### A Pluto.jl notebook ### # v0.17.0 using Markdown using InteractiveUtils # ╔═╡ cc16838c-3b25-11ec-2489-11c3d35f26f4 using Flux,LinearAlgebra,Zygote ,PlutoUI # ╔═╡ 458bb826-4eaf-42ca-b889-4d1c50a2ecae using Flux.Optimise: AbstractOptimiser # ╔═╡ 7d6afccb-c45e-4371-827a-43d588d4945f md""" # Actor Critic Model This is an implementation of an optimizer for an actor critic model. """ # ╔═╡ a810a371-d2e4-4d4f-9cf6-1b98582c4b0f md""" ## Physical Model """ # ╔═╡ 2e59f530-aeb0-4ce1-9312-e81a66520181 abstract type AbstractPhysicalModel end # ╔═╡ c57e9967-75e8-47d2-836e-f28159dc6592 #setup physical model struct BasicModel <: AbstractPhysicalModel #rate at which debris hits satellites debris_collision_rate::Real #rate at which satellites of different constellations collide satellite_collision_rates::Matrix{Float64} #rate at which debris exits orbits decay_rate::Real #rate at which satellites autocatalysis_rate::Real #ratio at which a collision between satellites produced debris satellite_collision_debris_ratio::Real #Ratio at which launches produce debris launch_debris_ratio::Real end # ╔═╡ 4153bfd6-2ec6-4025-93ba-8e6e061809e8 md""" ## Setup NeuralNets """ # ╔═╡ bbc7e4b0-5edb-4e5d-9512-1aaeae1bb4ec md""" Custom function to zero out parameter traces """ # ╔═╡ 533250c6-fd76-47ef-a561-d567da04ae61 # ╔═╡ a305c33f-3388-4120-b036-3093c3ed6aa3 md""" ## setup Actor Critic struct and loop """ # ╔═╡ 0d375c34-3226-40b6-adaf-2f531c00d3ac function zero(a::Flux.Params) Flux.Params([Base.zero(x) for x=a]) end # ╔═╡ e79e4ecf-caec-4c1a-9626-0c1a8b5006ce mutable struct ActorCritic #parameters λʷ::Real λᶿ::Real αʷ::Real αᶿ::Real αᴿ::Real #keep track of eligibility traces zᶿ::Flux.Params zʷ::Flux.Params #keep track of update rate R̄::AbstractFloat #Inside generator ActorCritic( λʷ::Real ,λᶿ::Real ,αʷ::Real ,αᶿ::Real ,αᴿ::Real ,θ::Flux.Params ,w::Flux.Params ,R::Real ) = begin zθ = zero(θ) #custom zero handles params zw = zero(w) #custom zero handles params new(λʷ,λᶿ,αʷ,αᶿ,αᴿ,zθ,zw,R) end end # ╔═╡ 0ac4ac61-0ca2-4ed6-8855-85c9d1939afa md""" # Example use: Model setup """ # ╔═╡ 7102c12c-581b-4204-9986-741889cb03f6 #implement tranistion function #percentage survival function function survival( stocks ,debris ,physical_model::AbstractPhysicalModel ) return exp.(-physical_model.satellite_collision_rates*stocks .- (physical_model.debris_collision_rate*debris)) end # ╔═╡ 283bdd91-d742-4f4b-a19b-2756ac01ce2c #stock update rules function G( stocks::Vector ,debris::Vector ,launches::Vector , physical_model::AbstractPhysicalModel ) return LinearAlgebra.diagm(survival(stocks,debris,physical_model) .- physical_model.decay_rate)*stocks + launches end # ╔═╡ 8a3f9518-ae0a-46f3-b37d-1017ce99c70d #debris evolution function H(stocks,debris,launches,physical_model) #get changes in debris from natural dynamics natural_debris_dynamics = (1-physical_model.decay_rate+physical_model.autocatalysis_rate) * debris #get changes in debris from satellite loss satellite_loss_debris = physical_model.satellite_collision_debris_ratio * (1 .- survival(stocks,debris,physical_model))'*stocks #get changes in debris from launches launch_debris = physical_model.launch_debris_ratio*sum(launches) #return total debris level return natural_debris_dynamics .+ satellite_loss_debris .+ launch_debris end # ╔═╡ e4c8abfa-e96c-44b7-9858-af46adc1164a #implement reward function begin const payoff = 3*LinearAlgebra.I #- 0.02*ones(N_constellations,N_constellations) #Define the market profit function F(stocks,debris,launches) = (stocks - 3.0*launches .+ (debris*-0.2))[1] end # ╔═╡ 42be8352-7ecf-4da4-bff0-61e328144ed1 #test F(4,2,2) # ╔═╡ e2135298-e280-40ac-a549-6a15f13b84ee md""" ## Example use: Single actor. ### Model and Optimizer Parameterization """ # ╔═╡ 5a2dab62-985c-4689-ab48-da04981d15a0 #Model shape begin const N_constellations = 1; const N_debris = 1; const N_states = N_constellations + N_debris; end # ╔═╡ 3f14b399-cae8-433a-8729-fc91c9b0bee9 # Launch function launch_policy = Flux.Chain( Flux.Parallel(vcat #parallel joins together stocks and debris, along with intermediate interpretation ,Flux.Chain(Flux.Dense(N_constellations, N_states*2,Flux.relu) ,Flux.Dense(N_states*2, N_states*2,Flux.σ) ) ,Flux.Chain(Flux.Dense(N_debris, N_states,Flux.relu) ,Flux.Dense(N_states, N_states,Flux.σ) ) ) #Apply some transformations ,Flux.Dense(N_states*3,128,Flux.σ) ,Flux.Dense(128,128,Flux.σ) ,Flux.Dense(128,N_constellations,Flux.relu) ) # ╔═╡ 89dabcc8-7f4e-4df4-8445-eae9f50ebfea #inspect parameters Flux.params(launch_policy) # ╔═╡ 15d5ce62-135d-493e-abad-3ec1f99bfd3b #Test the function above zero(Flux.params(launch_policy)) # ╔═╡ 2c9346eb-048d-4667-b22b-583b814ae1a3 # Launch function value = Flux.Chain( Flux.Parallel(vcat #parallel joins together stocks and debris, along with intermediate interpretation ,Flux.Chain(Flux.Dense(N_constellations, N_states*2,Flux.relu) ,Flux.Dense(N_states*2, N_states*2,Flux.σ) ) ,Flux.Chain(Flux.Dense(N_debris, N_states,Flux.relu) ,Flux.Dense(N_states, N_states,Flux.σ) ) ) #Apply some transformations ,Flux.Dense(N_states*3,128,Flux.σ) ,Flux.Dense(128,128,Flux.σ) ,Flux.Dense(128,1) ); # ╔═╡ 95b9943b-8c13-4717-8239-2bae9f93ee63 #create the current actor critic optimizer optim = ActorCritic( 0.5 ,0.5 ,2.0 ,2.0 ,2.0 ,Flux.params(launch_policy) ,Flux.params(value) ,0.5 ) # ╔═╡ 43704f08-6f1a-47bb-87e3-483a529b1654 #Starting States begin stock_state = ones(N_constellations); debris_state = ones(N_debris); end; # ╔═╡ 6f3649c1-2ade-437d-81cb-d9f46306d1e0 #check launch policy launch_policy((stock_state,debris_state)) # ╔═╡ 7dfc61a9-569a-4e97-a292-4c2b15a78e3a value((stock_state,debris_state)) # ╔═╡ 2f0ff236-0dff-4cd8-bbb4-f1e81ecef308 #= Setup the physical model These values are just guesstimates =# begin #Getting loss parameters together. loss_param = 2e-3; loss_weights = loss_param*(ones(N_constellations,N_constellations) - LinearAlgebra.I); #orbital decay rate decay_param = 0.01; #debris generation parameters autocatalysis_param = 0.001; satellite_loss_debris_rate = 5.0; launch_debris_rate = 0.05; #Todo, wrap physical model as a struct with the parameters bm = BasicModel( loss_param ,loss_weights ,decay_param ,autocatalysis_param ,satellite_loss_debris_rate ,launch_debris_rate ); end # ╔═╡ df771ced-e541-4bb2-b6a3-bb562bbaa89c md""" ### Evaluation loop """ # ╔═╡ 6d9a71ea-b9d1-4efd-aa32-9053b96a66e1 #=Actor Critic Loop This iterates on the actor critic loop, =# with_terminal() do for iit in 1:12 w = Flux.params(value) θ = Flux.params(launch_policy) #Get learning parameters action = launch_policy((stock_state,debris_state)) new_stock_state = G(stock_state,debris_state,action,bm) new_debris_state = H(stock_state,debris_state,action,bm) println(new_debris_state) #get current value current_value = value((stock_state,debris_state)) new_value = value((new_stock_state,new_debris_state)) #need to define R = F(stock_state,debris_state,action) #FIX: R is a vector, so are the values. This needs fixed. δ = ((R .- optim.R̄) .+ (new_value .- current_value))[1] #fix #store values optim.R̄ = optim.R̄ + δ*optim.αᴿ #check for exit conditions. #probably use grad=0 continue #issue in calculating gradients #update the learning traces optim.zʷ = optim.λʷ .* optim.zʷ .+ Flux.gradient(value,w) optim.zᶿ = optim.λᶿ .* optim.zᶿ .+ Flux.gradient(policy,θ) continue #update the policies w = w .+ δ* optim.αʷ .* optim.zʷ; θ = θ .+ δ* optim.αᶿ .* optim.zᶿ; println("its working, $iit") end end # ╔═╡ 9941e984-e51b-4e64-8d16-13c8071363b0 #TODO:issue is here, taking gradient. I get to figure this out next. Zygote.gradient(() -> sum(value(stock_state,debris_state),w)) # ╔═╡ dd9f5f04-31e4-441e-9f5f-3019a30692d6 with_terminal() do x = rand(Float32, 10) m = Chain(Dense(10, 5, relu), Dense(5, 2), softmax) l(x) = Flux.Losses.crossentropy(m(x), [0.5, 0.5]) grads = gradient(params(m)) do l(x) end for p in params(m) println(grads[p]) end end # ╔═╡ 00000000-0000-0000-0000-000000000001 PLUTO_PROJECT_TOML_CONTENTS = """ [deps] Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c" LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" PlutoUI = "7f904dfe-b85e-4ff6-b463-dae2292396a8" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" [compat] Flux = "~0.12.8" PlutoUI = "~0.7.17" Zygote = "~0.6.29" """ # ╔═╡ 00000000-0000-0000-0000-000000000002 PLUTO_MANIFEST_TOML_CONTENTS = """ # This file is machine-generated - editing it directly is not advised [[AbstractFFTs]] deps = ["LinearAlgebra"] git-tree-sha1 = "485ee0867925449198280d4af84bdb46a2a404d0" uuid = "621f4979-c628-5d54-868e-fcf4e3e8185c" version = "1.0.1" 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"29816b5a-b9ab-546f-933c-edad1886dfa8" [[Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" [[LinearAlgebra]] deps = ["Libdl"] uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" [[LogExpFunctions]] deps = ["ChainRulesCore", "DocStringExtensions", "InverseFunctions", "IrrationalConstants", "LinearAlgebra"] git-tree-sha1 = "6193c3815f13ba1b78a51ce391db8be016ae9214" uuid = "2ab3a3ac-af41-5b50-aa03-7779005ae688" version = "0.3.4" [[Logging]] uuid = "56ddb016-857b-54e1-b83d-db4d58db5568" [[MacroTools]] deps = ["Markdown", "Random"] git-tree-sha1 = "3d3e902b31198a27340d0bf00d6ac452866021cf" uuid = "1914dd2f-81c6-5fcd-8719-6d5c9610ff09" version = "0.5.9" [[Markdown]] deps = ["Base64"] uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" [[MbedTLS_jll]] deps = ["Artifacts", "Libdl"] uuid = "c8ffd9c3-330d-5841-b78e-0817d7145fa1" [[Media]] deps = ["MacroTools", "Test"] git-tree-sha1 = "75a54abd10709c01f1b86b84ec225d26e840ed58" uuid = "e89f7d12-3494-54d1-8411-f7d8b9ae1f27" version = "0.5.0" [[Missings]] deps = ["DataAPI"] git-tree-sha1 = "bf210ce90b6c9eed32d25dbcae1ebc565df2687f" uuid = "e1d29d7a-bbdc-5cf2-9ac0-f12de2c33e28" version = "1.0.2" [[Mmap]] uuid = "a63ad114-7e13-5084-954f-fe012c677804" [[MozillaCACerts_jll]] uuid = "14a3606d-f60d-562e-9121-12d972cd8159" [[NNlib]] deps = ["Adapt", "ChainRulesCore", "Compat", "LinearAlgebra", "Pkg", "Requires", "Statistics"] git-tree-sha1 = "5203a4532ad28c44f82c76634ad621d7c90abcbd" uuid = "872c559c-99b0-510c-b3b7-b6c96a88d5cd" version = "0.7.29" [[NNlibCUDA]] deps = ["CUDA", "LinearAlgebra", "NNlib", "Random", "Statistics"] git-tree-sha1 = "04490d5e7570c038b1cb0f5c3627597181cc15a9" uuid = "a00861dc-f156-4864-bf3c-e6376f28a68d" version = "0.1.9" [[NaNMath]] git-tree-sha1 = "bfe47e760d60b82b66b61d2d44128b62e3a369fb" uuid = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3" version = "0.3.5" [[NetworkOptions]] uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908" [[OpenLibm_jll]] deps = ["Artifacts", "Libdl"] uuid = "05823500-19ac-5b8b-9628-191a04bc5112" [[OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Pkg"] git-tree-sha1 = "13652491f6856acfd2db29360e1bbcd4565d04f1" uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e" version = "0.5.5+0" [[OrderedCollections]] git-tree-sha1 = "85f8e6578bf1f9ee0d11e7bb1b1456435479d47c" uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" version = "1.4.1" [[Parsers]] deps = ["Dates"] git-tree-sha1 = "d911b6a12ba974dabe2291c6d450094a7226b372" uuid = "69de0a69-1ddd-5017-9359-2bf0b02dc9f0" version = "2.1.1" [[Pkg]] deps = ["Artifacts", "Dates", "Downloads", "LibGit2", "Libdl", "Logging", "Markdown", "Printf", "REPL", "Random", "SHA", "Serialization", "TOML", "Tar", "UUIDs", "p7zip_jll"] uuid = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" [[PlutoUI]] deps = ["Base64", "Dates", "Hyperscript", "HypertextLiteral", "IOCapture", "InteractiveUtils", "JSON", "Logging", "Markdown", "Random", "Reexport", "UUIDs"] git-tree-sha1 = "615f3a1eff94add4bca9476ded096de60b46443b" uuid = "7f904dfe-b85e-4ff6-b463-dae2292396a8" version = "0.7.17" [[Preferences]] deps = ["TOML"] git-tree-sha1 = "00cfd92944ca9c760982747e9a1d0d5d86ab1e5a" uuid = "21216c6a-2e73-6563-6e65-726566657250" version = "1.2.2" [[Printf]] deps = ["Unicode"] uuid = "de0858da-6303-5e67-8744-51eddeeeb8d7" [[Profile]] deps = ["Printf"] uuid = "9abbd945-dff8-562f-b5e8-e1ebf5ef1b79" [[REPL]] deps = ["InteractiveUtils", "Markdown", "Sockets", "Unicode"] uuid = "3fa0cd96-eef1-5676-8a61-b3b8758bbffb" [[Random]] deps = ["Serialization"] uuid = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" [[Random123]] deps = ["Libdl", "Random", "RandomNumbers"] git-tree-sha1 = "0e8b146557ad1c6deb1367655e052276690e71a3" uuid = "74087812-796a-5b5d-8853-05524746bad3" version = "1.4.2" [[RandomNumbers]] deps = ["Random", "Requires"] git-tree-sha1 = "043da614cc7e95c703498a491e2c21f58a2b8111" uuid = "e6cf234a-135c-5ec9-84dd-332b85af5143" version = "1.5.3" [[RealDot]] deps = ["LinearAlgebra"] git-tree-sha1 = "9f0a1b71baaf7650f4fa8a1d168c7fb6ee41f0c9" uuid = "c1ae055f-0cd5-4b69-90a6-9a35b1a98df9" version = "0.1.0" [[Reexport]] git-tree-sha1 = "45e428421666073eab6f2da5c9d310d99bb12f9b" uuid = "189a3867-3050-52da-a836-e630ba90ab69" version = "1.2.2" [[Requires]] deps = ["UUIDs"] git-tree-sha1 = "4036a3bd08ac7e968e27c203d45f5fff15020621" uuid = "ae029012-a4dd-5104-9daa-d747884805df" version = "1.1.3" [[SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" [[Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" [[SharedArrays]] deps = ["Distributed", "Mmap", "Random", "Serialization"] uuid = "1a1011a3-84de-559e-8e89-a11a2f7dc383" [[Sockets]] uuid = "6462fe0b-24de-5631-8697-dd941f90decc" [[SortingAlgorithms]] deps = ["DataStructures"] git-tree-sha1 = "b3363d7460f7d098ca0912c69b082f75625d7508" uuid = "a2af1166-a08f-5f64-846c-94a0d3cef48c" version = "1.0.1" [[SparseArrays]] deps = ["LinearAlgebra", "Random"] uuid = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" [[SpecialFunctions]] deps = ["ChainRulesCore", "IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] git-tree-sha1 = "f0bccf98e16759818ffc5d97ac3ebf87eb950150" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" version = "1.8.1" [[Static]] deps = ["IfElse"] git-tree-sha1 = "e7bc80dc93f50857a5d1e3c8121495852f407e6a" uuid = "aedffcd0-7271-4cad-89d0-dc628f76c6d3" version = "0.4.0" [[StaticArrays]] deps = ["LinearAlgebra", "Random", "Statistics"] git-tree-sha1 = "3c76dde64d03699e074ac02eb2e8ba8254d428da" uuid = "90137ffa-7385-5640-81b9-e52037218182" version = "1.2.13" [[Statistics]] deps = ["LinearAlgebra", "SparseArrays"] uuid = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" [[StatsAPI]] git-tree-sha1 = "1958272568dc176a1d881acb797beb909c785510" uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0" version = "1.0.0" [[StatsBase]] deps = ["DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"] git-tree-sha1 = "eb35dcc66558b2dda84079b9a1be17557d32091a" uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" version = "0.33.12" [[TOML]] deps = ["Dates"] uuid = "fa267f1f-6049-4f14-aa54-33bafae1ed76" [[Tar]] deps = ["ArgTools", "SHA"] uuid = "a4e569a6-e804-4fa4-b0f3-eef7a1d5b13e" [[Test]] deps = ["InteractiveUtils", "Logging", "Random", "Serialization"] uuid = "8dfed614-e22c-5e08-85e1-65c5234f0b40" [[TimerOutputs]] deps = ["ExprTools", "Printf"] git-tree-sha1 = "7cb456f358e8f9d102a8b25e8dfedf58fa5689bc" uuid = "a759f4b9-e2f1-59dc-863e-4aeb61b1ea8f" version = "0.5.13" [[TranscodingStreams]] deps = ["Random", "Test"] git-tree-sha1 = "216b95ea110b5972db65aa90f88d8d89dcb8851c" uuid = "3bb67fe8-82b1-5028-8e26-92a6c54297fa" version = "0.9.6" [[UUIDs]] deps = ["Random", "SHA"] uuid = "cf7118a7-6976-5b1a-9a39-7adc72f591a4" [[Unicode]] uuid = "4ec0a83e-493e-50e2-b9ac-8f72acf5a8f5" [[ZipFile]] deps = ["Libdl", "Printf", "Zlib_jll"] git-tree-sha1 = "3593e69e469d2111389a9bd06bac1f3d730ac6de" uuid = "a5390f91-8eb1-5f08-bee0-b1d1ffed6cea" version = "0.9.4" [[Zlib_jll]] deps = ["Libdl"] uuid = "83775a58-1f1d-513f-b197-d71354ab007a" [[Zygote]] deps = ["AbstractFFTs", "ChainRules", "ChainRulesCore", "DiffRules", "Distributed", "FillArrays", "ForwardDiff", "IRTools", "InteractiveUtils", "LinearAlgebra", "MacroTools", "NaNMath", "Random", "Requires", "SpecialFunctions", "Statistics", "ZygoteRules"] git-tree-sha1 = "0fc9959bcabc4668c403810b4e851f6b8962eac9" uuid = "e88e6eb3-aa80-5325-afca-941959d7151f" version = "0.6.29" [[ZygoteRules]] deps = ["MacroTools"] git-tree-sha1 = "8c1a8e4dfacb1fd631745552c8db35d0deb09ea0" uuid = "700de1a5-db45-46bc-99cf-38207098b444" version = "0.2.2" [[nghttp2_jll]] deps = ["Artifacts", "Libdl"] uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d" [[p7zip_jll]] deps = ["Artifacts", "Libdl"] uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0" """ # ╔═╡ Cell order: # ╟─7d6afccb-c45e-4371-827a-43d588d4945f # ╠═cc16838c-3b25-11ec-2489-11c3d35f26f4 # 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╠═5a2dab62-985c-4689-ab48-da04981d15a0 # ╠═43704f08-6f1a-47bb-87e3-483a529b1654 # ╠═2f0ff236-0dff-4cd8-bbb4-f1e81ecef308 # ╟─df771ced-e541-4bb2-b6a3-bb562bbaa89c # ╠═6d9a71ea-b9d1-4efd-aa32-9053b96a66e1 # ╠═9941e984-e51b-4e64-8d16-13c8071363b0 # ╠═dd9f5f04-31e4-441e-9f5f-3019a30692d6 # ╟─00000000-0000-0000-0000-000000000001 # ╟─00000000-0000-0000-0000-000000000002