Combine SAC with RNN (part1)

With the combination of sac and rnn. we can solve POMDP problem theoretically, but in practice, we face a lot problem.

One of the most important problem is what kind of structure should we use? There are batch of valid choice, for example we can use the full length episode to feed rnn, or we can use a fixed length.

With some investigate in this area, we choose a fixed length rnn. Another crutial problem is how to deal with different length of episodes. Me choice is discard any invalid sequence.

We will release more implement details, stay tuned.

class ReplayBuffer:    """    A simple FIFO experience replay buffer for SAC agents.    """
    def __init__(self, obs_dim, act_dim, size, h_size, seq_length, flag="single"):        self.flag = flag        self.sequence_length = seq_length        self.ptr, self.size, self.max_size = 0, 0, size        self.obs_dim = obs_dim        size += seq_length  # in case index is out of range        self.obs1_buf = np.zeros([size, obs_dim], dtype=np.float32)        self.hidden_buf = np.zeros([size, h_size], dtype=np.float32)        self.acts_buf = np.zeros([size, act_dim], dtype=np.float32)        self.rews_buf = np.zeros([size, 1], dtype=np.float32)        self.done_buf = np.zeros([size, 1], dtype=np.float32)        self.target_done_ratio = 0
    def store(self, obs, s_t_0, act, rew, done):        self.obs1_buf[self.ptr] = obs        self.hidden_buf[self.ptr] = s_t_0        self.acts_buf[self.ptr] = act        self.rews_buf[self.ptr] = rew        self.done_buf[self.ptr] = done        self.ptr = (self.ptr + 1) % self.max_size  # 1%20=1 2%20=2 21%20=1        self.size = min(self.size + 1, self.max_size)  # use self.size to control sample range        self.target_done_ratio = np.sum(self.done_buf) / self.size
    def sample_batch(self, batch_size=32):        """        :param batch_size:        :return: s a r s' d        """
        idxs_c = np.empty([batch_size, self.sequence_length])  # N T+1
        for i in range(batch_size):            end = False            while not end:                ind = np.random.randint(0, self.size - 5)  # random sample a starting point in current buffer                idxs = np.arange(ind, ind + self.sequence_length)  # extend seq from starting point                is_valid_pos = True if sum(self.done_buf[idxs]) == 0 else (self.sequence_length -                                                                           np.where(self.done_buf[idxs] == 1)[0][                                                                               0]) == 2
                end = True if is_valid_pos else False
            idxs_c[i] = idxs
        np.random.shuffle(idxs_c)        idxs = idxs_c.astype(int)        # print(self.target_done_ratio, np.sum(self.done_buf[idxs]) / batch_size)        data = dict(obs1=self.obs1_buf[idxs],                    s_t_0=self.hidden_buf[idxs][:, 0, :],  # slide N T H to N H                    acts=self.acts_buf[idxs],                    rews=self.rews_buf[idxs],                    done=self.done_buf[idxs])        return data