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donkey_gym_rnn_dido.py
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donkey_gym_rnn_dido.py
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import json, time
import numpy as np
import gym, gym_donkeycar, donkeycar_modified
from agent_dido import DQNAgentDIDO
import tensorflow as tf
import cv2, random
from csv import writer;
from utils import *;
def main():
# enable GPU memory growth
physical_devices = tf.config.list_physical_devices('GPU')
tf.config.experimental.set_memory_growth(physical_devices[0], True)
# model & training information
model_name = input("Model name -> ");
load_trained = input("Load trained (y/n)? ").lower() == "y";
epsilon = float(input("Epsilon -> "));
episode_count = int(input("Episode count -> "));
model_location = "models/" + model_name + "/";
model_path = model_location + ("model_trained.h5" if load_trained else "model.h5");
print("Loading", model_path, "with epsilon", epsilon);
agent = DQNAgentDIDO(model_path, epsilon);
try: agent.memory = json.load(model_location + "data.json");
except: agent.memory = [];
# training information
resizeScale = (40, 30);
batch_size = 16;
frame_n = 3;
max_cte = 5.2;
# statistics
score = [];
rewards = [];
highest_score = 0;
highest_reward = 0;
max_score = None;
# velocity
max_velocity = 10.0;
max_throttle = 0.5;
throttle_step = 1.5*max_throttle/(agent.action_space[1]-1)
throttle_table = [i*throttle_step-max_throttle/2.0 for i in range(agent.action_space[1])];
# steering
max_steering = 0.75 # pred spanim: bolo 0.325
steering_step = 2*max_steering/(agent.action_space[0]-1)
steering_table = [i*steering_step-max_steering for i in range(agent.action_space[0])]
file = open("log.csv", "w+", newline="");
log = writer(file);
log.writerow(['Episode','Timestep', 'Avg Steer', 'Min Reward', 'Avg Reward', 'Max Reward', 'Episode Length', 'Reward Sum', 'Max Q steer', 'Max Q throttle', 'Epsilon','Episode Time', 'Avg Speed','Max Speed','Min CTE','Avg CTE','Max CTE','Distance', "Average Throttle", "Max Throttle", "Min Throttle", "Average Absolute CTE", "Min Absolute CTE", "Max Absolute CTE"]);
# setup donkey environment
conf = {
# "exe_path":"remote",
"exe_path":"D:/sdsandbox/build2/donkey_sim.exe",
"host":"127.0.0.1",
"port":9091,
# "port":9092,
# "port":9093,
# "port":9094,
"body_style":"donkey",
"body_rgb":(128, 128, 128),
"car_name":"rl",
"font_size":100
}
# env = gym.make("donkey-generated-roads-v0", conf=conf)
env = gym.make("donkey-generated-roads-v0", conf=conf)
env.viewer.handler.max_cte = max_cte;
cv2.namedWindow("camera");
first_train = True;
first_start = time.time();
timestep = 0;
success_episodes = 0;
max_laps = 5;
for e in range(episode_count):
# at each episode, reset the environment
image = env.reset();
images = np.empty((frame_n, resizeScale[1], resizeScale[0], 3));
data = np.empty((frame_n-1, 3));
images[0] = preprocessImage(image, resizeScale);
need_frames = frame_n-1;
done = False;
score.append(0);
rewards.append(0.0);
last_velocity = [0.0];
laps = 0;
start = time.time();
# logging
steers = [];
throttles = [];
rewards_ = [];
velocities = [];
ctes = [];
ctes_absolute = [];
max_q_steer = 0.0;
max_q_throttle = 0.0;
distance = 0.0;
distance_time = start;
while not done and (score[-1] < max_score if max_score else True):
if need_frames > 0:
action = [random.randint(0, agent.action_space[0]-1), random.randint(0, agent.action_space[1]-1)]
steering = steering_table[action[0]];
throttle = throttle_table[action[1]];
# disable reverse
# if throttle < 0.0:
# for (i, thrt) in enumerate(throttle_table):
# if thrt >= 0.0:
# throttle = thrt;
# action[1] = i;
# break;
next_image, reward, done, info = env.step([steering, throttle]);
images[frame_n-need_frames] = preprocessImage(next_image, resizeScale);
data[frame_n-need_frames-1] = np.array([info["speed"]/max_velocity, action[0]/(agent.action_space[0]-1), action[1]/(agent.action_space[1]-1)]);
need_frames -= 1
last_velocity.append(info["speed"]);
continue
# select action, observe environment, calculate reward
action, Qs = agent.act([np.asarray([images]), np.asarray([data])]);
steering = steering_table[action[0]];
throttle = throttle_table[action[1]];
# disable reverse
# if throttle < 0.0 and last_velocity < 1.5:
# for (i, thrt) in enumerate(throttle_table):
# if thrt >= 0.0:
# throttle = thrt;
# action[1] = i;
# break;
next_image, reward, done, info = env.step([steering, throttle]);
last_velocity.append(round(info["speed"], 4));
img = cv2.resize(next_image, (320, 240), interpolation=cv2.INTER_AREA)
cv2.imshow("camera", img)
reward = 0.0 if not done else -3.0;
if abs(info["cte"]) >= max_cte:
done = True
reward = -3.0
if not done:
reward += (1.0 - (abs(info["cte"]) / max_cte)*2.0) * 0.33;
reward += min((last_velocity[-1]/max_velocity)*2 - 1.0, 1.0) * 0.67;
# for track
# if info["lap_finished"]:
# if info["lap_time"] >= 15.0:
# laps += 1;
# if laps == max_laps:
# done = True;
# else:
# print("[{}] LAP TOO QUICK?! {}s".format(self.name, info["lap_time"]));
# break;
timestep += 1;
score[-1] += 1;
rewards[-1] += reward;
next_images = np.roll(images, -1, axis=0);
next_images[-1] = preprocessImage(next_image, resizeScale);
next_data = np.roll(data, -1, axis=0);
next_data[-1] = np.array([last_velocity[-1]/max_velocity, action[0]/(agent.action_space[0]-1), action[1]/(agent.action_space[1]-1)]);
# save experience and update current state
agent.remember([images, data], action, reward, [next_images, next_data], done);
images = next_images;
data = next_data;
if not first_train:
agent.replay(batch_size);
if len(last_velocity) > 100: last_velocity = last_velocity[-100:];
if len(last_velocity) > 70 and abs(last_velocity[-1]) < 0.5: print("[{}] [{}] {} {}".format(name, len(last_velocity), mean(last_velocity), last_velocity[-1]))
if len(last_velocity) == 100 and abs(mean(last_velocity)) <= 0.1:
print("[{}] PROBABLY STUCK, mean: {}".format(name, mean(last_velocity)));
done = True;
# logging
steers.append(steering);
throttles.append(throttle);
rewards_.append(reward);
velocities.append(last_velocity[-1]);
ctes.append(info["cte"]);
ctes_absolute.append(abs(info["cte"]));
distance += last_velocity[-1]*(time.time()-distance_time)
distance_time = time.time()
if Qs[0] != None and (max_q_steer == None or Qs[0] > max_q_steer):
max_q_steer = Qs[0];
if Qs[1] != None and (max_q_throttle == None or Qs[1] > max_q_throttle):
max_q_throttle = Qs[1];
if laps == 5:
done = True
cv2.waitKey(1);
# for roads
if distance > 1900:
laps = 5;
# logging
if score[-1] > 0:
log.writerow([e, timestep, round(mean(steers), 2), round(min(rewards_), 2), round(mean(rewards_), 2), round(max(rewards_), 2), score[-1], round(rewards[-1], 2), round(max_q_steer, 2), round(max_q_throttle, 2), agent.epsilon, round(time.time()-start,2), round(mean(velocities), 2), round(max(velocities), 2), round(min(ctes), 2), round(mean(ctes), 2), round(max(ctes), 2), round(distance, 2), round(mean(throttles), 2), round(max(throttles), 2), round(min(throttles), 2), round(mean(ctes_absolute), 2), round(min(ctes_absolute), 2), round(max(ctes_absolute), 2)]);
else: # sometimes, something goes really wrong... don't count this episode
e -= 1
file.flush();
# fix for persisting throttle bug
env.step([0.0, -0.03]);
if len(agent.memory) > batch_size*4 and first_train:
agent.replay(batch_size);
agent.act([np.asarray([images]), np.asarray([data])]);
first_train = False;
if len(score) > 20: score = score[-20:];
if len(rewards) > 20: rewards = rewards[-20:];
if score[-1] >= highest_score:
highest_score = score[-1];
if rewards[-1] >= highest_reward:
highest_reward = rewards[-1]
agent.save();
print("episode: {}/{}, steps: {}, reward: {}, highest reward: {}, average: {}, laps: {}, e: {:.2}, memory: {}, replays: {}"
.format(e+1, episode_count, score[-1], round(rewards[-1], 2), round(highest_reward, 2), round(mean(rewards), 2), laps, agent.epsilon, len(agent.memory), agent.replays));
if (e+1) % 5 == 0:
print("Took", round((time.time()-start)/60, 2), "minutes\n");
start = time.time();
agent.merge_models();
if laps == max_laps:
success_episodes += 1;
else:
success_episodes = 0;
if success_episodes == 5:
print("Training successfull! Time: {} minutes.".format(round((time.time()-first_start)/60.0, 2)));
agent.save("end.h5");
file.close();
break;
agent.save();
print("Total training time:", round((time.time()-first_start)/60, 2), "minutes");
if __name__ == "__main__":
main()