Cleanup & slight optimizations

celeste/celeste_ai/train.py

@@ -5,33 +5,31 @@ import random
 import math
 import json
 import torch
+import shutil
+
 
 from celeste_ai import Celeste
 from celeste_ai import DQN
 from celeste_ai import Transition
-
+from celeste_ai.util.screenshots import ScreenshotManager
 
 if __name__ == "__main__":
 	# Where to read/write model data.
 	model_data_root = Path("model_data/current")
 
-	# Where PICO-8 saves screenshots.
+	sm = ScreenshotManager(
-	# Probably your desktop.
+		# Where PICO-8 saves screenshots.
-	screenshot_source = Path("/home/mark/Desktop")
+		# Probably your desktop.
+		source = Path("/home/mark/Desktop"),
+		pattern = "hackcel_*.png",
+		target = model_data_root / "screenshots"
+	).clean() # Remove old screenshots
 
 	model_save_path		= model_data_root / "model.torch"
 	model_archive_dir	= model_data_root / "model_archive"
 	model_train_log		= model_data_root / "train_log"
-	screenshot_dir		= model_data_root / "screenshots"
 	model_data_root.mkdir(parents = True, exist_ok = True)
 	model_archive_dir.mkdir(parents = True, exist_ok = True)
-	screenshot_dir.mkdir(parents = True, exist_ok = True)
-
-
-	# Remove old screenshots
-	shots = screenshot_source.glob("hackcel_*.png")
-	for s in shots:
-		s.unlink()
 
 
 	compute_device = torch.device(
@@ -45,66 +43,51 @@ if __name__ == "__main__":
 
 
 	# Epsilon-greedy parameters
-	#
+	# Probability of choosing a random action starts at
-	# Original docs:
+	# EPS_START and decays to EPS_END.
-	# EPS_START is the starting value of epsilon
+	# EPS_DECAY controls the rate of decay.
-	# EPS_END is the final value of epsilon
-	# EPS_DECAY controls the rate of exponential decay of epsilon, higher means a slower decay
 	EPS_START = 0.9
 	EPS_END = 0.02
 	EPS_DECAY = 100
 
-	# How many times we've reached each point.
+	# Bellman equation time-discount factor
-	# Used to compute epsilon-greedy probability with
-	# the parameters above.
-	point_counter = [0] * len(Celeste.target_checkpoints[0])
-
-	BATCH_SIZE = 100
-	# Learning rate of target_net.
-	# Controls how soft our soft update is.
-	#
-	# Should be between 0 and 1.
-	# Large values
-	# Small values do the opposite.
-	#
-	# A value of one makes target_net
-	# change at the same rate as policy_net.
-	#
-	# A value of zero makes target_net
-	# not change at all.
-	TAU = 0.05
-
-
-	# GAMMA is the discount factor as mentioned in the previous section
 	GAMMA = 0.9
 
-	steps_done = 0
+	# Train on this many transitions from
-	num_episodes = 100
+	# replay memory each round
-	episode_number = 0
+	BATCH_SIZE = 100
-	archive_interval = 10
+
+	# Controls target_net soft update.
+	# Should be between 0 and 1.
+	TAU = 0.05
+
+	# Optimizer learning rate
+	learning_rate = 0.001
+
+	# Save a snapshot of the model every n
+	# episodes.
+	model_save_interval = 10
+
+
+
+	# How many times we've reached each point.
+	# This is used to compute epsilon-greedy probability.
+	point_counter = [0] * len(Celeste.target_checkpoints[0])
+
+	n_episodes	= 0 # Number of episodes we've trained on
+	n_steps		= 0 # Number of training steps we've completed
 
 	# Create replay memory.
 	#
-	# Transition: a container for naming data (defined in util.py)
+	# Holds <Transition> objects, defined in
-	# Memory: a deque that holds recent states as Transitions
+	# network.py
-	#	Has a fixed length, drops oldest
-	#	element if maxlen is exceeded.
 	memory = deque([], maxlen=50_000)
 
-	policy_net = DQN(
-		n_observations,
-		n_actions
-	).to(compute_device)
 
-	target_net = DQN(
-		n_observations,
-		n_actions
-	).to(compute_device)
 
+	policy_net = DQN(n_observations, n_actions).to(compute_device)
+	target_net = DQN(n_observations, n_actions).to(compute_device)
 	target_net.load_state_dict(policy_net.state_dict())
-
-
-	learning_rate = 0.001
 	optimizer = torch.optim.AdamW(
 		policy_net.parameters(),
 		lr = learning_rate,
@@ -122,11 +105,43 @@ if __name__ == "__main__":
 		target_net.load_state_dict(checkpoint["target_state_dict"])
 		optimizer.load_state_dict(checkpoint["optimizer_state_dict"])
 		memory = checkpoint["memory"]
-		episode_number = checkpoint["episode_number"] + 1
+
-		steps_done = checkpoint["steps_done"]
+		n_episodes = checkpoint["n_episodes"]
+		n_steps = checkpoint["n_steps"]
 		point_counter = checkpoint["point_counter"]
 
-def select_action(state, steps_done):
+
+
+def save_model(path):
+	torch.save({
+			# Newtorks
+			"policy_state_dict": policy_net.state_dict(),
+			"target_state_dict": target_net.state_dict(),
+			"optimizer_state_dict": optimizer.state_dict(),
+
+			# Training data
+			"memory": memory,
+			"point_counter": point_counter,
+			"n_episodes": n_episodes,
+			"n_steps": n_steps,
+
+			# Hyperparameters,
+			# for reference
+			"eps_start": EPS_START,
+			"eps_end": EPS_END,
+			"eps_decay": EPS_DECAY,
+			"batch_size": BATCH_SIZE,
+			"tau": TAU,
+			"learning_rate": learning_rate,
+			"gamma": GAMMA
+		}, path
+	)
+
+
+
+
+
+def select_action(state, x) -> int:
 	"""
 	Select an action using an epsilon-greedy policy.
 
@@ -136,19 +151,13 @@ def select_action(state, steps_done):
 	Decay rate is controlled by EPS_DECAY.
 	"""
 
-	# Random number 0 <= x < 1
-	sample = random.random()
-
 	# Calculate random step threshhold
 	eps_threshold = (
 		EPS_END + (EPS_START - EPS_END) *
-		math.exp(
+		math.exp(-1.0 * x / EPS_DECAY)
-			-1.0 * steps_done /
-			EPS_DECAY
-		)
 	)
 
-	if sample > eps_threshold:
+	if random.random() > eps_threshold:
 		with torch.no_grad():
 			# t.max(1) will return the largest column value of each row.
 			# second column on max result is index of where max element was
@@ -175,7 +184,7 @@ def optimize_model():
 
 	# Conversion.
 	# Combine states, actions, and rewards into their own tensors.
-	state_batch = torch.cat(batch.state)
+	last_state_batch = torch.cat(batch.last_state)
 	action_batch = torch.cat(batch.action)
 	reward_batch = torch.cat(batch.reward)
 
@@ -209,7 +218,7 @@ def optimize_model():
 	#	This gives us a tensor that contains the return we expect to get
 	#	at that state if we follow the model's advice.
 
-	state_action_values = policy_net(state_batch).gather(1, action_batch)
+	state_action_values = policy_net(last_state_batch).gather(1, action_batch)
 
 
 
@@ -282,36 +291,21 @@ def optimize_model():
 
 
 def on_state_before(celeste):
-	global steps_done
-
 	state = celeste.state
 
-	pt_state = torch.tensor(
-		[getattr(state, x) for x in Celeste.state_number_map],
-		dtype = torch.float32,
-		device = compute_device
-	).unsqueeze(0)
-
 
 	action = select_action(
-		pt_state,
+		# Put state in a tensor
+		torch.tensor(
+			[getattr(state, x) for x in Celeste.state_number_map],
+			dtype = torch.float32,
+			device = compute_device
+		).unsqueeze(0),
+		
+		# Random action probability is determined by
+		# the number of times we've reached the next point.
 		point_counter[state.next_point]
 	)
-	str_action = Celeste.action_space[action]
-
-
-	"""
-	action = None
-	while (action) is None or ((not state.can_dash) and (str_action not in ["left", "right"])):
-		action = select_action(
-			pt_state,
-			steps_done
-		)
-		str_action = Celeste.action_space[action]
-	"""
-	
-	steps_done += 1
-
 
 	# For manual testing
 	#str_action = ""
@@ -319,86 +313,114 @@ def on_state_before(celeste):
 	#	str_action = input("action> ")
 	#action = Celeste.action_space.index(str_action)
 
-	print(str_action)
+	print(Celeste.action_space[action])
-	celeste.act(str_action)
+	celeste.act(action)
 
-	return state, action
+	return (
-
+		state,	# CelesteState
-
+		action	# Integer
-def on_state_after(celeste, before_out):
-	global episode_number
-
-	state, action = before_out
-	next_state = celeste.state
-
-	pt_state = torch.tensor(
-		[getattr(state, x) for x in Celeste.state_number_map],
-		dtype = torch.float32,
-		device = compute_device
-	).unsqueeze(0)
-
-	pt_action = torch.tensor(
-		[[ action ]],
-		device = compute_device,
-		dtype = torch.long
 	)
 
-	finished_stage = False
+
+def compute_reward(last_state, state):
+	global point_counter
+
+	reward = None
+
 	# No reward if dead
-	if next_state.deaths != 0:
+	if state.deaths != 0:
-		pt_next_state = None
 		reward = 0
 
 	# Reward for finishing a stage
-	elif next_state.stage >= 1:
+	elif state.stage >= 1:
-		finished_stage = True
+		print("FINISHED STAGE!!")
-		reward = next_state.next_point - state.next_point
+
+		# We don't set a fixed reward here because the agent may
+		# complete the stage before getting all points.
+		# The below line provides extra reward for taking shortcuts.
+		reward = state.next_point - last_state.next_point
 		reward += 1
 
 		# Add to point counter
-		for i in range(state.next_point, state.next_point + reward):
+		for i in range(last_state.next_point, len(point_counter)):
 			point_counter[i] += 1
 
-	# Regular reward
+	# Reward for reaching a checkpoint
+	elif last_state.next_point != state.next_point:
+		print(f"Got point {state.next_point}")
+	
+		reward = state.next_point - last_state.next_point
+
+		# Add to point counter
+		for i in range(last_state.next_point, last_state.next_point + reward):
+			point_counter[i] += 1
+
+	# No reward otherwise
 	else:
-		pt_next_state = torch.tensor(
+		reward = 0
-			[getattr(next_state, x) for x in Celeste.state_number_map],
+
-			dtype = torch.float32,
+	# Strawberry reward
-			device = compute_device
+	# (Will probably break current version of model)
-		).unsqueeze(0)
+	#if state.berries[state.stage] and not state.berries[state.stage]:
+	#	print(f"Got stage {state.stage} bonus")
+	#	reward += 1
+
+	assert reward is not None
+	return reward * 10
 
 
+def on_state_after(celeste, before_out):
+	global n_episodes
+	global n_steps
 
-		if state.next_point == next_state.next_point:
+	last_state, action = before_out
-			reward = 0
+	next_state = celeste.state
-		else:
+	dead = next_state.deaths != 0
-			print(f"Got point {state.next_point}")
+	done = next_state.stage >= 1
-			# Reward for reaching a point
-			reward = next_state.next_point - state.next_point
-
-			# Add to point counter
-			for i in range(state.next_point, state.next_point + reward):
-				point_counter[i] += 1
-
-		# Strawberry reward
-		if next_state.berries[state.stage] and not state.berries[state.stage]:
-			print(f"Got stage {state.stage} bonus")
-			reward += 1
 
 
+	reward = compute_reward(last_state, next_state)
 	
-
+	if dead:
-	reward = reward * 10
+		next_state = None
-	pt_reward = torch.tensor([reward], device = compute_device)
+	elif done:
-
+		# We don't set the next state to None because
+		# the optimization routine forces zero reward
+		# for terminal states.
+		# Copy last state instead. It's a hack, but it
+		# should work.
+		next_state = last_state
 
 	# Add this state transition to memory.
 	memory.append(
 		Transition(
-			pt_state,
+			# last state
-			pt_action,
+			torch.tensor(
-			pt_next_state,
+				[getattr(last_state, x) for x in Celeste.state_number_map],
-			pt_reward
+				dtype = torch.float32,
+				device = compute_device
+			).unsqueeze(0),
+
+			# action
+			torch.tensor(
+				[[ action ]],
+				device = compute_device,
+				dtype = torch.long
+			),
+
+			# next state
+			# None if dead or done.
+			torch.tensor(
+				[getattr(next_state, x) for x in Celeste.state_number_map],
+				dtype = torch.float32,
+				device = compute_device
+			).unsqueeze(0) if next_state is not None else None,
+			
+			# reward
+			torch.tensor(
+				[reward],
+				device = compute_device
+			)
 		)
 	)
 
@@ -406,11 +428,10 @@ def on_state_after(celeste, before_out):
 	print("")
 
 
+	# Perform a training step
 	loss = None
-
-	# Only train the network if we have enough
-	# transitions in memory to do so.
 	if len(memory) >= BATCH_SIZE:
+		n_steps += 1
 		loss = optimize_model()
 
 		# Soft update target_net weights
@@ -423,65 +444,43 @@ def on_state_after(celeste, before_out):
 			)
 		target_net.load_state_dict(target_net_state)
 
-	# Move on to the next episode once we reach
+
-	# a terminal state.
+
-	if (next_state.deaths != 0 or finished_stage):
+	# Move on to the next episode and run
+	# housekeeping tasks.
+	if (dead or done):
 		s = celeste.state
+		n_episodes += 1
+
+		# Move screenshots
+		sm.move(
+			number = n_episodes,
+			overwrite = True
+		)
+
+		
+		# Log this episode
 		with model_train_log.open("a") as f:
 			f.write(json.dumps({
+				"n_episodes": n_episodes,
+				"n_steps": n_steps,
 				"checkpoints": s.next_point,
-				"state_count": s.state_count,
+				"loss": None if loss is None else loss.item(),
-				"loss": None if loss is None else loss.item()
+				"done": done
 			}) + "\n")
 
 
-		# Save model
-		torch.save({
-			"policy_state_dict": policy_net.state_dict(),
-			"target_state_dict": target_net.state_dict(),
-			"optimizer_state_dict": optimizer.state_dict(),
-			"memory": memory,
-			"point_counter": point_counter,
-			"episode_number": episode_number,
-			"steps_done": steps_done,
-
-			# Hyperparameters
-			"eps_start": EPS_START,
-			"eps_end": EPS_END,
-			"eps_decay": EPS_DECAY,
-			"batch_size": BATCH_SIZE,
-			"tau": TAU,
-			"learning_rate": learning_rate,
-			"gamma": GAMMA
-		}, model_save_path)
-
-
-		# Clean up screenshots
-		shots = screenshot_source.glob("hackcel_*.png")
-
-		target = screenshot_dir / Path(f"{episode_number}")
-		target.mkdir(parents = True)
-
-		for s in shots:
-			s.rename(target / s.name)
-
 		# Save a snapshot
-		if episode_number % archive_interval == 0:
+		if n_episodes % model_save_interval == 0:
-			torch.save({
+			save_model(model_archive_dir / f"{n_episodes}.torch")
-				"policy_state_dict": policy_net.state_dict(),
+			shutil.copy(model_archive_dir / f"{n_episodes}.torch", model_save_path)
-				"target_state_dict": target_net.state_dict(),
-				"optimizer_state_dict": optimizer.state_dict(),
-				"memory": memory,
-				"episode_number": episode_number,
-				"steps_done": steps_done
-			}, model_archive_dir / f"{episode_number}.torch")
 
 
 		print("Game over. Resetting.")
-		episode_number += 1
 		celeste.reset()
 
 
+
 if __name__ == "__main__":
 	c = Celeste(
 		"resources/pico-8/linux/pico8"

celeste/celeste_ai/util/screenshots.py

@@ -0,0 +1,69 @@
+from pathlib import Path
+import shutil
+
+
+class ScreenshotManager:
+	def __init__(
+		self,
+
+		# Where PICO-8 saves screenshots
+		source: Path,
+
+		# How PICO-8 names screenshots.
+		# Example: "celeste_*.png"
+		pattern: str,
+
+		# Where we want to move screenshots.
+		target: Path
+	):
+		self.source = source
+		self.pattern = pattern
+		self.target = target
+		self.target.mkdir(
+			parents = True,
+			exist_ok = True
+		)
+
+
+
+	def clean(self):
+		shots = self.source.glob(self.pattern)
+		for s in shots:
+			s.unlink()
+		return self
+
+
+
+	def move(self, number: int | None = None, overwrite = False):
+		shots = self.source.glob(self.pattern)
+
+		if number == None:
+
+			# Auto-select new directory number.
+			# Chooses next highest int directory name
+			number = 0
+			for f in self.target.iterdir():
+				try:
+					number = max(
+						int(f.name),
+						number
+					)
+				except ValueError:
+					continue
+			number += 1
+
+		else:
+			target = self.target / str(number)
+
+			if target.exists():
+				if not overwrite:
+					raise Exception(f"Target \"{target}\" exists!")
+				else:
+					print(f"Target \"{target}\" exists, removing.")
+					shutil.rmtree(target)
+
+		target.mkdir(parents = True)
+
+		for s in shots:
+			s.rename(target / s.name)
+		return self