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<a href='#section-0'>#</a>
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<h1>Atari wrapper with multi-processing</h1>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">9</span><span></span><span class="kn">import</span> <span class="nn">multiprocessing</span>
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<span class="lineno">10</span><span class="kn">import</span> <span class="nn">multiprocessing.connection</span>
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<span class="lineno">11</span>
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<span class="lineno">12</span><span class="kn">import</span> <span class="nn">cv2</span>
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<span class="lineno">13</span><span class="kn">import</span> <span class="nn">gym</span>
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<span class="lineno">14</span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-1'>
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<div class='docs doc-strings'>
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<div class='section-link'>
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<a href='#section-1'>#</a>
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</div>
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<h2><a name="game-environment"></a>Game environment</h2>
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<p>This is a wrapper for OpenAI gym game environment.
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We do a few things here:</p>
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<ol>
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<li>Apply the same action on four frames and get the last frame</li>
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<li>Convert observation frames to gray and scale it to (84, 84)</li>
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<li>Stack four frames of the last four actions</li>
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<li>Add episode information (total reward for the entire episode) for monitoring</li>
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<li>Restrict an episode to a single life (game has 5 lives, we reset after every single life)</li>
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</ol>
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<h4>Observation format</h4>
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<p>Observation is tensor of size (4, 84, 84). It is four frames
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(images of the game screen) stacked on first axis.
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i.e, each channel is a frame.</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">17</span><span class="k">class</span> <span class="nc">Game</span><span class="p">:</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-2'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-2'>#</a>
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</div>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">35</span> <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-3'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-3'>#</a>
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</div>
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<p>create environment</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">37</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="s1">'BreakoutNoFrameskip-v4'</span><span class="p">)</span>
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<span class="lineno">38</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">seed</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-4'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-4'>#</a>
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</div>
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<p>tensor for a stack of 4 frames</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">41</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="mi">4</span><span class="p">,</span> <span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">))</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-5'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-5'>#</a>
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</div>
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<p>buffer to keep the maximum of last 2 frames</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">44</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="mi">2</span><span class="p">,</span> <span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">))</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-6'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-6'>#</a>
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</div>
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<p>keep track of the episode rewards</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">47</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span> <span class="o">=</span> <span class="p">[]</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-7'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-7'>#</a>
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</div>
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<p>and number of lives left</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">49</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span> <span class="o">=</span> <span class="mi">0</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-8'>
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<div class='docs doc-strings'>
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<div class='section-link'>
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<a href='#section-8'>#</a>
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</div>
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<h3>Step</h3>
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<p>Executes <code>action</code> for 4 time steps and
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returns a tuple of (observation, reward, done, episode_info).</p>
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<ul>
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<li><code>observation</code>: stacked 4 frames (this frame and frames for last 3 actions)</li>
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<li><code>reward</code>: total reward while the action was executed</li>
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<li><code>done</code>: whether the episode finished (a life lost)</li>
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<li><code>episode_info</code>: episode information if completed</li>
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</ul>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">51</span> <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">action</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-9'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-9'>#</a>
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</div>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">63</span> <span class="n">reward</span> <span class="o">=</span> <span class="mf">0.</span>
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<span class="lineno">64</span> <span class="n">done</span> <span class="o">=</span> <span class="kc">None</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-10'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-10'>#</a>
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</div>
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<p>run for 4 steps</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">67</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-11'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-11'>#</a>
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</div>
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<p>execute the action in the OpenAI Gym environment</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">69</span> <span class="n">obs</span><span class="p">,</span> <span class="n">r</span><span class="p">,</span> <span class="n">done</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
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<span class="lineno">70</span>
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<span class="lineno">71</span> <span class="k">if</span> <span class="n">i</span> <span class="o">>=</span> <span class="mi">2</span><span class="p">:</span>
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<span class="lineno">72</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span><span class="p">[</span><span class="n">i</span> <span class="o">%</span> <span class="mi">2</span><span class="p">]</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
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<span class="lineno">73</span>
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<span class="lineno">74</span> <span class="n">reward</span> <span class="o">+=</span> <span class="n">r</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-12'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-12'>#</a>
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</div>
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<p>get number of lives left</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">77</span> <span class="n">lives</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">ale</span><span class="o">.</span><span class="n">lives</span><span class="p">()</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-13'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-13'>#</a>
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</div>
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<p>reset if a life is lost</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">79</span> <span class="k">if</span> <span class="n">lives</span> <span class="o"><</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span><span class="p">:</span>
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<span class="lineno">80</span> <span class="n">done</span> <span class="o">=</span> <span class="kc">True</span>
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<span class="lineno">81</span> <span class="k">break</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-14'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-14'>#</a>
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</div>
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<p>maintain rewards for each step</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">84</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span>
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<span class="lineno">85</span>
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<span class="lineno">86</span> <span class="k">if</span> <span class="n">done</span><span class="p">:</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-15'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-15'>#</a>
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</div>
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<p>if finished, set episode information if episode is over, and reset</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">88</span> <span class="n">episode_info</span> <span class="o">=</span> <span class="p">{</span><span class="s2">"reward"</span><span class="p">:</span> <span class="nb">sum</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="p">),</span> <span class="s2">"length"</span><span class="p">:</span> <span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">rewards</span><span class="p">)}</span>
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<span class="lineno">89</span> <span class="bp">self</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
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<span class="lineno">90</span> <span class="k">else</span><span class="p">:</span>
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<span class="lineno">91</span> <span class="n">episode_info</span> <span class="o">=</span> <span class="kc">None</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-16'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-16'>#</a>
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</div>
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<p>get the max of last two frames</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">94</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_2_max</span><span class="o">.</span><span class="n">max</span><span class="p">(</span><span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-17'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-17'>#</a>
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</div>
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<p>push it to the stack of 4 frames</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">97</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">roll</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">,</span> <span class="n">shift</span><span class="o">=-</span><span class="mi">1</span><span class="p">,</span> <span class="n">axis</span><span class="o">=</span><span class="mi">0</span><span class="p">)</span>
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<span class="lineno">98</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">[</span><span class="o">-</span><span class="mi">1</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs</span>
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<span class="lineno">99</span>
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<span class="lineno">100</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">,</span> <span class="n">episode_info</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-18'>
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<div class='docs doc-strings'>
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<div class='section-link'>
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<a href='#section-18'>#</a>
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</div>
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<h3>Reset environment</h3>
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<p>Clean up episode info and 4 frame stack</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">102</span> <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-19'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-19'>#</a>
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</div>
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<p>reset OpenAI Gym environment</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">109</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-20'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-20'>#</a>
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</div>
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<p>reset caches</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">112</span> <span class="n">obs</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span>
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<span class="lineno">113</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">):</span>
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<span class="lineno">114</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span><span class="p">[</span><span class="n">i</span><span class="p">]</span> <span class="o">=</span> <span class="n">obs</span>
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<span class="lineno">115</span> <span class="bp">self</span><span class="o">.</span><span class="n">rewards</span> <span class="o">=</span> <span class="p">[]</span>
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<span class="lineno">116</span>
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<span class="lineno">117</span> <span class="bp">self</span><span class="o">.</span><span class="n">lives</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">env</span><span class="o">.</span><span class="n">unwrapped</span><span class="o">.</span><span class="n">ale</span><span class="o">.</span><span class="n">lives</span><span class="p">()</span>
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<span class="lineno">118</span>
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<span class="lineno">119</span> <span class="k">return</span> <span class="bp">self</span><span class="o">.</span><span class="n">obs_4</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-21'>
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<div class='docs doc-strings'>
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<div class='section-link'>
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<a href='#section-21'>#</a>
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</div>
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<h4>Process game frames</h4>
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<p>Convert game frames to gray and rescale to 84x84</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">121</span> <span class="nd">@staticmethod</span>
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<span class="lineno">122</span> <span class="k">def</span> <span class="nf">_process_obs</span><span class="p">(</span><span class="n">obs</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-22'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-22'>#</a>
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</div>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">127</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">cvtColor</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="n">cv2</span><span class="o">.</span><span class="n">COLOR_RGB2GRAY</span><span class="p">)</span>
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<span class="lineno">128</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">resize</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="p">(</span><span class="mi">84</span><span class="p">,</span> <span class="mi">84</span><span class="p">),</span> <span class="n">interpolation</span><span class="o">=</span><span class="n">cv2</span><span class="o">.</span><span class="n">INTER_AREA</span><span class="p">)</span>
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<span class="lineno">129</span> <span class="k">return</span> <span class="n">obs</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-23'>
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<div class='docs doc-strings'>
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<div class='section-link'>
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<a href='#section-23'>#</a>
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</div>
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<h2>Worker Process</h2>
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<p>Each worker process runs this method</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">132</span><span class="k">def</span> <span class="nf">worker_process</span><span class="p">(</span><span class="n">remote</span><span class="p">:</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">connection</span><span class="o">.</span><span class="n">Connection</span><span class="p">,</span> <span class="n">seed</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-24'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-24'>#</a>
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</div>
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<p>create game</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">140</span> <span class="n">game</span> <span class="o">=</span> <span class="n">Game</span><span class="p">(</span><span class="n">seed</span><span class="p">)</span></pre></div>
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</div>
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</div>
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<div class='section' id='section-25'>
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<div class='docs'>
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<div class='section-link'>
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<a href='#section-25'>#</a>
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</div>
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<p>wait for instructions from the connection and execute them</p>
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</div>
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<div class='code'>
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<div class="highlight"><pre><span class="lineno">143</span> <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="lineno">144</span> <span class="n">cmd</span><span class="p">,</span> <span class="n">data</span> <span class="o">=</span> <span class="n">remote</span><span class="o">.</span><span class="n">recv</span><span class="p">()</span>
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<span class="lineno">145</span> <span class="k">if</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"step"</span><span class="p">:</span>
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<span class="lineno">146</span> <span class="n">remote</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="n">game</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">data</span><span class="p">))</span>
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<span class="lineno">147</span> <span class="k">elif</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"reset"</span><span class="p">:</span>
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<span class="lineno">148</span> <span class="n">remote</span><span class="o">.</span><span class="n">send</span><span class="p">(</span><span class="n">game</span><span class="o">.</span><span class="n">reset</span><span class="p">())</span>
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<span class="lineno">149</span> <span class="k">elif</span> <span class="n">cmd</span> <span class="o">==</span> <span class="s2">"close"</span><span class="p">:</span>
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<span class="lineno">150</span> <span class="n">remote</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
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<span class="lineno">151</span> <span class="k">break</span>
|
|
<span class="lineno">152</span> <span class="k">else</span><span class="p">:</span>
|
|
<span class="lineno">153</span> <span class="k">raise</span> <span class="ne">NotImplementedError</span></pre></div>
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</div>
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</div>
|
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<div class='section' id='section-26'>
|
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<div class='docs doc-strings'>
|
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<div class='section-link'>
|
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<a href='#section-26'>#</a>
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</div>
|
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<p>Creates a new worker and runs it in a separate process.</p>
|
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</div>
|
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<div class='code'>
|
|
<div class="highlight"><pre><span class="lineno">156</span><span class="k">class</span> <span class="nc">Worker</span><span class="p">:</span></pre></div>
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</div>
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</div>
|
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<div class='section' id='section-27'>
|
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<div class='docs'>
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<div class='section-link'>
|
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<a href='#section-27'>#</a>
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</div>
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</div>
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<div class='code'>
|
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<div class="highlight"><pre><span class="lineno">161</span> <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">seed</span><span class="p">):</span>
|
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<span class="lineno">162</span> <span class="bp">self</span><span class="o">.</span><span class="n">child</span><span class="p">,</span> <span class="n">parent</span> <span class="o">=</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">Pipe</span><span class="p">()</span>
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<span class="lineno">163</span> <span class="bp">self</span><span class="o">.</span><span class="n">process</span> <span class="o">=</span> <span class="n">multiprocessing</span><span class="o">.</span><span class="n">Process</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="n">worker_process</span><span class="p">,</span> <span class="n">args</span><span class="o">=</span><span class="p">(</span><span class="n">parent</span><span class="p">,</span> <span class="n">seed</span><span class="p">))</span>
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<span class="lineno">164</span> <span class="bp">self</span><span class="o">.</span><span class="n">process</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></pre></div>
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</div>
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</div>
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</div>
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<script src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.4/MathJax.js?config=TeX-AMS_HTML">
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