3_sarsa_q_learning.ipynb

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   "id": "a9bea4aa-07ec-4801-97e9-5f884feee7c0",
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   "outputs": [],
   "source": [
    "# act with SARSA and Q learning on taxi and blackjack environment"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "aa219a12-55c7-4349-b864-334a0a161b73",
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    "tags": []
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   "source": [
    "import gymnasium as gym\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "import sys\n",
    "import time\n",
    "from IPython.display import display, clear_output\n",
    "from tqdm.auto import tqdm\n",
    "\n",
    "from utils import MDPEnv, ReturnTracker, TDZeroControl, TupleEnvWrapper\n",
    "\n",
    "%config InlineBackend.figure_formats = ['svg']"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cb59a8ba-a5a8-41d5-910b-8155fe0e130f",
   "metadata": {
    "tags": []
   },
   "source": [
    "# SARSA/Q-learning on our MDP"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9cc0c9e3-21e7-455a-843b-f06caf924a25",
   "metadata": {},
   "source": [
    "<div>\n",
    "<img src=\"figures/MDP.png\" width=\"600\"/>\n",
    "</div>\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "c5ad8e3d-f5a4-4755-9cb1-c5e77607673c",
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    "tags": []
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   "source": [
    "env = MDPEnv()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "1e66c072-3f66-47f1-a246-27799423fcb0",
   "metadata": {
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   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Off-policy: False\n",
      "Q values:  [[2.84651038 3.20095232]\n",
      " [6.67020442 5.37230613]\n",
      " [2.9760486  3.48636023]]\n",
      "Optimal actions:  [1 0 1]\n",
      "Off-policy: True\n",
      "Q values:  [[3.5924219  3.78368989]\n",
      " [7.19704991 6.27958303]\n",
      " [3.63871166 4.1338717 ]]\n",
      "Optimal actions:  [1 0 1]\n"
     ]
    }
   ],
   "source": [
    "nmbr_episodes = 300\n",
    "\n",
    "optimal_actions = [[],[]]\n",
    "for j, off_policy in enumerate([False, True]):\n",
    "    print('Off-policy: {}'.format(off_policy))\n",
    "    agent = TDZeroControl(env, lr=1e-2, gamma=.9, epsilon=.2, off_policy=off_policy)\n",
    "    for i, episodes in enumerate(np.ones(nmbr_episodes, dtype=int)):\n",
    "        agent.learn(episodes, 100, verb=False)\n",
    "        optimal_actions[j].append(np.mean(np.argmax(agent.Q_values, axis=-1) == np.array([1., 0., 1.])))\n",
    "    print('Q values: ', agent.Q_values)\n",
    "    print('Optimal actions: ', np.argmax(agent.Q_values, axis=-1))"
   ]
  },
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   "id": "a3d46103-a00e-484b-b5b4-2bd0e8ee3791",
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     },
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   ],
   "source": [
    "plt.step(np.arange(nmbr_episodes), optimal_actions[0], label='SARSA', linewidth=2)\n",
    "plt.step(np.arange(nmbr_episodes), optimal_actions[1], label='Q-learning', linewidth=2)\n",
    "plt.ylim(-.1,1.1)\n",
    "plt.ylabel('Percentage optimal actions')\n",
    "plt.xlabel('episodes')\n",
    "plt.title('100 steps/episode, gamma {}, lr {}, epsilon {}'.format(agent.gamma, agent.lr, agent.epsilon))\n",
    "plt.legend()\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "f933cf8f-92fc-4e54-8070-ff4b57e90263",
   "metadata": {
    "tags": []
   },
   "source": [
    "# TD(0) control the taxi environment"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7098e556-be88-4ffc-b04d-76c75e918a75",
   "metadata": {
    "tags": []
   },
   "source": [
    "<div>\n",
    "<img src=\"figures/taxi_screenshot.png\" width=\"300\"/>\n",
    "</div>\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "6ec25832-0edb-49e3-b108-baf2f1b6ce7f",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "env = gym.make(\"Taxi-v3\", render_mode='ansi').env"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "f5006958-440b-4fe3-89e0-d8ca87d42d57",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "observation, info = env.reset()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "8e6c6ec9-ec0e-4d48-aa08-3fce4b443b47",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "agent = TDZeroControl(env, lr=.1, gamma=.6, epsilon=.1, off_policy=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "4b59b65e-0147-46de-8ec4-be3d2618794b",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "tracker = ReturnTracker()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "8f91b45f-d9d9-4a75-a9e5-2dec723746fe",
   "metadata": {
    "tags": []
   },
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "61da8b7f69ae42f7984b4d1bd2506e57",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "  0%|          | 0/10000 [00:00<?, ?it/s]"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "agent.learn(episodes=10000,\n",
    "            max_steps=None, \n",
    "            # exploration_scheme = {'max_epsilon': .9, 'min_epsilon': 0.01, 'decay_rate': 0.01},\n",
    "            tracker=tracker)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "db364f8f-3c9f-405b-bf29-1351f1f83d48",
   "metadata": {
    "tags": []
   },
   "outputs": [
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      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
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     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "tracker.plot(smooth=10)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "id": "fc1ddb29-4675-4b44-9815-b86d5f7417aa",
   "metadata": {
    "tags": []
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "steps: 8, returns: -8\n",
      "+---------+\n",
      "|R: | : :G|\n",
      "| : | : : |\n",
      "| : : : : |\n",
      "|\u001b[42m_\u001b[0m| : | : |\n",
      "|\u001b[35mY\u001b[0m| : |B: |\n",
      "+---------+\n",
      "  (South)\n",
      "\n"
     ]
    },
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[13], line 14\u001b[0m\n\u001b[1;32m     10\u001b[0m returns \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m0\u001b[39m\n\u001b[1;32m     12\u001b[0m \u001b[38;5;28;01mwhile\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m terminated \u001b[38;5;129;01mand\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m truncated:\n\u001b[0;32m---> 14\u001b[0m     \u001b[43mtime\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msleep\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;241;43m.2\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m     15\u001b[0m     clear_output(wait\u001b[38;5;241m=\u001b[39m\u001b[38;5;28;01mTrue\u001b[39;00m)\n\u001b[1;32m     17\u001b[0m     action \u001b[38;5;241m=\u001b[39m agent\u001b[38;5;241m.\u001b[39mpredict(state)\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    }
   ],
   "source": [
    "# test\n",
    "\n",
    "while True:\n",
    "    \n",
    "    terminated, truncated = False, False\n",
    "    \n",
    "    state, info = env.reset()\n",
    "    \n",
    "    steps = 0\n",
    "    returns = 0\n",
    "    \n",
    "    while not terminated and not truncated:\n",
    "\n",
    "        time.sleep(.2)\n",
    "        clear_output(wait=True)\n",
    "\n",
    "        action = agent.predict(state)\n",
    "        new_state, reward, terminated, truncated, info = env.step(action)\n",
    "        agent.update(state, action, reward, new_state)\n",
    "        steps += 1\n",
    "        state = new_state\n",
    "        returns += reward\n",
    "        \n",
    "        print('steps: {}, returns: {}'.format(steps, returns))\n",
    "\n",
    "        print(env.render())\n",
    "    \n",
    "        sys.stdout.flush()\n",
    "        \n",
    "        if steps > 40:\n",
    "            break\n",
    "    \n",
    "    time.sleep(1.5)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "6bcb3a62-1091-430a-be59-8a3a1691c5c1",
   "metadata": {
    "tags": []
   },
   "source": [
    "# TO(0) control the black jack environment"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7b8e83cd-eb6b-42c6-8161-a7be7eabc744",
   "metadata": {},
   "source": [
    "<div>\n",
    "<img src=\"figures/blackjack_screenshot.png\" width=\"300\"/>\n",
    "</div>\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "a5041bd8-f325-428a-b81c-d04e14c39fcf",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "env = TupleEnvWrapper(gym.make(\"Blackjack-v1\", render_mode='rgb_array').env)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "id": "19a10e98-c606-4cbe-a779-d3a41a2f3c37",
   "metadata": {
    "tags": []
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "460 0.0 False False {}\n",
      "460 1.0 True False {}\n",
      "678 -1.0 True False {}\n",
      "262 -1.0 True False {}\n",
      "477 1.0 True False {}\n",
      "570 -1.0 True False {}\n",
      "385 1.0 True False {}\n",
      "448 0.0 False False {}\n",
      "448 1.0 True False {}\n",
      "470 0.0 False False {}\n",
      "624 -1.0 True False {}\n",
      "552 -1.0 True False {}\n",
      "291 -1.0 True False {}\n"
     ]
    }
   ],
   "source": [
    "for _ in range(10):\n",
    "\n",
    "    terminated, truncated = False, False\n",
    "    state, info = env.reset()\n",
    "\n",
    "    while not terminated and not truncated:\n",
    "        action = env.action_space.sample()\n",
    "        new_state, reward, terminated, truncated, info = env.step(action)\n",
    "        print(new_state, reward, terminated, truncated, info)\n",
    "        state = new_state\n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "id": "5ef2e81d-3243-49b0-915e-ccebde17439c",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "observation, info = env.reset()\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "id": "68b6b94b-728a-4a36-a3a8-3c8cf273a7e9",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "agent = TDZeroControl(env, lr=.01, gamma=.99, epsilon=.05, off_policy=True)\n",
    "\n"
   ]
  },
  {
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   "execution_count": 19,
   "id": "6f55bfd0-0015-4029-aae1-601b235a3a2b",
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   "source": [
    "tracker = ReturnTracker()\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "id": "c6cc8366-3df9-4bc1-811a-4b55cd42c166",
   "metadata": {
    "tags": []
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    {
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       "version_major": 2,
       "version_minor": 0
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      "text/plain": [
       "  0%|          | 0/100000 [00:00<?, ?it/s]"
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     "metadata": {},
     "output_type": "display_data"
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   ],
   "source": [
    "agent.learn(episodes=100_000,\n",
    "            max_steps=50, \n",
    "            tracker=tracker)\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "id": "3ed48eaf-df7a-42a7-8562-834aa591f9f7",
   "metadata": {
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   "outputs": [
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  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "cffad2d4-8f79-4055-9dad-dbf320d16d1e",
   "metadata": {
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     "text": [
      "EPISODE 1 \n",
      "\n",
      "State: [12. 10.  0.]\n",
      "Action: 1\n",
      "New State: [22. 10.  0.]\n",
      "Reward: -1.0\n",
      "\n",
      "\n",
      "\n",
      "\n",
      "EPISODE 2 \n",
      "\n",
      "State: [13.  5.  0.]\n",
      "Action: 1\n",
      "New State: [17.  5.  0.]\n",
      "Reward: 0.0\n",
      "\n",
      "\n",
      "State: [17.  5.  0.]\n",
      "Action: 1\n",
      "New State: [21.  5.  0.]\n",
      "Reward: 0.0\n",
      "\n",
      "\n",
      "State: [21.  5.  0.]\n",
      "Action: 0\n",
      "New State: [21.  5.  0.]\n",
      "Reward: 1.0\n",
      "\n",
      "\n",
      "\n",
      "\n",
      "EPISODE 3 \n",
      "\n",
      "State: [15.  9.  0.]\n",
      "Action: 1\n",
      "New State: [25.  9.  0.]\n",
      "Reward: -1.0\n",
      "\n",
      "\n",
      "\n",
      "\n",
      "EPISODE 4 \n",
      "\n",
      "State: [19. 10.  1.]\n",
      "Action: 1\n",
      "New State: [15. 10.  0.]\n",
      "Reward: 0.0\n",
      "\n",
      "\n",
      "State: [15. 10.  0.]\n",
      "Action: 1\n",
      "New State: [22. 10.  0.]\n",
      "Reward: -1.0\n",
      "\n",
      "\n",
      "\n",
      "\n",
      "EPISODE 5 \n",
      "\n",
      "State: [20.  9.  1.]\n",
      "Action: 1\n",
      "New State: [20.  9.  0.]\n",
      "Reward: 0.0\n",
      "\n",
      "\n",
      "State: [20.  9.  0.]\n",
      "Action: 0\n",
      "New State: [20.  9.  0.]\n",
      "Reward: 1.0\n",
      "\n",
      "\n",
      "\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# test \n",
    "\n",
    "for episode in range(5):\n",
    "    # Reset the environment and get the initial state\n",
    "    state, info = env.reset()\n",
    "    terminated, truncated = False, False\n",
    "    print(f\"EPISODE {episode+1} \\n\")\n",
    "\n",
    "    # Loop through the game until it's finished\n",
    "    while not terminated and not truncated:\n",
    "        print(f\"State: {env.observation_space.decode(state)}\")\n",
    "        # Choose an action\n",
    "        action = agent.predict(state)\n",
    "        \n",
    "        print(f\"Action: {action}\")\n",
    "\n",
    "        # Take the action and observe the result\n",
    "        new_state, reward, terminated, truncated, info = env.step(action)\n",
    "        \n",
    "        print(f\"New State: {env.observation_space.decode(new_state)}\")\n",
    "        \n",
    "        state = new_state\n",
    "\n",
    "        print(f\"Reward: {reward}\")\n",
    "        print(\"\\n\")\n",
    "    print(\"\\n\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "55d1ce03-3d11-49e2-8101-d9b6281e6522",
   "metadata": {
    "tags": []
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dark = stick, light = hit\n"
     ]
    },
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   ],
   "source": [
    "optimal_actions = np.zeros(tuple(env.observation_space.all_n))\n",
    "Q_values_decoded = np.zeros((32,11,2,2))\n",
    "for i in range(optimal_actions.shape[0]):\n",
    "    for j in range(optimal_actions.shape[1]):\n",
    "        for k in range(optimal_actions.shape[2]):\n",
    "            optimal_actions[i,j,k] = np.argmax(agent.Q_values[env.observation_space.encode((i, j, k))])\n",
    "            Q_values_decoded[i,j,k] = agent.Q_values[env.observation_space.encode((i, j, k))]\n",
    "\n",
    "fig,axes = plt.subplots(1,2)\n",
    "axes[0].imshow(optimal_actions[:,:,0])\n",
    "axes[0].set_title('w\\out u. ace')\n",
    "axes[1].imshow(optimal_actions[:,:,1])\n",
    "axes[1].set_title('w\\ u. ace')\n",
    "fig.supylabel('sum hand')\n",
    "fig.supxlabel('sum dealer')\n",
    "plt.tight_layout()\n",
    "print('dark = stick, light = hit')\n",
    "plt.show()\n",
    "\n",
    "fig,axes = plt.subplots(1,4)\n",
    "axes[0].imshow(Q_values_decoded[:,:,0,0])\n",
    "axes[0].set_title('q stick,\\n w\\out u. ace')\n",
    "axes[1].imshow(Q_values_decoded[:,:,0,1])\n",
    "axes[1].set_title('q hit,\\n w\\out u. ace')\n",
    "axes[2].imshow(Q_values_decoded[:,:,1,0])\n",
    "axes[2].set_title('q stick,\\n w\\ u. ace')\n",
    "axes[3].imshow(Q_values_decoded[:,:,1,1])\n",
    "axes[3].set_title('q hit,\\n w\\ u. ace')\n",
    "fig.supylabel('sum hand')\n",
    "fig.supxlabel('sum dealer')\n",
    "plt.tight_layout()\n",
    "print('dark = stick, light = hit')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "9f4c4b06-c0eb-4560-8dad-42ff5aa3fabe",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "ef61f6b8-3b3a-4eea-aa5b-99f7ddd44f13",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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