import numpy as np
from mushroom_rl.algorithms.policy_search.black_box_optimization import BlackBoxOptimization
[docs]class PGPE(BlackBoxOptimization):
"""
Policy Gradient with Parameter Exploration algorithm.
"A Survey on Policy Search for Robotics", Deisenroth M. P., Neumann G.,
Peters J.. 2013.
"""
[docs] def __init__(self, mdp_info, distribution, policy, optimizer,
features=None):
"""
Constructor.
Args:
optimizer: the gradient step optimizer.
"""
self.optimizer = optimizer
self._add_save_attr(optimizer='mushroom')
super().__init__(mdp_info, distribution, policy, features)
[docs] def _update(self, Jep, theta):
baseline_num_list = list()
baseline_den_list = list()
diff_log_dist_list = list()
# Compute derivatives of distribution and baseline components
for i in range(len(Jep)):
J_i = Jep[i]
theta_i = theta[i]
diff_log_dist = self.distribution.diff_log(theta_i)
diff_log_dist2 = diff_log_dist**2
diff_log_dist_list.append(diff_log_dist)
baseline_num_list.append(J_i * diff_log_dist2)
baseline_den_list.append(diff_log_dist2)
# Compute baseline
baseline = np.mean(baseline_num_list, axis=0) / \
np.mean(baseline_den_list, axis=0)
baseline[np.logical_not(np.isfinite(baseline))] = 0.
# Compute gradient
grad_J_list = list()
for i in range(len(Jep)):
diff_log_dist = diff_log_dist_list[i]
J_i = Jep[i]
grad_J_list.append(diff_log_dist * (J_i - baseline))
grad_J = np.mean(grad_J_list, axis=0)
omega_old = self.distribution.get_parameters()
omega_new = self.optimizer(omega_old, grad_J)
self.distribution.set_parameters(omega_new)