调整gpro-ppo模型架构

agents/gpro_agent.py

@@ -1,4 +1,4 @@
-"""GRPO-inspired PPO agent for grouped corridor control rollouts."""
+"""PPO-style GPRO agent with group-relative advantages for corridor control."""
 from __future__ import annotations
 
 from typing import Dict, List, Tuple
@@ -10,8 +10,8 @@ import torch.nn.functional as F
 import torch.optim as optim
 
 
-class MultiDiscreteActor(nn.Module):
+class MultiDiscreteActorCritic(nn.Module):
-    """Shared trunk plus one categorical head per controlled edge."""
+    """Shared actor-critic backbone with one categorical head per control segment."""
 
     def __init__(
         self,
@@ -20,9 +20,7 @@ class MultiDiscreteActor(nn.Module):
         hidden_layers: List[int] = [256, 256],
     ):
         super().__init__()
-        self.state_dim = state_dim
         self.action_dims = action_dims
-        self.num_heads = len(action_dims)
 
         layers = []
         prev_dim = state_dim
@@ -32,9 +30,15 @@ class MultiDiscreteActor(nn.Module):
             layers.append(nn.ReLU())
             prev_dim = hidden_dim
         self.feature_extractor = nn.Sequential(*layers)
+
         self.actor_heads = nn.ModuleList(
             [nn.Linear(prev_dim, action_dim) for action_dim in action_dims]
         )
+        self.critic = nn.Sequential(
+            nn.Linear(prev_dim, 128),
+            nn.ReLU(),
+            nn.Linear(128, 1),
+        )
         self._init_weights()
 
     def _init_weights(self):
@@ -44,17 +48,26 @@ class MultiDiscreteActor(nn.Module):
                 nn.init.constant_(module.bias, 0)
         for head in self.actor_heads:
             nn.init.orthogonal_(head.weight, gain=0.01)
+        nn.init.orthogonal_(self.critic[-1].weight, gain=1.0)
 
-    def forward(self, state: torch.Tensor) -> List[torch.Tensor]:
+    def forward(self, state: torch.Tensor) -> Tuple[List[torch.Tensor], torch.Tensor]:
         features = self.feature_extractor(state)
-        return [head(features) for head in self.actor_heads]
+        logits_list = [head(features) for head in self.actor_heads]
+        value = self.critic(features)
+        return logits_list, value
 
-    def get_action_probs(self, state: torch.Tensor) -> List[torch.Tensor]:
+    def get_action_probs(self, state: torch.Tensor) -> Tuple[List[torch.Tensor], torch.Tensor]:
-        return [F.softmax(logits, dim=-1) for logits in self.forward(state)]
+        logits_list, value = self.forward(state)
+        probs_list = [F.softmax(logits, dim=-1) for logits in logits_list]
+        return probs_list, value
+
+    def get_value(self, state: torch.Tensor) -> torch.Tensor:
+        features = self.feature_extractor(state)
+        return self.critic(features)
 
 
 class GPROAgent:
-    """Grouped relative PPO without value critic."""
+    """PPO actor-critic with group-relative trajectory ranking."""
 
     def __init__(
         self,
@@ -62,29 +75,39 @@ class GPROAgent:
         action_dims: List[int],
         hidden_layers: List[int] = [256, 256],
         learning_rate: float = 3e-4,
+        gamma: float = 0.99,
+        gae_lambda: float = 0.95,
         clip_epsilon: float = 0.2,
+        value_coef: float = 0.5,
         entropy_coef: float = 0.01,
         max_grad_norm: float = 0.5,
         ppo_epochs: int = 4,
         minibatch_size: int = 64,
         group_size: int = 4,
+        group_advantage_coef: float = 0.35,
         advantage_epsilon: float = 1e-8,
         device: str = "cuda",
         lr_schedule: str = "cosine",
         total_episodes: int = 300,
     ):
         self.device = torch.device(device if torch.cuda.is_available() else "cpu")
+        self.gamma = gamma
+        self.gae_lambda = gae_lambda
         self.clip_epsilon = clip_epsilon
+        self.value_coef = value_coef
         self.entropy_coef = entropy_coef
         self.max_grad_norm = max_grad_norm
         self.ppo_epochs = ppo_epochs
         self.minibatch_size = minibatch_size
         self.group_size = max(int(group_size), 2)
+        self.group_advantage_coef = float(np.clip(group_advantage_coef, 0.0, 1.0))
         self.advantage_epsilon = advantage_epsilon
         self.action_dims = action_dims
         self.num_heads = len(action_dims)
 
-        self.policy = MultiDiscreteActor(state_dim, action_dims, hidden_layers).to(self.device)
+        self.policy = MultiDiscreteActorCritic(state_dim, action_dims, hidden_layers).to(
+            self.device
+        )
         self.optimizer = optim.Adam(self.policy.parameters(), lr=learning_rate, eps=1e-5)
 
         self.lr_schedule = lr_schedule
@@ -101,10 +124,13 @@ class GPROAgent:
     def _reset_episode_buffer(self):
         self.current_states: List[np.ndarray] = []
         self.current_actions: List[np.ndarray] = []
+        self.current_rewards: List[float] = []
+        self.current_values: List[float] = []
         self.current_log_probs: List[float] = []
+        self.current_dones: List[float] = []
 
     def reset_group_buffers(self):
-        self.trajectories: List[Dict] = []
+        self.trajectories: List[Dict[str, np.ndarray | float]] = []
         self._reset_episode_buffer()
 
     def select_action(
@@ -112,7 +138,7 @@ class GPROAgent:
     ) -> Tuple[np.ndarray, float, float]:
         state_tensor = torch.FloatTensor(state).unsqueeze(0).to(self.device)
         with torch.no_grad():
-            probs_list = self.policy.get_action_probs(state_tensor)
+            probs_list, value = self.policy.get_action_probs(state_tensor)
 
         actions = []
         total_log_prob = 0.0
@@ -126,13 +152,15 @@ class GPROAgent:
             actions.append(action)
             total_log_prob += log_prob
 
-        return np.array(actions, dtype=np.int64), total_log_prob, 0.0
+        return np.array(actions, dtype=np.int64), total_log_prob, value.item()
 
     def store_transition(self, state, action, reward, value, log_prob, done):
-        del reward, value, done
         self.current_states.append(np.asarray(state, dtype=np.float32))
         self.current_actions.append(np.asarray(action, dtype=np.int64))
+        self.current_rewards.append(float(reward))
+        self.current_values.append(float(value))
         self.current_log_probs.append(float(log_prob))
+        self.current_dones.append(float(done))
 
     def finish_episode(self, score: float):
         if not self.current_states:
@@ -141,47 +169,102 @@ class GPROAgent:
             {
                 "states": np.asarray(self.current_states, dtype=np.float32),
                 "actions": np.asarray(self.current_actions, dtype=np.int64),
+                "rewards": np.asarray(self.current_rewards, dtype=np.float32),
+                "values": np.asarray(self.current_values, dtype=np.float32),
                 "log_probs": np.asarray(self.current_log_probs, dtype=np.float32),
+                "dones": np.asarray(self.current_dones, dtype=np.float32),
                 "score": float(score),
             }
         )
         self._reset_episode_buffer()
 
-    def _build_group_advantages(self) -> List[np.ndarray]:
+    def _compute_gae(
-        scores = np.asarray([traj["score"] for traj in self.trajectories], dtype=np.float32)
+        self,
-        if scores.size == 0:
+        rewards: np.ndarray,
-            return []
+        values: np.ndarray,
-        score_mean = float(scores.mean())
+        dones: np.ndarray,
-        score_std = float(scores.std())
+        next_value: float = 0.0,
-        if score_std < self.advantage_epsilon:
+    ) -> Tuple[np.ndarray, np.ndarray]:
-            normalized_scores = np.zeros_like(scores, dtype=np.float32)
+        advantages = np.zeros_like(rewards, dtype=np.float32)
+        gae = 0.0
+
+        for t in reversed(range(len(rewards))):
+            if t == len(rewards) - 1:
+                next_val = next_value
             else:
-            normalized_scores = (scores - score_mean) / (score_std + self.advantage_epsilon)
+                next_val = values[t + 1]
-        return [
+            delta = rewards[t] + self.gamma * next_val * (1.0 - dones[t]) - values[t]
-            np.full(len(traj["states"]), normalized_scores[idx], dtype=np.float32)
+            gae = delta + self.gamma * self.gae_lambda * (1.0 - dones[t]) * gae
-            for idx, traj in enumerate(self.trajectories)
+            advantages[t] = gae
-        ]
+
+        returns = advantages + values
+        return advantages, returns
+
+    def _normalize(self, values: np.ndarray) -> np.ndarray:
+        if values.size == 0:
+            return values
+        mean = float(values.mean())
+        std = float(values.std())
+        if std < self.advantage_epsilon:
+            return np.zeros_like(values, dtype=np.float32)
+        return ((values - mean) / (std + self.advantage_epsilon)).astype(np.float32)
+
+    def _build_training_targets(self) -> Tuple[np.ndarray, np.ndarray]:
+        if not self.trajectories:
+            return np.array([], dtype=np.float32), np.array([], dtype=np.float32)
+
+        gae_advantages = []
+        returns = []
+        for trajectory in self.trajectories:
+            trajectory_adv, trajectory_ret = self._compute_gae(
+                rewards=trajectory["rewards"],
+                values=trajectory["values"],
+                dones=trajectory["dones"],
+                next_value=0.0,
+            )
+            gae_advantages.append(trajectory_adv)
+            returns.append(trajectory_ret)
+
+        normalized_gae = self._normalize(np.concatenate(gae_advantages, axis=0))
+        group_scores = np.asarray(
+            [trajectory["score"] for trajectory in self.trajectories], dtype=np.float32
+        )
+        normalized_group_scores = self._normalize(group_scores)
+        repeated_group_advantages = np.concatenate(
+            [
+                np.full(len(trajectory["states"]), normalized_group_scores[idx], dtype=np.float32)
+                for idx, trajectory in enumerate(self.trajectories)
+            ],
+            axis=0,
+        )
+
+        combined_advantages = (
+            (1.0 - self.group_advantage_coef) * normalized_gae
+            + self.group_advantage_coef * repeated_group_advantages
+        )
+        combined_advantages = self._normalize(combined_advantages)
+        return combined_advantages, np.concatenate(returns, axis=0).astype(np.float32)
 
     def update(self) -> Dict[str, float]:
         if not self.trajectories:
             return {}
 
-        trajectory_advantages = self._build_group_advantages()
+        advantages, returns = self._build_training_targets()
         states = torch.FloatTensor(
-            np.concatenate([traj["states"] for traj in self.trajectories], axis=0)
+            np.concatenate([trajectory["states"] for trajectory in self.trajectories], axis=0)
         ).to(self.device)
         actions = torch.LongTensor(
-            np.concatenate([traj["actions"] for traj in self.trajectories], axis=0)
+            np.concatenate([trajectory["actions"] for trajectory in self.trajectories], axis=0)
         ).to(self.device)
         old_log_probs = torch.FloatTensor(
-            np.concatenate([traj["log_probs"] for traj in self.trajectories], axis=0)
+            np.concatenate([trajectory["log_probs"] for trajectory in self.trajectories], axis=0)
-        ).to(self.device)
-        advantages = torch.FloatTensor(
-            np.concatenate(trajectory_advantages, axis=0)
         ).to(self.device)
+        advantages_t = torch.FloatTensor(advantages).to(self.device)
+        returns_t = torch.FloatTensor(returns).to(self.device)
 
         total_loss = 0.0
         total_policy_loss = 0.0
+        total_value_loss = 0.0
         total_entropy_value = 0.0
         update_count = 0
         dataset_size = states.shape[0]
@@ -195,9 +278,10 @@ class GPROAgent:
                 batch_states = states[batch_idx]
                 batch_actions = actions[batch_idx]
                 batch_old_log_probs = old_log_probs[batch_idx]
-                batch_advantages = advantages[batch_idx]
+                batch_advantages = advantages_t[batch_idx]
+                batch_returns = returns_t[batch_idx]
 
-                logits_list = self.policy(batch_states)
+                logits_list, values = self.policy(batch_states)
                 total_new_log_probs = torch.zeros(len(batch_idx), device=self.device)
                 entropy_terms = torch.zeros(len(batch_idx), device=self.device)
 
@@ -215,7 +299,12 @@ class GPROAgent:
                     * batch_advantages
                 )
                 policy_loss = -torch.min(surr1, surr2).mean()
-                loss = policy_loss - self.entropy_coef * entropy
+                value_loss = F.mse_loss(values.squeeze(-1), batch_returns)
+                loss = (
+                    policy_loss
+                    + self.value_coef * value_loss
+                    - self.entropy_coef * entropy
+                )
 
                 self.optimizer.zero_grad()
                 loss.backward()
@@ -224,25 +313,26 @@ class GPROAgent:
 
                 total_loss += float(loss.item())
                 total_policy_loss += float(policy_loss.item())
+                total_value_loss += float(value_loss.item())
                 total_entropy_value += float(entropy.item())
                 update_count += 1
 
         if self.scheduler is not None:
             self.scheduler.step()
 
+        scores = np.asarray(
+            [trajectory["score"] for trajectory in self.trajectories], dtype=np.float32
+        )
         stats = {
             "loss": total_loss / max(update_count, 1),
             "policy_loss": total_policy_loss / max(update_count, 1),
-            "value_loss": 0.0,
+            "value_loss": total_value_loss / max(update_count, 1),
             "entropy": total_entropy_value / max(update_count, 1),
             "lr": self.optimizer.param_groups[0]["lr"],
-            "group_score_mean": float(
+            "group_score_mean": float(scores.mean()) if scores.size else 0.0,
-                np.mean([traj["score"] for traj in self.trajectories], dtype=np.float32)
+            "group_score_std": float(scores.std()) if scores.size else 0.0,
-            ),
-            "group_score_std": float(
-                np.std([traj["score"] for traj in self.trajectories], dtype=np.float32)
-            ),
             "group_size": float(len(self.trajectories)),
+            "group_advantage_coef": float(self.group_advantage_coef),
         }
         self.reset_group_buffers()
         return stats

config_sumo_vsl.yaml

@@ -107,13 +107,17 @@ agents:
   gpro:
     hidden_layers: [256, 256]
     learning_rate: 0.0003
+    gamma: 0.99
+    gae_lambda: 0.95
     clip_epsilon: 0.2
+    value_coef: 0.5
     entropy_coef: 0.01
     max_grad_norm: 0.5
     ppo_epochs: 4
     batch_size: 15
     lr_schedule: "cosine"
     group_size: 4
+    group_advantage_coef: 0.35
     advantage_epsilon: 1.0e-8
 
   appo:

training/train_gpro.py

@@ -60,6 +60,7 @@ def train_sumo_gpro(log_dir=None, checkpoint_dir=None, run_timestamp=None):
     print(f"  Hidden layers: {agent_config.get('hidden_layers', [256, 256])}")
     print(f"  Learning rate: {agent_config.get('learning_rate', 3e-4)}")
     print(f"  Group size: {group_size}")
+    print(f"  Group advantage coef: {agent_config.get('group_advantage_coef', 0.35)}")
     print(f"  Device: {agent_config.get('device', 'cuda')}")
     print()
 
@@ -68,12 +69,16 @@ def train_sumo_gpro(log_dir=None, checkpoint_dir=None, run_timestamp=None):
         action_dims=action_dims,
         hidden_layers=agent_config.get("hidden_layers", [256, 256]),
         learning_rate=agent_config.get("learning_rate", 3e-4),
+        gamma=agent_config.get("gamma", 0.99),
+        gae_lambda=agent_config.get("gae_lambda", 0.95),
         clip_epsilon=agent_config.get("clip_epsilon", 0.2),
+        value_coef=agent_config.get("value_coef", 0.5),
         entropy_coef=agent_config.get("entropy_coef", 0.01),
         max_grad_norm=agent_config.get("max_grad_norm", 0.5),
         ppo_epochs=agent_config.get("ppo_epochs", 4),
         minibatch_size=agent_config.get("batch_size", 64),
         group_size=group_size,
+        group_advantage_coef=agent_config.get("group_advantage_coef", 0.35),
         advantage_epsilon=agent_config.get("advantage_epsilon", 1e-8),
         device=agent_config.get("device", "cuda"),
         lr_schedule=agent_config.get("lr_schedule", "cosine"),
@@ -125,10 +130,10 @@ def train_sumo_gpro(log_dir=None, checkpoint_dir=None, run_timestamp=None):
                 )
 
                 while not done:
-                    action, log_prob, _ = agent.select_action(state, deterministic=False)
+                    action, log_prob, value = agent.select_action(state, deterministic=False)
                     next_state, reward, done, info = env.step(action)
 
-                    agent.store_transition(state, action, reward, 0.0, log_prob, done)
+                    agent.store_transition(state, action, reward, value, log_prob, done)
 
                     episode_reward += reward
                     episode_throughput += info["throughput"]