ppo and trpo

.gitignore

@@ -7,12 +7,11 @@
 # Setuptools distribution and build folders.
 /dist/
 /build
+keys/
 
 # Virtualenv
 /env
 
-# Python egg metadata, regenerated from source files by setuptools.
-/*.egg-info
 
 *.sublime-project
 *.sublime-workspace
@@ -26,4 +25,8 @@ ghostdriver.log
 
 htmlcov
 
-junk
\ No newline at end of file
+junk
+src
+
+*.egg-info
+.cache

README.md

 <img src="data/logo.jpg" width=25% align="right" />
 
-# Baselines
+# BASELINES
 
-We're releasing OpenAI Baselines, a set of high-quality implementations of reinforcement learning algorithms. To start, we're making available an open source version of Deep Q-Learning and three of its variants. 
+We're releasing OpenAI Baselines, a set of high-quality implementations of reinforcement learning algorithms.
 
 These algorithms will make it easier for the research community to replicate, refine, and identify new ideas, and will create good baselines to build research on top of. Our DQN implementation and its variants are roughly on par with the scores in published papers. We expect they will be used as a base around which new ideas can be added, and as a tool for comparing a new approach against existing ones. 
 
@@ -12,56 +12,6 @@ You can install it by typing:
 pip install baselines
 ```
 
-
-## If you are curious.
-
-##### Train a Cartpole agent and watch it play once it converges!
-
-Here's a list of commands to run to quickly get a working example:
-
-<img src="data/cartpole.gif" width="25%" />
-
-
-```bash
-# Train model and save the results to cartpole_model.pkl
-python -m baselines.deepq.experiments.train_cartpole
-# Load the model saved in cartpole_model.pkl and visualize the learned policy
-python -m baselines.deepq.experiments.enjoy_cartpole
-```
-
-
-Be sure to check out the source code of [both](baselines/deepq/experiments/train_cartpole.py) [files](baselines/deepq/experiments/enjoy_cartpole.py)!
-
-## If you wish to apply DQN to solve a problem.
-
-Check out our simple agent trained with one stop shop `deepq.learn` function. 
-
-- `baselines/deepq/experiments/train_cartpole.py` - train a Cartpole agent.
-- `baselines/deepq/experiments/train_pong.py` - train a Pong agent using convolutional neural networks.
-
-In particular notice that once `deepq.learn` finishes training it returns `act` function which can be used to select actions in the environment. Once trained you can easily save it and load at later time. For both of the files listed above there are complimentary files `enjoy_cartpole.py` and `enjoy_pong.py` respectively, that load and visualize the learned policy.
-
-## If you wish to experiment with the algorithm
-
-##### Check out the examples
-
-
-- `baselines/deepq/experiments/custom_cartpole.py` - Cartpole training with more fine grained control over the internals of DQN algorithm.
-- `baselines/deepq/experiments/atari/train.py` - more robust setup for training at scale.
-
-
-##### Download a pretrained Atari agent
-
-For some research projects it is sometimes useful to have an already trained agent handy. There's a variety of models to choose from. You can list them all by running:
-
-```bash
-python -m baselines.deepq.experiments.atari.download_model
-```
-
-Once you pick a model, you can download it and visualize the learned policy. Be sure to pass `--dueling` flag to visualization script when using dueling models.
-
-```bash
-python -m baselines.deepq.experiments.atari.download_model --blob model-atari-duel-pong-1 --model-dir /tmp/models
-python -m baselines.deepq.experiments.atari.enjoy --model-dir /tmp/models/model-atari-duel-pong-1 --env Pong --dueling
-
-```
+- [DQN](baselines/deepq)
+- [PPO](baselines/pposgd)
+- [TRPO](baselines/trpo_mpi)

baselines/bench/__init__.py

+from baselines.bench.benchmarks import *
+from baselines.bench.monitor import *
+

baselines/bench/benchmarks.py

+_atari7 = ['BeamRider', 'Breakout', 'Enduro', 'Pong', 'Qbert', 'Seaquest', 'SpaceInvaders']
+_atariexpl7 = ['Freeway', 'Gravitar', 'MontezumaRevenge', 'Pitfall', 'PrivateEye', 'Solaris', 'Venture']
+
+_BENCHMARKS = []
+
+def register_benchmark(benchmark):
+    for b in _BENCHMARKS:
+        if b['name'] == benchmark['name']:
+            raise ValueError('Benchmark with name %s already registered!'%b['name'])
+    _BENCHMARKS.append(benchmark)
+
+def list_benchmarks():
+    return [b['name'] for b in _BENCHMARKS]
+
+def get_benchmark(benchmark_name):
+    for b in _BENCHMARKS:
+        if b['name'] == benchmark_name:
+            return b
+    raise ValueError('%s not found! Known benchmarks: %s' % (benchmark_name, list_benchmarks()))
+
+def get_task(benchmark, env_id):
+    """Get a task by env_id. Return None if the benchmark doesn't have the env"""
+    return next(filter(lambda task: task['env_id'] == env_id, benchmark['tasks']), None)
+
+_ATARI_SUFFIX = 'NoFrameskip-v4'
+
+register_benchmark({
+    'name' : 'Atari200M',
+    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 200M frames',
+    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(200e6)} for _game in _atari7]
+})
+
+register_benchmark({
+    'name' : 'Atari40M',
+    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 40M frames',
+    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(40e6)} for _game in _atari7]
+})
+
+register_benchmark({
+    'name' : 'Atari1Hr',
+    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 1 hour of walltime',
+    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_seconds' : 60*60} for _game in _atari7]
+})
+
+register_benchmark({
+    'name' : 'AtariExploration40M',
+    'description' :'7 Atari games emphasizing exploration, with pixel observations, 40M frames',
+    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(40e6)} for _game in _atariexpl7]
+})
+
+
+_mujocosmall = [
+    'InvertedDoublePendulum-v1', 'InvertedPendulum-v1',
+    'HalfCheetah-v1', 'Hopper-v1', 'Walker2d-v1',
+    'Reacher-v1', 'Swimmer-v1']
+
+register_benchmark({
+    'name' : 'Mujoco1M',
+    'description' : 'Some small 2D MuJoCo tasks, run for 1M timesteps',
+    'tasks' : [{'env_id' : _envid, 'trials' : 3, 'num_timesteps' : int(1e6)} for _envid in _mujocosmall]
+})
+
+_roboschool_mujoco = [
+    'RoboschoolInvertedDoublePendulum-v0', 'RoboschoolInvertedPendulum-v0',      # cartpole
+    'RoboschoolHalfCheetah-v0', 'RoboschoolHopper-v0', 'RoboschoolWalker2d-v0',  # forward walkers
+    'RoboschoolReacher-v0'
+    ]
+
+register_benchmark({
+    'name' : 'RoboschoolMujoco2M',
+    'description' : 'Same small 2D tasks, still improving up to 2M',
+    'tasks' : [{'env_id' : _envid, 'trials' : 3, 'num_timesteps' : int(2e6)} for _envid in _roboschool_mujoco]
+})
+
+
+_atari50 =  [ # actually 49
+            'Alien', 'Amidar', 'Assault', 'Asterix', 'Asteroids', 
+            'Atlantis', 'BankHeist', 'BattleZone', 'BeamRider',  'Bowling', 
+            'Boxing', 'Breakout', 'Centipede', 'ChopperCommand', 'CrazyClimber', 
+            'DemonAttack', 'DoubleDunk',  'Enduro', 'FishingDerby', 'Freeway', 
+            'Frostbite', 'Gopher', 'Gravitar', 'IceHockey', 'Jamesbond',  
+            'Kangaroo', 'Krull', 'KungFuMaster', 'MontezumaRevenge', 'MsPacman', 
+            'NameThisGame', 'Pitfall', 'Pong', 'PrivateEye', 'Qbert', 
+            'Riverraid', 'RoadRunner', 'Robotank', 'Seaquest', 'SpaceInvaders', 
+            'StarGunner', 'Tennis', 'TimePilot', 'Tutankham', 'UpNDown', 
+            'Venture', 'VideoPinball', 'WizardOfWor', 'Zaxxon', 
+]
+
+register_benchmark({
+    'name' : 'Atari50_40M',
+    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 40M frames',
+    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 3, 'num_timesteps' : int(40e6)} for _game in _atari50]
+})

baselines/bench/monitor.py

+__all__ = ['Monitor', 'get_monitor_files', 'load_results']
+
+import gym
+from gym.core import Wrapper
+from os import path
+import time
+from glob import glob
+
+try:
+    import ujson as json # Not necessary for monitor writing, but very useful for monitor loading
+except ImportError:
+    import json
+
+class Monitor(Wrapper):
+    EXT = "monitor.json"
+    f = None
+
+    def __init__(self, env, filename, allow_early_resets=False):
+        Wrapper.__init__(self, env=env)
+        self.tstart = time.time()
+        if filename is None:
+            self.f = None
+            self.logger = None
+        else:
+            if not filename.endswith(Monitor.EXT):
+                filename = filename + "." + Monitor.EXT
+            self.f = open(filename, "wt")
+            self.logger = JSONLogger(self.f)
+            self.logger.writekvs({"t_start": self.tstart, "gym_version": gym.__version__,
+                "env_id": env.spec.id if env.spec else 'Unknown'})
+        self.allow_early_resets = allow_early_resets
+        self.rewards = None
+        self.needs_reset = True
+        self.episode_rewards = []
+        self.episode_lengths = []
+        self.total_steps = 0
+        self.current_metadata = {} # extra info that gets injected into each log entry
+        # Useful for metalearning where we're modifying the environment externally
+        # But want our logs to know about these modifications
+
+    def __getstate__(self): # XXX
+        d = self.__dict__.copy()
+        if self.f:
+            del d['f'], d['logger']
+            d['_filename'] = self.f.name
+            d['_num_episodes'] = len(self.episode_rewards)
+        else:
+            d['_filename'] = None
+        return d
+    def __setstate__(self, d):
+        filename = d.pop('_filename')
+        self.__dict__ = d
+        if filename is not None:
+            nlines = d.pop('_num_episodes') + 1
+            self.f = open(filename, "r+t")
+            for _ in range(nlines):
+                self.f.readline()
+            self.f.truncate()        
+            self.logger = JSONLogger(self.f)
+
+
+    def reset(self):
+        if not self.allow_early_resets and not self.needs_reset:
+            raise RuntimeError("Tried to reset an environment before done. If you want to allow early resets, wrap your env with Monitor(env, path, allow_early_resets=True)")
+        self.rewards = []
+        self.needs_reset = False
+        return self.env.reset()
+
+    def step(self, action):
+        if self.needs_reset:
+            raise RuntimeError("Tried to step environment that needs reset")
+        ob, rew, done, info = self.env.step(action)
+        self.rewards.append(rew)
+        if done:
+            self.needs_reset = True
+            eprew = sum(self.rewards)
+            eplen = len(self.rewards)
+            epinfo = {"r": eprew, "l": eplen, "t": round(time.time() - self.tstart, 6)}
+            epinfo.update(self.current_metadata)
+            if self.logger:
+                self.logger.writekvs(epinfo)
+            self.episode_rewards.append(eprew)
+            self.episode_lengths.append(eplen)
+            info['episode'] = epinfo
+        self.total_steps += 1
+        return (ob, rew, done, info)
+
+    def close(self):
+        if self.f is not None:
+            self.f.close()
+
+    def get_total_steps(self):
+        return self.total_steps
+
+    def get_episode_rewards(self):
+        return self.episode_rewards
+
+    def get_episode_lengths(self):
+        return self.episode_lengths
+
+class JSONLogger(object):
+    def __init__(self, file):
+        self.file = file
+
+    def writekvs(self, kvs):
+        for k,v in kvs.items():
+            if hasattr(v, 'dtype'):
+                v = v.tolist()
+                kvs[k] = float(v)
+        self.file.write(json.dumps(kvs) + '\n')
+        self.file.flush()
+
+
+class LoadMonitorResultsError(Exception):
+    pass
+
+def get_monitor_files(dir):
+    return glob(path.join(dir, "*" + Monitor.EXT))
+
+def load_results(dir):
+    fnames = get_monitor_files(dir)
+    if not fnames:
+        raise LoadMonitorResultsError("no monitor files of the form *%s found in %s" % (Monitor.EXT, dir))
+    episodes = []
+    headers = []
+    for fname in fnames:
+        with open(fname, 'rt') as fh:
+            lines = fh.readlines()
+        header = json.loads(lines[0])
+        headers.append(header)
+        for line in lines[1:]:
+            episode = json.loads(line)
+            episode['abstime'] = header['t_start'] + episode['t']
+            del episode['t']
+            episodes.append(episode)
+    header0 = headers[0]
+    for header in headers[1:]:
+        assert header['env_id'] == header0['env_id'], "mixing data from two envs"
+    episodes = sorted(episodes, key=lambda e: e['abstime'])
+    return {
+        'env_info': {'env_id': header0['env_id'], 'gym_version': header0['gym_version']},
+        'episode_end_times': [e['abstime'] for e in episodes],
+        'episode_lengths': [e['l'] for e in episodes],
+        'episode_rewards': [e['r'] for e in episodes],
+        'initial_reset_time': min([min(header['t_start'] for header in headers)])
+    }

baselines/common/__init__.py

-
-
-
+from baselines.common.console_util import *
+from baselines.common.dataset import Dataset
+from baselines.common.math_util import *
 from baselines.common.misc_util import *

baselines/common/atari_wrappers.py

+import numpy as np
+from collections import deque
+from PIL import Image
+import gym
+from gym import spaces
+
+
+class NoopResetEnv(gym.Wrapper):
+    def __init__(self, env, noop_max=30):
+        """Sample initial states by taking random number of no-ops on reset.
+        No-op is assumed to be action 0.
+        """
+        gym.Wrapper.__init__(self, env)
+        self.noop_max = noop_max
+        self.override_num_noops = None
+        assert env.unwrapped.get_action_meanings()[0] == 'NOOP'
+
+    def _reset(self):
+        """ Do no-op action for a number of steps in [1, noop_max]."""
+        self.env.reset()
+        if self.override_num_noops is not None:
+            noops = self.override_num_noops
+        else:
+            noops = self.unwrapped.np_random.randint(1, self.noop_max + 1) #pylint: disable=E1101
+        assert noops > 0
+        obs = None
+        for _ in range(noops):
+            obs, _, done, _ = self.env.step(0)
+            if done:
+                obs = self.env.reset()
+        return obs
+
+class FireResetEnv(gym.Wrapper):
+    def __init__(self, env):
+        """Take action on reset for environments that are fixed until firing."""
+        gym.Wrapper.__init__(self, env)
+        assert env.unwrapped.get_action_meanings()[1] == 'FIRE'
+        assert len(env.unwrapped.get_action_meanings()) >= 3
+
+    def _reset(self):
+        self.env.reset()
+        obs, _, done, _ = self.env.step(1)
+        if done:
+            self.env.reset()
+        obs, _, done, _ = self.env.step(2)
+        if done:
+            self.env.reset()
+        return obs
+
+class EpisodicLifeEnv(gym.Wrapper):
+    def __init__(self, env):
+        """Make end-of-life == end-of-episode, but only reset on true game over.
+        Done by DeepMind for the DQN and co. since it helps value estimation.
+        """
+        gym.Wrapper.__init__(self, env)
+        self.lives = 0
+        self.was_real_done  = True
+
+    def _step(self, action):
+        obs, reward, done, info = self.env.step(action)
+        self.was_real_done = done
+        # check current lives, make loss of life terminal,
+        # then update lives to handle bonus lives
+        lives = self.env.unwrapped.ale.lives()
+        if lives < self.lives and lives > 0:
+            # for Qbert somtimes we stay in lives == 0 condtion for a few frames
+            # so its important to keep lives > 0, so that we only reset once
+            # the environment advertises done.
+            done = True
+        self.lives = lives
+        return obs, reward, done, info
+
+    def _reset(self):
+        """Reset only when lives are exhausted.
+        This way all states are still reachable even though lives are episodic,
+        and the learner need not know about any of this behind-the-scenes.
+        """
+        if self.was_real_done:
+            obs = self.env.reset()
+        else:
+            # no-op step to advance from terminal/lost life state
+            obs, _, _, _ = self.env.step(0)
+        self.lives = self.env.unwrapped.ale.lives()
+        return obs
+
+class MaxAndSkipEnv(gym.Wrapper):
+    def __init__(self, env, skip=4):
+        """Return only every `skip`-th frame"""
+        gym.Wrapper.__init__(self, env)
+        # most recent raw observations (for max pooling across time steps)
+        self._obs_buffer = deque(maxlen=2)
+        self._skip       = skip
+
+    def _step(self, action):
+        """Repeat action, sum reward, and max over last observations."""
+        total_reward = 0.0
+        done = None
+        for _ in range(self._skip):
+            obs, reward, done, info = self.env.step(action)
+            self._obs_buffer.append(obs)
+            total_reward += reward
+            if done:
+                break
+        max_frame = np.max(np.stack(self._obs_buffer), axis=0)
+
+        return max_frame, total_reward, done, info
+
+    def _reset(self):
+        """Clear past frame buffer and init. to first obs. from inner env."""
+        self._obs_buffer.clear()
+        obs = self.env.reset()
+        self._obs_buffer.append(obs)
+        return obs
+
+class ClipRewardEnv(gym.RewardWrapper):
+    def _reward(self, reward):
+        """Bin reward to {+1, 0, -1} by its sign."""
+        return np.sign(reward)
+
+class WarpFrame(gym.ObservationWrapper):
+    def __init__(self, env):
+        """Warp frames to 84x84 as done in the Nature paper and later work."""
+        gym.ObservationWrapper.__init__(self, env)
+        self.res = 84
+        self.observation_space = spaces.Box(low=0, high=255, shape=(self.res, self.res, 1))
+
+    def _observation(self, obs):
+        frame = np.dot(obs.astype('float32'), np.array([0.299, 0.587, 0.114], 'float32'))
+        frame = np.array(Image.fromarray(frame).resize((self.res, self.res),
+            resample=Image.BILINEAR), dtype=np.uint8)
+        return frame.reshape((self.res, self.res, 1))
+
+class FrameStack(gym.Wrapper):
+    def __init__(self, env, k):
+        """Buffer observations and stack across channels (last axis)."""
+        gym.Wrapper.__init__(self, env)
+        self.k = k
+        self.frames = deque([], maxlen=k)
+        shp = env.observation_space.shape
+        assert shp[2] == 1  # can only stack 1-channel frames
+        self.observation_space = spaces.Box(low=0, high=255, shape=(shp[0], shp[1], k))
+
+    def _reset(self):
+        """Clear buffer and re-fill by duplicating the first observation."""
+        ob = self.env.reset()
+        for _ in range(self.k): self.frames.append(ob)
+        return self._observation()
+
+    def _step(self, action):
+        ob, reward, done, info = self.env.step(action)
+        self.frames.append(ob)
+        return self._observation(), reward, done, info
+
+    def _observation(self):
+        assert len(self.frames) == self.k
+        return np.concatenate(self.frames, axis=2)
+
+def wrap_deepmind(env, episode_life=True, clip_rewards=True):
+    """Configure environment for DeepMind-style Atari.
+
+    Note: this does not include frame stacking!"""
+    assert 'NoFrameskip' in env.spec.id  # required for DeepMind-style skip
+    if episode_life:
+        env = EpisodicLifeEnv(env)
+    # env = NoopResetEnv(env, noop_max=30)
+    env = MaxAndSkipEnv(env, skip=4)
+    if 'FIRE' in env.unwrapped.get_action_meanings():
+        env = FireResetEnv(env)
+    env = WarpFrame(env)
+    if clip_rewards:
+        env = ClipRewardEnv(env)
+    return env

baselines/common/cg.py

+import numpy as np
+def cg(f_Ax, b, cg_iters=10, callback=None, verbose=False, residual_tol=1e-10):
+    """
+    Demmel p 312
+    """
+    p = b.copy()
+    r = b.copy()
+    x = np.zeros_like(b)
+    rdotr = r.dot(r)
+
+    fmtstr =  "%10i %10.3g %10.3g"
+    titlestr =  "%10s %10s %10s"
+    if verbose: print(titlestr % ("iter", "residual norm", "soln norm"))
+
+    for i in range(cg_iters):
+        if callback is not None:
+            callback(x)
+        if verbose: print(fmtstr % (i, rdotr, np.linalg.norm(x)))
+        z = f_Ax(p)
+        v = rdotr / p.dot(z)
+        x += v*p
+        r -= v*z
+        newrdotr = r.dot(r)
+        mu = newrdotr/rdotr
+        p = r + mu*p
+
+        rdotr = newrdotr
+        if rdotr < residual_tol:
+            break
+
+    if callback is not None:
+        callback(x)
+    if verbose: print(fmtstr % (i+1, rdotr, np.linalg.norm(x)))  # pylint: disable=W0631
+    return x
\ No newline at end of file

baselines/common/console_util.py

+from __future__ import print_function
+from contextlib import contextmanager
+import numpy as np
+import time
+
+# ================================================================
+# Misc
+# ================================================================
+
+def fmt_row(width, row, header=False):
+    out = " | ".join(fmt_item(x, width) for x in row)
+    if header: out = out + "\n" + "-"*len(out)
+    return out
+
+def fmt_item(x, l):
+    if isinstance(x, np.ndarray):
+        assert x.ndim==0
+        x = x.item()
+    if isinstance(x, float): rep = "%g"%x
+    else: rep = str(x)
+    return " "*(l - len(rep)) + rep
+
+color2num = dict(
+    gray=30,
+    red=31,
+    green=32,
+    yellow=33,
+    blue=34,
+    magenta=35,
+    cyan=36,
+    white=37,
+    crimson=38
+)
+
+def colorize(string, color, bold=False, highlight=False):
+    attr = []
+    num = color2num[color]
+    if highlight: num += 10
+    attr.append(str(num))
+    if bold: attr.append('1')
+    return '\x1b[%sm%s\x1b[0m' % (';'.join(attr), string)
+
+
+MESSAGE_DEPTH = 0
+