JuliaRL_PrioritizedDQN_CartPole

using ReinforcementLearning
using StableRNGs
using Flux
using Flux.Losses

function RL.Experiment(
    ::Val{:JuliaRL},
    ::Val{:PrioritizedDQN},
    ::Val{:CartPole},
    ::Nothing;
    save_dir = nothing,
    seed = 123,
)
    rng = StableRNG(seed)

    env = CartPoleEnv(; T = Float32, rng = rng)
    ns, na = length(state(env)), length(action_space(env))

    agent = Agent(
        policy = QBasedPolicy(
            learner = PrioritizedDQNLearner(
                approximator = NeuralNetworkApproximator(
                    model = Chain(
                        Dense(ns, 128, relu; init = glorot_uniform(rng)),
                        Dense(128, 128, relu; init = glorot_uniform(rng)),
                        Dense(128, na; init = glorot_uniform(rng)),
                    ) |> gpu,
                    optimizer = ADAM(),
                ),
                target_approximator = NeuralNetworkApproximator(
                    model = Chain(
                        Dense(ns, 128, relu; init = glorot_uniform(rng)),
                        Dense(128, 128, relu; init = glorot_uniform(rng)),
                        Dense(128, na; init = glorot_uniform(rng)),
                    ) |> gpu,
                    optimizer = ADAM(),
                ),
                loss_func = (ŷ, y) -> huber_loss(ŷ, y; agg = identity),
                stack_size = nothing,
                batch_size = 32,
                update_horizon = 1,
                min_replay_history = 100,
                update_freq = 1,
                target_update_freq = 100,
                rng = rng,
            ),
            explorer = EpsilonGreedyExplorer(
                kind = :exp,
                ϵ_stable = 0.01,
                decay_steps = 500,
                rng = rng,
            ),
        ),
        trajectory = CircularArrayPSARTTrajectory(
            capacity = 1000,
            state = Vector{Float32} => (ns,),
        ),
    )

    stop_condition = StopAfterStep(10_000)
    hook = TotalRewardPerEpisode()
    Experiment(agent, env, stop_condition, hook, "# Play CartPole with PrioritizedDQN")
end

using Plots
pyplot() #hide
ex = E`JuliaRL_PrioritizedDQN_CartPole`
run(ex)
plot(ex.hook.rewards)
savefig("assets/JuliaRL_PrioritizedDQN_CartPole.png") #hide

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