Reinforcement Learning 2 Q Learning

ML
Author

Nipun Batra

Published

April 1, 2024

Reference

  1. Detailed Explanation and Python Implementation of Q-Learning Algorithm in OpenAI Gym (Cart-Pole)

Basic Imports

https://www.gymlibrary.dev/environments/classic_control/mountain_car/

import matplotlib.pyplot as plt
import torch
import gymnasium as gym
import pandas as pd

import numpy as np

%matplotlib inline
%config InlineBackend.figure_format='retina'
env = gym.make('MountainCar-v0', render_mode='human')
env.reset(seed=42)
for i in range(100):
    env.render()
    action = env.action_space.sample()
    observation, reward, terminated, truncated, info = env.step(action)
    print(i, observation, reward, terminated, truncated, info)
    if terminated:
        break
    
0 [-0.4457913  -0.00058252] -1.0 False False {}
1 [-0.4469521  -0.00116079] -1.0 False False {}
2 [-0.44768268 -0.00073059] -1.0 False False {}
3 [-4.4797775e-01 -2.9505082e-04] -1.0 False False {}
4 [-0.4488351  -0.00085736] -1.0 False False {}
5 [-4.4924849e-01 -4.1339413e-04] -1.0 False False {}
6 [-0.4502149  -0.00096641] -1.0 False False {}
7 [-0.45072725 -0.00051235] -1.0 False False {}
8 [-0.4517818  -0.00105455] -1.0 False False {}
9 [-0.45437083 -0.00258902] -1.0 False False {}
10 [-0.45647532 -0.0021045 ] -1.0 False False {}
11 [-0.46007985 -0.00360453] -1.0 False False {}
12 [-0.4631579  -0.00307805] -1.0 False False {}
13 [-0.46568677 -0.00252887] -1.0 False False {}
14 [-0.4686478  -0.00296103] -1.0 False False {}
15 [-0.4720191 -0.0033713] -1.0 False False {}
16 [-0.47577572 -0.0037566 ] -1.0 False False {}
17 [-0.47888976 -0.00311405] -1.0 False False {}
18 [-0.4813381  -0.00244836] -1.0 False False {}
19 [-0.48410258 -0.00276447] -1.0 False False {}
20 [-0.48616257 -0.00206   ] -1.0 False False {}
21 [-0.48750275 -0.00134018] -1.0 False False {}
22 [-0.48911312 -0.00161037] -1.0 False False {}
23 [-0.48998168 -0.00086855] -1.0 False False {}
24 [-4.9010193e-01 -1.2025227e-04] -1.0 False False {}
25 [-0.491473   -0.00137106] -1.0 False False {}
26 [-0.4930846  -0.00161163] -1.0 False False {}
27 [-0.49492478 -0.00184016] -1.0 False False {}
28 [-0.49797973 -0.00305495] -1.0 False False {}
29 [-0.5002266  -0.00224691] -1.0 False False {}
30 [-0.5026487  -0.00242205] -1.0 False False {}
31 [-0.5062278  -0.00357908] -1.0 False False {}
32 [-0.50993705 -0.0037093 ] -1.0 False False {}
33 [-0.5137488  -0.00381173] -1.0 False False {}
34 [-0.5186344 -0.0048856] -1.0 False False {}
35 [-0.52355725 -0.00492283] -1.0 False False {}
36 [-0.52748036 -0.00392314] -1.0 False False {}
37 [-0.5303744  -0.00289403] -1.0 False False {}
38 [-0.5342176  -0.00384322] -1.0 False False {}
39 [-0.5389812  -0.00476359] -1.0 False False {}
40 [-0.54362947 -0.00464826] -1.0 False False {}
41 [-0.5491276  -0.00549812] -1.0 False False {}
42 [-0.5554344  -0.00630684] -1.0 False False {}
43 [-0.56250286 -0.00706844] -1.0 False False {}
44 [-0.5692802  -0.00677732] -1.0 False False {}
45 [-0.57671595 -0.00743578] -1.0 False False {}
46 [-0.5837551  -0.00703908] -1.0 False False {}
47 [-0.5913454  -0.00759036] -1.0 False False {}
48 [-0.5974312  -0.00608575] -1.0 False False {}
49 [-0.60396767 -0.00653652] -1.0 False False {}
50 [-0.61090726 -0.00693958] -1.0 False False {}
51 [-0.6171995  -0.00629223] -1.0 False False {}
52 [-0.6227989  -0.00559941] -1.0 False False {}
53 [-0.6276652  -0.00486634] -1.0 False False {}
54 [-0.6317637  -0.00409846] -1.0 False False {}
55 [-0.63606507 -0.00430139] -1.0 False False {}
56 [-0.6395389 -0.0034738] -1.0 False False {}
57 [-0.64116055 -0.00162168] -1.0 False False {}
58 [-0.6429187  -0.00175813] -1.0 False False {}
59 [-0.6438009  -0.00088222] -1.0 False False {}
60 [-0.64280105  0.00099988] -1.0 False False {}
61 [-0.6399261   0.00287497] -1.0 False False {}
62 [-0.63719624  0.00272982] -1.0 False False {}
63 [-0.6326308   0.00456541] -1.0 False False {}
64 [-0.6282622   0.00436864] -1.0 False False {}
65 [-0.62212145  0.00614078] -1.0 False False {}
66 [-0.61425245  0.00786899] -1.0 False False {}
67 [-0.6047119   0.00954054] -1.0 False False {}
68 [-0.593569   0.0111429] -1.0 False False {}
69 [-0.58090514  0.01266384] -1.0 False False {}
70 [-0.56681365  0.01409152] -1.0 False False {}
71 [-0.55139893  0.01541472] -1.0 False False {}
72 [-0.5357759   0.01562298] -1.0 False False {}
73 [-0.5190616   0.01671429] -1.0 False False {}
74 [-0.5023814   0.01668026] -1.0 False False {}
75 [-0.48586014  0.01652124] -1.0 False False {}
76 [-0.47062132  0.01523881] -1.0 False False {}
77 [-0.45477816  0.01584315] -1.0 False False {}
78 [-0.43944752  0.01533065] -1.0 False False {}
79 [-0.42474133  0.0147062 ] -1.0 False False {}
80 [-0.41176575  0.01297559] -1.0 False False {}
81 [-0.39861324  0.01315249] -1.0 False False {}
82 [-0.38637635  0.01223691] -1.0 False False {}
83 [-0.3761398   0.01023656] -1.0 False False {}
84 [-0.36597344  0.01016634] -1.0 False False {}
85 [-0.35694572  0.00902772] -1.0 False False {}
86 [-0.3481165   0.00882924] -1.0 False False {}
87 [-0.3405434   0.00757308] -1.0 False False {}
88 [-0.33327526  0.00726814] -1.0 False False {}
89 [-0.32835823  0.00491702] -1.0 False False {}
90 [-0.3238232   0.00453502] -1.0 False False {}
91 [-0.32169843  0.0021248 ] -1.0 False False {}
92 [-3.2199696e-01 -2.9854459e-04] -1.0 False False {}
93 [-0.322717   -0.00072005] -1.0 False False {}
94 [-0.32585412 -0.00313711] -1.0 False False {}
95 [-0.32938883 -0.00353472] -1.0 False False {}
96 [-0.3352991  -0.00591028] -1.0 False False {}
97 [-0.34154773 -0.0062486 ] -1.0 False False {}
98 [-0.34809482 -0.00654711] -1.0 False False {}
99 [-0.35689825 -0.00880341] -1.0 False False {}
nbins_pos = 3
nbins_vel = 3

pos_bins = np.linspace(env.observation_space.low[0], env.observation_space.high[0], nbins_pos)
vel_bins = np.linspace(env.observation_space.low[1], env.observation_space.high[1], nbins_vel)
pos_bins, vel_bins
(array([-1.20000005, -0.30000001,  0.60000002]), array([-0.07,  0.  ,  0.07]))
# Create a Q-table in pandas with multi-index
# index in the form of (pos, vel)
# columns are the actions
n_actions = env.action_space.n


# Create labels for bins with desired format
pos_labels = [f'{pos1:.2f} < pos < {pos2:.2f}' for pos1, pos2 in zip(pos_bins[:-1], pos_bins[1:])]
vel_labels = [f'{vel1:.2f} < vel < {vel2:.2f}' for vel1, vel2 in zip(vel_bins[:-1], vel_bins[1:])]

# Create MultiIndex for the Q-table
index = pd.MultiIndex.from_product([pos_labels, vel_labels], names=['pos', 'vel'])



columns = range(n_actions)

# Create Q-table with MultiIndex
q_table = pd.DataFrame(0, index=index, columns=columns)
q_table
0 1 2
pos vel
-1.20 < pos < -0.30 -0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0
-0.30 < pos < 0.60 -0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0 
pos_bins
array([-1.20000005, -0.30000001,  0.60000002])
# adding -inft to the first and +inft to the last bin
pos_bins = np.concatenate([[-np.inf], pos_bins, [np.inf]])
vel_bins = np.concatenate([[-np.inf], vel_bins, [np.inf]])

# Create labels for bins with desired format
pos_labels = [f'{pos1:.2f} < pos < {pos2:.2f}' for pos1, pos2 in zip(pos_bins[:-1], pos_bins[1:])]
vel_labels = [f'{vel1:.2f} < vel < {vel2:.2f}' for vel1, vel2 in zip(vel_bins[:-1], vel_bins[1:])]


# Create MultiIndex for the Q-table
index = pd.MultiIndex.from_product([pos_labels, vel_labels], names=['pos', 'vel'])



columns = range(n_actions)

# Create Q-table with MultiIndex
q_table = pd.DataFrame(0, index=index, columns=columns)
q_table
0 1 2
pos vel
-inf < pos < -1.20 -inf < vel < -0.07 0 0 0
-0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0
0.07 < vel < inf 0 0 0
-1.20 < pos < -0.30 -inf < vel < -0.07 0 0 0
-0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0
0.07 < vel < inf 0 0 0
-0.30 < pos < 0.60 -inf < vel < -0.07 0 0 0
-0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0
0.07 < vel < inf 0 0 0
0.60 < pos < inf -inf < vel < -0.07 0 0 0
-0.07 < vel < 0.00 0 0 0
0.00 < vel < 0.07 0 0 0
0.07 < vel < inf 0 0 0 
pos_bins[1:-1]
array([-1.20000005, -0.30000001,  0.60000002])
np.digitize([-1.3, -1.20, -1.1, 0.6, 5.0], pos_bins[1:-1])
array([0, 1, 1, 2, 3])
# Usually, we will create1a the multi-dim array in numpy

# Create a Q-table in numpy
q_table_np = np.arange(nbins_pos * nbins_vel * n_actions).reshape(nbins_pos, nbins_vel, n_actions)
print(q_table_np.shape)
(3, 3, 3)
q_table_np
array([[[ 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]]])
def discretize_pos(pos):
    return np.digitize(pos, pos_bins[1:-1])

def discretize_vel(vel):
    return np.digitize(vel, vel_bins[1:-1])

from ipywidgets import interact

@interact(pos=(-1.3, 0.9, 0.01), vel=(-0.08, 0.09, 0.01))
def show_discretize(pos, vel):
    print(f"Position index {discretize_pos(pos)}, Velocity index {discretize_vel(vel)}, Value: {q_table_np[discretize_pos(pos), discretize_vel(vel)]}")
# Use untrained Q-table to play the game

observation,  _  = env.reset(seed=42)

for i in range(100):
    env.render()
    pos, vel = observation
    pos_idx = discretize_pos(pos)
    vel_idx = discretize_vel(vel)
    action = np.argmax(q_table_np[pos_idx, vel_idx])
    observation, reward, terminated, truncated, info = env.step(action)
    print(i, observation, reward, terminated, truncated, info, action)
    if terminated:
        break
    
0 [-4.4479132e-01  4.1747934e-04] -1.0 False False {} 2
1 [-0.4439594   0.00083191] -1.0 False False {} 2
2 [-0.4427191   0.00124029] -1.0 False False {} 2
3 [-0.4410795   0.00163962] -1.0 False False {} 2
4 [-0.43905246  0.00202703] -1.0 False False {} 2
5 [-0.43665275  0.00239971] -1.0 False False {} 2
6 [-0.43389776  0.00275498] -1.0 False False {} 2
7 [-0.43080744  0.00309032] -1.0 False False {} 2
8 [-0.4274041   0.00340333] -1.0 False False {} 2
9 [-0.42371225  0.00369185] -1.0 False False {} 2
10 [-0.4197584   0.00395386] -1.0 False False {} 2
11 [-0.41557083  0.00418759] -1.0 False False {} 2
12 [-0.41117933  0.00439149] -1.0 False False {} 2
13 [-0.40661508  0.00456424] -1.0 False False {} 2
14 [-0.40191033  0.00470476] -1.0 False False {} 2
15 [-0.3970981   0.00481224] -1.0 False False {} 2
16 [-0.392212    0.00488609] -1.0 False False {} 2
17 [-0.38728598  0.00492601] -1.0 False False {} 2
18 [-0.38235408  0.00493192] -1.0 False False {} 2
19 [-0.37745008  0.004904  ] -1.0 False False {} 2
20 [-0.3726074   0.00484267] -1.0 False False {} 2
21 [-0.36785883  0.00474856] -1.0 False False {} 2
22 [-0.36323628  0.00462255] -1.0 False False {} 2
23 [-0.3587706   0.00446569] -1.0 False False {} 2
24 [-0.35449135  0.00427925] -1.0 False False {} 2
25 [-0.3504267   0.00406465] -1.0 False False {} 2
26 [-0.3466032  0.0038235] -1.0 False False {} 2
27 [-0.34304565  0.00355754] -1.0 False False {} 2
28 [-0.33977702  0.00326864] -1.0 False False {} 2
29 [-0.33681822  0.0029588 ] -1.0 False False {} 2
30 [-0.3341881   0.00263011] -1.0 False False {} 2
31 [-0.33190334  0.00228476] -1.0 False False {} 2
32 [-0.32997838  0.00192499] -1.0 False False {} 2
33 [-0.32842523  0.00155313] -1.0 False False {} 2
34 [-0.3272537   0.00117154] -1.0 False False {} 2
35 [-0.32647103  0.00078265] -1.0 False False {} 2
36 [-0.32608217  0.00038887] -1.0 False False {} 2
37 [-3.2608950e-01 -7.3227225e-06] -1.0 False False {} 2
38 [-0.32649297 -0.00040347] -1.0 False False {} 2
39 [-0.3272901  -0.00079711] -1.0 False False {} 2
40 [-0.32847586 -0.00118578] -1.0 False False {} 2
41 [-0.3300429  -0.00156705] -1.0 False False {} 2
42 [-0.33198142 -0.0019385 ] -1.0 False False {} 2
43 [-0.33427918 -0.00229778] -1.0 False False {} 2
44 [-0.33692175 -0.00264256] -1.0 False False {} 2
45 [-0.33989236 -0.00297059] -1.0 False False {} 2
46 [-0.34317204 -0.0032797 ] -1.0 False False {} 2
47 [-0.34673983 -0.00356778] -1.0 False False {} 2
48 [-0.35057268 -0.00383286] -1.0 False False {} 2
49 [-0.35464573 -0.00407306] -1.0 False False {} 2
50 [-0.35893238 -0.00428664] -1.0 False False {} 2
51 [-0.3634044  -0.00447202] -1.0 False False {} 2
52 [-0.36803216 -0.00462776] -1.0 False False {} 2
53 [-0.37278476 -0.00475261] -1.0 False False {} 2
54 [-0.3776303  -0.00484552] -1.0 False False {} 2
55 [-0.3825359  -0.00490563] -1.0 False False {} 2
56 [-0.38746822 -0.0049323 ] -1.0 False False {} 2
57 [-0.39239335 -0.00492514] -1.0 False False {} 2
58 [-0.39727733 -0.00488397] -1.0 False False {} 2
59 [-0.40208617 -0.00480886] -1.0 False False {} 2
60 [-0.40678635 -0.00470015] -1.0 False False {} 2
61 [-0.41134477 -0.00455843] -1.0 False False {} 2
62 [-0.41572928 -0.00438451] -1.0 False False {} 2
63 [-0.41990876 -0.00417948] -1.0 False False {} 2
64 [-0.42385343 -0.00394468] -1.0 False False {} 2
65 [-0.4275351  -0.00368165] -1.0 False False {} 2
66 [-0.43092728 -0.0033922 ] -1.0 False False {} 2
67 [-0.4340056  -0.00307832] -1.0 False False {} 2
68 [-0.4367478 -0.0027422] -1.0 False False {} 2
69 [-0.43913403 -0.00238624] -1.0 False False {} 2
70 [-0.441147   -0.00201297] -1.0 False False {} 2
71 [-0.4427721  -0.00162507] -1.0 False False {} 2
72 [-0.4439974  -0.00122535] -1.0 False False {} 2
73 [-0.44481412 -0.0008167 ] -1.0 False False {} 2
74 [-4.452162e-01 -4.020977e-04] -1.0 False False {} 2
75 [-4.4520080e-01  1.5435844e-05] -1.0 False False {} 2
76 [-4.4476792e-01  4.3285682e-04] -1.0 False False {} 2
77 [-0.44392082  0.00084712] -1.0 False False {} 2
78 [-0.4426656   0.00125521] -1.0 False False {} 2
79 [-0.44101143  0.00165416] -1.0 False False {} 2
80 [-0.43897036  0.00204107] -1.0 False False {} 2
81 [-0.4365572   0.00241315] -1.0 False False {} 2
82 [-0.4337895   0.00276774] -1.0 False False {} 2
83 [-0.4306872   0.00310229] -1.0 False False {} 2
84 [-0.42727277  0.00341444] -1.0 False False {} 2
85 [-0.42357075  0.00370201] -1.0 False False {} 2
86 [-0.41960773  0.003963  ] -1.0 False False {} 2
87 [-0.41541207  0.00419566] -1.0 False False {} 2
88 [-0.41101363  0.00439843] -1.0 False False {} 2
89 [-0.40644366  0.00457001] -1.0 False False {} 2
90 [-0.40173432  0.00470932] -1.0 False False {} 2
91 [-0.39691874  0.00481556] -1.0 False False {} 2
92 [-0.3920306   0.00488817] -1.0 False False {} 2
93 [-0.38710377  0.00492683] -1.0 False False {} 2
94 [-0.38217226  0.00493149] -1.0 False False {} 2
95 [-0.37726995  0.00490233] -1.0 False False {} 2
96 [-0.37243018  0.00483977] -1.0 False False {} 2
97 [-0.3676857   0.00474447] -1.0 False False {} 2
98 [-0.3630684  0.0046173] -1.0 False False {} 2
99 [-0.35860908  0.00445932] -1.0 False False {} 2
# Train the Q-table

# Hyperparameters
alpha = 0.2 # learning rate
gamma = 0.99 # discount factor

# Exploration settings
epsilon = 0.8 # exploration rate

# Number of episodes
n_episodes = 4000

# Number of steps per episode
n_steps = 200

# Create a Q-table in numpy
nbins_pos = 25
nbins_vel = 25

pos_bins = np.linspace(env.observation_space.low[0], env.observation_space.high[0], nbins_pos)
vel_bins = np.linspace(env.observation_space.low[1], env.observation_space.high[1], nbins_vel)

pos_bins = np.concatenate([[-np.inf], pos_bins, [np.inf]])
vel_bins = np.concatenate([[-np.inf], vel_bins, [np.inf]])

q_table_np = np.random.randn(nbins_pos, nbins_vel, n_actions)

def discretize_pos(pos):
    return np.digitize(pos, pos_bins[1:-1])

def discretize_vel(vel):
    return np.digitize(vel, vel_bins[1:-1])
    
# loop
# disable rendering
env = gym.make('MountainCar-v0', render_mode=None)
rewards = np.zeros(n_episodes)
for episode in range(n_episodes):
    epsilon = epsilon * 0.98
    if episode % 100 == 0:
        print(f"Episode {episode}")
    observation, _ = env.reset(seed=episode)
    cumulative_reward = 0
    for step in range(n_steps):
        # discretize the observation
        pos, vel = observation
        pos_idx = discretize_pos(pos)
        vel_idx = discretize_vel(vel)
        
        # select the action
        if np.random.rand() < epsilon:
            action = env.action_space.sample()
        else:
            action = np.argmax(q_table_np[pos_idx, vel_idx])
        
        # take the action
        next_observation, reward, terminated, truncated, info = env.step(action)
        
        cumulative_reward += reward
        # discretize the next observation
        next_pos, next_vel = next_observation
        next_pos_idx = discretize_pos(next_pos)
        next_vel_idx = discretize_vel(next_vel)
        
        # update the q-table
        q_table_np[pos_idx, vel_idx, action] += alpha * (reward + gamma * np.max(q_table_np[next_pos_idx, next_vel_idx]) - q_table_np[pos_idx, vel_idx, action])
        
        observation = next_observation
        # rewards update
        rewards[episode] = cumulative_reward
        
        if terminated:
            print(f"Episode {episode} terminated after {step} steps")
            break
Episode 0
Episode 100
Episode 200
Episode 300
Episode 400
Episode 500
Episode 504 terminated after 196 steps
Episode 588 terminated after 179 steps
Episode 589 terminated after 170 steps
Episode 590 terminated after 160 steps
Episode 593 terminated after 161 steps
Episode 596 terminated after 159 steps
Episode 597 terminated after 164 steps
Episode 598 terminated after 172 steps
Episode 599 terminated after 156 steps
Episode 600
Episode 601 terminated after 161 steps
Episode 613 terminated after 161 steps
Episode 615 terminated after 163 steps
Episode 620 terminated after 152 steps
Episode 628 terminated after 156 steps
Episode 630 terminated after 153 steps
Episode 631 terminated after 157 steps
Episode 632 terminated after 195 steps
Episode 633 terminated after 191 steps
Episode 634 terminated after 154 steps
Episode 635 terminated after 158 steps
Episode 636 terminated after 174 steps
Episode 637 terminated after 157 steps
Episode 638 terminated after 181 steps
Episode 700
Episode 766 terminated after 194 steps
Episode 769 terminated after 169 steps
Episode 770 terminated after 165 steps
Episode 772 terminated after 198 steps
Episode 773 terminated after 192 steps
Episode 774 terminated after 194 steps
Episode 775 terminated after 193 steps
Episode 776 terminated after 197 steps
Episode 782 terminated after 192 steps
Episode 786 terminated after 164 steps
Episode 788 terminated after 197 steps
Episode 789 terminated after 198 steps
Episode 791 terminated after 160 steps
Episode 798 terminated after 163 steps
Episode 800
Episode 801 terminated after 189 steps
Episode 803 terminated after 146 steps
Episode 805 terminated after 192 steps
Episode 813 terminated after 195 steps
Episode 815 terminated after 155 steps
Episode 817 terminated after 195 steps
Episode 818 terminated after 191 steps
Episode 825 terminated after 194 steps
Episode 828 terminated after 197 steps
Episode 850 terminated after 191 steps
Episode 852 terminated after 165 steps
Episode 854 terminated after 167 steps
Episode 855 terminated after 165 steps
Episode 859 terminated after 190 steps
Episode 860 terminated after 160 steps
Episode 862 terminated after 161 steps
Episode 863 terminated after 159 steps
Episode 864 terminated after 192 steps
Episode 869 terminated after 162 steps
Episode 871 terminated after 191 steps
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Episode 3849 terminated after 151 steps
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Episode 3851 terminated after 150 steps
Episode 3852 terminated after 173 steps
Episode 3853 terminated after 147 steps
Episode 3854 terminated after 147 steps
Episode 3855 terminated after 151 steps
Episode 3856 terminated after 151 steps
Episode 3857 terminated after 171 steps
Episode 3858 terminated after 180 steps
Episode 3859 terminated after 149 steps
Episode 3860 terminated after 189 steps
Episode 3861 terminated after 151 steps
Episode 3862 terminated after 183 steps
Episode 3863 terminated after 187 steps
Episode 3864 terminated after 151 steps
Episode 3865 terminated after 146 steps
Episode 3866 terminated after 146 steps
Episode 3867 terminated after 185 steps
Episode 3868 terminated after 187 steps
Episode 3869 terminated after 146 steps
Episode 3870 terminated after 146 steps
Episode 3871 terminated after 173 steps
Episode 3872 terminated after 148 steps
Episode 3873 terminated after 149 steps
Episode 3874 terminated after 148 steps
Episode 3875 terminated after 187 steps
Episode 3876 terminated after 152 steps
Episode 3877 terminated after 146 steps
Episode 3878 terminated after 192 steps
Episode 3879 terminated after 152 steps
Episode 3880 terminated after 186 steps
Episode 3881 terminated after 150 steps
Episode 3882 terminated after 181 steps
Episode 3884 terminated after 186 steps
Episode 3885 terminated after 178 steps
Episode 3886 terminated after 146 steps
Episode 3887 terminated after 187 steps
Episode 3888 terminated after 152 steps
Episode 3889 terminated after 166 steps
Episode 3890 terminated after 186 steps
Episode 3891 terminated after 185 steps
Episode 3892 terminated after 190 steps
Episode 3893 terminated after 150 steps
Episode 3894 terminated after 151 steps
Episode 3895 terminated after 151 steps
Episode 3896 terminated after 183 steps
Episode 3897 terminated after 175 steps
Episode 3898 terminated after 146 steps
Episode 3899 terminated after 147 steps
Episode 3900
Episode 3900 terminated after 146 steps
Episode 3901 terminated after 165 steps
Episode 3902 terminated after 152 steps
Episode 3903 terminated after 143 steps
Episode 3904 terminated after 143 steps
Episode 3905 terminated after 188 steps
Episode 3906 terminated after 145 steps
Episode 3907 terminated after 169 steps
Episode 3908 terminated after 185 steps
Episode 3909 terminated after 146 steps
Episode 3910 terminated after 162 steps
Episode 3911 terminated after 187 steps
Episode 3912 terminated after 143 steps
Episode 3913 terminated after 151 steps
Episode 3914 terminated after 143 steps
Episode 3915 terminated after 165 steps
Episode 3916 terminated after 149 steps
Episode 3917 terminated after 148 steps
Episode 3918 terminated after 183 steps
Episode 3919 terminated after 168 steps
Episode 3920 terminated after 192 steps
Episode 3921 terminated after 147 steps
Episode 3922 terminated after 148 steps
Episode 3923 terminated after 149 steps
Episode 3924 terminated after 189 steps
Episode 3925 terminated after 150 steps
Episode 3926 terminated after 151 steps
Episode 3927 terminated after 150 steps
Episode 3928 terminated after 182 steps
Episode 3929 terminated after 172 steps
Episode 3930 terminated after 145 steps
Episode 3931 terminated after 190 steps
Episode 3932 terminated after 144 steps
Episode 3933 terminated after 143 steps
Episode 3934 terminated after 172 steps
Episode 3935 terminated after 189 steps
Episode 3936 terminated after 186 steps
Episode 3937 terminated after 152 steps
Episode 3938 terminated after 147 steps
Episode 3939 terminated after 185 steps
Episode 3940 terminated after 146 steps
Episode 3941 terminated after 147 steps
Episode 3942 terminated after 146 steps
Episode 3943 terminated after 185 steps
Episode 3944 terminated after 146 steps
Episode 3945 terminated after 185 steps
Episode 3946 terminated after 183 steps
Episode 3947 terminated after 145 steps
Episode 3948 terminated after 144 steps
Episode 3949 terminated after 149 steps
Episode 3950 terminated after 167 steps
Episode 3951 terminated after 148 steps
Episode 3952 terminated after 152 steps
Episode 3953 terminated after 150 steps
Episode 3954 terminated after 180 steps
Episode 3955 terminated after 182 steps
Episode 3956 terminated after 178 steps
Episode 3957 terminated after 186 steps
Episode 3958 terminated after 188 steps
Episode 3959 terminated after 147 steps
Episode 3960 terminated after 146 steps
Episode 3961 terminated after 151 steps
Episode 3962 terminated after 179 steps
Episode 3963 terminated after 151 steps
Episode 3964 terminated after 148 steps
Episode 3965 terminated after 169 steps
Episode 3966 terminated after 148 steps
Episode 3967 terminated after 170 steps
Episode 3968 terminated after 177 steps
Episode 3969 terminated after 150 steps
Episode 3970 terminated after 182 steps
Episode 3971 terminated after 178 steps
Episode 3972 terminated after 146 steps
Episode 3973 terminated after 181 steps
Episode 3974 terminated after 178 steps
Episode 3975 terminated after 179 steps
Episode 3976 terminated after 176 steps
Episode 3977 terminated after 147 steps
Episode 3978 terminated after 185 steps
Episode 3979 terminated after 147 steps
Episode 3980 terminated after 150 steps
Episode 3981 terminated after 150 steps
Episode 3982 terminated after 148 steps
Episode 3983 terminated after 187 steps
Episode 3984 terminated after 152 steps
Episode 3985 terminated after 149 steps
Episode 3986 terminated after 188 steps
Episode 3987 terminated after 147 steps
Episode 3988 terminated after 188 steps
Episode 3989 terminated after 179 steps
Episode 3990 terminated after 152 steps
Episode 3991 terminated after 156 steps
Episode 3992 terminated after 152 steps
Episode 3993 terminated after 181 steps
Episode 3994 terminated after 147 steps
Episode 3995 terminated after 152 steps
Episode 3996 terminated after 173 steps
Episode 3997 terminated after 148 steps
Episode 3998 terminated after 150 steps
Episode 3999 terminated after 148 steps
q_table_np
array([[[-6.17936588e-01, -1.98903383e+00,  1.15120248e+00],
        [-4.53764806e-01,  1.34908758e-01, -1.07268580e+00],
        [ 6.36300619e-02, -6.49255742e-01,  3.43143288e-01],
        ...,
        [-1.47426748e+00, -1.92654619e-01, -1.01827323e+00],
        [-1.23244092e+00, -1.08382756e+00, -1.66590846e+00],
        [ 6.18682191e-01, -6.31722662e-01,  1.89562638e+00]],

       [[ 1.44884462e+00, -1.08582448e+00, -6.17532955e-01],
        [-2.60033696e-01, -1.50735907e+00, -7.36880075e-01],
        [-4.33453026e+00,  7.21930130e-01, -8.94114558e-01],
        ...,
        [ 1.39149714e+00, -4.35242186e-01, -1.44402614e+00],
        [ 1.47319582e+00, -9.81043937e-01, -1.16663769e+00],
        [ 1.54574724e-01,  2.01528043e-01, -7.87255597e-01]],

       [[-9.42959906e-01,  3.57988275e-01,  6.76234740e-02],
        [-1.75824035e-01, -3.90116835e-01,  2.22525056e+00],
        [-2.61460860e+01, -2.57651012e+01, -2.65800774e+01],
        ...,
        [-4.34968569e-01, -1.87249267e+00,  1.76290733e-01],
        [-1.68751403e+00, -3.76561730e-01,  8.76169482e-01],
        [-5.96034401e-01, -2.85341434e+00,  4.82285164e-01]],

       ...,

       [[-5.43106444e-01, -1.35838659e+00, -3.17955211e-01],
        [ 3.65419766e-01,  5.30288952e-01,  6.60925958e-01],
        [ 1.92307652e+00, -6.83889095e-01,  3.84116355e-01],
        ...,
        [ 8.16187611e-03,  2.16478945e-01,  2.19802520e+00],
        [-1.48308991e+00,  1.67206495e+00,  3.82901283e-01],
        [ 3.10720595e-01, -8.04125951e-01, -6.11653944e-01]],

       [[-7.42037528e-01,  6.87114205e-01, -1.01632588e+00],
        [-9.40280627e-01,  1.68347169e-01, -2.91297623e-01],
        [ 7.75168521e-01, -1.28795146e+00,  1.42890256e+00],
        ...,
        [-6.04564766e-01,  1.43782213e+00,  3.30899649e-03],
        [ 2.28905749e-01,  9.51891150e-01, -1.82367227e-01],
        [ 1.45109916e+00, -6.93703178e-01,  1.00332049e+00]],

       [[-7.46471478e-01, -1.42855882e+00, -6.77811701e-01],
        [ 2.50420687e-01,  6.78487091e-01,  1.29496745e+00],
        [-7.72925285e-01, -5.73864364e-01, -1.46103255e+00],
        ...,
        [-5.23042989e-01, -1.38253290e+00,  1.49749978e-01],
        [-9.71722146e-02, -1.17977164e+00, -2.98167619e-01],
        [-1.11982445e+00, -9.15361681e-01,  1.40031848e+00]]])
pd.Series(rewards).plot()

# plot smoothed rewards
pd.Series(rewards).rolling(100).mean().plot()

env = gym.make('MountainCar-v0', render_mode='human')
observation,  _  = env.reset(seed=42)

for i in range(300):
    env.render()
    pos, vel = observation
    pos_idx = discretize_pos(pos)
    vel_idx = discretize_vel(vel)
    action = np.argmax(q_table_np[pos_idx, vel_idx])
    observation, reward, terminated, truncated, info = env.step(action)
    print(i, observation, reward, terminated, truncated, info, action)
    if terminated:
        break
0 [-0.4457913  -0.00058252] -1.0 False False {} 1
1 [-0.4479521  -0.00216079] -1.0 False False {} 0
2 [-0.4516754  -0.00372328] -1.0 False False {} 0
3 [-0.45693392 -0.00525853] -1.0 False False {} 0
4 [-0.46368912 -0.00675519] -1.0 False False {} 0
5 [-0.47189122 -0.0082021 ] -1.0 False False {} 0
6 [-0.4814796  -0.00958835] -1.0 False False {} 0
7 [-0.49238297 -0.01090341] -1.0 False False {} 0
8 [-0.5045202  -0.01213718] -1.0 False False {} 0
9 [-0.5178004 -0.0132802] -1.0 False False {} 0
10 [-0.53212404 -0.01432368] -1.0 False False {} 0
11 [-0.5473838  -0.01525975] -1.0 False False {} 0
12 [-0.5634653  -0.01608151] -1.0 False False {} 0
13 [-0.58024853 -0.01678323] -1.0 False False {} 0
14 [-0.5976089 -0.0173604] -1.0 False False {} 0
15 [-0.6154188  -0.01780987] -1.0 False False {} 0
16 [-0.6335487  -0.01812989] -1.0 False False {} 0
17 [-0.6518688  -0.01832014] -1.0 False False {} 0
18 [-0.67025054 -0.01838169] -1.0 False False {} 0
19 [-0.68856746 -0.01831694] -1.0 False False {} 0
20 [-0.70669705 -0.01812956] -1.0 False False {} 0
21 [-0.7245214  -0.01782435] -1.0 False False {} 0
22 [-0.7419284  -0.01740704] -1.0 False False {} 0
23 [-0.7568126  -0.01488416] -1.0 False False {} 2
24 [-0.7690869 -0.0122743] -1.0 False False {} 2
25 [-0.778682   -0.00959512] -1.0 False False {} 2
26 [-0.78654534 -0.00786333] -1.0 False False {} 1
27 [-0.79263484 -0.00608949] -1.0 False False {} 1
28 [-0.7969186  -0.00428376] -1.0 False False {} 1
29 [-0.79837453 -0.00145597] -1.0 False False {} 2
30 [-0.7969953   0.00137926] -1.0 False False {} 2
31 [-0.79278785  0.00420745] -1.0 False False {} 2
32 [-0.7857739   0.00701397] -1.0 False False {} 2
33 [-0.7759901   0.00978372] -1.0 False False {} 2
34 [-0.76348925  0.0125009 ] -1.0 False False {} 2
35 [-0.7483405   0.01514874] -1.0 False False {} 2
36 [-0.73063105  0.01770948] -1.0 False False {} 2
37 [-0.71046674  0.02016429] -1.0 False False {} 2
38 [-0.6879732   0.02249354] -1.0 False False {} 2
39 [-0.6632962   0.02467699] -1.0 False False {} 2
40 [-0.6366019   0.02669432] -1.0 False False {} 2
41 [-0.6080762  0.0285257] -1.0 False False {} 2
42 [-0.57792366  0.03015252] -1.0 False False {} 2
43 [-0.5463655   0.03155815] -1.0 False False {} 2
44 [-0.51363677  0.03272877] -1.0 False False {} 2
45 [-0.4799827   0.03365407] -1.0 False False {} 2
46 [-0.4456548   0.03432788] -1.0 False False {} 2
47 [-0.4109062   0.03474861] -1.0 False False {} 2
48 [-0.37598678  0.03491943] -1.0 False False {} 2
49 [-0.3411386   0.03484817] -1.0 False False {} 2
50 [-0.30659157  0.03454704] -1.0 False False {} 2
51 [-0.27255952  0.03403204] -1.0 False False {} 2
52 [-0.23923728  0.03332225] -1.0 False False {} 2
53 [-0.20679832  0.03243897] -1.0 False False {} 2
54 [-0.17639346  0.03040484] -1.0 False False {} 1
55 [-0.14814667  0.02824679] -1.0 False False {} 1
56 [-0.12115702  0.02698966] -1.0 False False {} 2
57 [-0.09550402  0.02565299] -1.0 False False {} 2
58 [-0.07124913  0.0242549 ] -1.0 False False {} 2
59 [-0.04843733  0.02281179] -1.0 False False {} 2
60 [-0.02709919  0.02133814] -1.0 False False {} 2
61 [-0.00725279  0.0198464 ] -1.0 False False {} 2
62 [0.01109421 0.01834699] -1.0 False False {} 2
63 [0.02694258 0.01584838] -1.0 False False {} 1
64 [0.04029912 0.01335654] -1.0 False False {} 1
65 [0.05117391 0.01087479] -1.0 False False {} 1
66 [0.0585781  0.00740419] -1.0 False False {} 0
67 [0.06252079 0.00394269] -1.0 False False {} 0
68 [0.06300733 0.00048654] -1.0 False False {} 0
69 [ 0.0600384  -0.00296893] -1.0 False False {} 0
70 [ 0.05360991 -0.00642849] -1.0 False False {} 0
71 [ 0.04471368 -0.00889623] -1.0 False False {} 1
72 [ 0.03333991 -0.01137377] -1.0 False False {} 1
73 [ 0.01947864 -0.01386127] -1.0 False False {} 1
74 [ 0.00412164 -0.01535701] -1.0 False False {} 2
75 [-0.01273518 -0.01685682] -1.0 False False {} 2
76 [-0.03309017 -0.02035499] -1.0 False False {} 0
77 [-0.05693285 -0.02384268] -1.0 False False {} 0
78 [-0.08323916 -0.02630631] -1.0 False False {} 1
79 [-0.11296792 -0.02972876] -1.0 False False {} 0
80 [-0.14405449 -0.03108656] -1.0 False False {} 2
81 [-0.1764112  -0.03235672] -1.0 False False {} 2
82 [-0.21092589 -0.0345147 ] -1.0 False False {} 1
83 [-0.24745657 -0.03653067] -1.0 False False {} 1
84 [-0.2868294  -0.03937284] -1.0 False False {} 0
85 [-0.32883242 -0.04200301] -1.0 False False {} 0
86 [-0.37221447 -0.04338205] -1.0 False False {} 1
87 [-0.41669327 -0.0444788 ] -1.0 False False {} 1
88 [-0.4619602  -0.04526692] -1.0 False False {} 1
89 [-0.5086868  -0.04672658] -1.0 False False {} 0
90 [-0.5565252  -0.04783838] -1.0 False False {} 0
91 [-0.60511696 -0.04859183] -1.0 False False {} 0
92 [-0.6541035  -0.04898652] -1.0 False False {} 0
93 [-0.703136   -0.04903255] -1.0 False False {} 0
94 [-0.75188625 -0.04875019] -1.0 False False {} 0
95 [-0.79905504 -0.04716877] -1.0 False False {} 1
96 [-0.8443851  -0.04533008] -1.0 False False {} 1
97 [-0.8886638  -0.04427873] -1.0 False False {} 0
98 [-0.93172    -0.04305618] -1.0 False False {} 0
99 [-0.97242475 -0.04070471] -1.0 False False {} 1
100 [-1.0106921  -0.03826734] -1.0 False False {} 1
101 [-1.0474744  -0.03678232] -1.0 False False {} 0
102 [-1.0827568  -0.03528232] -1.0 False False {} 0
103 [-1.1155533  -0.03279654] -1.0 False False {} 1
104 [-1.1469022  -0.03134892] -1.0 False False {} 0
105 [-1.1758621  -0.02895992] -1.0 False False {} 1
106 [-1.2  0. ] -1.0 False False {} 2
107 [-1.1977581  0.0022419] -1.0 False False {} 1
108 [-1.1932669   0.00449118] -1.0 False False {} 1
109 [-1.186512    0.00675497] -1.0 False False {} 1
110 [-1.1764722   0.01003978] -1.0 False False {} 2
111 [-1.163118    0.01335412] -1.0 False False {} 2
112 [-1.1464136   0.01670446] -1.0 False False {} 2
113 [-1.126319    0.02009453] -1.0 False False {} 2
114 [-1.1047946   0.02152443] -1.0 False False {} 0
115 [-1.0798074   0.02498721] -1.0 False False {} 2
116 [-1.0513321   0.02847525] -1.0 False False {} 2
117 [-1.0193571   0.03197506] -1.0 False False {} 2
118 [-0.9838908   0.03546635] -1.0 False False {} 2
119 [-0.9459694  0.0379214] -1.0 False False {} 1
120 [-0.9046624  0.041307 ] -1.0 False False {} 2
121 [-0.8600805  0.0445819] -1.0 False False {} 2
122 [-0.8123822   0.04769824] -1.0 False False {} 2
123 [-0.76177907  0.05060317] -1.0 False False {} 2
124 [-0.7085377   0.05324135] -1.0 False False {} 2
125 [-0.6549794   0.05355831] -1.0 False False {} 0
126 [-0.5994611   0.05551836] -1.0 False False {} 2
127 [-0.5423786   0.05708242] -1.0 False False {} 2
128 [-0.48415545  0.0582232 ] -1.0 False False {} 2
129 [-0.42522737  0.05892806] -1.0 False False {} 2
130 [-0.36602643  0.05920094] -1.0 False False {} 2
131 [-0.30696377  0.05906267] -1.0 False False {} 2
132 [-0.24841388  0.05854989] -1.0 False False {} 2
133 [-0.19070129  0.05771258] -1.0 False False {} 2
134 [-0.13409062  0.05661067] -1.0 False False {} 2
135 [-0.07878038  0.05531024] -1.0 False False {} 2
136 [-0.02490064  0.05387974] -1.0 False False {} 2
137 [0.02748607 0.05238671] -1.0 False False {} 2
138 [0.07838127 0.0508952 ] -1.0 False False {} 2
139 [0.12584527 0.047464  ] -1.0 False False {} 0
140 [0.16998534 0.04414006] -1.0 False False {} 0
141 [0.21294348 0.04295815] -1.0 False False {} 2
142 [0.25489464 0.04195116] -1.0 False False {} 2
143 [0.29604182 0.04114716] -1.0 False False {} 2
144 [0.33661178 0.04056999] -1.0 False False {} 2
145 [0.37685177 0.04023999] -1.0 False False {} 2
146 [0.41602638 0.0391746 ] -1.0 False False {} 1
147 [0.4544081  0.03838173] -1.0 False False {} 1
148 [0.49127463 0.03686652] -1.0 False False {} 0
149 [0.5268991  0.03562447] -1.0 True False {} 0
The Kernel crashed while executing code in the current cell or a previous cell. 

Please review the code in the cell(s) to identify a possible cause of the failure. 

Click <a href='https://aka.ms/vscodeJupyterKernelCrash'>here</a> for more info. 

View Jupyter <a href='command:jupyter.viewOutput'>log</a> for further details.

Reference: https://omarelb.github.io/dqn-investigation/

# Deep Q-learning


class QNetwork(torch.nn.Module):
    def __init__(self, n_inputs, n_outputs, n_hidden=128):
        super(QNetwork, self).__init__()
        self.fc1 = torch.nn.Linear(n_inputs, n_hidden)
        self.fc2 = torch.nn.Linear(n_hidden, n_outputs)
        
    def forward(self, x):
        x = torch.relu(self.fc1(x))
        x = self.fc2(x)
        return x
    
n_inputs = env.observation_space.shape[0]
n_outputs = env.action_space.n

q_network = QNetwork(n_inputs, n_outputs)
q_network
QNetwork(
  (fc1): Linear(in_features=2, out_features=128, bias=True)
  (fc2): Linear(in_features=128, out_features=3, bias=True)
)
with torch.no_grad():
    q_values = q_network(torch.tensor([0.1, 0.2], dtype=torch.float32))
    print(q_values)
tensor([-0.0065,  0.1707,  0.0062])
# Train the Q-network

# Hyperparameters
alpha = 0.2 # learning rate
gamma = 0.99 # discount factor

# Exploration settings
epsilon = 0.2 # exploration rate
eps_mult = 0.99

# Number of episodes
n_episodes = 2000

# Number of steps per episode
n_steps = 300

env = gym.make('MountainCar-v0', render_mode=None)

obs, _ = env.reset(seed=42)

q_network = QNetwork(n_inputs, n_outputs)

pos, vel = obs
pos_idx = discretize_pos(pos)
vel_idx = discretize_vel(vel)
print(observation)

with torch.no_grad():
    q_values = q_network(torch.tensor([pos, vel], dtype=torch.float32))
    print(q_values)

    action = torch.argmax(q_values).item()
    print(action)

    next_observation, reward, terminated, truncated, info = env.step(action)
    print(next_observation)

    next_pos, next_vel = next_observation

    next_pos_idx = discretize_pos(next_pos)
    next_vel_idx = discretize_vel(next_vel)

    next_q_values = q_network(torch.tensor([next_pos, next_vel], dtype=torch.float32))
    print(next_q_values)

    # Compute the target
    target = reward + gamma * torch.max(next_q_values)
    print(target)

# Compute the loss
criterion = torch.nn.MSELoss()
loss = criterion(q_values[action], target)
print(loss)


[-0.68420756 -0.01730118]
tensor([ 0.1212, -0.1776,  0.1786])
2
[-4.4479132e-01  4.1747934e-04]
tensor([ 0.1211, -0.1776,  0.1787])
tensor(-0.8231)
tensor(1.0035)

optimizer = torch.optim.Adam(q_network.parameters(), lr=alpha)

for episode in range(n_episodes):
    epsilon = epsilon * eps_mult
    if episode % 100 == 0:
        print(f"Episode {episode}")
    observation, _ = env.reset(seed=1)
    cumulative_reward = 0
    for step in range(n_steps):
        # discretize the observation
        pos, vel = observation
        pos_idx = discretize_pos(pos)
        vel_idx = discretize_vel(vel)
        
        # select the action
        if np.random.rand() < epsilon:
            action = env.action_space.sample()
        else:
            q_values = q_network(torch.tensor([pos, vel], dtype=torch.float32))
            action = torch.argmax(q_values).item()
        
        # take the action
        next_observation, reward, terminated, truncated, info = env.step(action)
        
        cumulative_reward += reward
        # discretize the next observation
        next_pos, next_vel = next_observation
        next_pos_idx = discretize_pos(next_pos)
        next_vel_idx = discretize_vel(next_vel)
        
        # Compute Q-values for the next state
        with torch.no_grad():
            next_q_values = q_network(torch.tensor([next_pos, next_vel], dtype=torch.float32))
            max_next_q_value = torch.max(next_q_values).item()
        
        target_q_value = reward + gamma * max_next_q_value
        
        # Compute loss and update Q-network
        q_value = q_network(torch.tensor([pos, vel], dtype=torch.float32))[action]
        criterion = torch.nn.MSELoss()
        loss = criterion(q_value, torch.tensor(target_q_value, dtype=torch.float32))
        print(loss.item())
        optimizer.zero_grad()
        loss.backward()
        optimizer.step()
        
        observation = next_observation
        # rewards update
        rewards[episode] = cumulative_reward

        
        if terminated:
            print(f"Episode {episode} terminated after {step} steps")
            break
Episode 0
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---------------------------------------------------------------------------
KeyboardInterrupt                         Traceback (most recent call last)
Cell In[58], line 44
     42 print(loss.item())
     43 optimizer.zero_grad()
---> 44 loss.backward()
     45 optimizer.step()
     47 observation = next_observation

File ~/mambaforge/lib/python3.10/site-packages/torch/_tensor.py:487, in Tensor.backward(self, gradient, retain_graph, create_graph, inputs)
    477 if has_torch_function_unary(self):
    478     return handle_torch_function(
    479         Tensor.backward,
    480         (self,),
   (...)
    485         inputs=inputs,
    486     )
--> 487 torch.autograd.backward(
    488     self, gradient, retain_graph, create_graph, inputs=inputs
    489 )

File ~/mambaforge/lib/python3.10/site-packages/torch/autograd/__init__.py:200, in backward(tensors, grad_tensors, retain_graph, create_graph, grad_variables, inputs)
    195     retain_graph = create_graph
    197 # The reason we repeat same the comment below is that
    198 # some Python versions print out the first line of a multi-line function
    199 # calls in the traceback and some print out the last line
--> 200 Variable._execution_engine.run_backward(  # Calls into the C++ engine to run the backward pass
    201     tensors, grad_tensors_, retain_graph, create_graph, inputs,
    202     allow_unreachable=True, accumulate_grad=True)

KeyboardInterrupt: 
pd.Series(rewards).plot()

import flappy_bird_gymnasium
env = gym.make("FlappyBird-v0", render_mode="human", use_lidar=False)
obs, _ = env.reset()
n_bins = 16
obs_low = env.observation_space.low
obs_high = env.observation_space.high

# Discretize the observation space
def discretize_observation(observation):
    bins = np.linspace(obs_low, obs_high, n_bins)
    return tuple(np.digitize(observation, bins))

# Define the variables for the MultiIndex
variables = [
    "last_pipe_h_pos",
    "last_top_pipe_v_pos",
    "last_bottom_pipe_v_pos",
    "next_pipe_h_pos",
    "next_top_pipe_v_pos",
    "next_bottom_pipe_v_pos",
    "next_next_pipe_h_pos",
    "next_next_top_pipe_v_pos",
    "next_next_bottom_pipe_v_pos",
    "player_v_pos",
    "player_v_vel",
    "player_rotation",
]

# leave out the first three and last three variables
var_consider = variables[3:-3]
indices = [range(n_bins+1) for _ in var_consider] + [range(env.action_space.n)]

# Create a Q-table with a MultiIndex
q_table_np = np.random.randn(*[len(idx) for idx in indices]) * 0.2

q_table_np.shape
(17, 17, 17, 17, 17, 17, 2)
obs_high, obs_low
(array([1., 1., 1., 1., 1., 1., 1., 1., 1., 1., 1., 1.]),
 array([-1., -1., -1., -1., -1., -1., -1., -1., -1., -1., -1., -1.]))
bins = np.linspace(obs_low[0], obs_high[0], n_bins)
bins
array([-1.        , -0.86666667, -0.73333333, -0.6       , -0.46666667,
       -0.33333333, -0.2       , -0.06666667,  0.06666667,  0.2       ,
        0.33333333,  0.46666667,  0.6       ,  0.73333333,  0.86666667,
        1.        ])
def discretize_observation(observation):
    bins = np.linspace(obs_low[0], obs_high[0], n_bins)
    return tuple(np.digitize(observation, bins))

obs, _ = env.reset()

print(obs[3:-3], discretize_observation(obs[3:-3]))
[1. 0. 1. 1. 0. 1.] (16, 8, 16, 16, 8, 16)
# Hyperparameters
alpha = 0.05 # learning rate

gamma = 0.99 # discount factor

# Exploration settings
epsilon = 1.0 # exploration rate

eps_mult = 0.99

# Number of episodes
n_episodes = 8000

# Number of steps per episode
n_steps = 500
# q learning loop
env = gym.make("FlappyBird-v0", render_mode=None, use_lidar=False)
rewards = np.zeros(n_episodes)

for episode in range(n_episodes):
    epsilon = epsilon * eps_mult
    if episode % 100 == 0:
        print(f"Episode {episode}")
    observation, _ = env.reset(seed=episode)
    observation = observation[3:-3]
    cumulative_reward = 0
    for step in range(n_steps):
        # discretize the observation
        obs = discretize_observation(observation)
        
        # select the action
        if np.random.rand() < epsilon:
            action = env.action_space.sample()
        else:
            action = np.argmax(q_table_np[obs])
        
        # take the action
        next_observation, reward, terminated, truncated, info = env.step(action)
        next_observation = next_observation[3:-3]
        cumulative_reward += reward
        # discretize the next observation
        next_obs = discretize_observation(next_observation)
        
        # update the q-table
        q_table_np[obs + (action,)] += alpha * (reward + gamma * np.max(q_table_np[next_obs]) - q_table_np[obs + (action,)])
        
        observation = next_observation
        # rewards update
        rewards[episode] = cumulative_reward
        
        if terminated:
            print(f"Episode {episode} terminated after {step} steps")
            break
Episode 0
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epsilon
1.206581828445788e-35
plt.plot(rewards)

plt.plot(pd.Series(rewards).rolling(100).mean())

# now play in human mode using the trained Q-table

env = gym.make("FlappyBird-v0", render_mode="human", use_lidar=False)

obs, _ = env.reset()

for i in range(300):
    env.render()
    obs = obs[3:-3]
    obs_idx = discretize_observation(obs)
    action = np.argmax(q_table_np[obs_idx])
    action = int(i%16==0)
    obs, reward, terminated, truncated, info = env.step(action)
    print(i, action)
    if terminated:
        break
0 1
1 0
2 0
3 0
4 0
5 0
6 0
7 0
8 0
9 0
10 0
11 0
12 0
13 0
14 0
15 0
16 1
17 0
18 0
19 0
20 0
21 0
22 0
23 0
24 0
25 0
26 0
27 0
28 0
29 0
30 0
31 0
32 1
33 0
34 0
35 0
36 0
37 0
38 0
39 0
40 0
41 0
42 0
43 0
44 0
45 0
46 0
47 0
48 1
49 0
50 0
51 0
52 0
53 0
54 0
55 0
56 0
57 0
58 0
59 0
60 0
61 0
62 0
63 0
64 1
65 0
66 0
67 0
68 0
69 0
The Kernel crashed while executing code in the current cell or a previous cell. 

Please review the code in the cell(s) to identify a possible cause of the failure. 

Click <a href='https://aka.ms/vscodeJupyterKernelCrash'>here</a> for more info. 

View Jupyter <a href='command:jupyter.viewOutput'>log</a> for further details.
# find mean for action


q_table_np[..., 0].mean(), q_table_np[..., 1].mean()
(-1.664908695922577e-06, -6.468030410554288e-06)