Skip to content

Commit 24b0e72

Browse files
danijardanijar
committed
Initial release.
0 parents  commit 24b0e72

39 files changed

+4808
-0
lines changed

‎.gitignore

+14
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,14 @@
1+
# Python
2+
__pycache__/
3+
*.py[cod]
4+
5+
# Pip
6+
pip-selfcheck.json
7+
*.whl
8+
*.egg
9+
*.egg-info
10+
11+
# Setuptools
12+
/build
13+
/dist
14+
*.eggs

‎AUTHORS

+7
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,7 @@
1+
# This is the list of Agents authors for copyright purposes.
2+
#
3+
# This does not necessarily list everyone who has contributed code, since in
4+
# some cases, their employer may be the copyright holder. To see the full list
5+
# of contributors, see the revision history in source control.
6+
Google Inc.
7+
Danijar Hafner

‎CONTRIBUTING.md

+23
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
1+
# How to Contribute
2+
3+
We'd love to accept your patches and contributions to this project. There are
4+
just a few small guidelines you need to follow.
5+
6+
## Contributor License Agreement
7+
8+
Contributions to this project must be accompanied by a Contributor License
9+
Agreement. You (or your employer) retain the copyright to your contribution,
10+
this simply gives us permission to use and redistribute your contributions as
11+
part of the project. Head over to <https://cla.developers.google.com/> to see
12+
your current agreements on file or to sign a new one.
13+
14+
You generally only need to submit a CLA once, so if you've already submitted one
15+
(even if it was for a different project), you probably don't need to do it
16+
again.
17+
18+
## Code reviews
19+
20+
All submissions, including submissions by project members, require review. We
21+
use GitHub pull requests for this purpose. Consult
22+
[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
23+
information on using pull requests.

‎LICENSE

+203
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,203 @@
1+
Copyright 2017 The Agents Authors. All rights reserved.
2+
3+
Apache License
4+
Version 2.0, January 2004
5+
http://www.apache.org/licenses/
6+
7+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
8+
9+
1. Definitions.
10+
11+
"License" shall mean the terms and conditions for use, reproduction,
12+
and distribution as defined by Sections 1 through 9 of this document.
13+
14+
"Licensor" shall mean the copyright owner or entity authorized by
15+
the copyright owner that is granting the License.
16+
17+
"Legal Entity" shall mean the union of the acting entity and all
18+
other entities that control, are controlled by, or are under common
19+
control with that entity. For the purposes of this definition,
20+
"control" means (i) the power, direct or indirect, to cause the
21+
direction or management of such entity, whether by contract or
22+
otherwise, or (ii) ownership of fifty percent (50%) or more of the
23+
outstanding shares, or (iii) beneficial ownership of such entity.
24+
25+
"You" (or "Your") shall mean an individual or Legal Entity
26+
exercising permissions granted by this License.
27+
28+
"Source" form shall mean the preferred form for making modifications,
29+
including but not limited to software source code, documentation
30+
source, and configuration files.
31+
32+
"Object" form shall mean any form resulting from mechanical
33+
transformation or translation of a Source form, including but
34+
not limited to compiled object code, generated documentation,
35+
and conversions to other media types.
36+
37+
"Work" shall mean the work of authorship, whether in Source or
38+
Object form, made available under the License, as indicated by a
39+
copyright notice that is included in or attached to the work
40+
(an example is provided in the Appendix below).
41+
42+
"Derivative Works" shall mean any work, whether in Source or Object
43+
form, that is based on (or derived from) the Work and for which the
44+
editorial revisions, annotations, elaborations, or other modifications
45+
represent, as a whole, an original work of authorship. For the purposes
46+
of this License, Derivative Works shall not include works that remain
47+
separable from, or merely link (or bind by name) to the interfaces of,
48+
the Work and Derivative Works thereof.
49+
50+
"Contribution" shall mean any work of authorship, including
51+
the original version of the Work and any modifications or additions
52+
to that Work or Derivative Works thereof, that is intentionally
53+
submitted to Licensor for inclusion in the Work by the copyright owner
54+
or by an individual or Legal Entity authorized to submit on behalf of
55+
the copyright owner. For the purposes of this definition, "submitted"
56+
means any form of electronic, verbal, or written communication sent
57+
to the Licensor or its representatives, including but not limited to
58+
communication on electronic mailing lists, source code control systems,
59+
and issue tracking systems that are managed by, or on behalf of, the
60+
Licensor for the purpose of discussing and improving the Work, but
61+
excluding communication that is conspicuously marked or otherwise
62+
designated in writing by the copyright owner as "Not a Contribution."
63+
64+
"Contributor" shall mean Licensor and any individual or Legal Entity
65+
on behalf of whom a Contribution has been received by Licensor and
66+
subsequently incorporated within the Work.
67+
68+
2. Grant of Copyright License. Subject to the terms and conditions of
69+
this License, each Contributor hereby grants to You a perpetual,
70+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
71+
copyright license to reproduce, prepare Derivative Works of,
72+
publicly display, publicly perform, sublicense, and distribute the
73+
Work and such Derivative Works in Source or Object form.
74+
75+
3. Grant of Patent License. Subject to the terms and conditions of
76+
this License, each Contributor hereby grants to You a perpetual,
77+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
78+
(except as stated in this section) patent license to make, have made,
79+
use, offer to sell, sell, import, and otherwise transfer the Work,
80+
where such license applies only to those patent claims licensable
81+
by such Contributor that are necessarily infringed by their
82+
Contribution(s) alone or by combination of their Contribution(s)
83+
with the Work to which such Contribution(s) was submitted. If You
84+
institute patent litigation against any entity (including a
85+
cross-claim or counterclaim in a lawsuit) alleging that the Work
86+
or a Contribution incorporated within the Work constitutes direct
87+
or contributory patent infringement, then any patent licenses
88+
granted to You under this License for that Work shall terminate
89+
as of the date such litigation is filed.
90+
91+
4. Redistribution. You may reproduce and distribute copies of the
92+
Work or Derivative Works thereof in any medium, with or without
93+
modifications, and in Source or Object form, provided that You
94+
meet the following conditions:
95+
96+
(a) You must give any other recipients of the Work or
97+
Derivative Works a copy of this License; and
98+
99+
(b) You must cause any modified files to carry prominent notices
100+
stating that You changed the files; and
101+
102+
(c) You must retain, in the Source form of any Derivative Works
103+
that You distribute, all copyright, patent, trademark, and
104+
attribution notices from the Source form of the Work,
105+
excluding those notices that do not pertain to any part of
106+
the Derivative Works; and
107+
108+
(d) If the Work includes a "NOTICE" text file as part of its
109+
distribution, then any Derivative Works that You distribute must
110+
include a readable copy of the attribution notices contained
111+
within such NOTICE file, excluding those notices that do not
112+
pertain to any part of the Derivative Works, in at least one
113+
of the following places: within a NOTICE text file distributed
114+
as part of the Derivative Works; within the Source form or
115+
documentation, if provided along with the Derivative Works; or,
116+
within a display generated by the Derivative Works, if and
117+
wherever such third-party notices normally appear. The contents
118+
of the NOTICE file are for informational purposes only and
119+
do not modify the License. You may add Your own attribution
120+
notices within Derivative Works that You distribute, alongside
121+
or as an addendum to the NOTICE text from the Work, provided
122+
that such additional attribution notices cannot be construed
123+
as modifying the License.
124+
125+
You may add Your own copyright statement to Your modifications and
126+
may provide additional or different license terms and conditions
127+
for use, reproduction, or distribution of Your modifications, or
128+
for any such Derivative Works as a whole, provided Your use,
129+
reproduction, and distribution of the Work otherwise complies with
130+
the conditions stated in this License.
131+
132+
5. Submission of Contributions. Unless You explicitly state otherwise,
133+
any Contribution intentionally submitted for inclusion in the Work
134+
by You to the Licensor shall be under the terms and conditions of
135+
this License, without any additional terms or conditions.
136+
Notwithstanding the above, nothing herein shall supersede or modify
137+
the terms of any separate license agreement you may have executed
138+
with Licensor regarding such Contributions.
139+
140+
6. Trademarks. This License does not grant permission to use the trade
141+
names, trademarks, service marks, or product names of the Licensor,
142+
except as required for reasonable and customary use in describing the
143+
origin of the Work and reproducing the content of the NOTICE file.
144+
145+
7. Disclaimer of Warranty. Unless required by applicable law or
146+
agreed to in writing, Licensor provides the Work (and each
147+
Contributor provides its Contributions) on an "AS IS" BASIS,
148+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
149+
implied, including, without limitation, any warranties or conditions
150+
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
151+
PARTICULAR PURPOSE. You are solely responsible for determining the
152+
appropriateness of using or redistributing the Work and assume any
153+
risks associated with Your exercise of permissions under this License.
154+
155+
8. Limitation of Liability. In no event and under no legal theory,
156+
whether in tort (including negligence), contract, or otherwise,
157+
unless required by applicable law (such as deliberate and grossly
158+
negligent acts) or agreed to in writing, shall any Contributor be
159+
liable to You for damages, including any direct, indirect, special,
160+
incidental, or consequential damages of any character arising as a
161+
result of this License or out of the use or inability to use the
162+
Work (including but not limited to damages for loss of goodwill,
163+
work stoppage, computer failure or malfunction, or any and all
164+
other commercial damages or losses), even if such Contributor
165+
has been advised of the possibility of such damages.
166+
167+
9. Accepting Warranty or Additional Liability. While redistributing
168+
the Work or Derivative Works thereof, You may choose to offer,
169+
and charge a fee for, acceptance of support, warranty, indemnity,
170+
or other liability obligations and/or rights consistent with this
171+
License. However, in accepting such obligations, You may act only
172+
on Your own behalf and on Your sole responsibility, not on behalf
173+
of any other Contributor, and only if You agree to indemnify,
174+
defend, and hold each Contributor harmless for any liability
175+
incurred by, or claims asserted against, such Contributor by reason
176+
of your accepting any such warranty or additional liability.
177+
178+
END OF TERMS AND CONDITIONS
179+
180+
APPENDIX: How to apply the Apache License to your work.
181+
182+
To apply the Apache License to your work, attach the following
183+
boilerplate notice, with the fields enclosed by brackets "[]"
184+
replaced with your own identifying information. (Don't include
185+
the brackets!) The text should be enclosed in the appropriate
186+
comment syntax for the file format. We also recommend that a
187+
file or class name and description of purpose be included on the
188+
same "printed page" as the copyright notice for easier
189+
identification within third-party archives.
190+
191+
Copyright [yyyy] [name of copyright owner]
192+
193+
Licensed under the Apache License, Version 2.0 (the "License");
194+
you may not use this file except in compliance with the License.
195+
You may obtain a copy of the License at
196+
197+
http://www.apache.org/licenses/LICENSE-2.0
198+
199+
Unless required by applicable law or agreed to in writing, software
200+
distributed under the License is distributed on an "AS IS" BASIS,
201+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
202+
See the License for the specific language governing permissions and
203+
limitations under the License.

‎README.md

+122
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,122 @@
1+
<img src="https://www.tensorflow.org/images/tf_logo_transp.png" width=25% align="right">
2+
3+
TensorFlow Agents
4+
=================
5+
6+
This project provides optimized infrastructure for reinforcement learning. It
7+
extends the [OpenAI gym interface][post-gym] to multiple parallel environments
8+
and allows agents to be implemented in TensorFlow and perform batched
9+
computation. As a starting point, we provide BatchPPO, an optimized
10+
implementation of [Proximal Policy Optimization][post-ppo].
11+
12+
Please cite the [white paper][paper-agents] if you use code from this project
13+
in your research:
14+
15+
```bibtex
16+
@misc{hafner2017agents,
17+
title={TensorFlow Agents: Efficient Batched Reinforcement Learning in TensorFlow},
18+
author={Hafner, Danijar and Davidson, James and Vanhoucke, Vincent},
19+
year={2017}
20+
}
21+
```
22+
23+
Dependencies: Python 2/3, TensorFlow 1.3+, Gym, rumamel.yaml
24+
25+
[paper-agents]: https://drive.google.com/file/d/0B20Yn-GSaVHGMVlPanRTRlNIRlk/view
26+
[post-gym]: https://blog.openai.com/openai-gym-beta/
27+
[post-ppo]: https://blog.openai.com/openai-baselines-ppo/
28+
29+
Instructions
30+
------------
31+
32+
Clone the repository and run the PPO algorithm by typing:
33+
34+
```shell
35+
python3 -m agents.scripts.train --logdir=/path/to/logdir --config=pendulum
36+
```
37+
38+
The algorithm to use is defined in the configuration and `pendulum` started
39+
here uses the included PPO implementation. Check out more pre-defined
40+
configurations in `agents/scripts/configs.py`.
41+
42+
If you want to resume a previously started run, add the `--timestamp=<time>`
43+
flag to the last command and provide the timestamp in the directory name of
44+
your run.
45+
46+
To visualize metrics start TensorBoard from another terminal, then point your
47+
browser to `http://localhost:2222`:
48+
49+
```shell
50+
tensorboard --logdir=/path/to/logdir --port=2222
51+
```
52+
53+
To render videos and gather OpenAI Gym statistics to upload to the scoreboard,
54+
type:
55+
56+
```shell
57+
python3 -m agents.scripts.visualize --logdir=/path/to/logdir/<time>-<config> --outdir=/path/to/outdir/
58+
```
59+
60+
Modifications
61+
-------------
62+
63+
We release this project as a starting point that makes it easy to implement new
64+
reinforcement learning ideas. These files are good places to start when
65+
modifying the code:
66+
67+
| File | Content |
68+
| ---- | ------- |
69+
| `scripts/configs.py` | Experiment configurations specifying the tasks and algorithms. |
70+
| `scripts/networks.py` | Neural network models defined as [TensorFlow RNNCells][tf-rnn-cell]. |
71+
| `scripts/train.py` | The executable file containing the training setup. |
72+
| `ppo/algorithm.py` | The TensorFlow graph for the PPO algorithm. |
73+
74+
To run all unit tests, type:
75+
76+
```shell
77+
python3 -m unittest discover -p "*_test.py"
78+
```
79+
80+
For further questions, please open an issue on Github.
81+
82+
[tf-rnn-cell]: https://www.tensorflow.org/api_docs/python/tf/contrib/rnn/RNNCell
83+
84+
Implementation
85+
--------------
86+
87+
We include a batched interface for OpenAI Gym environments that fully integrates
88+
with TensorFlow for efficient algorithm implementations. This is achieved
89+
through these core components:
90+
91+
- **`agents.tools.wrappers.ExternalProcess`** is an environment wrapper that
92+
constructs an OpenAI Gym environment inside of an external process. Calls to
93+
`step()` and `reset()`, as well as attribute access, are forwarded to the
94+
process and wait for the result. This allows to run multiple environments in
95+
parallel without being restricted by Python's global interpreter lock.
96+
- **`agents.tools.BatchEnv`** extends the OpenAI Gym interface to batches of
97+
environments. It combines multiple OpenAI Gym environments, with `step()`
98+
accepting a batch of actions and returning a batch of observations, rewards,
99+
done flags, and info objects. If the individual environments live in external
100+
processes, they will be stepped in parallel.
101+
- **`agents.tools.InGraphBatchEnv`** integrates a batch environment into the
102+
TensorFlow graph and makes its `step()` and `reset()` functions accessible as
103+
operations. The current batch of observations, last actions, rewards, and done
104+
flags is stored in variables and made available as tensors.
105+
- **`agents.tools.simulate()`** fuses the step of an in-graph batch environment
106+
and a reinforcement learning algorithm together into a single operation to be
107+
called inside the training loop. This reduces the number of session calls and
108+
provieds a simple way to train future algorithms.
109+
110+
To understand all the code, please make yourself familiar with TensorFlow's
111+
control flow operations, especially [`tf.cond()`][tf-cond],
112+
[`tf.scan()`][tf-scan], and
113+
[`tf.control_dependencies()`][tf-control-dependencies].
114+
115+
[tf-cond]: https://www.tensorflow.org/api_docs/python/tf/cond
116+
[tf-scan]: https://www.tensorflow.org/api_docs/python/tf/scan
117+
[tf-control-dependencies]: https://www.tensorflow.org/api_docs/python/tf/control_dependencies
118+
119+
Disclaimer
120+
----------
121+
122+
This is not an official Google product.

‎agents/__init__.py

+23
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
1+
# Copyright 2017 The TensorFlow Agents Authors.
2+
#
3+
# Licensed under the Apache License, Version 2.0 (the "License");
4+
# you may not use this file except in compliance with the License.
5+
# You may obtain a copy of the License at
6+
#
7+
# http://www.apache.org/licenses/LICENSE-2.0
8+
#
9+
# Unless required by applicable law or agreed to in writing, software
10+
# distributed under the License is distributed on an "AS IS" BASIS,
11+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12+
# See the License for the specific language governing permissions and
13+
# limitations under the License.
14+
15+
"""Main package of TensorFlow agents."""
16+
17+
from __future__ import absolute_import
18+
from __future__ import division
19+
from __future__ import print_function
20+
21+
from . import ppo
22+
from . import scripts
23+
from . import tools

0 commit comments

Comments
 (0)