add AMSgrad optimizer and logging
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35
config.lua
35
config.lua
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@ -2,7 +2,19 @@ local function approx_cossim(dim)
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return math.pow(1.521 * dim - 0.521, -0.5026)
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end
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local function intmap(x)
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-- 0 -> 1.0
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-- -1 -> 0.316
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-- -2 -> 0.1
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-- -3 -> 0.0316
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-- -4 -> 0.01
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-- etc.
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return math.pow(10, x / 2)
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end
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local cfg = {
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log_fn = 'log.csv', -- can be nil to disable logging.
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defer_prints = true,
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playable_mode = false,
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@ -16,20 +28,23 @@ local cfg = {
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det_epsilon = false, -- take random actions with probability eps.
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graycode = false,
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epoch_trials = 5,
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epoch_top_trials = 2, -- new with ARS.
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unperturbed_trial = false, -- do a trial without any noise.
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epoch_trials = 64 * (7/8),
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epoch_top_trials = 40 * (7/8), -- new with ARS.
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unperturbed_trial = true, -- do a trial without any noise.
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negate_trials = true, -- try pairs of normal and negated noise directions.
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time_inputs = true, -- binary inputs of global frame count
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-- ^ note that this now doubles the effective trials.
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deviation = 0.32,
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--learning_rate = 0.01 / approx_cossim(7051)
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learning_rate = 0.32,
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--learning_rate = 0.0032 / approx_cossim(66573)
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--learning_rate = 0.0056 / approx_cossim(66573)
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weight_decay = 0.0032,
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deviation = intmap(-3),
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learning_rate = intmap(-4),
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weight_decay = intmap(-6),
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cap_time = 200, --400
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adamant = true, -- run steps through AMSgrad.
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adam_b1 = math.pow(10, -1 / 15),
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adam_b2 = math.pow(10, -1 / 100),
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adam_eps = intmap(-8),
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adam_debias = false,
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cap_time = 222, --400
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timer_loser = 1/2,
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decrement_reward = false, -- bad idea, encourages mario to kill himself
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106
main.lua
106
main.lua
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@ -16,6 +16,9 @@ local trial_neg = true
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local trial_noise = {}
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local trial_rewards = {}
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local trials_remaining = 0
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local mom1 -- first moments in AMSgrad.
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local mom2 -- second moments in AMSgrad.
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local mom2max -- running element-wise maximum of mom2.
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local trial_frames = 0
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local total_frames = 0
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@ -55,6 +58,7 @@ local print = print
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local ipairs = ipairs
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local pairs = pairs
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local select = select
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local open = io.open
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local abs = math.abs
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local floor = math.floor
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local ceil = math.ceil
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@ -88,6 +92,39 @@ local gui = gui
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-- utilities.
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local log_map = {
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epoch = 1,
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trial_mean = 2,
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trial_std = 3,
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delta_mean = 4,
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delta_std = 5,
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step_std = 6,
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adam_std = 7,
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weight_mean = 8,
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weight_std = 9,
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}
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local function log_csv(t)
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if cfg.log_fn == nil then return end
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local f = open(cfg.log_fn, 'a')
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if f == nil then error("Failed to open log file "..cfg.log_fn) end
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local values = {}
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for k, v in pairs(t) do
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local i = log_map[k]
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if i == nil then error("Unexpected log key "..tostring(k)) end
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values[i] = v
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end
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for k, i in pairs(log_map) do
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if values[i] == nil then error("Missing log key "..tostring(k)) end
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end
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for i, v in ipairs(values) do
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f:write(tostring(v))
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if i ~= #values then f:write(",") end
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end
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f:write('\n')
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f:close()
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end
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local function boolean_xor(a, b)
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if a and b then return false end
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if not a and not b then return false end
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@ -444,7 +481,6 @@ local function prepare_epoch()
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local noise = nn.zeros(#base_params)
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-- NOTE: change in implementation: deviation is multiplied here
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-- and ONLY here now.
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--if i % 2 == 0 then -- FIXME: just messing around.
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if cfg.graycode then
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--local precision = 1 / cfg.deviation
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--print(cfg.deviation, precision)
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@ -569,10 +605,17 @@ local function learn_from_epoch()
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local step = nn.zeros(#base_params)
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-- new stuff
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local delta_rewards -- only used for logging.
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local best_rewards
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if cfg.negate_trials then
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delta_rewards = {}
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for i = 1, cfg.epoch_trials do
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local ind = (i - 1) * 2 + 1
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local pos = trial_rewards[ind + 0]
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local neg = trial_rewards[ind + 1]
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delta_rewards[i] = abs(pos - neg)
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end
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-- select one (the best) reward of each pos/neg pair.
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best_rewards = {}
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for i = 1, cfg.epoch_trials do
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@ -602,12 +645,12 @@ local function learn_from_epoch()
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end
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--print("top:", top_rewards)
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local delta_rewards = {} -- only used for printing.
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local top_delta_rewards = {} -- only used for printing.
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for i, ind in ipairs(indices) do
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local sind = (ind - 1) * 2 + 1
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delta_rewards[i] = abs(top_rewards[sind + 0] - top_rewards[sind + 1])
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top_delta_rewards[i] = abs(top_rewards[sind + 0] - top_rewards[sind + 1])
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end
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print("best deltas:", delta_rewards)
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print("best deltas:", top_delta_rewards)
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local _, reward_dev = calc_mean_dev(top_rewards)
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--print("mean, dev:", _, reward_dev)
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@ -628,14 +671,59 @@ local function learn_from_epoch()
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end
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local step_mean, step_dev = calc_mean_dev(step)
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if abs(step_mean) > 1e-3 then print("step mean:", step_mean) end
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--print("step stddev:", step_dev)
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print("full step stddev:", cfg.learning_rate * step_dev)
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print("step mean:", step_mean)
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print("step stddev:", step_dev)
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--print("full step stddev:", cfg.learning_rate * step_dev)
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local momstep_mean, momstep_dev
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if cfg.adamant then
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if mom1 == nil then mom1 = nn.zeros(#step) end
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if mom2 == nil then mom2 = nn.zeros(#step) end
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if mom2max == nil then mom2max = nn.zeros(#step) end
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local b1_t = pow(cfg.adam_b1, epoch_i)
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local b2_t = pow(cfg.adam_b2, epoch_i)
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-- NOTE: with LuaJIT, splitting this loop would
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-- almost certainly be faster.
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for i, v in ipairs(step) do
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mom1[i] = cfg.adam_b1 * mom1[i] + (1 - cfg.adam_b1) * v
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mom2[i] = cfg.adam_b2 * mom2[i] + (1 - cfg.adam_b2) * v * v
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mom2max[i] = max(mom2[i], mom2max[i])
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if cfg.adam_debias then
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local num = (mom1[i] / (1 - b1_t))
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local den = sqrt(mom2max[i] / (1 - b2_t)) + cfg.adam_eps
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step[i] = num / den
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else
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step[i] = mom1[i] / (sqrt(mom2max[i]) + cfg.adam_eps)
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end
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end
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momstep_mean, momstep_dev = calc_mean_dev(step)
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print("amsgrad mean:", momstep_mean)
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print("amsgrad stddev:", momstep_dev)
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end
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for i, v in ipairs(base_params) do
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base_params[i] = v + cfg.learning_rate * step[i] - cfg.weight_decay * v
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end
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local trial_mean, trial_std = calc_mean_dev(trial_rewards)
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local delta_mean, delta_std = calc_mean_dev(delta_rewards)
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local weight_mean, weight_std = calc_mean_dev(base_params)
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log_csv{
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epoch = epoch_i,
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trial_mean = trial_mean,
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trial_std = trial_std,
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delta_mean = delta_mean,
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delta_std = delta_std,
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step_std = step_dev,
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adam_std = momstep_dev,
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weight_mean = weight_mean,
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weight_std = weight_std,
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}
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if cfg.enable_network then
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network:distribute(base_params)
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network:save()
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