Final commit

.idea/.gitignore

+# Default ignored files
+/workspace.xml
\ No newline at end of file

.idea/Master_project_final.iml

+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="PLAIN" />
+    <option name="myDocStringFormat" value="Plain" />
+  </component>
+  <component name="TemplatesService">
+    <option name="TEMPLATE_FOLDERS">
+      <list>
+        <option value="$MODULE_DIR$/venv/lib/python3.6/site-packages/pandas/io/formats/templates" />
+      </list>
+    </option>
+  </component>
+  <component name="TestRunnerService">
+    <option name="PROJECT_TEST_RUNNER" value="pytest" />
+  </component>
+</module>
\ No newline at end of file

.idea/inspectionProfiles/profiles_settings.xml

+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file

.idea/misc.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="JavaScriptSettings">
+    <option name="languageLevel" value="ES6" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.6 (Master_project_final)" project-jdk-type="Python SDK" />
+</project>
\ No newline at end of file

.idea/modules.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Master_project_final.iml" filepath="$PROJECT_DIR$/.idea/Master_project_final.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file

.idea/vcs.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file

DRQN_HER.py

+import random
+import numpy as np
+import tensorflow as tf
+
+random.seed(123)
+np.random.seed(123)
+
+
+class DRQN(object):
+    def __init__(self, action_n,
+                 cell,
+                 scope,
+                 fcl_dims,
+                 save_path,
+                 input_size,
+                 nodes_num,
+                 gamma=0.98):
+
+        self.cell = cell
+        self.scope = scope
+        self.gamma = gamma
+        self.fc1_dims = fcl_dims
+        self.action_n = action_n
+        self.save_path = save_path
+        self.nodes_num = nodes_num
+
+        with tf.variable_scope(scope):
+            # seperate agent observation, and positions
+            self.inputs = tf.placeholder(tf.float32, shape=(None, 515), name="features_positions")
+            # additional goals
+            self.goals = tf.placeholder(tf.float32, shape=(None, 3), name="Goals_")
+            # previous_action
+            self.pre_action = tf.placeholder(tf.int32, shape=(None,), name="pre_action")
+            # actions
+            self.actions = tf.placeholder(tf.int32, shape=(None,), name="actions")
+            # Q-targets-values
+            self.Q_values = tf.placeholder(tf.float32, shape=(None,), name="Targets_Q_Values")
+
+            self.pre_action_ = tf.one_hot(self.pre_action, self.action_n, dtype=tf.float32,
+                                          name="pre_action_OneHot_enc")
+
+            lstm_input = tf.concat((self.inputs, self.goals), axis=1)
+            lstm_input_ = tf.concat((lstm_input, self.pre_action_), axis=1)
+
+            with tf.variable_scope("RNN"):
+                self.train_length = tf.placeholder(tf.int32)
+                self.batch_size = tf.placeholder(tf.int32, shape=[])
+                self.input_flat = tf.reshape(tf.layers.flatten(lstm_input_),
+                                             [self.batch_size, self.train_length, input_size])
+
+                # number_of_units may need to be changed
+                # self.cell = tf.contrib.rnn.BasicLSTMCell(num_units=self.nodes_num,
+                #                                          state_is_tuple=True)
+
+                self.state_in = self.cell.zero_state(self.batch_size, tf.float32)
+                self.rnn, self.rnn_state = tf.nn.dynamic_rnn(inputs=self.input_flat,
+                                                             cell=self.cell,
+                                                             dtype=tf.float32,
+                                                             initial_state=self.state_in,
+                                                             scope=scope + '_rnn')
+
+                self.rnn_flat = tf.reshape(self.rnn, shape=[-1, self.nodes_num])
+
+            dense1 = tf.layers.dense(self.rnn_flat, self.fc1_dims, activation=tf.nn.relu, trainable=True)
+
+            # final output layer
+            self.predict_op = tf.layers.dense(dense1, action_n, trainable=True)
+
+            actions_q_values = tf.reduce_sum(self.predict_op * tf.one_hot(self.actions, self.action_n),
+                                             reduction_indices=[1])
+
+            # self.clipped_Q_values = tf.clip_by_value(self.Q_values, -1 / (1 - self.gamma), 0)
+
+            self.cost = tf.reduce_mean(tf.square(self.Q_values - actions_q_values))
+
+            self.train_op = tf.train.AdamOptimizer(1e-3).minimize(self.cost)
+
+            tf.summary.scalar("Cost", self.cost)
+            tf.summary.histogram("Goals", self.goals)
+            tf.summary.histogram("Action_Q_values", self.Q_values)
+            tf.summary.histogram("LSTM", self.rnn)
+            tf.summary.histogram("LSTM_State", self.rnn_state)
+            self.merged = tf.summary.merge_all()
+
+    def hard_update_from(self, other):
+        mine = [t for t in tf.trainable_variables() if t.name.startswith(self.scope)]
+        mine = sorted(mine, key=lambda v: v.name)
+        theirs = [t for t in tf.trainable_variables() if t.name.startswith(other.scope)]
+        theirs = sorted(theirs, key=lambda v: v.name)
+
+        self.session.run([v_t.assign(v) for v_t, v in zip(mine, theirs)])
+
+    def soft_update_from(self, other, tau=0.95):
+        mine = [t for t in tf.trainable_variables() if t.name.startswith(self.scope)]
+        mine = sorted(mine, key=lambda v: v.name)
+        theirs = [t for t in tf.trainable_variables() if t.name.startswith(other.scope)]
+        theirs = sorted(theirs, key=lambda v: v.name)
+
+        self.session.run([v_t.assign(v_t * (1. - tau) + v * tau) for v_t, v in zip(mine, theirs)])
+
+    def set_session(self, session):
+        self.session = session
+
+    def predict(self, pos_obs_state, goals, batch_size, trace_length, rnn_state, pre_action):
+        actions_q_values, rnn, rnn_state_ = self.session.run([self.predict_op, self.rnn, self.rnn_state],
+                                                             feed_dict={self.goals: goals,
+                                                                        self.state_in: rnn_state,
+                                                                        self.inputs: pos_obs_state,
+                                                                        self.batch_size: batch_size,
+                                                                        self.pre_action: pre_action,
+                                                                        self.train_length: trace_length})
+        return actions_q_values, rnn, rnn_state_
+
+    def update(self, goals, states, actions, batch_size, q_values, trace_length, rnn_state, pre_action):
+        self.c, _ = self.session.run([self.cost, self.train_op],
+                                     feed_dict={self.goals: goals,
+                                                self.inputs: states,
+                                                self.actions: actions,
+                                                self.Q_values: q_values,
+                                                self.state_in: rnn_state,
+                                                self.batch_size: batch_size,
+                                                self.pre_action: pre_action,
+                                                self.train_length: trace_length})
+        return self.c
+
+    def sample_action(self, goal, batch_size, trace_length, epsilon, rnn_state, pos_obs_state, pre_action):
+        """Implements epsilon greedy algorithm"""
+        if np.random.random() < epsilon:
+            q_values, rnn, rnn_state_ = self.predict(pos_obs_state=[pos_obs_state],
+                                                     goals=[goal],
+                                                     pre_action=[pre_action],
+                                                     batch_size=batch_size,
+                                                     trace_length=trace_length,
+                                                     rnn_state=rnn_state)
+            action = np.random.randint(1, self.action_n)
+        else:
+            action_q_values, _, rnn_state_ = self.predict(pos_obs_state=[pos_obs_state],
+                                                          goals=[goal],
+                                                          pre_action=[pre_action],
+                                                          batch_size=batch_size,
+                                                          trace_length=trace_length,
+                                                          rnn_state=rnn_state)
+            action = np.argmax(action_q_values[0])
+        return action, rnn_state_
+
+    def load(self):
+        self.saver = tf.train.Saver(tf.global_variables())
+        load_was_success = True
+        try:
+            save_dir = '/'.join(self.save_path.split('/')[:-1])
+            ckpt = tf.train.get_checkpoint_state(save_dir)
+            load_path = ckpt.model_checkpoint_path
+            self.saver.restore(self.session, load_path)
+        except:
+            print("no saved model to load. starting new session")
+            load_was_success = False
+        else:
+            print("loaded model: {}".format(load_path))
+            saver = tf.train.Saver(tf.global_variables())
+            episode_number = int(load_path.split('-')[-1])
+
+    def save(self, n):
+        self.saver.save(self.session, self.save_path, global_step=n)
+        print("SAVED MODEL #{}".format(n))
+
+    def optimize(self, model, target_model, batch_size, trace_length, her_buffer, optimization_steps):
+        losses = 0
+
+        for _ in range(optimization_steps):
+            rnn_stat_train = (np.zeros([batch_size, self.nodes_num]), np.zeros([batch_size, self.nodes_num]))
+
+            train_batch = her_buffer.sample(batch_size=batch_size, trace_length=trace_length)
+
+            pre_action, states, curr_actions, rewards, next_states, dones, goals = map(np.array, zip(*train_batch))
+            # Calculate targets
+            next_Qs, _, _ = target_model.predict(goals=goals,
+                                                 pre_action=pre_action,
+                                                 pos_obs_state=next_states,
+                                                 rnn_state=rnn_stat_train,
+                                                 trace_length=trace_length,
+                                                 batch_size=batch_size)
+            next_Q = np.amax(next_Qs, axis=1)
+            target_q_values = rewards + np.invert(dones).astype(np.float32) * self.gamma * next_Q
+            #   Calculate network loss
+            loss = model.update(goals=goals,
+                                states=states,
+                                actions=curr_actions,
+                                pre_action=pre_action,
+                                rnn_state=rnn_stat_train,
+                                q_values=target_q_values,
+                                trace_length=trace_length,
+                                batch_size=batch_size)
+            losses += loss
+        return losses / optimization_steps
+
+    def log(self, encoder_summary, drqn_summary, step):
+        encoder_writer = tf.summary.FileWriter("/home/nagi/Desktop/Master_Project/DRQN_features_pos_2/encoder")
+        encoder_writer.add_summary(encoder_summary, global_step=step)
+        writer = tf.summary.FileWriter("/home/nagi/Desktop/Master_Project/DRQN_features_pos_2/Train")
+        writer.add_summary(drqn_summary, global_step=step)

DRQN_HER_Playing.py

+import random
+import numpy as np
+import pandas as pd
+import tensorflow as tf
+#matplotlib.use("TkAgg")
+
+import matplotlib.pyplot as plt
+from matplotlib.lines import Line2D
+from DRQN_HER import DRQN
+from Environment import Environment
+from Environment_top_view import Environment_topview
+from Her_episodes_experiences import her_buffer
+from autoencoder import load_autoencoder
+from experience_buffer import experience_buffer
+from helper import train_valid_env_sync
+
+random.seed(123)
+np.random.seed(123)
+dir = "/previous_Action_modified_her_with_sequence/DRQN.ckpt"
+
+##### environment_Variables
+grid_size = 0.18    # size of the agent step
+top_view = True     # displaying top-view
+distance_threshold = grid_size * 3  # distance threshold to the goal
+action_n = 6    #number of allowed action
+random_init_position = False    # Random initial positions only -- no change in the agent orientation
+random_init_pose = True     # Random initial positions with random agent orientation
+reward = "shaped" # reward type "shaped","sparse"
+
+#########################   hyper-parameter
+num_episodes = 50100
+her_strategy = "future"
+her_samples = 4
+batch_size = 32
+trace_length = 16
+gamma = 0.99
+fcl_dims = 512
+nodes_num = 256
+optimistion_steps = 40
+epsilon_max = 1
+epsilon_min = 0.05
+epsilon_decay = epsilon_max - ((epsilon_max - epsilon_min) / 20000)
+
+plotted_data = pd.DataFrame(
+    columns=["Episodes", "Successful trajectories", "Failed trajectories", "Ratio", "loss", "epsilon"])
+
+
+legend_elements = [Line2D([0], [0], marker="o", color="white", label="Navigable Positions",
+                          markerfacecolor="grey", markersize=10),
+                   Line2D([0], [0], marker="X", color="white", label="Goal Positions",
+                          markerfacecolor="grey", markersize=10),
+                   Line2D([0], [0], marker="o", color="white", label="Initial Agent Position",
+                          markerfacecolor="blue", markersize=10),
+                   Line2D([0], [0], marker="v", color="white", label="Looking Right",
+                          markerfacecolor="red", markersize=10),
+                   Line2D([0], [0], marker="^", color="white", label="Looking Left",
+                          markerfacecolor="grey", markersize=10),
+                   Line2D([0], [0], marker="<", color="white", label="looking Back",
+                          markerfacecolor="red", markersize=10),
+                   ]
+
+# experience replay parameters
+her_rec_buffer = her_buffer()
+episode_buffer = experience_buffer(distance=distance_threshold, reward_typ=reward, her_samples=her_samples, her_strategy=her_strategy)
+
+env = Environment(random_init_position=random_init_position, random_init_pos_orient=random_init_pose, reward_typ=reward,
+                  distance=distance_threshold, random_goals=True, grid_size=grid_size, agent_mode="bot")
+
+if top_view:
+    envT = Environment_topview(grid_size=grid_size, agent_mode="bot", distance=distance_threshold, reward_typ=reward)
+
+
+positions = env.get_reachable_position()
+plt.ion()
+
+
+
+#   Autoenconder
+print("Autoencoder")
+ae_sess, ae = load_autoencoder()
+
+global_step = tf.Variable(0, name="global_step", trainable=False)
+loss = 0
+
+#   main loop
+print("DQN_HER_Model")
+drqn_graph = tf.Graph()
+
+model = DRQN(action_n=action_n, nodes_num=nodes_num, fcl_dims=fcl_dims, scope="model",save_path=dir)
+# target_model = DRQN(action_n=action_n, nodes_num=nodes_num, fcl_dims=fcl_dims, scope="target_model",
+#                     save_path=dir)
+
+with tf.Session() as sess:
+    model.set_session(sess)
+    # target_model.set_session(sess)
+    sess.run(tf.global_variables_initializer())
+    model.load()
+    start = global_step.eval(sess)
+
+    successes = 0
+    failures = 0
+    epsilon = 1
+
+    for n in range(start, num_episodes):
+        #   rnn_init_state
+        rnn_state = (np.zeros([1, nodes_num]), np.zeros([1, nodes_num]))
+        # reset environment
+        obs_state, pos_state, goal, distance, pose, pre_action_idx = env.reset()
+
+        if top_view:
+            # additional env top view for validation
+            agent_pos_top, pose_top = envT.reset(x_pos=pose[0],
+                                                 y_pos=pose[1],
+                                                 z_pos=pose[2],
+                                                 angle=pose[4])
+        if top_view:
+            # validation the position of the agent from two diff environment_object
+            train_valid_env_sync(pose, pose_top)
+
+        features = ae_sess.run(ae.feature_vector, feed_dict={ae.image: obs_state[None, :, :, :]})
+        features = np.squeeze(features, axis=0)
+        obs_pos_state = np.concatenate((features, pos_state), axis=0)
+
+        plt.close()
+        plt.figure()
+        plt.ion()
+
+        for pos in positions:
+            plt.scatter(pos[0], pos[2], s=20, c="grey", marker="o", alpha=1)
+
+        x_start, x_end = plt.xlim()
+        y_start, y_end = plt.ylim()
+        plt.xticks(np.arange(x_start, x_end, grid_size), rotation=90)
+        plt.yticks(np.arange((y_start - grid_size), y_end, grid_size))
+        plt.xlabel("X-Coordinates")
+        plt.ylabel("Y-Coordinates")
+        plt.legend(handles=legend_elements, loc="upper left", bbox_to_anchor=(1, 1), prop={"size": 6})
+        plt.grid()
+        plt.tight_layout()
+
+        plt.scatter(pos_state[0], pos_state[2], c="blue", marker="o")
+        plt.scatter(goal[0], goal[2], c="green", marker="X")
+
+        plt.pause(0.9)
+
+
+        if pose[4]==0:
+            plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+            plt.scatter(pos_state[0], pos_state[2], c="red", marker="v", alpha=1)
+
+        elif pose[4]==90:
+            plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+            plt.scatter(pos_state[0], pos_state[2], c="red", marker=">", alpha=1)
+
+        elif pose[4]==180:
+            plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+            plt.scatter(pos_state[0], pos_state[2], c="red", marker="^", alpha=1)
+
+        elif pose[4]==270:
+            plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+            plt.scatter(pos_state[0], pos_state[2], c="red", marker="<", alpha=1)
+
+            plt.pause(0.01)
+
+        done = False
+        while not done:
+
+            curr_action_idx, rnn_state_ = model.sample_action(goal=goal,
+                                                              batch_size=1,
+                                                              trace_length=1,
+                                                              epsilon=0,
+                                                              rnn_state=rnn_state,
+                                                              pos_obs_state=obs_pos_state,
+                                                              pre_action=pre_action_idx)
+
+            obs_state_, pos_state_, distance_, done, reward, collision, pose_ = env.step(curr_action_idx,
+                                                                                         goal, distance)
+            if top_view:
+                # top view environment used for verification of the main environment
+                obsStateT, posStateT, distanceT, doneT, rewardT, collisionT, agentPoseT = envT.step(curr_action_idx,
+                                                                                                    goal, distance)
+            if top_view:
+                # validation the postion of the agent from two diff environment_object
+                train_valid_env_sync(pose_, agentPoseT)
+
+            features_ = ae_sess.run(ae.feature_vector, feed_dict={ae.image: obs_state_[None, :, :, :]})
+            features_ = np.squeeze(features_, axis=0)
+            obs_pos_state_ = np.concatenate((features_, pos_state_), axis=0)
+
+            if pose[4] == 0:
+                plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+                plt.scatter(pos_state[0], pos_state[2], c="red", marker="v", alpha=1)
+
+            elif pose[4] == 90:
+                plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+                plt.scatter(pos_state[0], pos_state[2], c="red", marker=">", alpha=1)
+
+            elif pose[4] == 180:
+                plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+                plt.scatter(pos_state[0], pos_state[2], c="red", marker="^", alpha=1)
+
+            elif pose[4] == 270:
+                plt.scatter(pos_state[0], pos_state[2], c="white", marker="s", alpha=1)
+                plt.scatter(pos_state[0], pos_state[2], c="red", marker="<", alpha=1)
+
+                plt.pause(0.01)
+
+            # # append to episode buffer
+            # episode_buffer.add(np.reshape(
+            #     np.array([pre_action_idx, obs_pos_state, curr_action_idx, reward, obs_pos_state_, done, goal]),
+            #     [1, 7]))
+
+            rnn_state = rnn_state_
+            obs_pos_state = obs_pos_state_
+            distance = distance_
+            pre_action_idx = curr_action_idx
+
+            if done:
+                if distance <= distance_threshold:
+                    successes += done
+                else:
+                    failures += done
+                break
+
+        # her_buffer = episode_buffer.her()
+        # her_rec_buffer.add(her_buffer)
+        # episode_buffer.clear()
+        #
+        # if n > 50 and n != 0:
+        #     loss = model.optimize(model=model,
+        #                           batch_size=batch_size,
+        #                           trace_length=trace_length,
+        #                           target_model=target_model,
+        #                           her_buffer=her_rec_buffer,
+        #                           optimization_steps=optimistion_steps)
+        # if n % 100 == 0 and n > 0:
+        #     print("--update model--")
+        #     target_model.soft_update_from(model)
+        #
+        #     # model.log(drqn_summary=drqn_summary, encoder_summary=ae_summary, step=start)
+        #
+        # epsilon = max(epsilon * epsilon_decay, epsilon_min)
+
+        plotted_data = plotted_data.append({"Episodes": str(n),
+                                            "Successful trajectories": successes / (n + 1),
+                                            "Failed trajectories": failures / (n + 1),
+                                            "Ratio": (successes / (failures + 1e-6)),
+                                            "loss": loss, "epsilon": epsilon}, ignore_index=True)
+
+        #plotting_training_log(n, plotted_data, successes, failures, loss, goal, distance, pos_state, epsilon)
+
+        # global_step.assign(n).eval()
+        # #   saving
+        # if n % 50 == 0 and n > 0:
+        #     model.save(n)

DRQN_HER_Training.py

+import random
+import numpy as np
+import pandas as pd
+import tensorflow as tf
+from DRQN_HER import DRQN
+from Environment import Environment
+from Environment_top_view import Environment_topview
+from Her_episodes_experiences import her_buffer
+from autoencoder import load_autoencoder
+from experience_buffer import experience_buffer
+from helper import plotting_training_log, train_valid_env_sync, validate
+
+random.seed(123)
+np.random.seed(123)
+
+dir = "/home/nagi/Desktop/Master_project_final/DRQN_3_her_sparse_sequence/DRQN.ckpt"
+
+##### environment_Variables
+grid_size = 0.18  # size of the agent step
+top_view = True  # displaying top-view
+distance_threshold = grid_size * 2  # distance threshold to the goal
+action_n = 3  # number of allowed action
+random_init_position = False  # Random initial positions only -- no change in the agent orientation
+random_init_pose = True  # Random initial positions with random agent orientation
+reward = "sparse"  # reward type "shaped","sparse"
+
+#########################   hyper-parameter
+num_episodes = 15001
+her_samples = 8
+batch_size = 32
+trace_length = 8
+gamma = 0.99
+fcl_dims = 512
+nodes_num = 256
+optimistion_steps = 40
+epsilon_max = 1
+epsilon_min = 0.05
+input_size = 521  ## size of the input to the LSTM
+epsilon_decay = epsilon_max - ((epsilon_max - epsilon_min) / 3500)
+
+
+## pandas data-frame for plotting
+plotted_data = pd.DataFrame(
+    columns=["Episodes", "Successful trajectories", "Failed trajectories", "Ratio", "loss", "epsilon"])
+
+# experience replay parameters
+her_rec_buffer = her_buffer()
+episode_buffer = experience_buffer(distance=distance_threshold, reward_typ=reward, her_samples=her_samples)
+
+env = Environment(random_init_position=random_init_position, random_init_pos_orient=random_init_pose, reward_typ=reward,
+                  distance=distance_threshold, random_goals=True, grid_size=grid_size, agent_mode="bot")
+
+if top_view:
+    envT = Environment_topview(grid_size=grid_size, agent_mode="bot", distance=distance_threshold, reward_typ=reward)
+
+#   Autoenconder
+print("Autoencoder")
+ae_sess, ae = load_autoencoder()
+
+global_step = tf.Variable(0, name="global_step", trainable=False)
+loss = 0
+
+#   main loop
+print("DQN_HER_Model")
+drqn_graph = tf.Graph()
+cell = tf.nn.rnn_cell.LSTMCell(num_units=nodes_num, state_is_tuple=True)
+cellT = tf.nn.rnn_cell.LSTMCell(num_units=nodes_num, state_is_tuple=True)
+
+
+model = DRQN(action_n=action_n, cell=cell, fcl_dims=fcl_dims, scope="model",
+             save_path=dir, nodes_num=nodes_num, input_size=input_size)
+target_model = DRQN(action_n=action_n, cell=cellT, fcl_dims=fcl_dims, scope="target_model",