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https://gitlab.rlp.net/mobitar/ReCo.jl.git
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Only one agent
This commit is contained in:
Mo8it
parent
5fc3df66cd
commit
46e9a7fb60
5 changed files with 220 additions and 219 deletions
360
src/RL.jl
360
src/RL.jl
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@ -14,19 +14,23 @@ using ..ReCo: ReCo, Particle, angle2
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const INITIAL_REWARD = 0.0
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mutable struct EnvParams
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action_space::Vector{Tuple{Float64,Float64}}
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mutable struct Env <: AbstractEnv
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n_actions::Int64
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action_space::Vector{SVector{2,Float64}}
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action_ind_space::Vector{Int64}
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distance_state_space::Vector{Interval}
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angle_state_space::Vector{Interval}
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state_space::Vector{Union{Tuple{Interval,Interval},Tuple{Nothing,Nothing}}}
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state_ind_space::Vector{Int64}
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n_states::Int64
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state_space::Vector{SVector{2,Interval}}
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state_ind_space::Vector{Int64}
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state_ind::Int64
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reward::Float64
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terminated::Bool
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function EnvParams(
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function Env(
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min_distance::Float64,
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max_distance::Float64;
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n_v_actions::Int64=2,
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@ -48,12 +52,12 @@ mutable struct EnvParams
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n_actions = n_v_actions * n_ω_actions
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action_space = Vector{Tuple{Float64,Float64}}(undef, n_actions)
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action_space = Vector{SVector{2,Float64}}(undef, n_actions)
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ind = 1
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for v in v_action_space
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for ω in ω_action_space
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action_space[ind] = (v, ω)
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action_space[ind] = SVector(v, ω)
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ind += 1
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end
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end
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@ -95,156 +99,112 @@ mutable struct EnvParams
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n_states = n_distance_states * n_angle_states + 1
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state_space = Vector{Union{Tuple{Interval,Interval},Tuple{Nothing,Nothing}}}(
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undef, n_states
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)
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state_space = Vector{SVector{2,Interval}}(undef, n_states - 1)
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ind = 1
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for distance_state in distance_state_space
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for angle_state in angle_state_space
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state_space[ind] = (distance_state, angle_state)
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state_space[ind] = SVector(distance_state, angle_state)
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ind += 1
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end
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end
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state_space[ind] = (nothing, nothing)
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# Last state is SVector(nothing, nothing)
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state_ind_space = collect(1:n_states)
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# initial_state = SVector(nothing, nothing)
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initial_state_ind = n_states
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return new(
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n_actions,
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action_space,
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action_ind_space,
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distance_state_space,
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angle_state_space,
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n_states,
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state_space,
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state_ind_space,
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n_states,
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initial_state_ind,
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INITIAL_REWARD,
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false,
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)
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end
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end
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function reset!(env_params::EnvParams)
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env_params.reward = INITIAL_REWARD
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function reset!(env::Env)
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env.state_ind = env.n_states
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env.reward = INITIAL_REWARD
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env.terminated = false
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return nothing
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end
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mutable struct Env <: AbstractEnv
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params::EnvParams
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particle::Particle
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state_ind::Int64
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function Env(params::EnvParams, particle::Particle)
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# initial_state = (nothing, nothing)
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initial_state_ind = params.n_states
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return new(params, particle, initial_state_ind)
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end
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end
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function reset!(env::Env, particle::Particle)
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env.particle = particle
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env.state_ind = env.params.n_states
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return nothing
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end
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RLBase.state_space(env::Env) = env.params.state_ind_space
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RLBase.state_space(env::Env) = env.state_ind_space
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RLBase.state(env::Env) = env.state_ind
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RLBase.action_space(env::Env) = env.params.action_ind_space
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RLBase.action_space(env::Env) = env.action_ind_space
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RLBase.reward(env::Env) = env.params.reward
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RLBase.reward(env::Env) = env.reward
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RLBase.is_terminated(::Env) = false
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function gen_policy(n_states::Int64, n_actions::Int64)
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return QBasedPolicy(;
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learner=MonteCarloLearner(;
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approximator=TabularQApproximator(;
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n_state=n_states, n_action=n_actions, opt=InvDecay(1.0)
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),
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),
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explorer=EpsilonGreedyExplorer(0.1),
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)
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end
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RLBase.is_terminated(env::Env) = env.terminated
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struct Params{H<:AbstractHook}
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envs::Vector{Env}
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agents::Vector{Agent}
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hooks::Vector{H}
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actions::Vector{Tuple{Float64,Float64}}
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env_params::EnvParams
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env::Env
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agent::Agent
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hook::H
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old_states_ind::Vector{Int64}
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states_ind::Vector{Int64}
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actions::Vector{SVector{2,Float64}}
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actions_ind::Vector{Int64}
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n_steps_before_actions_update::Int64
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min_sq_distances::Vector{Float64}
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vecs_r⃗₁₂_to_min_distance_particle::Vector{SVector{2,Float64}}
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goal_shape_ratio::Float64
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function Params{H}(
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n_particles::Int64,
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env_params::EnvParams,
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n_particles::Int64
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min_sq_distances::Vector{Float64}
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vecs_r⃗₁₂_to_min_distance_particle::Vector{SVector{2,Float64}}
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function Params(
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env::Env,
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agent::Agent,
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hook::H,
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n_steps_before_actions_update::Int64,
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goal_shape_ratio::Float64,
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n_particles::Int64,
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) where {H<:AbstractHook}
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envs = [Env(env_params, ReCo.gen_tmp_particle()) for i in 1:n_particles]
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n_states = env.n_states
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agents = [
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Agent(;
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policy=gen_policy(env_params.n_states, length(env_params.action_space)),
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trajectory=VectorSARTTrajectory(),
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) for i in 1:n_particles
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]
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hooks = [H() for i in 1:n_particles]
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actions = Vector{Tuple{Float64,Float64}}(undef, n_particles)
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min_sq_distances = fill(Inf64, n_particles)
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vecs_r⃗₁₂_to_min_distance_particle = fill(SVector(0.0, 0.0), n_particles)
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return new(
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envs,
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agents,
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hooks,
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actions,
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env_params,
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return new{H}(
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env,
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agent,
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hook,
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fill(0, n_particles),
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fill(n_states, n_particles),
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fill(SVector(0.0, 0.0), n_particles),
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fill(0, n_particles),
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n_steps_before_actions_update,
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min_sq_distances,
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vecs_r⃗₁₂_to_min_distance_particle,
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goal_shape_ratio,
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n_particles,
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fill(Inf64, n_particles),
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fill(SVector(0.0, 0.0), n_particles),
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)
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end
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end
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function get_env_agent_hook(rl_params::Params, ind::Int64)
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return (rl_params.envs[ind], rl_params.agents[ind], rl_params.hooks[ind])
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end
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function pre_integration_hook!(rl_params::Params, n_particles::Int64)
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@simd for i in 1:n_particles
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env, agent, hook = get_env_agent_hook(rl_params, i)
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# Update action
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action_ind = agent(env)
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action = rl_params.env_params.action_space[action_ind]
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rl_params.actions[i] = action
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# Pre act
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agent(PRE_ACT_STAGE, env, action_ind)
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hook(PRE_ACT_STAGE, agent, env, action_ind)
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end
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@turbo for i in 1:n_particles
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function pre_integration_hook(rl_params::Params)
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@turbo for i in 1:(rl_params.n_particles)
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rl_params.min_sq_distances[i] = Inf64
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end
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return nothing
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end
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function state_hook(
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id1::Int64, id2::Int64, r⃗₁₂::SVector{2,Float64}, distance²::Float64, rl_params::Params
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function state_update_helper_hook(
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rl_params::Params, id1::Int64, id2::Int64, r⃗₁₂::SVector{2,Float64}, distance²::Float64
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)
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if rl_params.min_sq_distances[id1] > distance²
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rl_params.min_sq_distances[id1] = distance²
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@ -261,56 +221,33 @@ function state_hook(
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return nothing
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end
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function integration_hook!(
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particle::Particle, rl_params::Params, δt::Float64, si::Float64, co::Float64
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function get_state_ind(state::S, state_space::Vector{S}) where {S<:SVector{2,Interval}}
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return findfirst(x -> x == state, state_space)
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end
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function state_update_hook(
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rl_params::Params, particles::Vector{Particle}, n_particles::Int64
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)
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# Apply action
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action = rl_params.actions[particle.id]
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@turbo for i in 1:n_particles
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rl_params.old_states_ind[i] = rl_params.states_ind[i]
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end
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vδt = action[1] * δt
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particle.tmp_c += SVector(vδt * co, vδt * si)
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particle.φ += action[2] * δt
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env = rl_params.env
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return nothing
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end
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n_states = env.n_states
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function get_state_ind(state::Tuple{Interval,Interval}, env_params::EnvParams)
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return findfirst(x -> x == state, env_params.state_space)
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end
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env_angle_state = env.angle_state_space[1]
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function get_state_ind(::Tuple{Nothing,Nothing}, env_params::EnvParams)
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return env_params.n_states
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end
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function post_integration_hook(
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rl_params::Params,
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n_particles::Int64,
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particles::Vector{Particle},
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half_box_len::Float64,
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)
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# Update reward
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rl_params.env_params.reward =
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1 -
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(
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ReCo.gyration_tensor_eigvals_ratio(particles, half_box_len) -
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rl_params.goal_shape_ratio
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)^2
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# Update states
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n_states = rl_params.env_params.n_states
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env_angle_state = rl_params.env_params.angle_state_space[1]
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state_space = env.state_space
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for i in 1:n_particles
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env, agent, hook = get_env_agent_hook(rl_params, i)
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env_distance_state::Union{Interval,Nothing} = nothing
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min_sq_distance = rl_params.min_sq_distances[i]
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min_distance = sqrt(min_sq_distance)
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if !isinf(min_sq_distance)
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for distance_state in rl_params.env_params.distance_state_space
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for distance_state in env.distance_state_space
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if min_distance in distance_state
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env_distance_state = distance_state
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break
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@ -318,10 +255,10 @@ function post_integration_hook(
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end
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end
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if isnothing(env_distance_state)
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# (nothing, nothing)
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env.state_ind = n_states
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else
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# (nothing, nothing)
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state_ind = n_states
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if !isnothing(env_distance_state)
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r⃗₁₂ = rl_params.vecs_r⃗₁₂_to_min_distance_particle[i]
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si, co = sincos(particles[i].φ)
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@ -337,24 +274,99 @@ function post_integration_hook(
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=#
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angle = angle2(SVector(co, si), r⃗₁₂)
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for angle_state in rl_params.env_params.angle_state_space
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for angle_state in env.angle_state_space
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if angle in angle_state
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env_angle_state = angle_state
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end
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end
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state = (env_distance_state, env_angle_state)
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env.state_ind = get_state_ind(state, env.params)
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state = SVector{2,Interval}(env_distance_state, env_angle_state)
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state_ind = get_state_ind(state, state_space)
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end
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rl_params.states_ind[i] = state_ind
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end
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return nothing
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end
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function get_env_agent_hook(rl_params::Params)
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return (rl_params.env, rl_params.agent, rl_params.hook)
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end
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function update_table_and_actions_hook(
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rl_params::Params, particle::Particle, first_integration_step::Bool
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)
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env, agent, hook = get_env_agent_hook(rl_params)
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id = particle.id
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if !first_integration_step
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# Old state
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env.state_ind = rl_params.old_states_ind[id]
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action_ind = rl_params.actions_ind[id]
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# Pre act
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agent(PRE_ACT_STAGE, env, action_ind)
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hook(PRE_ACT_STAGE, agent, env, action_ind)
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# Update to current state
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env.state_ind = rl_params.states_ind[id]
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# Update reward
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env.reward = -(particle.c[1]^2 + particle.c[2]^2)
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#=
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1 -
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(
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ReCo.gyration_tensor_eigvals_ratio(particles, half_box_len) -
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rl_params.goal_shape_ratio
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)^2
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=#
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# Post act
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agent(POST_ACT_STAGE, env)
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hook(POST_ACT_STAGE, agent, env)
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end
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# Update action
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action_ind = agent(env)
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action = env.action_space[action_ind]
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rl_params.actions[id] = action
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rl_params.actions_ind[id] = action_ind
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return nothing
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end
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act_hook(::Nothing, args...) = nothing
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function act_hook(
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rl_params::Params, particle::Particle, δt::Float64, si::Float64, co::Float64
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)
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# Apply action
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action = rl_params.actions[particle.id]
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vδt = action[1] * δt
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particle.tmp_c += SVector(vδt * co, vδt * si)
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particle.φ += action[2] * δt
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return nothing
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end
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function gen_agent(n_states::Int64, n_actions::Int64)
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policy = QBasedPolicy(;
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learner=MonteCarloLearner(;
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approximator=TabularQApproximator(;
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n_state=n_states, n_action=n_actions, opt=InvDecay(1.0)
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),
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),
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explorer=EpsilonGreedyExplorer(0.1),
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)
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return Agent(; policy=policy, trajectory=VectorSARTTrajectory())
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end
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function run_rl(;
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goal_shape_ratio::Float64,
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n_episodes::Int64=100,
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@ -375,60 +387,46 @@ function run_rl(;
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sim_consts = ReCo.gen_sim_consts(n_particles, 0.0; skin_to_interaction_r_ratio=1.6)
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n_particles = sim_consts.n_particles
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env_params = EnvParams(sim_consts.particle_radius, sim_consts.skin_r)
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env = Env(sim_consts.particle_radius, sim_consts.skin_r)
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agent = gen_agent(env.n_states, env.n_actions)
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n_steps_before_actions_update = round(Int64, update_actions_at / sim_consts.δt)
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rl_params = Params{TotalRewardPerEpisode}(
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n_particles, env_params, n_steps_before_actions_update, goal_shape_ratio
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hook = TotalRewardPerEpisode()
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rl_params = Params(
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env, agent, hook, n_steps_before_actions_update, goal_shape_ratio, n_particles
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)
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# Pre experiment
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@simd for i in 1:n_particles
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env, agent, hook = get_env_agent_hook(rl_params, i)
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hook(PRE_EXPERIMENT_STAGE, agent, env)
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agent(PRE_EXPERIMENT_STAGE, env)
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end
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hook(PRE_EXPERIMENT_STAGE, agent, env)
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agent(PRE_EXPERIMENT_STAGE, env)
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@showprogress 0.6 for episode in 1:n_episodes
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dir, particles = ReCo.init_sim_with_sim_consts(sim_consts; parent_dir="RL")
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dir = ReCo.init_sim_with_sim_consts(sim_consts; parent_dir="RL")
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# Reset
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@simd for i in 1:n_particles
|
||||
reset!(rl_params.envs[i], particles[i])
|
||||
end
|
||||
|
||||
reset!(rl_params.env_params)
|
||||
reset!(env)
|
||||
|
||||
# Pre espisode
|
||||
@simd for i in 1:n_particles
|
||||
env, agent, hook = get_env_agent_hook(rl_params, i)
|
||||
|
||||
hook(PRE_EPISODE_STAGE, agent, env)
|
||||
agent(PRE_EPISODE_STAGE, env)
|
||||
end
|
||||
hook(PRE_EPISODE_STAGE, agent, env)
|
||||
agent(PRE_EPISODE_STAGE, env)
|
||||
|
||||
# Episode
|
||||
ReCo.run_sim(
|
||||
dir; duration=episode_duration, seed=rand(1:typemax(Int64)), rl_params=rl_params
|
||||
)
|
||||
|
||||
# Post episode
|
||||
@simd for i in 1:n_particles
|
||||
env, agent, hook = get_env_agent_hook(rl_params, i)
|
||||
env.terminated = true
|
||||
|
||||
hook(POST_EPISODE_STAGE, agent, env)
|
||||
agent(POST_EPISODE_STAGE, env)
|
||||
end
|
||||
# Post episode
|
||||
hook(POST_EPISODE_STAGE, agent, env)
|
||||
agent(POST_EPISODE_STAGE, env)
|
||||
end
|
||||
|
||||
# Post experiment
|
||||
@simd for i in 1:n_particles
|
||||
env, agent, hook = get_env_agent_hook(rl_params, i)
|
||||
|
||||
hook(POST_EXPERIMENT_STAGE, agent, env)
|
||||
end
|
||||
hook(POST_EXPERIMENT_STAGE, agent, env)
|
||||
|
||||
return rl_params
|
||||
end
|
||||
|
|
|
|||
|
|
@ -13,8 +13,6 @@ using CellListMap: Box, CellList, map_pairwise!, UpdateCellList!
|
|||
using Random: Random
|
||||
using Dates: Dates, now
|
||||
|
||||
import Base: wait
|
||||
|
||||
include("PreVectors.jl")
|
||||
using .PreVectors
|
||||
|
||||
|
|
|
|||
11
src/run.jl
11
src/run.jl
|
|
@ -102,14 +102,6 @@ function run_sim(
|
|||
),
|
||||
)
|
||||
|
||||
if !isnothing(rl_params)
|
||||
pre_integration_hook! = RL.pre_integration_hook!
|
||||
integration_hook! = RL.integration_hook!
|
||||
post_integration_hook = RL.post_integration_hook
|
||||
else
|
||||
pre_integration_hook! = integration_hook! = post_integration_hook = empty_hook
|
||||
end
|
||||
|
||||
simulate(
|
||||
args,
|
||||
T0,
|
||||
|
|
@ -120,9 +112,6 @@ function run_sim(
|
|||
dir,
|
||||
save_data,
|
||||
rl_params,
|
||||
pre_integration_hook!,
|
||||
integration_hook!,
|
||||
post_integration_hook,
|
||||
)
|
||||
|
||||
return nothing
|
||||
|
|
|
|||
|
|
@ -142,7 +142,7 @@ function init_sim_with_sim_consts(
|
|||
|
||||
wait(task)
|
||||
|
||||
return (dir, particles)
|
||||
return dir
|
||||
end
|
||||
|
||||
function init_sim(;
|
||||
|
|
@ -165,5 +165,5 @@ function init_sim(;
|
|||
|
||||
return init_sim_with_sim_consts(
|
||||
sim_consts; exports_dir=exports_dir, parent_dir=parent_dir, comment=comment
|
||||
)[1]
|
||||
)
|
||||
end
|
||||
|
|
@ -34,9 +34,11 @@ end
|
|||
|
||||
function euler!(
|
||||
args,
|
||||
state_hook::Function,
|
||||
integration_hook!::Function,
|
||||
first_integration_step::Bool,
|
||||
rl_params::Union{RL.Params,Nothing},
|
||||
state_update_helper_hook::Function,
|
||||
state_update_hook::Function,
|
||||
update_table_and_actions_hook::Function,
|
||||
)
|
||||
for id1 in 1:(args.n_particles - 1)
|
||||
p1 = args.particles[id1]
|
||||
|
|
@ -50,18 +52,20 @@ function euler!(
|
|||
p1_c, p2.c, args.interaction_r², args.half_box_len
|
||||
)
|
||||
|
||||
state_hook(id1, id2, r⃗₁₂, distance², rl_params)
|
||||
state_update_helper_hook(rl_params, id1, id2, r⃗₁₂, distance²)
|
||||
|
||||
if overlapping
|
||||
c = args.c₁ / (distance²^4) * (args.c₂ / (distance²^3) - 1.0)
|
||||
factor = args.c₁ / (distance²^4) * (args.c₂ / (distance²^3) - 1.0)
|
||||
dc = factor * r⃗₁₂
|
||||
|
||||
dc = c * r⃗₁₂
|
||||
p1.tmp_c -= dc
|
||||
p2.tmp_c += dc
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
state_update_hook(rl_params, args.particles, args.n_particles)
|
||||
|
||||
@simd for p in args.particles
|
||||
si, co = sincos(p.φ)
|
||||
p.tmp_c += SVector(
|
||||
|
|
@ -71,7 +75,9 @@ function euler!(
|
|||
|
||||
restrict_coordinates!(p, args.half_box_len)
|
||||
|
||||
integration_hook!(p, rl_params, args.δt, si, co)
|
||||
update_table_and_actions_hook(rl_params, p, first_integration_step)
|
||||
|
||||
RL.act_hook(rl_params, p, args.δt, si, co)
|
||||
|
||||
p.φ += args.c₄ * rand_normal01()
|
||||
|
||||
|
|
@ -81,11 +87,11 @@ function euler!(
|
|||
return nothing
|
||||
end
|
||||
|
||||
wait(::Nothing) = nothing
|
||||
Base.wait(::Nothing) = nothing
|
||||
|
||||
gen_run_hooks(::Nothing, args...) = false
|
||||
gen_run_additional_hooks(::Nothing, args...) = false
|
||||
|
||||
function gen_run_hooks(rl_params::RL.Params, integration_step::Int64)
|
||||
function gen_run_additional_hooks(rl_params::RL.Params, integration_step::Int64)
|
||||
return (integration_step % rl_params.n_steps_before_actions_update == 0) ||
|
||||
(integration_step == 1)
|
||||
end
|
||||
|
|
@ -100,9 +106,6 @@ function simulate(
|
|||
dir::String,
|
||||
save_data::Bool,
|
||||
rl_params::Union{RL.Params,Nothing},
|
||||
pre_integration_hook!::Function,
|
||||
integration_hook!::Function,
|
||||
post_integration_hook::Function,
|
||||
)
|
||||
bundle_snapshot_counter = 0
|
||||
|
||||
|
|
@ -111,8 +114,11 @@ function simulate(
|
|||
cl = CellList(args.particles_c, args.box; parallel=false)
|
||||
cl = update_verlet_lists!(args, cl)
|
||||
|
||||
first_integration_step = true
|
||||
|
||||
run_hooks = false
|
||||
state_hook = empty_hook
|
||||
state_update_helper_hook =
|
||||
state_update_hook = update_table_and_actions_hook = empty_hook
|
||||
|
||||
start_time = now()
|
||||
println("Started simulation at $start_time.")
|
||||
|
|
@ -138,21 +144,31 @@ function simulate(
|
|||
cl = update_verlet_lists!(args, cl)
|
||||
end
|
||||
|
||||
run_hooks = gen_run_hooks(rl_params, integration_step)
|
||||
run_additional_hooks = gen_run_additional_hooks(rl_params, integration_step)
|
||||
|
||||
if run_hooks
|
||||
pre_integration_hook!(rl_params, args.n_particles)
|
||||
state_hook = RL.state_hook
|
||||
if run_additional_hooks
|
||||
RL.pre_integration_hook(rl_params)
|
||||
|
||||
state_update_helper_hook = RL.state_update_helper_hook
|
||||
state_update_hook = RL.state_update_hook
|
||||
update_table_and_actions_hook = RL.update_table_and_actions_hook
|
||||
end
|
||||
|
||||
euler!(args, state_hook, integration_hook!, rl_params)
|
||||
euler!(
|
||||
args,
|
||||
first_integration_step,
|
||||
rl_params,
|
||||
state_update_helper_hook,
|
||||
state_update_hook,
|
||||
update_table_and_actions_hook,
|
||||
)
|
||||
|
||||
if run_hooks
|
||||
post_integration_hook(
|
||||
rl_params, args.n_particles, args.particles, args.half_box_len
|
||||
)
|
||||
state_hook = empty_hook
|
||||
if run_additional_hooks
|
||||
state_update_helper_hook =
|
||||
state_update_hook = update_table_and_actions_hook = empty_hook
|
||||
end
|
||||
|
||||
first_integration_step = false
|
||||
end
|
||||
|
||||
wait(task)
|
||||
|
|
|
|||
Loading…
Reference in a new issue