Full Code of jaromiru/AI-blog for AI

Repository: jaromiru/AI-blog
Branch: master
Commit: 348628b10505
Files: 7
Total size: 34.7 KB

Directory structure:
gitextract_jgc2t_gv/

├── CartPole-A3C.py
├── CartPole-DQN.py
├── CartPole-basic.py
├── LICENSE
├── MountainCar-basic.py
├── Seaquest-DDQN-PER.py
└── SumTree.py

================================================
FILE CONTENTS
================================================

================================================
FILE: CartPole-A3C.py
================================================
# OpenGym CartPole-v0 with A3C on GPU
# -----------------------------------
#
# A3C implementation with GPU optimizer threads.
# 
# Made as part of blog series Let's make an A3C, available at
# https://jaromiru.com/2017/02/16/lets-make-an-a3c-theory/
#
# author: Jaromir Janisch, 2017

import numpy as np
import tensorflow as tf

import gym, time, random, threading

from keras.models import *
from keras.layers import *
from keras import backend as K

#-- constants
ENV = 'CartPole-v0'

RUN_TIME = 30
THREADS = 8
OPTIMIZERS = 2
THREAD_DELAY = 0.001

GAMMA = 0.99

N_STEP_RETURN = 8
GAMMA_N = GAMMA ** N_STEP_RETURN

EPS_START = 0.4
EPS_STOP  = .15
EPS_STEPS = 75000

MIN_BATCH = 32
LEARNING_RATE = 5e-3

LOSS_V = .5			# v loss coefficient
LOSS_ENTROPY = .01 	# entropy coefficient

#---------
class Brain:
	train_queue = [ [], [], [], [], [] ]	# s, a, r, s', s' terminal mask
	lock_queue = threading.Lock()

	def __init__(self):
		self.session = tf.Session()
		K.set_session(self.session)
		K.manual_variable_initialization(True)

		self.model = self._build_model()
		self.graph = self._build_graph(self.model)

		self.session.run(tf.global_variables_initializer())
		self.default_graph = tf.get_default_graph()

		self.default_graph.finalize()	# avoid modifications

	def _build_model(self):

		l_input = Input( batch_shape=(None, NUM_STATE) )
		l_dense = Dense(16, activation='relu')(l_input)

		out_actions = Dense(NUM_ACTIONS, activation='softmax')(l_dense)
		out_value   = Dense(1, activation='linear')(l_dense)

		model = Model(inputs=[l_input], outputs=[out_actions, out_value])
		model._make_predict_function()	# have to initialize before threading

		return model

	def _build_graph(self, model):
		s_t = tf.placeholder(tf.float32, shape=(None, NUM_STATE))
		a_t = tf.placeholder(tf.float32, shape=(None, NUM_ACTIONS))
		r_t = tf.placeholder(tf.float32, shape=(None, 1)) # not immediate, but discounted n step reward
		
		p, v = model(s_t)

		log_prob = tf.log( tf.reduce_sum(p * a_t, axis=1, keep_dims=True) + 1e-10)
		advantage = r_t - v

		loss_policy = - log_prob * tf.stop_gradient(advantage)									# maximize policy
		loss_value  = LOSS_V * tf.square(advantage)												# minimize value error
		entropy = LOSS_ENTROPY * tf.reduce_sum(p * tf.log(p + 1e-10), axis=1, keep_dims=True)	# maximize entropy (regularization)

		loss_total = tf.reduce_mean(loss_policy + loss_value + entropy)

		optimizer = tf.train.RMSPropOptimizer(LEARNING_RATE, decay=.99)
		minimize = optimizer.minimize(loss_total)

		return s_t, a_t, r_t, minimize

	def optimize(self):
		if len(self.train_queue[0]) < MIN_BATCH:
			time.sleep(0)	# yield
			return

		with self.lock_queue:
			if len(self.train_queue[0]) < MIN_BATCH:	# more thread could have passed without lock
				return 									# we can't yield inside lock

			s, a, r, s_, s_mask = self.train_queue
			self.train_queue = [ [], [], [], [], [] ]

		s = np.vstack(s)
		a = np.vstack(a)
		r = np.vstack(r)
		s_ = np.vstack(s_)
		s_mask = np.vstack(s_mask)

		if len(s) > 5*MIN_BATCH: print("Optimizer alert! Minimizing batch of %d" % len(s))

		v = self.predict_v(s_)
		r = r + GAMMA_N * v * s_mask	# set v to 0 where s_ is terminal state
		
		s_t, a_t, r_t, minimize = self.graph
		self.session.run(minimize, feed_dict={s_t: s, a_t: a, r_t: r})

	def train_push(self, s, a, r, s_):
		with self.lock_queue:
			self.train_queue[0].append(s)
			self.train_queue[1].append(a)
			self.train_queue[2].append(r)

			if s_ is None:
				self.train_queue[3].append(NONE_STATE)
				self.train_queue[4].append(0.)
			else:	
				self.train_queue[3].append(s_)
				self.train_queue[4].append(1.)

	def predict(self, s):
		with self.default_graph.as_default():
			p, v = self.model.predict(s)
			return p, v

	def predict_p(self, s):
		with self.default_graph.as_default():
			p, v = self.model.predict(s)		
			return p

	def predict_v(self, s):
		with self.default_graph.as_default():
			p, v = self.model.predict(s)		
			return v

#---------
frames = 0
class Agent:
	def __init__(self, eps_start, eps_end, eps_steps):
		self.eps_start = eps_start
		self.eps_end   = eps_end
		self.eps_steps = eps_steps

		self.memory = []	# used for n_step return
		self.R = 0.

	def getEpsilon(self):
		if(frames >= self.eps_steps):
			return self.eps_end
		else:
			return self.eps_start + frames * (self.eps_end - self.eps_start) / self.eps_steps	# linearly interpolate

	def act(self, s):
		eps = self.getEpsilon()			
		global frames; frames = frames + 1

		if random.random() < eps:
			return random.randint(0, NUM_ACTIONS-1)

		else:
			s = np.array([s])
			p = brain.predict_p(s)[0]

			# a = np.argmax(p)
			a = np.random.choice(NUM_ACTIONS, p=p)

			return a
	
	def train(self, s, a, r, s_):
		def get_sample(memory, n):
			s, a, _, _  = memory[0]
			_, _, _, s_ = memory[n-1]

			return s, a, self.R, s_

		a_cats = np.zeros(NUM_ACTIONS)	# turn action into one-hot representation
		a_cats[a] = 1 

		self.memory.append( (s, a_cats, r, s_) )

		self.R = ( self.R + r * GAMMA_N ) / GAMMA

		if s_ is None:
			while len(self.memory) > 0:
				n = len(self.memory)
				s, a, r, s_ = get_sample(self.memory, n)
				brain.train_push(s, a, r, s_)

				self.R = ( self.R - self.memory[0][2] ) / GAMMA
				self.memory.pop(0)		

			self.R = 0

		if len(self.memory) >= N_STEP_RETURN:
			s, a, r, s_ = get_sample(self.memory, N_STEP_RETURN)
			brain.train_push(s, a, r, s_)

			self.R = self.R - self.memory[0][2]
			self.memory.pop(0)	
	
	# possible edge case - if an episode ends in <N steps, the computation is incorrect
		
#---------
class Environment(threading.Thread):
	stop_signal = False

	def __init__(self, render=False, eps_start=EPS_START, eps_end=EPS_STOP, eps_steps=EPS_STEPS):
		threading.Thread.__init__(self)

		self.render = render
		self.env = gym.make(ENV)
		self.agent = Agent(eps_start, eps_end, eps_steps)

	def runEpisode(self):
		s = self.env.reset()

		R = 0
		while True:         
			time.sleep(THREAD_DELAY) # yield 

			if self.render: self.env.render()

			a = self.agent.act(s)
			s_, r, done, info = self.env.step(a)

			if done: # terminal state
				s_ = None

			self.agent.train(s, a, r, s_)

			s = s_
			R += r

			if done or self.stop_signal:
				break

		print("Total R:", R)

	def run(self):
		while not self.stop_signal:
			self.runEpisode()

	def stop(self):
		self.stop_signal = True

#---------
class Optimizer(threading.Thread):
	stop_signal = False

	def __init__(self):
		threading.Thread.__init__(self)

	def run(self):
		while not self.stop_signal:
			brain.optimize()

	def stop(self):
		self.stop_signal = True

#-- main
env_test = Environment(render=True, eps_start=0., eps_end=0.)
NUM_STATE = env_test.env.observation_space.shape[0]
NUM_ACTIONS = env_test.env.action_space.n
NONE_STATE = np.zeros(NUM_STATE)

brain = Brain()	# brain is global in A3C

envs = [Environment() for i in range(THREADS)]
opts = [Optimizer() for i in range(OPTIMIZERS)]

for o in opts:
	o.start()

for e in envs:
	e.start()

time.sleep(RUN_TIME)

for e in envs:
	e.stop()
for e in envs:
	e.join()

for o in opts:
	o.stop()
for o in opts:
	o.join()

print("Training finished")
env_test.run()

================================================
FILE: CartPole-DQN.py
================================================
# OpenGym CartPole-v0
# -------------------
#
# This code demonstrates use a full DQN implementation
# to solve OpenGym CartPole-v0 problem.
#
# Made as part of blog series Let's make a DQN, available at: 
# https://jaromiru.com/2016/09/27/lets-make-a-dqn-theory/
# 
# author: Jaromir Janisch, 2016

import random, numpy, math, gym, sys
from keras import backend as K

import tensorflow as tf

#----------
HUBER_LOSS_DELTA = 1.0
LEARNING_RATE = 0.00025

#----------
def huber_loss(y_true, y_pred):
    err = y_true - y_pred

    cond = K.abs(err) < HUBER_LOSS_DELTA
    L2 = 0.5 * K.square(err)
    L1 = HUBER_LOSS_DELTA * (K.abs(err) - 0.5 * HUBER_LOSS_DELTA)

    loss = tf.where(cond, L2, L1)   # Keras does not cover where function in tensorflow :-(

    return K.mean(loss)

#-------------------- BRAIN ---------------------------
from keras.models import Sequential
from keras.layers import *
from keras.optimizers import *

class Brain:
    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.model = self._createModel()
        self.model_ = self._createModel() 

    def _createModel(self):
        model = Sequential()

        model.add(Dense(units=64, activation='relu', input_dim=stateCnt))
        model.add(Dense(units=actionCnt, activation='linear'))

        opt = RMSprop(lr=LEARNING_RATE)
        model.compile(loss=huber_loss, optimizer=opt)

        return model

    def train(self, x, y, epochs=1, verbose=0):
        self.model.fit(x, y, batch_size=64, epochs=epochs, verbose=verbose)

    def predict(self, s, target=False):
        if target:
            return self.model_.predict(s)
        else:
            return self.model.predict(s)

    def predictOne(self, s, target=False):
        return self.predict(s.reshape(1, self.stateCnt), target=target).flatten()

    def updateTargetModel(self):
        self.model_.set_weights(self.model.get_weights())

#-------------------- MEMORY --------------------------
class Memory:   # stored as ( s, a, r, s_ )
    samples = []

    def __init__(self, capacity):
        self.capacity = capacity

    def add(self, sample):
        self.samples.append(sample)        

        if len(self.samples) > self.capacity:
            self.samples.pop(0)

    def sample(self, n):
        n = min(n, len(self.samples))
        return random.sample(self.samples, n)

    def isFull(self):
        return len(self.samples) >= self.capacity

#-------------------- AGENT ---------------------------
MEMORY_CAPACITY = 100000
BATCH_SIZE = 64

GAMMA = 0.99

MAX_EPSILON = 1
MIN_EPSILON = 0.01
LAMBDA = 0.001      # speed of decay

UPDATE_TARGET_FREQUENCY = 1000

class Agent:
    steps = 0
    epsilon = MAX_EPSILON

    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.brain = Brain(stateCnt, actionCnt)
        self.memory = Memory(MEMORY_CAPACITY)
        
    def act(self, s):
        if random.random() < self.epsilon:
            return random.randint(0, self.actionCnt-1)
        else:
            return numpy.argmax(self.brain.predictOne(s))

    def observe(self, sample):  # in (s, a, r, s_) format
        self.memory.add(sample)        

        if self.steps % UPDATE_TARGET_FREQUENCY == 0:
            self.brain.updateTargetModel()

        # debug the Q function in poin S
        if self.steps % 100 == 0:
            S = numpy.array([-0.01335408, -0.04600273, -0.00677248, 0.01517507])
            pred = agent.brain.predictOne(S)
            print(pred[0])
            sys.stdout.flush()

        # slowly decrease Epsilon based on our eperience
        self.steps += 1
        self.epsilon = MIN_EPSILON + (MAX_EPSILON - MIN_EPSILON) * math.exp(-LAMBDA * self.steps)

    def replay(self):    
        batch = self.memory.sample(BATCH_SIZE)
        batchLen = len(batch)

        no_state = numpy.zeros(self.stateCnt)

        states = numpy.array([ o[0] for o in batch ])
        states_ = numpy.array([ (no_state if o[3] is None else o[3]) for o in batch ])

        p = self.brain.predict(states)
        p_ = self.brain.predict(states_, target=True)

        x = numpy.zeros((batchLen, self.stateCnt))
        y = numpy.zeros((batchLen, self.actionCnt))
        
        for i in range(batchLen):
            o = batch[i]
            s = o[0]; a = o[1]; r = o[2]; s_ = o[3]
            
            t = p[i]
            if s_ is None:
                t[a] = r
            else:
                t[a] = r + GAMMA * numpy.amax(p_[i])

            x[i] = s
            y[i] = t

        self.brain.train(x, y)


class RandomAgent:
    memory = Memory(MEMORY_CAPACITY)

    def __init__(self, actionCnt):
        self.actionCnt = actionCnt

    def act(self, s):
        return random.randint(0, self.actionCnt-1)

    def observe(self, sample):  # in (s, a, r, s_) format
        self.memory.add(sample)

    def replay(self):
        pass

#-------------------- ENVIRONMENT ---------------------
class Environment:
    def __init__(self, problem):
        self.problem = problem
        self.env = gym.make(problem)

    def run(self, agent):
        s = self.env.reset()
        R = 0 

        while True:            
            # self.env.render()

            a = agent.act(s)

            s_, r, done, info = self.env.step(a)

            if done: # terminal state
                s_ = None

            agent.observe( (s, a, r, s_) )
            agent.replay()            

            s = s_
            R += r

            if done:
                break

        # print("Total reward:", R)

#-------------------- MAIN ----------------------------
PROBLEM = 'CartPole-v0'
env = Environment(PROBLEM)

stateCnt  = env.env.observation_space.shape[0]
actionCnt = env.env.action_space.n

agent = Agent(stateCnt, actionCnt)
randomAgent = RandomAgent(actionCnt)

try:
    while randomAgent.memory.isFull() == False:
        env.run(randomAgent)

    agent.memory.samples = randomAgent.memory.samples
    randomAgent = None

    while True:
        env.run(agent)
finally:
    agent.brain.model.save("cartpole-dqn.h5")


================================================
FILE: CartPole-basic.py
================================================
# OpenGym CartPole-v0
# -------------------
#
# This code demonstrates use of a basic Q-network (without target network)
# to solve OpenGym CartPole-v0 problem.
#
# Made as part of blog series Let's make a DQN, available at: 
# https://jaromiru.com/2016/10/03/lets-make-a-dqn-implementation/
# 
# author: Jaromir Janisch, 2016


#--- enable this to run on GPU
# import os    
# os.environ['THEANO_FLAGS'] = "device=gpu,floatX=float32"  

import random, numpy, math, gym

#-------------------- BRAIN ---------------------------
from keras.models import Sequential
from keras.layers import *
from keras.optimizers import *

class Brain:
    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.model = self._createModel()
        # self.model.load_weights("cartpole-basic.h5")

    def _createModel(self):
        model = Sequential()

        model.add(Dense(output_dim=64, activation='relu', input_dim=stateCnt))
        model.add(Dense(output_dim=actionCnt, activation='linear'))

        opt = RMSprop(lr=0.00025)
        model.compile(loss='mse', optimizer=opt)

        return model

    def train(self, x, y, epoch=1, verbose=0):
        self.model.fit(x, y, batch_size=64, nb_epoch=epoch, verbose=verbose)

    def predict(self, s):
        return self.model.predict(s)

    def predictOne(self, s):
        return self.predict(s.reshape(1, self.stateCnt)).flatten()

#-------------------- MEMORY --------------------------
class Memory:   # stored as ( s, a, r, s_ )
    samples = []

    def __init__(self, capacity):
        self.capacity = capacity

    def add(self, sample):
        self.samples.append(sample)        

        if len(self.samples) > self.capacity:
            self.samples.pop(0)

    def sample(self, n):
        n = min(n, len(self.samples))
        return random.sample(self.samples, n)

#-------------------- AGENT ---------------------------
MEMORY_CAPACITY = 100000
BATCH_SIZE = 64

GAMMA = 0.99

MAX_EPSILON = 1
MIN_EPSILON = 0.01
LAMBDA = 0.001      # speed of decay

class Agent:
    steps = 0
    epsilon = MAX_EPSILON

    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.brain = Brain(stateCnt, actionCnt)
        self.memory = Memory(MEMORY_CAPACITY)
        
    def act(self, s):
        if random.random() < self.epsilon:
            return random.randint(0, self.actionCnt-1)
        else:
            return numpy.argmax(self.brain.predictOne(s))

    def observe(self, sample):  # in (s, a, r, s_) format
        self.memory.add(sample)        

        # slowly decrease Epsilon based on our eperience
        self.steps += 1
        self.epsilon = MIN_EPSILON + (MAX_EPSILON - MIN_EPSILON) * math.exp(-LAMBDA * self.steps)

    def replay(self):    
        batch = self.memory.sample(BATCH_SIZE)
        batchLen = len(batch)

        no_state = numpy.zeros(self.stateCnt)

        states = numpy.array([ o[0] for o in batch ])
        states_ = numpy.array([ (no_state if o[3] is None else o[3]) for o in batch ])

        p = self.brain.predict(states)
        p_ = self.brain.predict(states_)

        x = numpy.zeros((batchLen, self.stateCnt))
        y = numpy.zeros((batchLen, self.actionCnt))
        
        for i in range(batchLen):
            o = batch[i]
            s = o[0]; a = o[1]; r = o[2]; s_ = o[3]
            
            t = p[i]
            if s_ is None:
                t[a] = r
            else:
                t[a] = r + GAMMA * numpy.amax(p_[i])

            x[i] = s
            y[i] = t

        self.brain.train(x, y)

#-------------------- ENVIRONMENT ---------------------
class Environment:
    def __init__(self, problem):
        self.problem = problem
        self.env = gym.make(problem)

    def run(self, agent):
        s = self.env.reset()
        R = 0 

        while True:            
            self.env.render()

            a = agent.act(s)

            s_, r, done, info = self.env.step(a)

            if done: # terminal state
                s_ = None

            agent.observe( (s, a, r, s_) )
            agent.replay()            

            s = s_
            R += r

            if done:
                break

        print("Total reward:", R)

#-------------------- MAIN ----------------------------
PROBLEM = 'CartPole-v0'
env = Environment(PROBLEM)

stateCnt  = env.env.observation_space.shape[0]
actionCnt = env.env.action_space.n

agent = Agent(stateCnt, actionCnt)

try:
    while True:
        env.run(agent)
finally:
    agent.brain.model.save("cartpole-basic.h5")


================================================
FILE: LICENSE
================================================
MIT License

Copyright (c) 2018 Jaromír Janisch

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.


================================================
FILE: MountainCar-basic.py
================================================
# OpenGym MountainCar-v0
# -------------------
#
# This code demonstrates debugging of a basic Q-network (without target network)
# in an OpenGym MountainCar-v0 environment.
#
# Made as part of blog series Let's make a DQN, available at: 
# https://jaromiru.com/2016/10/12/lets-make-a-dqn-debugging/
# 
# author: Jaromir Janisch, 2016


#--- enable this to run on GPU
# import os    
# os.environ['THEANO_FLAGS'] = "device=gpu,floatX=float32"  

import random, numpy, math, gym

#-------------------- UTILITIES -----------------------
import matplotlib.pyplot as plt
from matplotlib import colors
import sys

def printQ(agent):
    P = [
        [-0.15955113,  0.        ], # s_start

        [ 0.83600049,  0.27574312], # s'' -> s'
        [ 0.85796947,  0.28245832], # s' -> s
        [ 0.88062271,  0.29125591], # s -> terminal
    ]

    pred = agent.brain.predict( numpy.array(P) )

    for o in pred:
        sys.stdout.write(str(o[1])+" ")

    print(";")
    sys.stdout.flush()

def mapBrain(brain, res):
    s = numpy.zeros( (res * res, 2) )
    i = 0

    for i1 in range(res):
        for i2 in range(res):            
            s[i] = numpy.array( [ 2 * (i1 - res / 2) / res, 2 * (i2 - res / 2) / res ] )
            i += 1

    mapV = numpy.amax(brain.predict(s), axis=1).reshape( (res, res) )
    mapA = numpy.argmax(brain.predict(s), axis=1).reshape( (res, res) )

    return (mapV, mapA)

def displayBrain(brain, res=50):    
    mapV, mapA = mapBrain(brain, res)

    plt.close()
    plt.show()  

    fig = plt.figure(figsize=(5,7))
    fig.add_subplot(211)

    plt.imshow(mapV)
    plt.colorbar(orientation='vertical')

    fig.add_subplot(212)

    cmap = colors.ListedColormap(['blue', 'red'])
    bounds=[-0.5,0.5,1.5]
    norm = colors.BoundaryNorm(bounds, cmap.N)

    plt.imshow(mapA, cmap=cmap, norm=norm)        
    cb = plt.colorbar(orientation='vertical', ticks=[0,1])

    plt.pause(0.001)

#-------------------- BRAIN ---------------------------
from keras.models import Sequential
from keras.layers import *
from keras.optimizers import *

class Brain:
    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.model = self._createModel()
        # self.model.load_weights("MountainCar-basic.h5")

    def _createModel(self):
        model = Sequential()

        model.add(Dense(output_dim=64, activation='relu', input_dim=stateCnt))
        model.add(Dense(output_dim=actionCnt, activation='linear'))

        opt = RMSprop(lr=0.00025)
        model.compile(loss='mse', optimizer=opt)

        return model

    def train(self, x, y, epoch=1, verbose=0):
        self.model.fit(x, y, batch_size=64, nb_epoch=epoch, verbose=verbose)

    def predict(self, s):
        return self.model.predict(s)

    def predictOne(self, s):
        return self.predict(s.reshape(1, self.stateCnt)).flatten()

#-------------------- MEMORY --------------------------
class Memory:   # stored as ( s, a, r, s_ )
    samples = []

    def __init__(self, capacity):
        self.capacity = capacity

    def add(self, sample):
        self.samples.append(sample)        

        if len(self.samples) > self.capacity:
            self.samples.pop(0)

    def sample(self, n):
        n = min(n, len(self.samples))
        return random.sample(self.samples, n)

    def isFull(self):
        return len(self.samples) >= self.capacity

#-------------------- AGENT ---------------------------
MEMORY_CAPACITY = 100000
BATCH_SIZE = 64

GAMMA = 0.99

MAX_EPSILON = 1
MIN_EPSILON = 0.1
LAMBDA = 0.001      # speed of decay

class Agent:
    steps = 0
    epsilon = MAX_EPSILON

    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.brain = Brain(stateCnt, actionCnt)
        self.memory = Memory(MEMORY_CAPACITY)
        
    def act(self, s):
        if random.random() < self.epsilon:
            return random.randint(0, self.actionCnt-1)
        else:
            return numpy.argmax(self.brain.predictOne(s))

    def observe(self, sample):  # in (s, a, r, s_) format
        self.memory.add(sample)        

        # ----- debug
        if self.steps % 1000 == 0:
            printQ(self)

        if self.steps % 10000 == 0:
            displayBrain(self.brain)

        # slowly decrease Epsilon based on our eperience
        self.steps += 1
        self.epsilon = MIN_EPSILON + (MAX_EPSILON - MIN_EPSILON) * math.exp(-LAMBDA * self.steps)

    def replay(self):    
        batch = self.memory.sample(BATCH_SIZE)
        batchLen = len(batch)

        no_state = numpy.zeros(self.stateCnt)

        states = numpy.array([ o[0] for o in batch ])
        states_ = numpy.array([ (no_state if o[3] is None else o[3]) for o in batch ])

        p = agent.brain.predict(states)
        p_ = agent.brain.predict(states_)

        x = numpy.zeros((batchLen, self.stateCnt))
        y = numpy.zeros((batchLen, self.actionCnt))
        
        for i in range(batchLen):
            o = batch[i]
            s = o[0]; a = o[1]; r = o[2]; s_ = o[3]
            
            t = p[i]
            if s_ is None:
                t[a] = r
            else:
                t[a] = r + GAMMA * numpy.amax(p_[i])

            x[i] = s
            y[i] = t

        self.brain.train(x, y)

class RandomAgent:
    memory = Memory(MEMORY_CAPACITY)

    def __init__(self, actionCnt):
        self.actionCnt = actionCnt

    def act(self, s):
        return random.randint(0, self.actionCnt-1)

    def observe(self, sample):  # in (s, a, r, s_) format
        self.memory.add(sample)

    def replay(self):
        pass

#-------------------- ENVIRONMENT ---------------------
class Environment:
    def __init__(self, problem):
        self.problem = problem
        self.env = gym.make(problem)

        high = self.env.observation_space.high
        low = self.env.observation_space.low

        self.mean = (high + low) / 2
        self.spread = abs(high - low) / 2

    def normalize(self, s):
        return (s - self.mean) / self.spread

    def run(self, agent):
        s = self.env.reset()
        s = self.normalize(s)
        R = 0 

        while True:            
            # self.env.render()

            a = agent.act(s)    # map actions; 0 = left, 2 = right                      
            if a == 0: 
                a_ = 0
            elif a == 1: 
                a_ = 2

            s_, r, done, info = self.env.step(a_)
            s_ = self.normalize(s_)

            if done: # terminal state
                s_ = None

            agent.observe( (s, a, r, s_) )
            agent.replay()            

            s = s_
            R += r

            if done:
                break

        # print("Total reward:", R)

#-------------------- MAIN ----------------------------
PROBLEM = 'MountainCar-v0'
env = Environment(PROBLEM)

stateCnt  = env.env.observation_space.shape[0]
actionCnt = 2 #env.env.action_space.n

agent = Agent(stateCnt, actionCnt)
randomAgent = RandomAgent(actionCnt)

try:
    while randomAgent.memory.isFull() == False:
        env.run(randomAgent)

    agent.memory = randomAgent.memory
    randomAgent = None

    while True:
        env.run(agent)
finally:
    agent.brain.model.save("MountainCar-basic.h5")


================================================
FILE: Seaquest-DDQN-PER.py
================================================
# OpenGym Seaquest-v0
# -------------------
#
# This code demonstrates a Double DQN network with Priority Experience Replay
# in an OpenGym Seaquest-v0 environment.
#
# Made as part of blog series Let's make a DQN, available at: 
# https://jaromiru.com/2016/11/07/lets-make-a-dqn-double-learning-and-prioritized-experience-replay/
# 
# author: Jaromir Janisch, 2016

import random, numpy, math, gym, scipy
from SumTree import SumTree

IMAGE_WIDTH = 84
IMAGE_HEIGHT = 84
IMAGE_STACK = 2

HUBER_LOSS_DELTA = 2.0
LEARNING_RATE = 0.00025

#-------------------- UTILITIES -----------------------
def huber_loss(y_true, y_pred):
    err = y_true - y_pred

    cond = K.abs(err) < HUBER_LOSS_DELTA
    L2 = 0.5 * K.square(err)
    L1 = HUBER_LOSS_DELTA * (K.abs(err) - 0.5 * HUBER_LOSS_DELTA)

    loss = tf.where(cond, L2, L1)   # Keras does not cover where function in tensorflow :-(

    return K.mean(loss)

def processImage( img ):
    rgb = scipy.misc.imresize(img, (IMAGE_WIDTH, IMAGE_HEIGHT), interp='bilinear')

    r, g, b = rgb[:,:,0], rgb[:,:,1], rgb[:,:,2]
    gray = 0.2989 * r + 0.5870 * g + 0.1140 * b     # extract luminance

    o = gray.astype('float32') / 128 - 1    # normalize
    return o

#-------------------- BRAIN ---------------------------
from keras.models import Sequential
from keras.layers import *
from keras.optimizers import *

class Brain:
    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.model = self._createModel()
        self.model_ = self._createModel()  # target network

    def _createModel(self):
        model = Sequential()

        model.add(Conv2D(32, (8, 8), strides=(4,4), activation='relu', input_shape=(self.stateCnt), data_format='channels_first'))
        model.add(Conv2D(64, (4, 4), strides=(2,2), activation='relu'))
        model.add(Conv2D(64, (3, 3), activation='relu'))
        model.add(Flatten())
        model.add(Dense(units=512, activation='relu'))

        model.add(Dense(units=actionCnt, activation='linear'))

        opt = RMSprop(lr=LEARNING_RATE)
        model.compile(loss=huber_loss, optimizer=opt)

        return model

    def train(self, x, y, epochs=1, verbose=0):
        self.model.fit(x, y, batch_size=32, epochs=epochs, verbose=verbose)

    def predict(self, s, target=False):
        if target:
            return self.model_.predict(s)
        else:
            return self.model.predict(s)

    def predictOne(self, s, target=False):
        return self.predict(s.reshape(1, IMAGE_STACK, IMAGE_WIDTH, IMAGE_HEIGHT), target).flatten()

    def updateTargetModel(self):
        self.model_.set_weights(self.model.get_weights())

#-------------------- MEMORY --------------------------
class Memory:   # stored as ( s, a, r, s_ ) in SumTree
    e = 0.01
    a = 0.6

    def __init__(self, capacity):
        self.tree = SumTree(capacity)

    def _getPriority(self, error):
        return (error + self.e) ** self.a

    def add(self, error, sample):
        p = self._getPriority(error)
        self.tree.add(p, sample) 

    def sample(self, n):
        batch = []
        segment = self.tree.total() / n

        for i in range(n):
            a = segment * i
            b = segment * (i + 1)

            s = random.uniform(a, b)
            (idx, p, data) = self.tree.get(s)
            batch.append( (idx, data) )

        return batch

    def update(self, idx, error):
        p = self._getPriority(error)
        self.tree.update(idx, p)

#-------------------- AGENT ---------------------------
MEMORY_CAPACITY = 200000

BATCH_SIZE = 32

GAMMA = 0.99

MAX_EPSILON = 1
MIN_EPSILON = 0.1

EXPLORATION_STOP = 500000   # at this step epsilon will be 0.01
LAMBDA = - math.log(0.01) / EXPLORATION_STOP  # speed of decay

UPDATE_TARGET_FREQUENCY = 10000

class Agent:
    steps = 0
    epsilon = MAX_EPSILON

    def __init__(self, stateCnt, actionCnt):
        self.stateCnt = stateCnt
        self.actionCnt = actionCnt

        self.brain = Brain(stateCnt, actionCnt)
        # self.memory = Memory(MEMORY_CAPACITY)
        
    def act(self, s):
        if random.random() < self.epsilon:
            return random.randint(0, self.actionCnt-1)
        else:
            return numpy.argmax(self.brain.predictOne(s))

    def observe(self, sample):  # in (s, a, r, s_) format
        x, y, errors = self._getTargets([(0, sample)])
        self.memory.add(errors[0], sample)

        if self.steps % UPDATE_TARGET_FREQUENCY == 0:
            self.brain.updateTargetModel()

        # slowly decrease Epsilon based on our eperience
        self.steps += 1
        self.epsilon = MIN_EPSILON + (MAX_EPSILON - MIN_EPSILON) * math.exp(-LAMBDA * self.steps)

    def _getTargets(self, batch):
        no_state = numpy.zeros(self.stateCnt)

        states = numpy.array([ o[1][0] for o in batch ])
        states_ = numpy.array([ (no_state if o[1][3] is None else o[1][3]) for o in batch ])

        p = agent.brain.predict(states)

        p_ = agent.brain.predict(states_, target=False)
        pTarget_ = agent.brain.predict(states_, target=True)

        x = numpy.zeros((len(batch), IMAGE_STACK, IMAGE_WIDTH, IMAGE_HEIGHT))
        y = numpy.zeros((len(batch), self.actionCnt))
        errors = numpy.zeros(len(batch))
        
        for i in range(len(batch)):
            o = batch[i][1]
            s = o[0]; a = o[1]; r = o[2]; s_ = o[3]
            
            t = p[i]
            oldVal = t[a]
            if s_ is None:
                t[a] = r
            else:
                t[a] = r + GAMMA * pTarget_[i][ numpy.argmax(p_[i]) ]  # double DQN

            x[i] = s
            y[i] = t
            errors[i] = abs(oldVal - t[a])

        return (x, y, errors)

    def replay(self):    
        batch = self.memory.sample(BATCH_SIZE)
        x, y, errors = self._getTargets(batch)

        #update errors
        for i in range(len(batch)):
            idx = batch[i][0]
            self.memory.update(idx, errors[i])

        self.brain.train(x, y)

class RandomAgent:
    memory = Memory(MEMORY_CAPACITY)
    exp = 0

    def __init__(self, actionCnt):
        self.actionCnt = actionCnt

    def act(self, s):
        return random.randint(0, self.actionCnt-1)

    def observe(self, sample):  # in (s, a, r, s_) format
        error = abs(sample[2])  # reward
        self.memory.add(error, sample)
        self.exp += 1

    def replay(self):
        pass

#-------------------- ENVIRONMENT ---------------------
class Environment:
    def __init__(self, problem):
        self.problem = problem
        self.env = gym.make(problem)

    def run(self, agent):                
        img = self.env.reset()
        w = processImage(img)
        s = numpy.array([w, w])

        R = 0
        while True:         
            # self.env.render()
            a = agent.act(s)

            r = 0
            img, r, done, info = self.env.step(a)
            s_ = numpy.array([s[1], processImage(img)]) #last two screens

            r = np.clip(r, -1, 1)   # clip reward to [-1, 1]

            if done: # terminal state
                s_ = None

            agent.observe( (s, a, r, s_) )
            agent.replay()            

            s = s_
            R += r

            if done:
                break

        print("Total reward:", R)

#-------------------- MAIN ----------------------------
PROBLEM = 'Seaquest-v0'
env = Environment(PROBLEM)

stateCnt  = (IMAGE_STACK, IMAGE_WIDTH, IMAGE_HEIGHT)
actionCnt = env.env.action_space.n

agent = Agent(stateCnt, actionCnt)
randomAgent = RandomAgent(actionCnt)

try:
    print("Initialization with random agent...")
    while randomAgent.exp < MEMORY_CAPACITY:
        env.run(randomAgent)
        print(randomAgent.exp, "/", MEMORY_CAPACITY)

    agent.memory = randomAgent.memory

    randomAgent = None

    print("Starting learning")
    while True:
        env.run(agent)
finally:
    agent.brain.model.save("Seaquest-DQN-PER.h5")


================================================
FILE: SumTree.py
================================================
import numpy

class SumTree:
    write = 0

    def __init__(self, capacity):
        self.capacity = capacity
        self.tree = numpy.zeros( 2*capacity - 1 )
        self.data = numpy.zeros( capacity, dtype=object )

    def _propagate(self, idx, change):
        parent = (idx - 1) // 2

        self.tree[parent] += change

        if parent != 0:
            self._propagate(parent, change)

    def _retrieve(self, idx, s):
        left = 2 * idx + 1
        right = left + 1

        if left >= len(self.tree):
            return idx

        if s <= self.tree[left]:
            return self._retrieve(left, s)
        else:
            return self._retrieve(right, s-self.tree[left])

    def total(self):
        return self.tree[0]

    def add(self, p, data):
        idx = self.write + self.capacity - 1

        self.data[self.write] = data
        self.update(idx, p)

        self.write += 1
        if self.write >= self.capacity:
            self.write = 0

    def update(self, idx, p):
        change = p - self.tree[idx]

        self.tree[idx] = p
        self._propagate(idx, change)

    def get(self, s):
        idx = self._retrieve(0, s)
        dataIdx = idx - self.capacity + 1

        return (idx, self.tree[idx], self.data[dataIdx])