A DDPG Agent.
Inherits From: TFAgent
tf_agents.agents.DdpgAgent(
time_step_spec: tf_agents.trajectories.TimeStep
,
action_spec: tf_agents.typing.types.NestedTensorSpec
,
actor_network: tf_agents.networks.Network
,
critic_network: tf_agents.networks.Network
,
actor_optimizer: Optional[types.Optimizer] = None,
critic_optimizer: Optional[types.Optimizer] = None,
ou_stddev: tf_agents.typing.types.Float
= 1.0,
ou_damping: tf_agents.typing.types.Float
= 1.0,
target_actor_network: Optional[tf_agents.networks.Network
] = None,
target_critic_network: Optional[tf_agents.networks.Network
] = None,
target_update_tau: tf_agents.typing.types.Float
= 1.0,
target_update_period: tf_agents.typing.types.Int
= 1,
dqda_clipping: Optional[types.Float] = None,
td_errors_loss_fn: Optional[tf_agents.typing.types.LossFn
] = None,
gamma: tf_agents.typing.types.Float
= 1.0,
reward_scale_factor: tf_agents.typing.types.Float
= 1.0,
gradient_clipping: Optional[types.Float] = None,
debug_summaries: bool = False,
summarize_grads_and_vars: bool = False,
train_step_counter: Optional[tf.Variable] = None,
name: Optional[Text] = None
)
Args |
time_step_spec
|
A TimeStep spec of the expected time_steps.
|
action_spec
|
A nest of BoundedTensorSpec representing the actions.
|
actor_network
|
A tf_agents.network.Network to be used by the agent. The
network will be called with call(observation, step_type[, policy_state])
and should return (action, new_state).
|
critic_network
|
A tf_agents.network.Network to be used by the agent. The
network will be called with call((observation, action), step_type[,
policy_state]) and should return (q_value, new_state).
|
actor_optimizer
|
The optimizer to use for the actor network.
|
critic_optimizer
|
The optimizer to use for the critic network.
|
ou_stddev
|
Standard deviation for the Ornstein-Uhlenbeck (OU) noise added
in the default collect policy.
|
ou_damping
|
Damping factor for the OU noise added in the default collect
policy.
|
target_actor_network
|
(Optional.) A tf_agents.network.Network to be
used as the actor target network during Q learning. Every
target_update_period train steps, the weights from actor_network are
copied (possibly withsmoothing via target_update_tau ) to target_q_network . If target_actor_network is not provided, it is
created by making a copy of actor_network , which initializes a new
network with the same structure and its own layers and weights.
Performing a Network.copy does not work when the network instance
already has trainable parameters (e.g., has already been built, or when
the network is sharing layers with another). In these cases, it is up
to you to build a copy having weights that are not shared with the
original actor_network , so that this can be used as a target network.
If you provide a target_actor_network that shares any weights with
actor_network , a warning will be logged but no exception is thrown.
|
target_critic_network
|
(Optional.) Similar network as target_actor_network
but for the critic_network. See documentation for target_actor_network.
|
target_update_tau
|
Factor for soft update of the target networks.
|
target_update_period
|
Period for soft update of the target networks.
|
dqda_clipping
|
when computing the actor loss, clips the gradient dqda
element-wise between [-dqda_clipping, dqda_clipping]. Does not perform
clipping if dqda_clipping == 0.
|
td_errors_loss_fn
|
A function for computing the TD errors loss. If None,
a default value of elementwise huber_loss is used.
|
gamma
|
A discount factor for future rewards.
|
reward_scale_factor
|
Multiplicative scale for the reward.
|
gradient_clipping
|
Norm length to clip gradients.
|
debug_summaries
|
A bool to gather debug summaries.
|
summarize_grads_and_vars
|
If True, gradient and network variable summaries
will be written during training.
|
train_step_counter
|
An optional counter to increment every time the train
op is run. Defaults to the global_step.
|
name
|
The name of this agent. All variables in this module will fall under
that name. Defaults to the class name.
|
Attributes |
action_spec
|
TensorSpec describing the action produced by the agent.
|
collect_data_context
|
|
collect_data_spec
|
Returns a Trajectory spec, as expected by the collect_policy .
|
collect_policy
|
Return a policy that can be used to collect data from the environment.
|
data_context
|
|
debug_summaries
|
|
policy
|
Return the current policy held by the agent.
|
summaries_enabled
|
|
summarize_grads_and_vars
|
|
time_step_spec
|
Describes the TimeStep tensors expected by the agent.
|
train_sequence_length
|
The number of time steps needed in experience tensors passed to train .
Train requires experience to be a Trajectory containing tensors shaped
[B, T, ...] . This argument describes the value of T required.
For example, for non-RNN DQN training, T=2 because DQN requires single
transitions.
If this value is None , then train can handle an unknown T (it can be
determined at runtime from the data). Most RNN-based agents fall into
this category.
|
train_step_counter
|
|
training_data_spec
|
Returns a trajectory spec, as expected by the train() function.
|
Methods
actor_loss
View source
actor_loss(
time_steps: tf_agents.trajectories.TimeStep
,
weights: Optional[types.Tensor] = None,
training: bool = False
) -> tf_agents.typing.types.Tensor
Computes the actor_loss for DDPG training.
Args |
time_steps
|
A batch of timesteps.
|
weights
|
Optional scalar or element-wise (per-batch-entry) importance
weights.
|
training
|
Whether this loss is being used for training.
|
Returns |
actor_loss
|
A scalar actor loss.
|
critic_loss
View source
critic_loss(
time_steps: tf_agents.trajectories.TimeStep
,
actions: tf_agents.typing.types.NestedTensor
,
next_time_steps: tf_agents.trajectories.TimeStep
,
weights: Optional[types.Tensor] = None,
training: bool = False
) -> tf_agents.typing.types.Tensor
Computes the critic loss for DDPG training.
Args |
time_steps
|
A batch of timesteps.
|
actions
|
A batch of actions.
|
next_time_steps
|
A batch of next timesteps.
|
weights
|
Optional scalar or element-wise (per-batch-entry) importance
weights.
|
training
|
Whether this loss is being used for training.
|
Returns |
critic_loss
|
A scalar critic loss.
|
initialize
View source
initialize() -> Optional[tf.Operation]
Initializes the agent.
Returns |
An operation that can be used to initialize the agent.
|
Raises |
RuntimeError
|
If the class was not initialized properly (super.__init__
was not called).
|
loss
View source
loss(
experience: tf_agents.typing.types.NestedTensor
,
weights: Optional[types.Tensor] = None,
training: bool = False,
**kwargs
) -> tf_agents.agents.tf_agent.LossInfo
Gets loss from the agent.
If the user calls this from _train, it must be in a tf.GradientTape
scope
in order to apply gradients to trainable variables.
If intermediate gradient steps are needed, _loss and _train will return
different values since _loss only supports updating all gradients at once
after all losses have been calculated.
Args |
experience
|
A batch of experience data in the form of a Trajectory . The
structure of experience must match that of self.training_data_spec .
All tensors in experience must be shaped [batch, time, ...] where
time must be equal to self.train_step_length if that property is not
None .
|
weights
|
(optional). A Tensor , either 0-D or shaped [batch] ,
containing weights to be used when calculating the total train loss.
Weights are typically multiplied elementwise against the per-batch loss,
but the implementation is up to the Agent.
|
training
|
Explicit argument to pass to loss . This typically affects
network computation paths like dropout and batch normalization.
|
**kwargs
|
Any additional data as args to loss .
|
Returns |
A LossInfo loss tuple containing loss and info tensors.
|
Raises |
RuntimeError
|
If the class was not initialized properly (super.__init__
was not called).
|
post_process_policy
View source
post_process_policy() -> tf_agents.policies.TFPolicy
Post process policies after training.
The policies of some agents require expensive post processing after training
before they can be used. e.g. A Recommender agent might require rebuilding
an index of actions. For such agents, this method will return a post
processed version of the policy. The post processing may either update the
existing policies in place or create a new policy, depnding on the agent.
The default implementation for agents that do not want to override this
method is to return agent.policy.
Returns |
The post processed policy.
|
preprocess_sequence
View source
preprocess_sequence(
experience: tf_agents.typing.types.NestedTensor
) -> tf_agents.typing.types.NestedTensor
Defines preprocess_sequence function to be fed into replay buffers.
This defines how we preprocess the collected data before training.
Defaults to pass through for most agents.
Structure of experience
must match that of self.collect_data_spec
.
Args |
experience
|
a Trajectory shaped [batch, time, ...] or [time, ...] which
represents the collected experience data.
|
Returns |
A post processed Trajectory with the same shape as the input.
|
train
View source
train(
experience: tf_agents.typing.types.NestedTensor
,
weights: Optional[types.Tensor] = None,
**kwargs
) -> tf_agents.agents.tf_agent.LossInfo
Trains the agent.
Args |
experience
|
A batch of experience data in the form of a Trajectory . The
structure of experience must match that of self.training_data_spec .
All tensors in experience must be shaped [batch, time, ...] where
time must be equal to self.train_step_length if that property is not
None .
|
weights
|
(optional). A Tensor , either 0-D or shaped [batch] ,
containing weights to be used when calculating the total train loss.
Weights are typically multiplied elementwise against the per-batch loss,
but the implementation is up to the Agent.
|
**kwargs
|
Any additional data to pass to the subclass.
|
Returns |
A LossInfo loss tuple containing loss and info tensors.
- In eager mode, the loss values are first calculated, then a train step
is performed before they are returned.
- In graph mode, executing any or all of the loss tensors
will first calculate the loss value(s), then perform a train step,
and return the pre-train-step
LossInfo .
|
Raises |
RuntimeError
|
If the class was not initialized properly (super.__init__
was not called).
|