Vanilla-Policy.ipynb

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    "# Simple Reinforcement Learning in Tensorflow Part 2-b: \n",
    "## Vanilla Policy Gradient Agent\n",
    "This tutorial contains a simple example of how to build a policy-gradient based agent that can solve the CartPole problem. For more information, see this [Medium post](https://medium.com/@awjuliani/super-simple-reinforcement-learning-tutorial-part-2-ded33892c724#.mtwpvfi8b). This implementation is generalizable to more than two actions.\n",
    "\n",
    "For more Reinforcement Learning algorithms, including DQN and Model-based learning in Tensorflow, see my Github repo, [DeepRL-Agents](https://github.com/awjuliani/DeepRL-Agents). "
   ]
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   "source": [
    "import tensorflow as tf\n",
    "import tensorflow.contrib.slim as slim\n",
    "import numpy as np\n",
    "import gym\n",
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "try:\n",
    "    xrange = xrange\n",
    "except:\n",
    "    xrange = range"
   ]
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     "text": [
      "[2017-03-09 18:45:39,894] Making new env: CartPole-v0\n"
     ]
    }
   ],
   "source": [
    "env = gym.make('CartPole-v0')"
   ]
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   "source": [
    "### The Policy-Based Agent"
   ]
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   "source": [
    "gamma = 0.99\n",
    "\n",
    "def discount_rewards(r):\n",
    "    \"\"\" take 1D float array of rewards and compute discounted reward \"\"\"\n",
    "    discounted_r = np.zeros_like(r)\n",
    "    running_add = 0\n",
    "    for t in reversed(xrange(0, r.size)):\n",
    "        running_add = running_add * gamma + r[t]\n",
    "        discounted_r[t] = running_add\n",
    "    return discounted_r"
   ]
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   "source": [
    "class agent():\n",
    "    def __init__(self, lr, s_size,a_size,h_size):\n",
    "        #These lines established the feed-forward part of the network. The agent takes a state and produces an action.\n",
    "        self.state_in= tf.placeholder(shape=[None,s_size],dtype=tf.float32)\n",
    "        hidden = slim.fully_connected(self.state_in,h_size,biases_initializer=None,activation_fn=tf.nn.relu)\n",
    "        self.output = slim.fully_connected(hidden,a_size,activation_fn=tf.nn.softmax,biases_initializer=None)\n",
    "        self.chosen_action = tf.argmax(self.output,1)\n",
    "\n",
    "        #The next six lines establish the training proceedure. We feed the reward and chosen action into the network\n",
    "        #to compute the loss, and use it to update the network.\n",
    "        self.reward_holder = tf.placeholder(shape=[None],dtype=tf.float32)\n",
    "        self.action_holder = tf.placeholder(shape=[None],dtype=tf.int32)\n",
    "        \n",
    "        self.indexes = tf.range(0, tf.shape(self.output)[0]) * tf.shape(self.output)[1] + self.action_holder\n",
    "        self.responsible_outputs = tf.gather(tf.reshape(self.output, [-1]), self.indexes)\n",
    "\n",
    "        self.loss = -tf.reduce_mean(tf.log(self.responsible_outputs)*self.reward_holder)\n",
    "        \n",
    "        tvars = tf.trainable_variables()\n",
    "        self.gradient_holders = []\n",
    "        for idx,var in enumerate(tvars):\n",
    "            placeholder = tf.placeholder(tf.float32,name=str(idx)+'_holder')\n",
    "            self.gradient_holders.append(placeholder)\n",
    "        \n",
    "        self.gradients = tf.gradients(self.loss,tvars)\n",
    "        \n",
    "        optimizer = tf.train.AdamOptimizer(learning_rate=lr)\n",
    "        self.update_batch = optimizer.apply_gradients(zip(self.gradient_holders,tvars))"
   ]
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   "source": [
    "### Training the Agent"
   ]
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     "text": [
      "16.0\n",
      "21.47\n",
      "25.57\n",
      "38.03\n",
      "43.59\n",
      "53.05\n",
      "67.38\n",
      "90.44\n",
      "120.19\n",
      "131.75\n",
      "162.65\n",
      "156.48\n",
      "168.18\n",
      "181.43\n"
     ]
    }
   ],
   "source": [
    "tf.reset_default_graph() #Clear the Tensorflow graph.\n",
    "\n",
    "myAgent = agent(lr=1e-2,s_size=4,a_size=2,h_size=8) #Load the agent.\n",
    "\n",
    "total_episodes = 5000 #Set total number of episodes to train agent on.\n",
    "max_ep = 999\n",
    "update_frequency = 5\n",
    "\n",
    "init = tf.global_variables_initializer()\n",
    "\n",
    "# Launch the tensorflow graph\n",
    "with tf.Session() as sess:\n",
    "    sess.run(init)\n",
    "    i = 0\n",
    "    total_reward = []\n",
    "    total_lenght = []\n",
    "        \n",
    "    gradBuffer = sess.run(tf.trainable_variables())\n",
    "    for ix,grad in enumerate(gradBuffer):\n",
    "        gradBuffer[ix] = grad * 0\n",
    "        \n",
    "    while i < total_episodes:\n",
    "        s = env.reset()\n",
    "        running_reward = 0\n",
    "        ep_history = []\n",
    "        for j in range(max_ep):\n",
    "            #Probabilistically pick an action given our network outputs.\n",
    "            a_dist = sess.run(myAgent.output,feed_dict={myAgent.state_in:[s]})\n",
    "            a = np.random.choice(a_dist[0],p=a_dist[0])\n",
    "            a = np.argmax(a_dist == a)\n",
    "\n",
    "            s1,r,d,_ = env.step(a) #Get our reward for taking an action given a bandit.\n",
    "            ep_history.append([s,a,r,s1])\n",
    "            s = s1\n",
    "            running_reward += r\n",
    "            if d == True:\n",
    "                #Update the network.\n",
    "                ep_history = np.array(ep_history)\n",
    "                ep_history[:,2] = discount_rewards(ep_history[:,2])\n",
    "                feed_dict={myAgent.reward_holder:ep_history[:,2],\n",
    "                        myAgent.action_holder:ep_history[:,1],myAgent.state_in:np.vstack(ep_history[:,0])}\n",
    "                grads = sess.run(myAgent.gradients, feed_dict=feed_dict)\n",
    "                for idx,grad in enumerate(grads):\n",
    "                    gradBuffer[idx] += grad\n",
    "\n",
    "                if i % update_frequency == 0 and i != 0:\n",
    "                    feed_dict= dictionary = dict(zip(myAgent.gradient_holders, gradBuffer))\n",
    "                    _ = sess.run(myAgent.update_batch, feed_dict=feed_dict)\n",
    "                    for ix,grad in enumerate(gradBuffer):\n",
    "                        gradBuffer[ix] = grad * 0\n",
    "                \n",
    "                total_reward.append(running_reward)\n",
    "                total_lenght.append(j)\n",
    "                break\n",
    "\n",
    "        \n",
    "            #Update our running tally of scores.\n",
    "        if i % 100 == 0:\n",
    "            print(np.mean(total_reward[-100:]))\n",
    "        i += 1"
   ]
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