DQN + Double Q-Network + OpenAI Gym

gistfile1.py

import random
import gym
import math
import numpy as np
from collections import deque
from keras.models import Sequential
from keras.layers import Dense
from keras.optimizers import Adam
from keras.models import clone_model
import tensorflow as tf


def huber_loss(y_true, y_pred):
    return tf.losses.huber_loss(y_true, y_pred)


loss_funcs = {'mse': 'mse', 'huber': huber_loss}


class DQNSolver:
    def __init__(
            self,
            env_name,
            n_episodes=20000,
            n_win_ticks=195,
            max_env_steps=None,
            gamma=1.0,
            epsilon=1.0,
            epsilon_min=0.2,
            epsilon_log_decay=0.995,
            alpha=0.001,
            alpha_decay=0.0,
            batch_size=256,
            double_q=True,
            loss='mse',
            monitor=False,
    ):
        self.memory = deque(maxlen=200000)
        self.env = gym.make(env_name)
        if monitor:
            self.env = gym.wrappers.Monitor(self.env, '../data/{}'.format(env_name), force=True)
        self.gamma = gamma
        self.epsilon = epsilon
        self.epsilon_min = epsilon_min
        self.epsilon_decay = epsilon_log_decay
        self.alpha = alpha
        self.alpha_decay = alpha_decay
        self.n_episodes = n_episodes
        self.n_win_ticks = n_win_ticks
        self.batch_size = batch_size
        self.double_q = double_q
        if max_env_steps is not None: self.env._max_episode_steps = max_env_steps

        # Init model
        self.model = Sequential()
        self.model.add(Dense(100, input_dim=self.env.observation_space.shape[0], activation='tanh'))
        self.model.add(Dense(100, activation='relu'))
        self.model.add(Dense(self.env.action_space.n, activation='linear'))
        self.model.compile(loss=loss_funcs[loss], optimizer=Adam(lr=self.alpha, decay=self.alpha_decay))
        self.target_model = clone_model(self.model)

    def remember(self, state, action, reward, next_state, done):
        self.memory.append((state, action, reward, next_state, done))

    def choose_action(self, state, epsilon):
        return self.env.action_space.sample() if (np.random.random() <= epsilon) else np.argmax(
            self.model.predict(state))

    def get_epsilon(self, t):
        return max(self.epsilon_min, min(self.epsilon, 1.0 - math.log10((t + 1) * self.epsilon_decay)))

    def preprocess_state(self, state):
        return np.reshape(state, [1, self.env.observation_space.shape[0]])

    def replay(self, batch_size):
        x_batch, y_batch = [], []
        minibatch = random.sample(
            self.memory, min(len(self.memory), batch_size))
        for state, action, reward, next_state, done in minibatch:
            if self.double_q:
                y_target = self.target_model.predict(state)
            else:
                y_target = self.model.predict(state)
            y_target[0][action] = reward if done else reward + self.gamma * np.max(self.model.predict(next_state)[0])
            x_batch.append(state[0])
            y_batch.append(y_target[0])

        res = self.model.fit(np.array(x_batch), np.array(y_batch), batch_size=len(x_batch), verbose=0)
        if self.epsilon > self.epsilon_min:
            self.epsilon *= self.epsilon_decay

        return res.history['loss'][0]

    def run(self):
        final_scores = deque(maxlen=100)
        accu_scores = deque(maxlen=100)
        losses = deque(maxlen=100)

        for e in range(self.n_episodes):
            state = self.preprocess_state(self.env.reset())
            done = False
            accu_reward = 0
            while not done:
                action = self.choose_action(state, self.get_epsilon(e))
                next_state, reward, done, _ = self.env.step(action)
                next_state = self.preprocess_state(next_state)
                self.remember(state, action, reward, next_state, done)
                state = next_state
                accu_reward += reward

            final_scores.append(reward)
            accu_scores.append(accu_reward)
            mean_final_score = np.mean(final_scores)
            mean_accu_score = np.mean(accu_scores)
            if accu_reward >= self.n_win_ticks:
                print('Solved after {} trials, score {} ✔'.format(e, accu_reward))
                return e - 100

            if e % 10 == 0:
                self.target_model.set_weights(self.model.get_weights())

            loss = self.replay(self.batch_size)
            losses.append(loss)
            mean_loss = np.mean(losses)

            if e % 100 == 0:
                print('[Episode {}] - Last 100 episodes final reward: {}, accu reward: {}, loss: {}'
                      .format(e, mean_final_score, mean_accu_score, mean_loss))

        print('Did not solve after {} episodes 😞'.format(e))
        return 9999999999


if __name__ == '__main__':
    agent = DQNSolver(env_name='CartPole-v0', gamma=0.9)
    # agent = DQNSolver(env_name='LunarLander-v2', gamma=1.0, double_q=True)
    agent.run()

Test on two environments: CartPole-v0 and LunarLander-v2.

Hyper-parameters for CartPole-v0: gamma=0.9, batch=256, double_q=True, win_tick=195
Results: I ran 3 times and all solved the problem (score > 195) around 500 episodes.

Hyper-parameters for LunarLander-v2: gamma=1.0, batch=256, double_q=True, mse, win_tick=195
Results: I ran 3 times and all solved the problem (score > 195) around 3000 episodes