float32) | |
for e in xrange(max_episodes): | |
if e % 50 == 0 and e > 0: | |
print 'episode %d, average reward: %.3f' % (e, np.mean(tR)) | |
if np.mean(tR) > goal: | |
return e | |
if e % eps_schedule == 0 and e > 0: | |
eps /= 2 | |
s = env.reset() | |
a = exec_policy(s) | |
done = False | |
tR[e % tR.size] = 0. | |
while not done: | |
ns, r, done, _ = env.step(decode(a, dims)) | |
na = exec_policy(ns) | |
Q[s][a] += alpha * ((r + gamma * Q[ns][na]) - Q[s][a]) | |
s, a = ns, na | |
tR[e % tR.size] += r | |
return max_episodes | |
def main(): | |
parser = argparse.ArgumentParser(description='SARSA') | |
parser.add_argument('--env', choices=ENVS.keys()) | |
parser.add_argument('--max_episodes', type=int, default=10000) | |
parser.add_argument('--alpha', type=float, default=1.0) | |
parser.add_argument('--gamma', type=float, default=1.0) | |
parser.add_argument('--eps', type=float, default=0.1) | |
parser.add_argument('--eps_schedule', type=int, default=10000) | |
parser.add_argument('--goal', type=float, default=1.0) | |
parser.add_argument('--upload', action='store_true', default=False) | |
args = parser.parse_args() | |
exp_name = '%s_%s' % (EXP_NAME_PREFIX, args.env) | |
env = gym.make(ENVS[args.env]) | |
env.seed(0) | |
np.random.seed(0) | |
if args.upload: | |
env = wrappers.Monitor(env, exp_name, force=True) | |
res = sarsa(env, args.max_episodes, args.alpha, | |
args.gamma, args.eps, args.eps_schedule, args.goal) | |
print 'result -> %d' % res | |
env.close() | |
if args.upload: | |
gym.upload(exp_name, api_key=API_KEY) | |
if __name__ == '__main__': | |
main() |
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