理论 模型预测控制
修改了警告和报错
运行环境
Debian GNU/Linux 12
Python 3.9.19
torch 2.0.1
gym 0.26.2运行代码
MPC.py
#!/usr/bin/env python
import numpy as np
from scipy.stats import truncnorm
import gym
import itertools
import torch
import torch.nn as nn
import torch.nn.functional as F
import collections
import matplotlib.pyplot as plt
class CEM:
def __init__(self, n_sequence, elite_ratio, fake_env, upper_bound,
lower_bound):
self.n_sequence = n_sequence
self.elite_ratio = elite_ratio
self.upper_bound = upper_bound
self.lower_bound = lower_bound
self.fake_env = fake_env
def optimize(self, state, init_mean, init_var):
mean, var = init_mean, init_var
X = truncnorm(-2, 2, loc=np.zeros_like(mean), scale=np.ones_like(var))
state = np.tile(state, (self.n_sequence, 1))
for _ in range(5):
lb_dist, ub_dist = mean - self.lower_bound, self.upper_bound - mean
constrained_var = np.minimum(
np.minimum(np.square(lb_dist / 2), np.square(ub_dist / 2)),
var)
# 生成动作序列
action_sequences = [X.rvs() for _ in range(self.n_sequence)
] * np.sqrt(constrained_var) + mean
# 计算每条动作序列的累积奖励
returns = self.fake_env.propagate(state, action_sequences)[:, 0]
# 选取累积奖励最高的若干条动作序列
elites = action_sequences[np.argsort(
returns)][-int(self.elite_ratio * self.n_sequence):]
new_mean = np.mean(elites, axis=0)
new_var = np.var(elites, axis=0)
# 更新动作序列分布
mean = 0.1 * mean + 0.9 * new_mean
var = 0.1 * var + 0.9 * new_var
return mean
device = torch.device("cuda") if torch.cuda.is_available() else torch.device(
"cpu")
class Swish(nn.Module):
''' Swish激活函数 '''
def __init__(self):
super(Swish, self).__init__()
def forward(self, x):
return x * torch.sigmoid(x)
def init_weights(m):
''' 初始化模型权重 '''
def truncated_normal_init(t, mean=0.0, std=0.01):
torch.nn.init.normal_(t, mean=mean, std=std)
while True:
cond = (t < mean - 2 * std) | (t > mean + 2 * std)
if not torch.sum(cond):
break
t = torch.where(
cond,
torch.nn.init.normal_(torch.ones(t.shape, device=device),
mean=mean,
std=std), t)
return t
if type(m) == nn.Linear or isinstance(m, FCLayer):
truncated_normal_init(m.weight, std=1 / (2 * np.sqrt(m._input_dim)))
m.bias.data.fill_(0.0)
class FCLayer(nn.Module):
''' 集成之后的全连接层 '''
def __init__(self, input_dim, output_dim, ensemble_size, activation):
super(FCLayer, self).__init__()
self._input_dim, self._output_dim = input_dim, output_dim
self.weight = nn.Parameter(
torch.Tensor(ensemble_size, input_dim, output_dim).to(device))
self._activation = activation
self.bias = nn.Parameter(
torch.Tensor(ensemble_size, output_dim).to(device))
def forward(self, x):
return self._activation(
torch.add(torch.bmm(x, self.weight), self.bias[:, None, :]))
class EnsembleModel(nn.Module):
''' 环境模型集成 '''
def __init__(self,
state_dim,
action_dim,
ensemble_size=5,
learning_rate=1e-3):
super(EnsembleModel, self).__init__()
# 输出包括均值和方差,因此是状态与奖励维度之和的两倍
self._output_dim = (state_dim + 1) * 2
self._max_logvar = nn.Parameter((torch.ones(
(1, self._output_dim // 2)).float() / 2).to(device),
requires_grad=False)
self._min_logvar = nn.Parameter((-torch.ones(
(1, self._output_dim // 2)).float() * 10).to(device),
requires_grad=False)
self.layer1 = FCLayer(state_dim + action_dim, 200, ensemble_size,
Swish())
self.layer2 = FCLayer(200, 200, ensemble_size, Swish())
self.layer3 = FCLayer(200, 200, ensemble_size, Swish())
self.layer4 = FCLayer(200, 200, ensemble_size, Swish())
self.layer5 = FCLayer(200, self._output_dim, ensemble_size,
nn.Identity())
self.apply(init_weights) # 初始化环境模型中的参数
self.optimizer = torch.optim.Adam(self.parameters(), lr=learning_rate)
def forward(self, x, return_log_var=False):
ret = self.layer5(self.layer4(self.layer3(self.layer2(
self.layer1(x)))))
mean = ret[:, :, :self._output_dim // 2]
# 在PETS算法中,将方差控制在最小值和最大值之间
logvar = self._max_logvar - F.softplus(
self._max_logvar - ret[:, :, self._output_dim // 2:])
logvar = self._min_logvar + F.softplus(logvar - self._min_logvar)
return mean, logvar if return_log_var else torch.exp(logvar)
def loss(self, mean, logvar, labels, use_var_loss=True):
inverse_var = torch.exp(-logvar)
if use_var_loss:
mse_loss = torch.mean(torch.mean(torch.pow(mean - labels, 2) *
inverse_var,
dim=-1),
dim=-1)
var_loss = torch.mean(torch.mean(logvar, dim=-1), dim=-1)
total_loss = torch.sum(mse_loss) + torch.sum(var_loss)
else:
mse_loss = torch.mean(torch.pow(mean - labels, 2), dim=(1, 2))
total_loss = torch.sum(mse_loss)
return total_loss, mse_loss
def train(self, loss):
self.optimizer.zero_grad()
loss += 0.01 * torch.sum(self._max_logvar) - 0.01 * torch.sum(
self._min_logvar)
loss.backward()
self.optimizer.step()
class EnsembleDynamicsModel:
''' 环境模型集成,加入精细化的训练 '''
def __init__(self, state_dim, action_dim, num_network=5):
self._num_network = num_network
self._state_dim, self._action_dim = state_dim, action_dim
self.model = EnsembleModel(state_dim,
action_dim,
ensemble_size=num_network)
self._epoch_since_last_update = 0
def train(self,
inputs,
labels,
batch_size=64,
holdout_ratio=0.1,
max_iter=20):
# 设置训练集与验证集
permutation = np.random.permutation(inputs.shape[0])
inputs, labels = inputs[permutation], labels[permutation]
num_holdout = int(inputs.shape[0] * holdout_ratio)
train_inputs, train_labels = inputs[num_holdout:], labels[num_holdout:]
holdout_inputs, holdout_labels = inputs[:
num_holdout], labels[:
num_holdout]
holdout_inputs = torch.from_numpy(holdout_inputs).float().to(device)
holdout_labels = torch.from_numpy(holdout_labels).float().to(device)
holdout_inputs = holdout_inputs[None, :, :].repeat(
[self._num_network, 1, 1])
holdout_labels = holdout_labels[None, :, :].repeat(
[self._num_network, 1, 1])
# 保留最好的结果
self._snapshots = {i: (None, 1e10) for i in range(self._num_network)}
print(itertools)
for epoch in itertools.count():
# 定义每一个网络的训练数据
print("epoch = ", epoch)
train_index = np.vstack([
np.random.permutation(train_inputs.shape[0])
for _ in range(self._num_network)
])
# 所有真实数据都用来训练
for batch_start_pos in range(0, train_inputs.shape[0], batch_size):
batch_index = train_index[:, batch_start_pos:batch_start_pos +
batch_size]
train_input = torch.from_numpy(
train_inputs[batch_index]).float().to(device)
train_label = torch.from_numpy(
train_labels[batch_index]).float().to(device)
mean, logvar = self.model(train_input, return_log_var=True)
loss, _ = self.model.loss(mean, logvar, train_label)
self.model.train(loss)
with torch.no_grad():
mean, logvar = self.model(holdout_inputs, return_log_var=True)
_, holdout_losses = self.model.loss(mean,
logvar,
holdout_labels,
use_var_loss=False)
holdout_losses = holdout_losses.cpu()
break_condition = self._save_best(epoch, holdout_losses)
if break_condition or epoch > max_iter: # 结束训练
break
def _save_best(self, epoch, losses, threshold=0.1):
updated = False
for i in range(len(losses)):
current = losses[i]
_, best = self._snapshots[i]
improvement = (best - current) / best
if improvement > threshold:
self._snapshots[i] = (epoch, current)
updated = True
self._epoch_since_last_update = 0 if updated else self._epoch_since_last_update + 1
return self._epoch_since_last_update > 5
def predict(self, inputs, batch_size=64):
mean, var = [], []
for i in range(0, inputs.shape[0], batch_size):
input = torch.from_numpy(
inputs[i:min(i +
batch_size, inputs.shape[0])]).float().to(device)
cur_mean, cur_var = self.model(input[None, :, :].repeat(
[self._num_network, 1, 1]),
return_log_var=False)
mean.append(cur_mean.detach().cpu().numpy())
var.append(cur_var.detach().cpu().numpy())
return np.hstack(mean), np.hstack(var)
class FakeEnv:
def __init__(self, model):
self.model = model
def step(self, obs, act):
inputs = np.concatenate((obs, act), axis=-1)
ensemble_model_means, ensemble_model_vars = self.model.predict(inputs)
ensemble_model_means[:, :, 1:] += obs.numpy()
ensemble_model_stds = np.sqrt(ensemble_model_vars)
ensemble_samples = ensemble_model_means + np.random.normal(
size=ensemble_model_means.shape) * ensemble_model_stds
num_models, batch_size, _ = ensemble_model_means.shape
models_to_use = np.random.choice(
[i for i in range(self.model._num_network)], size=batch_size)
batch_inds = np.arange(0, batch_size)
samples = ensemble_samples[models_to_use, batch_inds]
rewards, next_obs = samples[:, :1], samples[:, 1:]
return rewards, next_obs
def propagate(self, obs, actions):
with torch.no_grad():
obs = np.copy(obs)
total_reward = np.expand_dims(np.zeros(obs.shape[0]), axis=-1)
obs, actions = torch.as_tensor(obs), torch.as_tensor(actions)
for i in range(actions.shape[1]):
action = torch.unsqueeze(actions[:, i], 1)
rewards, next_obs = self.step(obs, action)
total_reward += rewards
obs = torch.as_tensor(next_obs)
return total_reward
class ReplayBuffer:
def __init__(self, capacity):
self.buffer = collections.deque(maxlen=capacity)
def add(self, state, action, reward, next_state, done):
self.buffer.append((state, action, reward, next_state, done))
def size(self):
return len(self.buffer)
def return_all_samples(self):
all_transitions = list(self.buffer)
state, action, reward, next_state, done = zip(*all_transitions)
return np.array(state), action, reward, np.array(next_state), done
class PETS:
''' PETS算法 '''
def __init__(self, env, replay_buffer, n_sequence, elite_ratio,
plan_horizon, num_episodes):
self._env = env
self._env_pool = ReplayBuffer(buffer_size)
obs_dim = env.observation_space.shape[0]
self._action_dim = env.action_space.shape[0]
self._model = EnsembleDynamicsModel(obs_dim, self._action_dim)
self._fake_env = FakeEnv(self._model)
self.upper_bound = env.action_space.high[0]
self.lower_bound = env.action_space.low[0]
self._cem = CEM(n_sequence, elite_ratio, self._fake_env,
self.upper_bound, self.lower_bound)
self.plan_horizon = plan_horizon
self.num_episodes = num_episodes
def train_model(self):
env_samples = self._env_pool.return_all_samples()
obs = env_samples[0]
actions = np.array(env_samples[1])
rewards = np.array(env_samples[2]).reshape(-1, 1)
next_obs = env_samples[3]
inputs = np.concatenate((obs, actions), axis=-1)
labels = np.concatenate((rewards, next_obs - obs), axis=-1)
self._model.train(inputs, labels)
def mpc(self):
mean = np.tile((self.upper_bound + self.lower_bound) / 2.0,
self.plan_horizon)
var = np.tile(
np.square(self.upper_bound - self.lower_bound) / 16,
self.plan_horizon)
obs, done, episode_return = self._env.reset()[0], False, 0
for num in range(100):
print("num = ", num)
actions = self._cem.optimize(obs, mean, var)
action = actions[:self._action_dim] # 选取第一个动作
next_obs, reward, done, _, __ = self._env.step(action)
self._env_pool.add(obs, action, reward, next_obs, done)
obs = next_obs
episode_return += reward
mean = np.concatenate([
np.copy(actions)[self._action_dim:],
np.zeros(self._action_dim)
])
return episode_return
def explore(self):
obs, done, episode_return = self._env.reset()[0], False, 0
for num in range(10000):
action = self._env.action_space.sample()
next_obs, reward, done, _, __ = self._env.step(action)
self._env_pool.add(obs, action, reward, next_obs, done)
obs = next_obs
episode_return += reward
if done:
print(done)
break
return episode_return
def train(self):
return_list = []
explore_return = self.explore() # 先进行随机策略的探索来收集一条序列的数据
print('episode: 1, return: %d' % explore_return)
return_list.append(explore_return)
for i_episode in range(self.num_episodes - 1):
self.train_model()
episode_return = self.mpc()
return_list.append(episode_return)
print('episode: %d, return: %d' % (i_episode + 2, episode_return))
return return_list
buffer_size = 100000
n_sequence = 50
elite_ratio = 0.2
plan_horizon = 25
num_episodes = 10
env_name = 'Pendulum-v1'
env = gym.make(env_name)
replay_buffer = ReplayBuffer(buffer_size)
pets = PETS(env, replay_buffer, n_sequence, elite_ratio, plan_horizon,
num_episodes)
return_list = pets.train()
episodes_list = list(range(len(return_list)))
plt.plot(episodes_list, return_list)
plt.xlabel('Episodes')
plt.ylabel('Returns')
plt.title('PETS on {}'.format(env_name))
plt.show()
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