├── __pycache__ ├── utils.cpython-37.pyc ├── job_env.cpython-37.pyc ├── trainer.cpython-37.pyc ├── trainer.cpython-38.pyc └── RL_brain.cpython-37.pyc ├── utils.py ├── run.py ├── README.md ├── RL_brain.py ├── trainer.py ├── job_env.py └── data └── process_time_matrix.csv /__pycache__/utils.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dmksjfl/Job_Shop_Scheduling_Problem_with_Reinforcement_Learning/HEAD/__pycache__/utils.cpython-37.pyc -------------------------------------------------------------------------------- /__pycache__/job_env.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dmksjfl/Job_Shop_Scheduling_Problem_with_Reinforcement_Learning/HEAD/__pycache__/job_env.cpython-37.pyc -------------------------------------------------------------------------------- /__pycache__/trainer.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dmksjfl/Job_Shop_Scheduling_Problem_with_Reinforcement_Learning/HEAD/__pycache__/trainer.cpython-37.pyc -------------------------------------------------------------------------------- /__pycache__/trainer.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dmksjfl/Job_Shop_Scheduling_Problem_with_Reinforcement_Learning/HEAD/__pycache__/trainer.cpython-38.pyc -------------------------------------------------------------------------------- /__pycache__/RL_brain.cpython-37.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dmksjfl/Job_Shop_Scheduling_Problem_with_Reinforcement_Learning/HEAD/__pycache__/RL_brain.cpython-37.pyc -------------------------------------------------------------------------------- /utils.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Oct 28 11:07:42 2020 4 | 5 | @author: lvjf 6 | 7 | utils: contain some useful functions for JSSP 8 | """ 9 | 10 | from torch import nn 11 | import torch 12 | import numpy as np 13 | 14 | 15 | def v_wrap(np_array, dtype=np.float32): 16 | if np_array.dtype != dtype: 17 | np_array = np_array.astype(dtype) 18 | return torch.from_numpy(np_array) 19 | 20 | 21 | def normalized_columns_initializer(weights, std=1.0): 22 | out = torch.randn(weights.size()) 23 | out *= std / torch.sqrt(out.pow(2).sum(1, keepdim=True)) 24 | return out 25 | 26 | 27 | def weights_init(m): 28 | classname = m.__class__.__name__ 29 | if classname.find('Conv') != -1: 30 | weight_shape = list(m.weight.data.size()) 31 | fan_in = np.prod(weight_shape[1:4]) 32 | fan_out = np.prod(weight_shape[2:4]) * weight_shape[0] 33 | w_bound = np.sqrt(6. / (fan_in + fan_out)) 34 | m.weight.data.uniform_(-w_bound, w_bound) 35 | m.bias.data.fill_(0) 36 | elif classname.find('Linear') != -1: 37 | weight_shape = list(m.weight.data.size()) 38 | fan_in = weight_shape[1] 39 | fan_out = weight_shape[0] 40 | w_bound = np.sqrt(6. / (fan_in + fan_out)) 41 | m.weight.data.uniform_(-w_bound, w_bound) 42 | m.bias.data.fill_(0) 43 | -------------------------------------------------------------------------------- /run.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Oct 28 17:11:38 2020 4 | 5 | @author: lvjf 6 | 7 | run.py with args 8 | """ 9 | 10 | from __future__ import print_function 11 | 12 | import argparse 13 | from trainer import train 14 | 15 | 16 | parser = argparse.ArgumentParser(description='JSSPRL') 17 | parser.add_argument('--lr', type=float, default=0.0001, 18 | help='learning rate (default: 0.0001)') 19 | parser.add_argument('--gamma', type=float, default=0.99, 20 | help='discount factor for rewards (default: 0.99)') 21 | parser.add_argument('--gae-lambda', type=float, default=1.00, 22 | help='lambda parameter for GAE (default: 1.00)') 23 | parser.add_argument('--entropy-coef', type=float, default=0.01, 24 | help='entropy term coefficient (default: 0.01)') 25 | parser.add_argument('--value-loss-coef', type=float, default=0.5, 26 | help='value loss coefficient (default: 0.5)') 27 | parser.add_argument('--max-grad-norm', type=float, default=50, 28 | help='value loss coefficient (default: 50)') 29 | parser.add_argument('--seed', type=int, default=1, 30 | help='random seed (default: 1)') 31 | parser.add_argument('--num-steps', type=int, default=20, 32 | help='number of forward steps in A3C (default: 20)') 33 | parser.add_argument('--max-episode-length', type=int, default=1000000, 34 | help='maximum length of an episode (default: 1000000)') 35 | parser.add_argument('--episode', type=int, default=10, 36 | help='How many episode to train the RL algorithm') 37 | 38 | if __name__ == '__main__': 39 | 40 | args = parser.parse_args() 41 | print('start training...') 42 | train(args) 43 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Job Shop Scheduling Problem with Reinforcement Learning 2 | This is the implemention of JSSP with RL. The framework used for RL is actor critic and the dataset comes from Tianchi competition. 3 | 4 | ## Problem formulation 5 | see [https://tianchi.aliyun.com/competition/entrance/531831/information](https://tianchi.aliyun.com/competition/entrance/531831/information) for more details 6 | 7 | ### Action design 8 | The agent action takes from {0, 1} where the action array has the same size as the number of experts. 9 | 10 | ### Reward design 11 | The reward takes the following formula: 12 | 13 | r = 1 - M/N 14 | 15 | where M is the amount of left jobs and N is the total job amount. 16 | 17 | ### State design 18 | The state is the concat of job status and job distribution time 19 | 20 | ## How to use 21 | - the `data` file contains the dataset for the JSSP 22 | - the `RL_brain.py` is the reinforcement learning algorithm for the problem 23 | - the `trainer.py` is the training function for the problem 24 | - the `job_env.py` is the environment for the JSSP 25 | - the `utils.py` contains useful functions that are used many times 26 | - the `run.py` is the main file of the project 27 | 28 | One could run the following code to train the agent: 29 | ```python 30 | python run.py --lr=0.01 --gamma=0.9 --seed=2020 --num-steps=100 --max-episode-length=1e5 31 | ``` 32 | 33 | ## Reference on better JSSP solution 34 | A paper named `A Reinforcement Learning Environment For Job-Shop Scheduling` is published in arXiv on 4/9, 2021. One could refer to this paper for action design, state design and most importantly, reward function design. The paper also provides a JSSP standard environment and a baseline solution for the environment, which might be of great help for those who are interested in JSSP. The paper could be found [here](https://arxiv.org/pdf/2104.03760.pdf) and the corresponding code could be found [here](https://github.com/prosysscience/Job-Shop-Scheduling) 35 | -------------------------------------------------------------------------------- /RL_brain.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Oct 28 11:09:12 2020 4 | 5 | @author: lvjf 6 | 7 | RL brain for JSSP 8 | 9 | LSTM for memory, thus no need for store transitions 10 | """ 11 | 12 | import numpy as np 13 | import torch 14 | import torch.nn as nn 15 | import torch.nn.functional as F 16 | from utils import normalized_columns_initializer, weights_init 17 | 18 | 19 | class ActorCritic(torch.nn.Module): 20 | def __init__(self, num_inputs, action_space): 21 | super(ActorCritic, self).__init__() 22 | self.conv1 = nn.Conv2d(num_inputs, 32, 3, stride=2, padding=1) 23 | self.conv2 = nn.Conv2d(32, 32, 3, stride=2, padding=1) 24 | self.conv3 = nn.Conv2d(32, 32, 3, stride=2, padding=1) 25 | self.conv4 = nn.Conv2d(32, 32, 3, stride=2, padding=1) 26 | 27 | self.lstm = nn.LSTMCell(32*553, 256) 28 | 29 | num_outputs = action_space 30 | self.critic_linear = nn.Linear(256, 1) 31 | self.actor_linear = nn.Linear(256, num_outputs) 32 | 33 | self.apply(weights_init) 34 | self.actor_linear.weight.data = normalized_columns_initializer( 35 | self.actor_linear.weight.data, 0.01) 36 | self.actor_linear.bias.data.fill_(0) 37 | self.critic_linear.weight.data = normalized_columns_initializer( 38 | self.critic_linear.weight.data, 1.0) 39 | self.critic_linear.bias.data.fill_(0) 40 | 41 | self.lstm.bias_ih.data.fill_(0) 42 | self.lstm.bias_hh.data.fill_(0) 43 | 44 | self.train() 45 | 46 | def forward(self, inputs): 47 | inputs, (hx, cx) = inputs 48 | x = F.relu(self.conv1(inputs)) 49 | x = F.relu(self.conv2(x)) 50 | x = F.relu(self.conv3(x)) 51 | x = F.relu(self.conv4(x)) 52 | 53 | x = x.view(-1, 32*553) 54 | hx, cx = self.lstm(x, (hx, cx)) 55 | x = hx 56 | 57 | return self.critic_linear(x), self.actor_linear(x), (hx, cx) 58 | 59 | def choose_action(self,inputs,action_dim): 60 | s, (hx, cx) = inputs 61 | value, logit, (hx, cx) = self.forward((s.unsqueeze(0),(hx, cx))) 62 | prob = F.softmax(logit, dim=-1) 63 | log_prob = F.log_softmax(logit, dim=-1) 64 | entropy = -(log_prob * prob).sum(1, keepdim=True) 65 | 66 | #action = prob.multinomial(num_samples=action_dim).detach() 67 | action=[] 68 | for i in range(action_dim): 69 | action.append(prob.multinomial(num_samples=1).detach()[0]) 70 | action = torch.from_numpy(np.array(action,dtype = np.int64).reshape(1,133)) 71 | return action, log_prob, entropy, value -------------------------------------------------------------------------------- /trainer.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Oct 28 16:33:07 2020 4 | 5 | @author: lvjf 6 | 7 | train the agent 8 | """ 9 | 10 | import torch 11 | import torch.nn.functional as F 12 | import torch.optim as optim 13 | 14 | from job_env import job_shop_env 15 | from RL_brain import ActorCritic 16 | from utils import v_wrap 17 | import csv 18 | 19 | def train(args): 20 | torch.manual_seed(args.seed) 21 | 22 | env = job_shop_env() 23 | 24 | model = ActorCritic(env.state_dim, env.action_dim) 25 | 26 | optimizer = optim.Adam(model.parameters(), lr=args.lr) 27 | 28 | model.train() 29 | 30 | state = env.reset() 31 | state = v_wrap(state) 32 | done = True 33 | action_dim = env.expert 34 | 35 | episode_length = 0 36 | complete_jobs = [] 37 | expert_complete_job = [] 38 | complete_job_start_time = [] 39 | update_list = [] 40 | for episode in range(args.episode): 41 | 42 | if done: 43 | cx = torch.zeros(1, 256) 44 | hx = torch.zeros(1, 256) 45 | else: 46 | cx = cx.detach() 47 | hx = hx.detach() 48 | 49 | if len(complete_jobs) != 0: 50 | update_list = [n for m in complete_jobs for n in m] 51 | env.update(update_list) 52 | 53 | values = [] 54 | log_probs = [] 55 | rewards = [] 56 | entropies = [] 57 | 58 | for step in range(args.num_steps+1): 59 | episode_length += 1 60 | 61 | 62 | action, log_prob, entropy, value = model.choose_action((state, (hx,cx)),action_dim) 63 | log_prob = log_prob.gather(1, action)[0] 64 | 65 | state, reward, done, done_job, done_expert, job_start_time = env.step(action.view(-1,).numpy()) 66 | done = done or episode_length >= args.max_episode_length 67 | ## reward shaping 68 | reward = max(min(reward, 1), -1) 69 | if episode_length % 20 == 0: 70 | print(reward) 71 | #print(done_job) 72 | 73 | if done: 74 | complete_jobs.append(done_job) 75 | expert_complete_job.append(done_expert) 76 | complete_job_start_time.append(job_start_time) 77 | print('Complete these jobs with 100 iterations:') 78 | print(complete_jobs) 79 | print('Current episode:',episode) 80 | episode_length = 0 81 | state = env.reset() 82 | 83 | state = v_wrap(state) 84 | values.append(value) 85 | log_probs.append(log_prob) 86 | rewards.append(reward) 87 | entropies.append(entropy) 88 | if done: 89 | break 90 | 91 | if len(list(set(update_list))) > 8800: 92 | ## write results into the csv file 93 | with open('submit_{}.csv'.format(len(list(set(update_list)))),'w') as f: 94 | writer = csv.writer(f) 95 | for i in range(len(complete_jobs)): 96 | for j in range(len(complete_jobs[i])): 97 | writer.writerow([complete_jobs[i][j]+1, expert_complete_job[i][j]+1, complete_job_start_time[i][j]]) 98 | 99 | if episode == args.episode -1 or len(list(set(update_list))) == 8840: 100 | ## write results into the csv file 101 | with open('submit.csv','w') as f: 102 | writer = csv.writer(f) 103 | for i in range(len(complete_jobs)): 104 | for j in range(len(complete_jobs[i])): 105 | writer.writerow([complete_jobs[i][j]+1, expert_complete_job[i][j]+1, complete_job_start_time[i][j]]) 106 | break 107 | 108 | R = torch.zeros(1, 1) 109 | if not done: 110 | value, _, _ = model((state.unsqueeze(0), (hx, cx))) 111 | R = value.detach() 112 | 113 | values.append(R) 114 | policy_loss = 0 115 | value_loss = 0 116 | gae = torch.zeros(1, 1) 117 | for i in reversed(range(len(rewards))): 118 | R = args.gamma * R + rewards[i] 119 | advantage = R - values[i] 120 | value_loss = value_loss + 0.5 * advantage.pow(2) 121 | 122 | # Generalized Advantage Estimation 123 | delta_t = rewards[i] + args.gamma * \ 124 | values[i + 1] - values[i] 125 | gae = gae * args.gamma * args.gae_lambda + delta_t 126 | 127 | policy_loss = policy_loss - \ 128 | log_probs[i] * gae.detach() - args.entropy_coef * entropies[i] 129 | 130 | optimizer.zero_grad() 131 | 132 | (policy_loss + args.value_loss_coef * value_loss).backward(torch.ones_like(policy_loss)) 133 | torch.nn.utils.clip_grad_norm_(model.parameters(), args.max_grad_norm) 134 | 135 | optimizer.step() 136 | print(policy_loss.mean() + args.value_loss_coef * value_loss) 137 | print('para updated') -------------------------------------------------------------------------------- /job_env.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Tue Oct 27 15:07:58 2020 4 | 5 | @author: lvjf 6 | 7 | job env for the project 8 | """ 9 | 10 | import numpy as np 11 | import pandas as pd 12 | import random 13 | 14 | class job_shop_env(): 15 | path = './data/' 16 | expert_job = pd.read_csv(path + 'process_time_matrix.csv',header=None).drop([0]).values 17 | job = pd.read_csv(path + 'work_order.csv',header=None).values 18 | 19 | def __init__(self): 20 | self.job_cluster = self.expert_job.shape[1] 21 | self.expert = self.expert_job.shape[0] 22 | self.job_num = self.job.shape[0] 23 | self.process_time = self.expert_job 24 | self.expert_status = np.repeat(0,self.expert) ## how many jobs an expert is processing 25 | self.expert_process_job = [[] for i in range(self.expert)] 26 | self.expert_process_time = [[] for i in range(self.expert)] 27 | self.job_waiting_time = [[] for i in range(self.expert)] 28 | self.left_job = self.job.shape[0] 29 | self.done = False 30 | self.total_time = 0 ## total process time 31 | self.job_distribute_time = np.repeat(0,self.job.shape[0]) 32 | self.total_job_process_time = np.repeat(0,self.job.shape[0]) 33 | self.job_status = np.repeat(1,self.job.shape[0]) ## whether a job is under process 34 | self.job_index = list(range(self.job.shape[0])) ## use for sampling 35 | self.timeindex = 0 ## use for time recording 36 | self.state = np.vstack((self.job_status,self.job_distribute_time)) 37 | self.state = self.state.reshape(self.state.shape[0],self.state.shape[1],1) 38 | self.done_job = [] ## how many jobs have been done 39 | self.done_expert = [] ## which expert compelete the job corresponds to done_job list 40 | self.job_start_time = [] ## when do the job start to be processed, used in final result generation 41 | self.state_dim = self.state.shape[0] 42 | self.action_dim = 2 43 | 44 | 45 | def reset(self): 46 | self.job_num = self.job.shape[0] 47 | self.expert_status = np.repeat(0,self.expert) ## how many jobs an expert is processing 48 | self.expert_process_job = [[] for i in range(self.expert)] 49 | self.expert_process_time = [[] for i in range(self.expert)] 50 | self.job_waiting_time = [[] for i in range(self.expert)] 51 | #self.left_job = self.job.shape[0] 52 | self.done = False 53 | self.total_time = 0 ## total process time 54 | self.job_distribute_time = np.repeat(0,self.job.shape[0]) 55 | self.total_job_process_time = np.repeat(0,self.job.shape[0]) 56 | self.job_status = np.repeat(1,self.job.shape[0]) ## whether a job is under process 57 | self.job_index = list(range(self.job.shape[0])) ## use for sampling 58 | #self.timeindex = 0 ## use for time recording 59 | self.state = np.vstack((self.job_status,self.job_distribute_time)) 60 | self.state = self.state.reshape(self.state.shape[0],self.state.shape[1],1) 61 | self.done_job = [] 62 | self.done_expert = [] ## which expert compelete the job corresponds to done_job list 63 | self.job_start_time = [] ## when do the job start to be processed, used in final result generation 64 | 65 | return self.state 66 | 67 | def step(self, action): 68 | # random generate job 69 | job_id = np.random.choice(a=self.job_num, size=self.expert, replace=False, p=None) 70 | for i in job_id: 71 | if len(self.job_index) != 0: 72 | if i in self.job_index: 73 | self.job_distribute_time[i] += 1 74 | ## if more than 2, delete this job 75 | #if self.job_distribute_time[i] >= 2: 76 | # del self.job_index[self.job_index.index(i)] 77 | else: 78 | job_id[job_id.tolist().index(i)] = random.sample(self.job_index,1)[0] 79 | else: 80 | pass 81 | 82 | assert action.shape[0] == self.expert 83 | 84 | for i in range(self.expert): 85 | ## only process those jobs that are in job_index 86 | if job_id[i] in self.job_index: 87 | ## action = 0 indicates do not give jobs to the expert 88 | if action[i] == 0 or self.expert_status[i] == 3: 89 | pass 90 | else: 91 | self.expert_process_job[i].append(job_id[i]) 92 | self.expert_status[i] += 1 93 | self.job_status[job_id[i]] = 0 94 | self.expert_process_time[i].append(0) 95 | # how much time a job wait before processing 96 | self.job_waiting_time[i].append(self.timeindex) 97 | # if expert could not handle the job, exit 98 | self.total_job_process_time[job_id[i]] = self.process_time[i][self.job[job_id[i]][2]] 99 | 100 | delete_index = [] 101 | for j in range(len(self.expert_process_time[i])): 102 | if len(self.expert_process_job[i]) != 0: 103 | if self.expert_process_time[i][j] == self.process_time[i][self.job[self.expert_process_job[i][j]][2]]: 104 | # if job finished, workload of expert would decrease 105 | self.expert_status[i] -= 1 106 | self.done_expert.append(i) 107 | if self.expert_process_job[i][j] not in self.done_job: 108 | self.left_job -= 1 109 | self.done_job.append(self.expert_process_job[i][j]) 110 | ## calculate when the job starts to be processed by subtracting the process time 111 | self.job_start_time.append(self.job_waiting_time[i][j] + self.job[self.expert_process_job[i][j]][1]) 112 | delete_index.append(j) 113 | if len(delete_index) > 0: 114 | if len(delete_index) > 1: 115 | delete_index.sort(reverse = True) 116 | for k in delete_index: 117 | del self.expert_process_job[i][k] 118 | del self.expert_process_time[i][k] 119 | ## calculate total time consumed 120 | self.total_time += sum(self.job_waiting_time[i]) + self.total_job_process_time[i].sum() 121 | self.expert_process_time[i] = [m + 1 for m in self.expert_process_time[i]] 122 | 123 | ## reward takes the minus of total time*0.001 and left job num 124 | #print(self.total_time) 125 | reward = 1 - self.left_job/self.job_num 126 | self.timeindex += 1 127 | 128 | ## update state info 129 | self.state = np.vstack((self.job_status,self.job_distribute_time)) 130 | self.state = self.state.reshape(self.state.shape[0],self.state.shape[1],1) 131 | 132 | if self.left_job == 0: 133 | self.done = True 134 | #print(self.expert_status) 135 | #print(self.expert_process_job) 136 | #print(self.done_job) 137 | return self.state, reward, self.done, self.done_job, self.done_expert, self.job_start_time 138 | 139 | def update(self,delete_list): 140 | if len(delete_list) != 0: 141 | for i in delete_list: 142 | if i in self.job_index: 143 | self.job_index.remove(i) 144 | else: 145 | pass -------------------------------------------------------------------------------- /data/process_time_matrix.csv: -------------------------------------------------------------------------------- 1 | 0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107 2 | 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