├── GAIL.py ├── LICENSE ├── README.md ├── expert_traj ├── BipedalWalker-v2 │ ├── BipedalWalker-v2_expert_actions.dat │ └── BipedalWalker-v2_expert_states.dat └── LunarLanderContinuous-v2 │ ├── LunarLanderContinuous-v2_expert_actions.dat │ └── LunarLanderContinuous-v2_expert_states.dat ├── gif ├── BipedalWalker_expert.gif ├── BipedalWalker_learned.gif └── graph_BipedalWalker-v2.png ├── preTrained ├── BipedalWalker-v2 │ ├── GAIL_BipedalWalker-v2_0_actor.pth │ └── GAIL_BipedalWalker-v2_0_discriminator.pth └── LunarLanderContinuous-v2 │ ├── GAIL_LunarLanderContinuous-v2_0_actor.pth │ └── GAIL_LunarLanderContinuous-v2_0_discriminator.pth ├── test.py ├── train.py └── utils.py /GAIL.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import torch.nn as nn 3 | import torch.nn.functional as F 4 | from utils import ExpertTraj 5 | 6 | device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") 7 | 8 | class Actor(nn.Module): 9 | def __init__(self, state_dim, action_dim, max_action): 10 | super(Actor, self).__init__() 11 | 12 | self.l1 = nn.Linear(state_dim, 400) 13 | self.l2 = nn.Linear(400, 300) 14 | self.l3 = nn.Linear(300, action_dim) 15 | 16 | self.max_action = max_action 17 | 18 | def forward(self, x): 19 | x = F.relu(self.l1(x)) 20 | x = F.relu(self.l2(x)) 21 | x = torch.tanh(self.l3(x)) * self.max_action 22 | return x 23 | 24 | 25 | class Discriminator(nn.Module): 26 | def __init__(self, state_dim, action_dim): 27 | super(Discriminator, self).__init__() 28 | 29 | self.l1 = nn.Linear(state_dim+action_dim, 400) 30 | self.l2 = nn.Linear(400, 300) 31 | self.l3 = nn.Linear(300, 1) 32 | 33 | def forward(self, state, action): 34 | state_action = torch.cat([state, action], 1) 35 | x = torch.tanh(self.l1(state_action)) 36 | x = torch.tanh(self.l2(x)) 37 | x = torch.sigmoid(self.l3(x)) 38 | return x 39 | 40 | 41 | class GAIL: 42 | def __init__(self, env_name, state_dim, action_dim, max_action, lr, betas): 43 | self.actor = Actor(state_dim, action_dim, max_action).to(device) 44 | self.optim_actor = torch.optim.Adam(self.actor.parameters(), lr=lr, betas=betas) 45 | 46 | self.discriminator = Discriminator(state_dim, action_dim).to(device) 47 | self.optim_discriminator = torch.optim.Adam(self.discriminator.parameters(), lr=lr, betas=betas) 48 | 49 | self.max_action = max_action 50 | self.expert = ExpertTraj(env_name) 51 | 52 | self.loss_fn = nn.BCELoss() 53 | 54 | def select_action(self, state): 55 | state = torch.FloatTensor(state.reshape(1, -1)).to(device) 56 | return self.actor(state).cpu().data.numpy().flatten() 57 | 58 | def update(self, n_iter, batch_size=100): 59 | for i in range(n_iter): 60 | # sample expert transitions 61 | exp_state, exp_action = self.expert.sample(batch_size) 62 | exp_state = torch.FloatTensor(exp_state).to(device) 63 | exp_action = torch.FloatTensor(exp_action).to(device) 64 | 65 | # sample expert states for actor 66 | state, _ = self.expert.sample(batch_size) 67 | state = torch.FloatTensor(state).to(device) 68 | action = self.actor(state) 69 | 70 | ####################### 71 | # update discriminator 72 | ####################### 73 | self.optim_discriminator.zero_grad() 74 | 75 | # label tensors 76 | exp_label= torch.full((batch_size,1), 1, device=device) 77 | policy_label = torch.full((batch_size,1), 0, device=device) 78 | 79 | # with expert transitions 80 | prob_exp = self.discriminator(exp_state, exp_action) 81 | loss = self.loss_fn(prob_exp, exp_label) 82 | 83 | # with policy transitions 84 | prob_policy = self.discriminator(state, action.detach()) 85 | loss += self.loss_fn(prob_policy, policy_label) 86 | 87 | # take gradient step 88 | loss.backward() 89 | self.optim_discriminator.step() 90 | 91 | ################ 92 | # update policy 93 | ################ 94 | self.optim_actor.zero_grad() 95 | 96 | loss_actor = -self.discriminator(state, action) 97 | loss_actor.mean().backward() 98 | self.optim_actor.step() 99 | 100 | 101 | def save(self, directory='./preTrained', name='GAIL'): 102 | torch.save(self.actor.state_dict(), '{}/{}_actor.pth'.format(directory,name)) 103 | torch.save(self.discriminator.state_dict(), '{}/{}_discriminator.pth'.format(directory,name)) 104 | 105 | def load(self, directory='./preTrained', name='GAIL'): 106 | self.actor.load_state_dict(torch.load('{}/{}_actor.pth'.format(directory,name))) 107 | self.discriminator.load_state_dict(torch.load('{}/{}_discriminator.pth'.format(directory,name))) 108 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Nikhil Barhate 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Deterministic-GAIL-PyTorch 2 | This is an attempt to implement Generative Adversarial Imitation Learning (GAIL) for deterministic policies with off Policy learning on **static data**. **The policy never interacts with the environment** (except for evaluation), instead it is trained on policy state-action pair, where **policy only selects actions for states sampled from expert data**. 3 | 4 | 5 | ## Results 6 | 7 | Although it works sometimes (depending on the type of environment), the algorithm has high variance, and the results are inconsistent. 8 | 9 | ### BipedalWalker-v2 10 | 11 | Expert Policy | Recovered Policy (10 expert episodes) 12 | :-------------------------:|:-------------------------: 13 | ![](https://github.com/nikhilbarhate99/Deterministic-GAIL-PyTorch/blob/master/gif/BipedalWalker_expert.gif) | ![](https://github.com/nikhilbarhate99/Deterministic-GAIL-PyTorch/blob/master/gif/BipedalWalker_learned.gif) 14 | 15 | Epochs vs rewards | 16 | :-------------------------: 17 | ![](https://github.com/nikhilbarhate99/Deterministic-GAIL-PyTorch/blob/master/gif/graph_BipedalWalker-v2.png) 18 | 19 | 20 | -------------------------------------------------------------------------------- /expert_traj/LunarLanderContinuous-v2/LunarLanderContinuous-v2_expert_actions.dat: -------------------------------------------------------------------------------- 1 | -1.000000000000000000e+00 -1.000000000000000000e+00 2 | -1.000000000000000000e+00 -1.000000000000000000e+00 3 | -1.000000000000000000e+00 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random_seed = 0 9 | lr = 0.0002 10 | betas = (0.5, 0.999) 11 | n_episodes = 3 12 | max_timesteps = 1000 13 | render = True 14 | save_gif = False 15 | 16 | directory = "./preTrained/{}".format(env_name) 17 | filename = "GAIL_{}_{}".format(env_name, random_seed) 18 | 19 | env = gym.make(env_name) 20 | state_dim = env.observation_space.shape[0] 21 | action_dim = env.action_space.shape[0] 22 | max_action = float(env.action_space.high[0]) 23 | 24 | policy = GAIL(env_name, state_dim, action_dim, max_action, lr, betas) 25 | 26 | policy.load(directory, filename) 27 | 28 | for ep in range(1, n_episodes+1): 29 | ep_reward = 0 30 | state = env.reset() 31 | for t in range(max_timesteps): 32 | action = policy.select_action(state) 33 | state, reward, done, _ = env.step(action) 34 | ep_reward += reward 35 | if render: 36 | env.render() 37 | if save_gif: 38 | img = env.render(mode = 'rgb_array') 39 | img = Image.fromarray(img) 40 | img.save('./gif/{}.jpg'.format(t)) 41 | if done: 42 | break 43 | 44 | print('Episode: {}\tReward: {}'.format(ep, int(ep_reward))) 45 | ep_reward = 0 46 | env.close() 47 | 48 | if __name__ == '__main__': 49 | test() 50 | 51 | -------------------------------------------------------------------------------- /train.py: -------------------------------------------------------------------------------- 1 | import torch 2 | import gym 3 | import numpy as np 4 | from GAIL import GAIL 5 | import matplotlib.pyplot as plt 6 | 7 | def train(): 8 | ######### Hyperparameters ######### 9 | env_name = "BipedalWalker-v2" 10 | #env_name = "LunarLanderContinuous-v2" 11 | solved_reward = 300 # stop training if solved_reward > avg_reward 12 | random_seed = 0 13 | max_timesteps = 1400 # max time steps in one episode 14 | n_eval_episodes = 20 # evaluate average reward over n episodes 15 | lr = 0.0002 # learing rate 16 | betas = (0.5, 0.999) # betas for adam optimizer 17 | n_epochs = 400 # number of epochs 18 | n_iter = 100 # updates per epoch 19 | batch_size = 100 # num of transitions sampled from expert 20 | directory = "./preTrained/{}".format(env_name) # save trained models 21 | filename = "GAIL_{}_{}".format(env_name, random_seed) 22 | ################################### 23 | 24 | env = gym.make(env_name) 25 | state_dim = env.observation_space.shape[0] 26 | action_dim = env.action_space.shape[0] 27 | max_action = float(env.action_space.high[0]) 28 | 29 | policy = GAIL(env_name, state_dim, action_dim, max_action, lr, betas) 30 | 31 | # graph logging variables: 32 | epochs = [] 33 | rewards = [] 34 | 35 | if random_seed: 36 | print("Random Seed: {}".format(random_seed)) 37 | env.seed(random_seed) 38 | torch.manual_seed(random_seed) 39 | np.random.seed(random_seed) 40 | 41 | # training procedure 42 | for epoch in range(1, n_epochs+1): 43 | # update policy n_iter times 44 | policy.update(n_iter, batch_size) 45 | 46 | # evaluate in environment 47 | total_reward = 0 48 | for episode in range(n_eval_episodes): 49 | state = env.reset() 50 | for t in range(max_timesteps): 51 | action = policy.select_action(state) 52 | state, reward, done, _ = env.step(action) 53 | total_reward += reward 54 | if done: 55 | break 56 | 57 | avg_reward = int(total_reward/n_eval_episodes) 58 | print("Epoch: {}\tAvg Reward: {}".format(epoch, avg_reward)) 59 | 60 | # add data for graph 61 | epochs.append(epoch) 62 | rewards.append(avg_reward) 63 | 64 | if avg_reward > solved_reward: 65 | print("########### Solved! ###########") 66 | policy.save(directory, filename) 67 | break 68 | 69 | # plot and save graph 70 | plt.plot(epochs, rewards) 71 | plt.xlabel('Epochs') 72 | plt.ylabel('Average Reward') 73 | plt.title('{} {} {} '.format(env_name, lr, betas)) 74 | plt.savefig('./gif/graph_{}.png'.format(env_name)) 75 | 76 | if __name__ == '__main__': 77 | train() 78 | -------------------------------------------------------------------------------- /utils.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | 3 | class ExpertTraj: 4 | def __init__(self, env_name): 5 | self.exp_states = np.loadtxt("./expert_traj/{}/{}_expert_states.dat".format(env_name, env_name)) 6 | self.exp_actions = np.loadtxt("./expert_traj/{}/{}_expert_actions.dat".format(env_name, env_name)) 7 | self.n_transitions = len(self.exp_actions) 8 | 9 | def sample(self, batch_size): 10 | indexes = np.random.randint(0, self.n_transitions, size=batch_size) 11 | state, action = [], [] 12 | for i in indexes: 13 | s = self.exp_states[i] 14 | a = self.exp_actions[i] 15 | state.append(np.array(s, copy=False)) 16 | action.append(np.array(a, copy=False)) 17 | return np.array(state), np.array(action) 18 | 19 | 20 | --------------------------------------------------------------------------------