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Minecraft Reinforcement Learning

Replay Memory

  • DeepMind uses 1 million memories
  • Each "memory" is a SARS' sequence

Deep Convolutional Network

  • Input

    • Input will be pixel grayscale luminance values from game screenshots
    • Screenshots will be captured every k game ticks (to reduce computational overhead)
    • Screenshots are scaled down to some managable size (DeepMind uses 84x84)
    • Several (DeepMind uses 4) frames are combined to produce a network input of 84x84x4

  • Structure

    • The deep convolutional network has several layers for extracting features from the input
    • Layer #1 has filters for 8x8 sliding windows with step size of 4, followed by rectifier
    • Layer #2 has filters for 4x4 sliding windows with step size of 2, followed by rectifier
    • Layer #3 has 256, fully-connected rectifier nodes
    • The output layer has one node for each possible agent action (action perfomed is taken as max)

Algorithm

replay_memory = initReplayMemory(MEMORY_SIZE)
network = initCNN(params)

Run N episodes (games run until game over or fixed time limit (50million frames total over all episodes)):
    # start the game and get the initial state (screenshot)
    curr_state = initGame()
    
    # Luminance/scale/frame limiting/etc. preprocessing
    curr_seq = preprocess(curr_state)
    
    Run game for T timesteps:
        Generate a random number, r, from 0 to 1.0
        if r < epsilon:
            curr_action = selectRandomAction()
        else:
            # Run the CNN and pick the max output action
            curr_action = network.pickBestAction(curr_seq)  
            
        # Actually perform the action in the game
        curr_reward, next_state = executeAction(curr_action)
        
        # Store a copy for adding a sequence to the replay memory
        prev_seq = seqCopy(curr_seq)
        
        curr_seq = buildNewSequence(curr_seq, curr_action, next_state)
        curr_seq = preprocess(curr_seq)
        
        # Remember this event in the big memory store
        replay_memory.addMemory((prev_seq, curr_action, curr_reward, curr_seq))
        
        # Now spend time learning from past experiences
        experiences = replay_memory.getRandomExperiences(LEARNING_SAMPLE_SIZE=32)
        
        for experience in experiences:
            seq1, action, reward, seq2 = experience   # Unpack experience tuple
            target = reward + GAMMA * network.pickBestAction(seq2)
            
            Do gradient descent to minimize   (target - network.runInput(seq1)) ^ 2

Installing CAFFE

The official instructions are here.

Some suggestions:

  • If you have a GPU make sure you install CUDA and cuDNN first.
  • Install anaconda before running make pycaffe. Set your anaconda path and change the PYTHON_LIB variable in the Makefile.config.
  • The instructions say to use python 2.7 or 3.3. I've used 2.7.
  • The instructions aren't clear but you need the dev versions of protobuf, glog, gflags, hdf5, leveldb, snappy, and lmdb. Caffe needs to access the header files.
  • I used OpenBLAS since they said it may offer a speedup. In the Makefile.config make sure you change BLAS=atlas to BLAS=open.
  • Build Caffe with make all -j4, make test -j4, make runtest. (Using make [target] -j4 will compile with 4 threads to speed things up a bit).
  • To build the python bindings you'll have to run make pycaffe. If you get an error that says Python.h not found update the PYTHON_INCLUDE variable to also have /usr/include/python2.7.
  • Set your PYTHON_PATH to point to the caffe python direction PYTHONPATH=/path/to/caffe/python:$PYTHONPATH. You could do this in the .bashrc file and then source it.
  • Try the examples and let me know if you have questions.