Convert Pytorch DDPG to Tensorflow










0














I found this DDPG implementation and I would like to convert it in Tensorflow:
https://github.com/higgsfield/RL-Adventure-2/blob/master/5.ddpg.ipynb



I am using Eager Execution and I have some problems in implementing the ddpg update function. I might have made some mistakes but I cannot find them



--- PYTORCH ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = torch.FloatTensor(state).to(device)
next_state = torch.FloatTensor(next_state).to(device)
action = torch.FloatTensor(action).to(device)
reward = torch.FloatTensor(reward).unsqueeze(1).to(device)
done = torch.FloatTensor(np.float32(done)).unsqueeze(1).to(device)

policy_loss = value_net(state, policy_net(state))
policy_loss = -policy_loss.mean()

next_action = target_policy_net(next_state)
target_value = target_value_net(next_state, next_action.detach())
expected_value = reward + (1.0 - done) * gamma * target_value
expected_value = torch.clamp(expected_value, min_value, max_value)

value = value_net(state, action)
value_loss = value_criterion(value, expected_value.detach())


policy_optimizer.zero_grad()
policy_loss.backward()
policy_optimizer.step()

value_optimizer.zero_grad()
value_loss.backward()
value_optimizer.step()

for target_param, param in zip(target_value_net.parameters(), value_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)

for target_param, param in zip(target_policy_net.parameters(), policy_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)


--- TENSORFLOW ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = np.reshape(state, (batch_size, state_dim))
next_state = np.reshape(next_state, (batch_size, state_dim))
action = np.reshape(action, (batch_size, action_dim))
done = np.reshape(done, (batch_size, 1))


t_state = tf.convert_to_tensor(state, dtype=tf.float32)
t_action = tf.convert_to_tensor(action, dtype=tf.float32)
t_reward = tf.convert_to_tensor(reward, dtype=tf.float32)
t_next_state = tf.convert_to_tensor(next_state, dtype=tf.float32)
t_done = tf.convert_to_tensor(done, dtype=tf.float32)

with tf.GradientTape(persistent=True) as tape:
policy_loss = tf.reduce_mean(value_net.predict(t_state, policy_net.predict(t_state)))

t_next_action = target_policy_net.predict(t_next_state)
t_target_value = target_value_net.predict(t_next_state, t_next_action)
expected_value = t_reward + (1.0 - t_done) * gamma * t_target_value
expected_value = tf.clip_by_value(expected_value, tf.constant(min_value), tf.constant(max_value))

value = value_net.predict(t_state, t_action)
value_loss = value_criterion(value, expected_value)

policy_grads = tape.gradient(policy_loss, policy_net.variables)
value_grads = tape.gradient(value_loss, value_net.variables)
policy_optimizer.apply_gradients(zip(policy_grads, policy_net.variables))
value_optimizer.apply_gradients(zip(value_grads, value_net.variables))

#update value target
for x in range(len(value_net.variables)):
#targe = (1-tau)*target + tau*source
#target = target - tau*(target-source)
target_value_net.variables[x].assign_sub(soft_tau * (target_value_net.variables[x] - value_net.variables[x]))


#update policy target
for x in range(len(policy_net.variables)):
target_policy_net.variables[x].assign_sub(soft_tau * (target_policy_net.variables[x] - policy_net.variables[x]))









share|improve this question























  • I set negative learning rate to the function to maximize the variable I called policy_loss
    – Alessio Ragno
    Nov 12 '18 at 19:49















0














I found this DDPG implementation and I would like to convert it in Tensorflow:
https://github.com/higgsfield/RL-Adventure-2/blob/master/5.ddpg.ipynb



I am using Eager Execution and I have some problems in implementing the ddpg update function. I might have made some mistakes but I cannot find them



--- PYTORCH ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = torch.FloatTensor(state).to(device)
next_state = torch.FloatTensor(next_state).to(device)
action = torch.FloatTensor(action).to(device)
reward = torch.FloatTensor(reward).unsqueeze(1).to(device)
done = torch.FloatTensor(np.float32(done)).unsqueeze(1).to(device)

policy_loss = value_net(state, policy_net(state))
policy_loss = -policy_loss.mean()

next_action = target_policy_net(next_state)
target_value = target_value_net(next_state, next_action.detach())
expected_value = reward + (1.0 - done) * gamma * target_value
expected_value = torch.clamp(expected_value, min_value, max_value)

value = value_net(state, action)
value_loss = value_criterion(value, expected_value.detach())


policy_optimizer.zero_grad()
policy_loss.backward()
policy_optimizer.step()

value_optimizer.zero_grad()
value_loss.backward()
value_optimizer.step()

for target_param, param in zip(target_value_net.parameters(), value_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)

for target_param, param in zip(target_policy_net.parameters(), policy_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)


--- TENSORFLOW ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = np.reshape(state, (batch_size, state_dim))
next_state = np.reshape(next_state, (batch_size, state_dim))
action = np.reshape(action, (batch_size, action_dim))
done = np.reshape(done, (batch_size, 1))


t_state = tf.convert_to_tensor(state, dtype=tf.float32)
t_action = tf.convert_to_tensor(action, dtype=tf.float32)
t_reward = tf.convert_to_tensor(reward, dtype=tf.float32)
t_next_state = tf.convert_to_tensor(next_state, dtype=tf.float32)
t_done = tf.convert_to_tensor(done, dtype=tf.float32)

with tf.GradientTape(persistent=True) as tape:
policy_loss = tf.reduce_mean(value_net.predict(t_state, policy_net.predict(t_state)))

t_next_action = target_policy_net.predict(t_next_state)
t_target_value = target_value_net.predict(t_next_state, t_next_action)
expected_value = t_reward + (1.0 - t_done) * gamma * t_target_value
expected_value = tf.clip_by_value(expected_value, tf.constant(min_value), tf.constant(max_value))

value = value_net.predict(t_state, t_action)
value_loss = value_criterion(value, expected_value)

policy_grads = tape.gradient(policy_loss, policy_net.variables)
value_grads = tape.gradient(value_loss, value_net.variables)
policy_optimizer.apply_gradients(zip(policy_grads, policy_net.variables))
value_optimizer.apply_gradients(zip(value_grads, value_net.variables))

#update value target
for x in range(len(value_net.variables)):
#targe = (1-tau)*target + tau*source
#target = target - tau*(target-source)
target_value_net.variables[x].assign_sub(soft_tau * (target_value_net.variables[x] - value_net.variables[x]))


#update policy target
for x in range(len(policy_net.variables)):
target_policy_net.variables[x].assign_sub(soft_tau * (target_policy_net.variables[x] - policy_net.variables[x]))









share|improve this question























  • I set negative learning rate to the function to maximize the variable I called policy_loss
    – Alessio Ragno
    Nov 12 '18 at 19:49













0












0








0







I found this DDPG implementation and I would like to convert it in Tensorflow:
https://github.com/higgsfield/RL-Adventure-2/blob/master/5.ddpg.ipynb



I am using Eager Execution and I have some problems in implementing the ddpg update function. I might have made some mistakes but I cannot find them



--- PYTORCH ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = torch.FloatTensor(state).to(device)
next_state = torch.FloatTensor(next_state).to(device)
action = torch.FloatTensor(action).to(device)
reward = torch.FloatTensor(reward).unsqueeze(1).to(device)
done = torch.FloatTensor(np.float32(done)).unsqueeze(1).to(device)

policy_loss = value_net(state, policy_net(state))
policy_loss = -policy_loss.mean()

next_action = target_policy_net(next_state)
target_value = target_value_net(next_state, next_action.detach())
expected_value = reward + (1.0 - done) * gamma * target_value
expected_value = torch.clamp(expected_value, min_value, max_value)

value = value_net(state, action)
value_loss = value_criterion(value, expected_value.detach())


policy_optimizer.zero_grad()
policy_loss.backward()
policy_optimizer.step()

value_optimizer.zero_grad()
value_loss.backward()
value_optimizer.step()

for target_param, param in zip(target_value_net.parameters(), value_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)

for target_param, param in zip(target_policy_net.parameters(), policy_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)


--- TENSORFLOW ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = np.reshape(state, (batch_size, state_dim))
next_state = np.reshape(next_state, (batch_size, state_dim))
action = np.reshape(action, (batch_size, action_dim))
done = np.reshape(done, (batch_size, 1))


t_state = tf.convert_to_tensor(state, dtype=tf.float32)
t_action = tf.convert_to_tensor(action, dtype=tf.float32)
t_reward = tf.convert_to_tensor(reward, dtype=tf.float32)
t_next_state = tf.convert_to_tensor(next_state, dtype=tf.float32)
t_done = tf.convert_to_tensor(done, dtype=tf.float32)

with tf.GradientTape(persistent=True) as tape:
policy_loss = tf.reduce_mean(value_net.predict(t_state, policy_net.predict(t_state)))

t_next_action = target_policy_net.predict(t_next_state)
t_target_value = target_value_net.predict(t_next_state, t_next_action)
expected_value = t_reward + (1.0 - t_done) * gamma * t_target_value
expected_value = tf.clip_by_value(expected_value, tf.constant(min_value), tf.constant(max_value))

value = value_net.predict(t_state, t_action)
value_loss = value_criterion(value, expected_value)

policy_grads = tape.gradient(policy_loss, policy_net.variables)
value_grads = tape.gradient(value_loss, value_net.variables)
policy_optimizer.apply_gradients(zip(policy_grads, policy_net.variables))
value_optimizer.apply_gradients(zip(value_grads, value_net.variables))

#update value target
for x in range(len(value_net.variables)):
#targe = (1-tau)*target + tau*source
#target = target - tau*(target-source)
target_value_net.variables[x].assign_sub(soft_tau * (target_value_net.variables[x] - value_net.variables[x]))


#update policy target
for x in range(len(policy_net.variables)):
target_policy_net.variables[x].assign_sub(soft_tau * (target_policy_net.variables[x] - policy_net.variables[x]))









share|improve this question















I found this DDPG implementation and I would like to convert it in Tensorflow:
https://github.com/higgsfield/RL-Adventure-2/blob/master/5.ddpg.ipynb



I am using Eager Execution and I have some problems in implementing the ddpg update function. I might have made some mistakes but I cannot find them



--- PYTORCH ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = torch.FloatTensor(state).to(device)
next_state = torch.FloatTensor(next_state).to(device)
action = torch.FloatTensor(action).to(device)
reward = torch.FloatTensor(reward).unsqueeze(1).to(device)
done = torch.FloatTensor(np.float32(done)).unsqueeze(1).to(device)

policy_loss = value_net(state, policy_net(state))
policy_loss = -policy_loss.mean()

next_action = target_policy_net(next_state)
target_value = target_value_net(next_state, next_action.detach())
expected_value = reward + (1.0 - done) * gamma * target_value
expected_value = torch.clamp(expected_value, min_value, max_value)

value = value_net(state, action)
value_loss = value_criterion(value, expected_value.detach())


policy_optimizer.zero_grad()
policy_loss.backward()
policy_optimizer.step()

value_optimizer.zero_grad()
value_loss.backward()
value_optimizer.step()

for target_param, param in zip(target_value_net.parameters(), value_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)

for target_param, param in zip(target_policy_net.parameters(), policy_net.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - soft_tau) + param.data * soft_tau
)


--- TENSORFLOW ---



def ddpg_update(batch_size, 
gamma = 0.99,
min_value=-np.inf,
max_value=np.inf,
soft_tau=1e-2):

state, action, reward, next_state, done = replay_buffer.sample(batch_size)

state = np.reshape(state, (batch_size, state_dim))
next_state = np.reshape(next_state, (batch_size, state_dim))
action = np.reshape(action, (batch_size, action_dim))
done = np.reshape(done, (batch_size, 1))


t_state = tf.convert_to_tensor(state, dtype=tf.float32)
t_action = tf.convert_to_tensor(action, dtype=tf.float32)
t_reward = tf.convert_to_tensor(reward, dtype=tf.float32)
t_next_state = tf.convert_to_tensor(next_state, dtype=tf.float32)
t_done = tf.convert_to_tensor(done, dtype=tf.float32)

with tf.GradientTape(persistent=True) as tape:
policy_loss = tf.reduce_mean(value_net.predict(t_state, policy_net.predict(t_state)))

t_next_action = target_policy_net.predict(t_next_state)
t_target_value = target_value_net.predict(t_next_state, t_next_action)
expected_value = t_reward + (1.0 - t_done) * gamma * t_target_value
expected_value = tf.clip_by_value(expected_value, tf.constant(min_value), tf.constant(max_value))

value = value_net.predict(t_state, t_action)
value_loss = value_criterion(value, expected_value)

policy_grads = tape.gradient(policy_loss, policy_net.variables)
value_grads = tape.gradient(value_loss, value_net.variables)
policy_optimizer.apply_gradients(zip(policy_grads, policy_net.variables))
value_optimizer.apply_gradients(zip(value_grads, value_net.variables))

#update value target
for x in range(len(value_net.variables)):
#targe = (1-tau)*target + tau*source
#target = target - tau*(target-source)
target_value_net.variables[x].assign_sub(soft_tau * (target_value_net.variables[x] - value_net.variables[x]))


#update policy target
for x in range(len(policy_net.variables)):
target_policy_net.variables[x].assign_sub(soft_tau * (target_policy_net.variables[x] - policy_net.variables[x]))






tensorflow pytorch reinforcement-learning openai-gym q-learning






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edited Nov 12 '18 at 19:46

























asked Nov 12 '18 at 17:02









Alessio Ragno

165116




165116











  • I set negative learning rate to the function to maximize the variable I called policy_loss
    – Alessio Ragno
    Nov 12 '18 at 19:49
















  • I set negative learning rate to the function to maximize the variable I called policy_loss
    – Alessio Ragno
    Nov 12 '18 at 19:49















I set negative learning rate to the function to maximize the variable I called policy_loss
– Alessio Ragno
Nov 12 '18 at 19:49




I set negative learning rate to the function to maximize the variable I called policy_loss
– Alessio Ragno
Nov 12 '18 at 19:49

















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