def train(self):
'''
meta-training loop
'''
self.pretrain()
params = self.get_epoch_snapshot(-1)
logger.save_itr_params(-1, params)
gt.reset()
gt.set_def_unique(False)
self._current_path_builder = PathBuilder()
# at each iteration, we first collect data from tasks, perform meta-updates, then try to evaluate
for it_ in gt.timed_for(
range(self.num_iterations),
save_itrs=True,
):
self._start_epoch(it_)
self.training_mode(True)
if it_ == 0:
print('collecting initial pool of data for train and eval')
# temp for evaluating
for idx in self.train_tasks:
self.task_idx = idx
self.env.reset_task(idx)
self.collect_data(self.num_initial_steps, 1, np.inf)
# Sample data from train tasks.
for i in range(self.num_tasks_sample):
idx = np.random.randint(len(self.train_tasks))
self.task_idx = idx
self.env.reset_task(idx)
self.enc_replay_buffer.task_buffers[idx].clear()
# collect some trajectories with z ~ prior
if self.num_steps_prior > 0:
self.collect_data(self.num_steps_prior, 1, np.inf)
# collect some trajectories with z ~ posterior
if self.num_steps_posterior > 0:
self.collect_data(self.num_steps_posterior, 1,
self.update_post_train)
# even if encoder is trained only on samples from the prior, the policy needs to learn to handle z ~ posterior
if self.num_extra_rl_steps_posterior > 0:
self.collect_data(self.num_extra_rl_steps_posterior,
1,
self.update_post_train,
add_to_enc_buffer=False)
# Sample train tasks and compute gradient updates on parameters.
for train_step in range(self.num_train_steps_per_itr):
indices = np.random.choice(self.train_tasks, self.meta_batch)
self._do_training(indices)
self._n_train_steps_total += 1
gt.stamp('train')
self.training_mode(False)
# eval
self._try_to_eval(it_)
gt.stamp('eval')
self._end_epoch()
def run(self):
if self.progress_csv_file_name != 'progress.csv':
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output(
self.progress_csv_file_name,
relative_to_snapshot_dir=True,
)
timer.return_global_times = True
for _ in range(self.num_iters):
self._begin_epoch()
timer.start_timer('saving')
logger.save_itr_params(self.epoch, self._get_snapshot())
timer.stop_timer('saving')
log_dict, _ = self._train()
logger.record_dict(log_dict)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
self._end_epoch()
logger.save_itr_params(self.epoch, self._get_snapshot())
if self.progress_csv_file_name != 'progress.csv':
logger.remove_tabular_output(
self.progress_csv_file_name,
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
def _end_epoch(self, epoch):
print('in _end_epoch, epoch is: {}'.format(epoch))
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
# trainer_obj = self.trainer
# ckpt_path='ckpt.pkl'
# logger.save_ckpt(epoch, trainer_obj, ckpt_path)
# gt.stamp('saving')
if epoch % 1 == 0:
self.save_snapshot_2(epoch)
expl_paths = self.expl_data_collector.get_epoch_paths()
d = eval_util.get_generic_path_information(expl_paths)
# print(d.keys())
metric_val = d['Rewards Mean']
cur_best_metric_val = self.get_cur_best_metric_val()
if epoch != 0:
self.save_snapshot_2_best_only(
metric_val=metric_val,
cur_best_metric_val=cur_best_metric_val,
min_or_max='max')
self._log_stats(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def _try_to_eval(self, epoch):
if self._can_evaluate():
# save if it's time to save
if epoch % self.freq_saving == 0:
logger.save_extra_data(self.get_extra_data_to_save(epoch))
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
self.evaluate(epoch)
logger.record_tabular(
"Number of train calls total",
self._n_train_steps_total,
)
times_itrs = gt.get_times().stamps.itrs
train_time = times_itrs['train'][-1]
sample_time = times_itrs['sample'][-1]
eval_time = times_itrs['eval'][-1] if epoch > 0 else 0
epoch_time = train_time + sample_time + eval_time
total_time = gt.get_times().total
logger.record_tabular('Train Time (s)', train_time)
logger.record_tabular('(Previous) Eval Time (s)', eval_time)
logger.record_tabular('Sample Time (s)', sample_time)
logger.record_tabular('Epoch Time (s)', epoch_time)
logger.record_tabular('Total Train Time (s)', total_time)
logger.record_tabular("Epoch", epoch)
logger.dump_tabular(with_prefix=False, with_timestamp=False)
else:
logger.log("Skipping eval for now.")
def _try_to_eval(self, epoch=0):
if epoch % self.save_extra_data_interval == 0:
logger.save_extra_data(self.get_extra_data_to_save(epoch), epoch)
if self._can_evaluate():
self.evaluate(epoch)
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
table_keys = logger.get_table_key_set()
if self._old_table_keys is not None:
assert table_keys == self._old_table_keys, (
"Table keys cannot change from iteration to iteration.")
self._old_table_keys = table_keys
logger.record_tabular(
"Number of train steps total",
self._n_train_steps_total,
)
logger.record_tabular(
"Number of env steps total",
self._n_env_steps_total,
)
logger.record_tabular(
"Number of rollouts total",
self._n_rollouts_total,
)
logger.record_tabular("Epoch", epoch)
logger.dump_tabular(with_prefix=False, with_timestamp=False)
else:
logger.log("Skipping eval for now.")
def test_epoch(
self,
epoch,
save_reconstruction=True,
save_vae=True,
from_rl=False,
):
self.model.eval()
losses = []
log_probs = []
kles = []
zs = []
beta = float(self.beta_schedule.get_value(epoch))
for batch_idx in range(10):
next_obs = self.get_batch(train=False)
reconstructions, obs_distribution_params, latent_distribution_params = self.model(next_obs)
log_prob = self.model.logprob(next_obs, obs_distribution_params)
kle = self.model.kl_divergence(latent_distribution_params)
loss = -1 * log_prob + beta * kle
encoder_mean = latent_distribution_params[0]
z_data = ptu.get_numpy(encoder_mean.cpu())
for i in range(len(z_data)):
zs.append(z_data[i, :])
losses.append(loss.item())
log_probs.append(log_prob.item())
kles.append(kle.item())
if batch_idx == 0 and save_reconstruction:
n = min(next_obs.size(0), 8)
comparison = torch.cat([
next_obs[:n].narrow(start=0, length=self.imlength, dim=1)
.contiguous().view(
-1, self.input_channels, self.imsize, self.imsize
).transpose(2, 3),
reconstructions.view(
self.batch_size,
self.input_channels,
self.imsize,
self.imsize,
)[:n].transpose(2, 3)
])
save_dir = osp.join(logger.get_snapshot_dir(),
'r%d.png' % epoch)
save_image(comparison.data.cpu(), save_dir, nrow=n)
zs = np.array(zs)
self.eval_statistics['epoch'] = epoch
self.eval_statistics['test/log prob'] = np.mean(log_probs)
self.eval_statistics['test/KL'] = np.mean(kles)
self.eval_statistics['test/loss'] = np.mean(losses)
self.eval_statistics['beta'] = beta
if not from_rl:
for k, v in self.eval_statistics.items():
logger.record_tabular(k, v)
logger.dump_tabular()
if save_vae:
logger.save_itr_params(epoch, self.model)
def train_vae(variant, return_data=False):
from rlkit.misc.ml_util import PiecewiseLinearSchedule
from rlkit.torch.vae.vae_trainer import ConvVAETrainer
from rlkit.core import logger
beta = variant["beta"]
use_linear_dynamics = variant.get('use_linear_dynamics', False)
generate_vae_dataset_fctn = variant.get('generate_vae_data_fctn',
generate_vae_dataset)
variant['generate_vae_dataset_kwargs'][
'use_linear_dynamics'] = use_linear_dynamics
train_dataset, test_dataset, info = generate_vae_dataset_fctn(
variant['generate_vae_dataset_kwargs'])
if use_linear_dynamics:
action_dim = train_dataset.data['actions'].shape[2]
else:
action_dim = 0
model = get_vae(variant, action_dim)
logger.save_extra_data(info)
logger.get_snapshot_dir()
if 'beta_schedule_kwargs' in variant:
beta_schedule = PiecewiseLinearSchedule(
**variant['beta_schedule_kwargs'])
else:
beta_schedule = None
vae_trainer_class = variant.get('vae_trainer_class', ConvVAETrainer)
trainer = vae_trainer_class(model,
beta=beta,
beta_schedule=beta_schedule,
**variant['algo_kwargs'])
save_period = variant['save_period']
dump_skew_debug_plots = variant.get('dump_skew_debug_plots', False)
for epoch in range(variant['num_epochs']):
should_save_imgs = (epoch % save_period == 0)
trainer.train_epoch(epoch, train_dataset)
trainer.test_epoch(epoch, test_dataset)
if should_save_imgs:
trainer.dump_reconstructions(epoch)
trainer.dump_samples(epoch)
if dump_skew_debug_plots:
trainer.dump_best_reconstruction(epoch)
trainer.dump_worst_reconstruction(epoch)
trainer.dump_sampling_histogram(epoch)
stats = trainer.get_diagnostics()
for k, v in stats.items():
logger.record_tabular(k, v)
logger.dump_tabular()
trainer.end_epoch(epoch)
if epoch % 50 == 0:
logger.save_itr_params(epoch, model)
logger.save_extra_data(model, 'vae.pkl', mode='pickle')
if return_data:
return model, train_dataset, test_dataset
return model
def _try_to_eval(self, epoch):
logger.save_extra_data(self.get_extra_data_to_save(epoch))
if self._can_evaluate():
if self.environment_farming:
# Create new new eval_sampler each evaluation time in order to avoid relesed environment problem
env_for_eval_sampler = self.farmer.force_acq_env()
print(env_for_eval_sampler)
self.eval_sampler = InPlacePathSampler(
env=env_for_eval_sampler,
policy=self.eval_policy,
max_samples=self.num_steps_per_eval + self.max_path_length,
max_path_length=self.max_path_length,
)
self.evaluate(epoch)
# Adding env back to free_env list
self.farmer.add_free_env(env_for_eval_sampler)
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
table_keys = logger.get_table_key_set()
if self._old_table_keys is not None:
assert table_keys == self._old_table_keys, (
"Table keys cannot change from iteration to iteration.")
self._old_table_keys = table_keys
logger.record_tabular(
"Number of train steps total",
self._n_train_steps_total,
)
logger.record_tabular(
"Number of env steps total",
self._n_env_steps_total,
)
logger.record_tabular(
"Number of rollouts total",
self._n_rollouts_total,
)
times_itrs = gt.get_times().stamps.itrs
train_time = times_itrs['train'][-1]
sample_time = times_itrs['sample'][-1]
eval_time = times_itrs['eval'][-1] if epoch > 0 else 0
epoch_time = train_time + sample_time + eval_time
total_time = gt.get_times().total
logger.record_tabular('Train Time (s)', train_time)
logger.record_tabular('(Previous) Eval Time (s)', eval_time)
logger.record_tabular('Sample Time (s)', sample_time)
logger.record_tabular('Epoch Time (s)', epoch_time)
logger.record_tabular('Total Train Time (s)', total_time)
logger.record_tabular("Epoch", epoch)
logger.dump_tabular(with_prefix=False, with_timestamp=False)
else:
logger.log("Skipping eval for now.")
def train(self, start_epoch=0):
self.pretrain()
if start_epoch == 0:
params = self.get_epoch_snapshot(-1)
logger.save_itr_params(-1, params)
self.training_mode(False)
self._n_env_steps_total = start_epoch * self.num_env_steps_per_epoch
gt.reset()
gt.set_def_unique(False)
self.train_online(start_epoch=start_epoch)
def _end_epoch(self, epoch):
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
def _end_epoch(self, epoch):
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch)
self.eval_data_collector.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def _try_to_eval(self, epoch):
if epoch % self.freq_saving == 0:
logger.save_extra_data(self.get_extra_data_to_save(epoch))
if self._can_evaluate():
self.evaluate(epoch)
if epoch % self.freq_saving == 0:
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
table_keys = logger.get_table_key_set()
# if self._old_table_keys is not None:
# print('$$$$$$$$$$$$$$$')
# print(table_keys)
# print('\n'*4)
# print(self._old_table_keys)
# print('$$$$$$$$$$$$$$$')
# print(set(table_keys) - set(self._old_table_keys))
# print(set(self._old_table_keys) - set(table_keys))
# assert table_keys == self._old_table_keys, (
# "Table keys cannot change from iteration to iteration."
# )
# self._old_table_keys = table_keys
logger.record_tabular(
"Number of train steps total",
self._n_train_steps_total,
)
logger.record_tabular(
"Number of env steps total",
self._n_env_steps_total,
)
logger.record_tabular(
"Number of rollouts total",
self._n_rollouts_total,
)
times_itrs = gt.get_times().stamps.itrs
train_time = times_itrs['train'][-1]
sample_time = times_itrs['sample'][-1]
eval_time = times_itrs['eval'][-1] if epoch > 0 else 0
epoch_time = train_time + sample_time + eval_time
total_time = gt.get_times().total
logger.record_tabular('Train Time (s)', train_time)
logger.record_tabular('(Previous) Eval Time (s)', eval_time)
logger.record_tabular('Sample Time (s)', sample_time)
logger.record_tabular('Epoch Time (s)', epoch_time)
logger.record_tabular('Total Train Time (s)', total_time)
logger.record_tabular("Epoch", epoch)
logger.dump_tabular(with_prefix=False, with_timestamp=False)
else:
logger.log("Skipping eval for now.")
def train(self):
timer.return_global_times = True
for _ in range(self.num_epochs):
self._begin_epoch()
timer.start_timer('saving')
logger.save_itr_params(self.epoch, self._get_snapshot())
timer.stop_timer('saving')
log_dict, _ = self._train()
logger.record_dict(log_dict)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
self._end_epoch()
logger.save_itr_params(self.epoch, self._get_snapshot())
def train(self):
'''
meta-training loop
'''
self.pretrain()
gt.reset()
gt.set_def_unique(False)
self._current_path_builder = PathBuilder()
# at each iteration, we first collect data from tasks, perform meta-updates, then try to evaluate
for it_ in gt.timed_for(
range(self.num_iterations),
save_itrs=True,
):
self._start_epoch(it_)
self.training_mode(True)
# Sample train tasks and compute gradient updates on parameters.
batch_idxes = np.random.randint(0,
len(self.train_goals),
size=self.meta_batch_size)
train_batch_obj_id = self.replay_buffers.sample_training_data(
batch_idxes, self.use_same_context)
for _ in range(self.num_train_steps_per_itr):
train_raw_batch = ray.get(train_batch_obj_id)
gt.stamp('sample_training_data', unique=False)
batch_idxes = np.random.randint(0,
len(self.train_goals),
size=self.meta_batch_size)
# In this way, we can start the data sampling job for the
# next training while doing training for the current loop.
train_batch_obj_id = self.replay_buffers.sample_training_data(
batch_idxes, self.use_same_context)
gt.stamp('set_up_sampling', unique=False)
train_data = self.construct_training_batch(train_raw_batch)
gt.stamp('construct_training_batch', unique=False)
self._do_training(train_data)
self._n_train_steps_total += 1
gt.stamp('train')
self.training_mode(False)
# eval
self._try_to_eval(it_)
gt.stamp('eval')
self._end_epoch()
if it_ == self.num_iterations:
logger.save_itr_params(it_, self.agent.get_snapshot())
def _end_epoch(self, epoch, num_epochs_per_eval=0):
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch, num_epochs_per_eval)
self.expl_data_collector.end_epoch(epoch)
# self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def _end_epoch(self, epoch, solved=False):
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch, solved=solved)
self.eval_data_collector.end_epoch(epoch)
if not solved:
self.expl_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def _end_epoch(self, epoch):
#print ("core/rl_algorithm, _end_epoch(): ", "epoch: ", epoch)
snapshot = self._get_snapshot()
#print ("core/rl_algorithm, _end_epoch(): ", "snapshot: ", snapshot)
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def _end_epoch(self, epoch):
snapshot = self._get_snapshot()
# only save params for the first gpu
if ptu.dist_rank == 0:
logger.save_itr_params(epoch, snapshot)
gt.stamp("saving")
self._log_stats(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def train(self):
self.fix_data_set()
logger.log("Done creating dataset.")
num_batches_total = 0
for epoch in range(self.num_epochs):
for _ in range(self.num_batches_per_epoch):
self.qf.train(True)
self._do_training()
num_batches_total += 1
logger.push_prefix('Iteration #%d | ' % epoch)
self.qf.train(False)
self.evaluate(epoch)
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
logger.log("Done evaluating")
logger.pop_prefix()
def _end_epoch(self, epoch):
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
gt.stamp('saving')
self._log_stats(epoch)
if self.collect_actions and epoch % self.collect_actions_every == 0:
self._log_actions(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def train(self, start_epoch=0):
self.pretrain()
if start_epoch == 0:
params = self.get_epoch_snapshot(-1)
logger.save_itr_params(-1, params)
self.training_mode(False)
self._n_env_steps_total = start_epoch * self.num_env_steps_per_epoch
gt.reset()
gt.set_def_unique(False)
if self.collection_mode == 'online':
self.train_online(start_epoch=start_epoch)
elif self.collection_mode == 'batch':
self.train_batch(start_epoch=start_epoch)
else:
raise TypeError("Invalid collection_mode: {}".format(
self.collection_mode))
def _try_to_eval(self,
epoch,
eval_all=False,
eval_train_offline=True,
animated=False):
logger.save_extra_data(self.get_extra_data_to_save(epoch))
if self._can_evaluate():
self.evaluate(epoch, eval_all, eval_train_offline, animated)
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
table_keys = logger.get_table_key_set()
if self._old_table_keys is not None:
assert table_keys == self._old_table_keys, (
"Table keys cannot change from iteration to iteration.")
self._old_table_keys = table_keys
logger.record_tabular(
"Number of train steps total",
self._n_train_steps_total,
)
logger.record_tabular(
"Number of env steps total",
self._n_env_steps_total,
)
logger.record_tabular(
"Number of rollouts total",
self._n_rollouts_total,
)
times_itrs = gt.get_times().stamps.itrs
train_time = times_itrs.get('train', [0])[-1]
sample_time = times_itrs.get('sample', [0])[-1]
eval_time = times_itrs.get('eval', [0])[-1] if epoch > 0 else 0
epoch_time = train_time + sample_time + eval_time
total_time = gt.get_times().total
logger.record_tabular('Train Time (s)', train_time)
logger.record_tabular('(Previous) Eval Time (s)', eval_time)
logger.record_tabular('Sample Time (s)', sample_time)
logger.record_tabular('Epoch Time (s)', epoch_time)
logger.record_tabular('Total Train Time (s)', total_time)
logger.record_tabular("Epoch", epoch)
logger.dump_tabular(with_prefix=False, with_timestamp=False)
else:
logger.log("Skipping eval for now.")
def _end_epoch(self, epoch):
if not self.trainer.discrete:
snapshot = self._get_snapshot()
logger.save_itr_params(epoch, snapshot)
# if snapshot['evaluation/Average Returns'] >= self.best_rewrad:
# self.best_rewrad = snapshot['evaluation/Average Returns']
gt.stamp('saving')
self._log_stats(epoch)
self.expl_data_collector.end_epoch(epoch)
self.eval_data_collector.end_epoch(epoch)
self.replay_buffer.end_epoch(epoch)
self.trainer.end_epoch(epoch)
for post_epoch_func in self.post_epoch_funcs:
post_epoch_func(self, epoch)
def create_policy(variant):
bottom_snapshot = joblib.load(variant['bottom_path'])
column_snapshot = joblib.load(variant['column_path'])
policy = variant['combiner_class'](
policy1=bottom_snapshot['naf_policy'],
policy2=column_snapshot['naf_policy'],
)
env = bottom_snapshot['env']
logger.save_itr_params(0, dict(
policy=policy,
env=env,
))
path = rollout(
env,
policy,
max_path_length=variant['max_path_length'],
animated=variant['render'],
)
env.log_diagnostics([path])
logger.dump_tabular()
def train(self):
for epoch in range(self.num_epochs):
logger.push_prefix('Iteration #%d | ' % epoch)
start_time = time.time()
for _ in range(self.num_steps_per_epoch):
batch = self.get_batch()
train_dict = self.get_train_dict(batch)
self.policy_optimizer.zero_grad()
policy_loss = train_dict['Policy Loss']
policy_loss.backward()
self.policy_optimizer.step()
logger.log("Train time: {}".format(time.time() - start_time))
start_time = time.time()
self.evaluate(epoch)
logger.log("Eval time: {}".format(time.time() - start_time))
params = self.get_epoch_snapshot(epoch)
logger.save_itr_params(epoch, params)
logger.pop_prefix()
def train(dataset_generator,
n_start_samples,
projection=project_samples_square_np,
n_samples_to_add_per_epoch=1000,
n_epochs=100,
z_dim=1,
hidden_size=32,
save_period=10,
append_all_data=True,
full_variant=None,
dynamics_noise=0,
decoder_output_var='learned',
num_bins=5,
skew_config=None,
use_perfect_samples=False,
use_perfect_density=False,
vae_reset_period=0,
vae_kwargs=None,
use_dataset_generator_first_epoch=True,
**kwargs):
"""
Sanitize Inputs
"""
assert skew_config is not None
if not (use_perfect_density and use_perfect_samples):
assert vae_kwargs is not None
if vae_kwargs is None:
vae_kwargs = {}
report = HTMLReport(
logger.get_snapshot_dir() + '/report.html',
images_per_row=10,
)
dynamics = Dynamics(projection, dynamics_noise)
if full_variant:
report.add_header("Variant")
report.add_text(
json.dumps(
ppp.dict_to_safe_json(full_variant, sort=True),
indent=2,
))
vae, decoder, decoder_opt, encoder, encoder_opt = get_vae(
decoder_output_var,
hidden_size,
z_dim,
vae_kwargs,
)
vae.to(ptu.device)
epochs = []
losses = []
kls = []
log_probs = []
hist_heatmap_imgs = []
vae_heatmap_imgs = []
sample_imgs = []
entropies = []
tvs_to_uniform = []
entropy_gains_from_reweighting = []
p_theta = Histogram(num_bins)
p_new = Histogram(num_bins)
orig_train_data = dataset_generator(n_start_samples)
train_data = orig_train_data
start = time.time()
for epoch in progressbar(range(n_epochs)):
p_theta = Histogram(num_bins)
if epoch == 0 and use_dataset_generator_first_epoch:
vae_samples = dataset_generator(n_samples_to_add_per_epoch)
else:
if use_perfect_samples and epoch != 0:
# Ideally the VAE = p_new, but in practice, it won't be...
vae_samples = p_new.sample(n_samples_to_add_per_epoch)
else:
vae_samples = vae.sample(n_samples_to_add_per_epoch)
projected_samples = dynamics(vae_samples)
if append_all_data:
train_data = np.vstack((train_data, projected_samples))
else:
train_data = np.vstack((orig_train_data, projected_samples))
p_theta.fit(train_data)
if use_perfect_density:
prob = p_theta.compute_density(train_data)
else:
prob = vae.compute_density(train_data)
all_weights = prob_to_weight(prob, skew_config)
p_new.fit(train_data, weights=all_weights)
if epoch == 0 or (epoch + 1) % save_period == 0:
epochs.append(epoch)
report.add_text("Epoch {}".format(epoch))
hist_heatmap_img = visualize_histogram(p_theta, skew_config,
report)
vae_heatmap_img = visualize_vae(
vae,
skew_config,
report,
resolution=num_bins,
)
sample_img = visualize_vae_samples(
epoch,
train_data,
vae,
report,
dynamics,
)
visualize_samples(
p_theta.sample(n_samples_to_add_per_epoch),
report,
title="P Theta/RB Samples",
)
visualize_samples(
p_new.sample(n_samples_to_add_per_epoch),
report,
title="P Adjusted Samples",
)
hist_heatmap_imgs.append(hist_heatmap_img)
vae_heatmap_imgs.append(vae_heatmap_img)
sample_imgs.append(sample_img)
report.save()
Image.fromarray(
hist_heatmap_img).save(logger.get_snapshot_dir() +
'/hist_heatmap{}.png'.format(epoch))
Image.fromarray(
vae_heatmap_img).save(logger.get_snapshot_dir() +
'/hist_heatmap{}.png'.format(epoch))
Image.fromarray(sample_img).save(logger.get_snapshot_dir() +
'/samples{}.png'.format(epoch))
"""
train VAE to look like p_new
"""
if sum(all_weights) == 0:
all_weights[:] = 1
if vae_reset_period > 0 and epoch % vae_reset_period == 0:
vae, decoder, decoder_opt, encoder, encoder_opt = get_vae(
decoder_output_var,
hidden_size,
z_dim,
vae_kwargs,
)
vae.to(ptu.device)
vae.fit(train_data, weights=all_weights)
epoch_stats = vae.get_epoch_stats()
losses.append(np.mean(epoch_stats['losses']))
kls.append(np.mean(epoch_stats['kls']))
log_probs.append(np.mean(epoch_stats['log_probs']))
entropies.append(p_theta.entropy())
tvs_to_uniform.append(p_theta.tv_to_uniform())
entropy_gain = p_new.entropy() - p_theta.entropy()
entropy_gains_from_reweighting.append(entropy_gain)
for k in sorted(epoch_stats.keys()):
logger.record_tabular(k, epoch_stats[k])
logger.record_tabular("Epoch", epoch)
logger.record_tabular('Entropy ', p_theta.entropy())
logger.record_tabular('KL from uniform', p_theta.kl_from_uniform())
logger.record_tabular('TV to uniform', p_theta.tv_to_uniform())
logger.record_tabular('Entropy gain from reweight', entropy_gain)
logger.record_tabular('Total Time (s)', time.time() - start)
logger.dump_tabular()
logger.save_itr_params(
epoch, {
'vae': vae,
'train_data': train_data,
'vae_samples': vae_samples,
'dynamics': dynamics,
})
report.add_header("Training Curves")
plot_curves(
[
("Training Loss", losses),
("KL", kls),
("Log Probs", log_probs),
("Entropy Gain from Reweighting", entropy_gains_from_reweighting),
],
report,
)
plot_curves(
[
("Entropy", entropies),
("TV to Uniform", tvs_to_uniform),
],
report,
)
report.add_text("Max entropy: {}".format(p_theta.max_entropy()))
report.save()
for filename, imgs in [
("hist_heatmaps", hist_heatmap_imgs),
("vae_heatmaps", vae_heatmap_imgs),
("samples", sample_imgs),
]:
video = np.stack(imgs)
vwrite(
logger.get_snapshot_dir() + '/{}.mp4'.format(filename),
video,
)
local_gif_file_path = '{}.gif'.format(filename)
gif_file_path = '{}/{}'.format(logger.get_snapshot_dir(),
local_gif_file_path)
gif(gif_file_path, video)
report.add_image(local_gif_file_path, txt=filename, is_url=True)
report.save()
def train(self):
'''
meta-training loop
'''
self.pretrain()
params = self.get_epoch_snapshot(-1)
logger.save_itr_params(-1, params)
gt.reset()
gt.set_def_unique(False)
self._current_path_builder = PathBuilder()
self.train_obs = self._start_new_rollout()
# at each iteration, we first collect data from tasks, perform meta-updates, then try to evaluate
for it_ in gt.timed_for(
range(self.num_iterations),
save_itrs=True,
):
self._start_epoch(it_)
self.training_mode(True)
if it_ == 0:
print('collecting initial pool of data for train and eval')
# temp for evaluating
for idx in self.train_tasks:
print('train task', idx)
self.task_idx = idx
self.env.reset_task(idx)
self.collect_data_sampling_from_prior(
num_samples=self.max_path_length * 10,
resample_z_every_n=self.max_path_length,
eval_task=False)
"""
for idx in self.eval_tasks:
self.task_idx = idx
self.env.reset_task(idx)
# TODO: make number of initial trajectories a parameter
self.collect_data_sampling_from_prior(num_samples=self.max_path_length * 20,
resample_z_every_n=self.max_path_length,
eval_task=True)
"""
# Sample data from train tasks.
for i in range(self.num_tasks_sample):
idx = np.random.randint(len(self.train_tasks))
self.task_idx = idx
self.env.reset_task(idx)
# TODO: there may be more permutations of sampling/adding to encoding buffer we may wish to try
if self.train_embedding_source == 'initial_pool':
# embeddings are computed using only the initial pool of data
# sample data from posterior to train RL algorithm
self.collect_data_from_task_posterior(
idx=idx,
num_samples=self.num_steps_per_task,
add_to_enc_buffer=False)
elif self.train_embedding_source == 'posterior_only':
self.collect_data_from_task_posterior(
idx=idx,
num_samples=self.num_steps_per_task,
eval_task=False,
add_to_enc_buffer=True)
elif self.train_embedding_source == 'online_exploration_trajectories':
# embeddings are computed using only data collected using the prior
# sample data from posterior to train RL algorithm
self.enc_replay_buffer.task_buffers[idx].clear()
# resamples using current policy, conditioned on prior
self.collect_data_sampling_from_prior(
num_samples=self.num_steps_per_task,
resample_z_every_n=self.max_path_length,
add_to_enc_buffer=True)
self.env.reset_task(idx)
self.collect_data_from_task_posterior(
idx=idx,
num_samples=self.num_steps_per_task,
add_to_enc_buffer=False,
viz=True)
elif self.train_embedding_source == 'online_on_policy_trajectories':
# sample from prior, then sample more from the posterior
# embeddings computed from both prior and posterior data
self.enc_replay_buffer.task_buffers[idx].clear()
self.collect_data_online(
idx=idx,
num_samples=self.num_steps_per_task,
add_to_enc_buffer=True)
else:
raise Exception(
"Invalid option for computing train embedding {}".
format(self.train_embedding_source))
# Sample train tasks and compute gradient updates on parameters.
for train_step in range(self.num_train_steps_per_itr):
indices = np.random.choice(self.train_tasks, self.meta_batch)
self._do_training(indices, train_step)
self._n_train_steps_total += 1
gt.stamp('train')
#self.training_mode(False)
# eval
self._try_to_eval(it_)
gt.stamp('eval')
self._end_epoch()
def train_pixelcnn(
vqvae=None,
vqvae_path=None,
num_epochs=100,
batch_size=32,
n_layers=15,
dataset_path=None,
save=True,
save_period=10,
cached_dataset_path=False,
trainer_kwargs=None,
model_kwargs=None,
data_filter_fn=lambda x: x,
debug=False,
data_size=float('inf'),
num_train_batches_per_epoch=None,
num_test_batches_per_epoch=None,
train_img_loader=None,
test_img_loader=None,
):
trainer_kwargs = {} if trainer_kwargs is None else trainer_kwargs
model_kwargs = {} if model_kwargs is None else model_kwargs
# Load VQVAE + Define Args
if vqvae is None:
vqvae = load_local_or_remote_file(vqvae_path)
vqvae.to(ptu.device)
vqvae.eval()
root_len = vqvae.root_len
num_embeddings = vqvae.num_embeddings
embedding_dim = vqvae.embedding_dim
cond_size = vqvae.num_embeddings
imsize = vqvae.imsize
discrete_size = root_len * root_len
representation_size = embedding_dim * discrete_size
input_channels = vqvae.input_channels
imlength = imsize * imsize * input_channels
log_dir = logger.get_snapshot_dir()
# Define data loading info
new_path = osp.join(log_dir, 'pixelcnn_data.npy')
def prep_sample_data(cached_path):
data = load_local_or_remote_file(cached_path).item()
train_data = data['train']
test_data = data['test']
return train_data, test_data
def encode_dataset(path, object_list):
data = load_local_or_remote_file(path)
data = data.item()
data = data_filter_fn(data)
all_data = []
n = min(data["observations"].shape[0], data_size)
for i in tqdm(range(n)):
obs = ptu.from_numpy(data["observations"][i] / 255.0)
latent = vqvae.encode(obs, cont=False)
all_data.append(latent)
encodings = ptu.get_numpy(torch.stack(all_data, dim=0))
return encodings
if train_img_loader:
_, test_loader, test_batch_loader = create_conditional_data_loader(
test_img_loader, 80, vqvae, "test2") # 80
_, train_loader, train_batch_loader = create_conditional_data_loader(
train_img_loader, 2000, vqvae, "train2") # 2000
else:
if cached_dataset_path:
train_data, test_data = prep_sample_data(cached_dataset_path)
else:
train_data = encode_dataset(dataset_path['train'],
None) # object_list)
test_data = encode_dataset(dataset_path['test'], None)
dataset = {'train': train_data, 'test': test_data}
np.save(new_path, dataset)
_, _, train_loader, test_loader, _ = \
rlkit.torch.vae.pixelcnn_utils.load_data_and_data_loaders(new_path, 'COND_LATENT_BLOCK', batch_size)
#train_dataset = InfiniteBatchLoader(train_loader)
#test_dataset = InfiniteBatchLoader(test_loader)
print("Finished loading data")
model = GatedPixelCNN(num_embeddings,
root_len**2,
n_classes=representation_size,
**model_kwargs).to(ptu.device)
trainer = PixelCNNTrainer(
model,
vqvae,
batch_size=batch_size,
**trainer_kwargs,
)
print("Starting training")
BEST_LOSS = 999
for epoch in range(num_epochs):
should_save = (epoch % save_period == 0) and (epoch > 0)
trainer.train_epoch(epoch, train_loader, num_train_batches_per_epoch)
trainer.test_epoch(epoch, test_loader, num_test_batches_per_epoch)
test_data = test_batch_loader.random_batch(bz)["x"]
train_data = train_batch_loader.random_batch(bz)["x"]
trainer.dump_samples(epoch, test_data, test=True)
trainer.dump_samples(epoch, train_data, test=False)
if should_save:
logger.save_itr_params(epoch, model)
stats = trainer.get_diagnostics()
cur_loss = stats["test/loss"]
if cur_loss < BEST_LOSS:
BEST_LOSS = cur_loss
vqvae.set_pixel_cnn(model)
logger.save_extra_data(vqvae, 'best_vqvae', mode='torch')
else:
return vqvae
for k, v in stats.items():
logger.record_tabular(k, v)
logger.dump_tabular()
trainer.end_epoch(epoch)
return vqvae
def train(self):
'''
meta-training loop
'''
self.pretrain()
params = self.get_epoch_snapshot(-1)
logger.save_itr_params(-1, params)
gt.reset()
gt.set_def_unique(False)
self._current_path_builder = PathBuilder()
# at each iteration, we first collect data from tasks, perform meta-updates, then try to evaluate
for it_ in gt.timed_for(
range(self.num_iterations),
save_itrs=True,
):
self._start_epoch(it_)
self.training_mode(True)
print("\nIteration:{}".format(it_+1))
if it_ == 0:# 算法第一步，初始化每个任务的buffer
print('\nCollecting initial pool of data for train and eval')
# temp for evaluating
for idx in self.train_tasks:#在训练开始之前，为每个任务采集2000条transition
self.task_idx = idx#更改当前任务idx
self.env.reset_task(idx)#重置任务
self.collect_data(self.num_initial_steps, 1, np.inf)#采集num_initial_steps条轨迹c并利用q(z|c)更新self.z
# print("task id:", self.task_idx, " env:", self.replay_buffer.env)
# print("buffer ", self.task_idx, ":", self.replay_buffer.task_buffers[self.task_idx].__dict__.items())
# Sample data from train tasks.
print("\nFinishing collecting initial pool of data")
print("\nSampling data from train tasks for Meta-training")
for i in range(self.num_tasks_sample):#对于所有的train_tasks，随机从中取5个，然后为每个任务的buffer采集num_steps_prior + num_extra_rl_steps_posterior条transition
print("\nSample data , round{}".format(i+1))#为每个任务的enc_buffer采集num_steps_prior条transition
idx = np.random.randint(len(self.train_tasks))#train_tasks里面随便选一个task
self.task_idx = idx
self.env.reset_task(idx)#task重置
self.enc_replay_buffer.task_buffers[idx].clear()#清除对应的enc_bufffer
# collect some trajectories with z ~ prior
if self.num_steps_prior > 0:
print("\ncollect some trajectories with z ~ prior")
self.collect_data(self.num_steps_prior, 1, np.inf)#利用z的先验采集num_steps_prior条transition
# collect some trajectories with z ~ posterior
if self.num_steps_posterior > 0:
print("\ncollect some trajectories with z ~ posterior")
self.collect_data(self.num_steps_posterior, 1, self.update_post_train)#利用后验的z收集轨迹
# even if encoder is trained only on samples from the prior, the policy needs to learn to handle z ~ posterior
if self.num_extra_rl_steps_posterior > 0:
print("\ncollect some trajectories for policy update only")
self.collect_data(self.num_extra_rl_steps_posterior, 1, self.update_post_train, add_to_enc_buffer=False)#利用后验的z收集num_extra_rl_steps_posterior条轨迹，仅用于策略
print("\nFinishing sample data from train tasks")
# Sample train tasks and compute gradient updates on parameters.
print("\nStrating Meta-training ， Episode {}".format(it_))
for train_step in range(self.num_train_steps_per_itr):#每轮迭代计算num_train_steps_per_itr次梯度 500x2000=1000000
indices = np.random.choice(self.train_tasks, self.meta_batch)#train_tasks中随机取meta_batch个task , sample RL batch b~B
if ((train_step + 1) % 500 == 0):
print("\nTraining step {}".format(train_step + 1))
print("Indices: {}".format(indices))
print("alpha:{}".format(self.alpha))
self._do_training(indices)#梯度下降
self._n_train_steps_total += 1
gt.stamp('train')
self.training_mode(False)
# eval
self._try_to_eval(it_)
gt.stamp('eval')
self._end_epoch()
def test_epoch(
self,
epoch,
sample_batch=None,
key=None,
save_reconstruction=True,
save_vae=True,
from_rl=False,
save_prefix='r',
only_train_vae=False,
):
self.model.eval()
losses = []
log_probs = []
triplet_losses = []
matching_losses = []
vae_matching_losses = []
kles = []
lstm_kles = []
ae_losses = []
contrastive_losses = []
beta = float(self.beta_schedule.get_value(epoch))
for batch_idx in range(10):
# print(batch_idx)
if sample_batch is not None:
data = sample_batch(self.batch_size, key=key)
next_obs = data['next_obs']
else:
next_obs = self.get_batch(epoch=epoch)
reconstructions, obs_distribution_params, vae_latent_distribution_params, lstm_latent_encodings = self.model(
next_obs)
latent_encodings = lstm_latent_encodings
vae_mu = vae_latent_distribution_params[0] # this is lstm inputs
latent_distribution_params = vae_latent_distribution_params
triplet_loss = ptu.zeros(1)
for tri_idx, triplet_type in enumerate(self.triplet_loss_type):
if triplet_type == 1 and not only_train_vae:
triplet_loss += self.triplet_loss_coef[
tri_idx] * self.triplet_loss(latent_encodings)
elif triplet_type == 2 and not only_train_vae:
triplet_loss += self.triplet_loss_coef[
tri_idx] * self.triplet_loss_2(next_obs)
elif triplet_type == 3 and not only_train_vae:
triplet_loss += self.triplet_loss_coef[
tri_idx] * self.triplet_loss_3(next_obs)
if self.matching_loss_coef > 0 and not only_train_vae:
matching_loss = self.matching_loss(next_obs)
else:
matching_loss = ptu.zeros(1)
if self.vae_matching_loss_coef > 0:
matching_loss_vae = self.matching_loss_vae(next_obs)
else:
matching_loss_vae = ptu.zeros(1)
if self.contrastive_loss_coef > 0 and not only_train_vae:
contrastive_loss = self.contrastive_loss(next_obs)
else:
contrastive_loss = ptu.zeros(1)
log_prob = self.model.logprob(next_obs, obs_distribution_params)
kle = self.model.kl_divergence(latent_distribution_params)
lstm_kle = ptu.zeros(1)
ae_loss = F.mse_loss(
latent_encodings.view((-1, self.model.representation_size)),
vae_mu.detach())
ae_losses.append(ae_loss.item())
loss = -self.recon_loss_coef * log_prob + beta * kle + \
self.matching_loss_coef * matching_loss + self.ae_loss_coef * ae_loss + triplet_loss + \
self.vae_matching_loss_coef * matching_loss_vae + self.contrastive_loss_coef * contrastive_loss
losses.append(loss.item())
log_probs.append(log_prob.item())
triplet_losses.append(triplet_loss.item())
matching_losses.append(matching_loss.item())
vae_matching_losses.append(matching_loss_vae.item())
kles.append(kle.item())
lstm_kles.append(lstm_kle.item())
contrastive_losses.append(contrastive_loss.item())
if batch_idx == 0 and save_reconstruction:
seq_len, batch_size, feature_size = next_obs.shape
show_obs = next_obs[0][:8]
reconstructions = reconstructions.view(
(seq_len, batch_size, feature_size))[0][:8]
comparison = torch.cat([
show_obs.narrow(start=0, length=self.imlength,
dim=1).contiguous().view(
-1, self.input_channels, self.imsize,
self.imsize).transpose(2, 3),
reconstructions.view(
-1,
self.input_channels,
self.imsize,
self.imsize,
).transpose(2, 3)
])
save_dir = osp.join(logger.get_snapshot_dir(),
'{}{}.png'.format(save_prefix, epoch))
save_image(comparison.data.cpu(), save_dir, nrow=8)
self.eval_statistics['epoch'] = epoch
self.eval_statistics['test/log prob'] = np.mean(log_probs)
self.eval_statistics['test/triplet loss'] = np.mean(triplet_losses)
self.eval_statistics['test/vae matching loss'] = np.mean(
vae_matching_losses)
self.eval_statistics['test/matching loss'] = np.mean(matching_losses)
self.eval_statistics['test/KL'] = np.mean(kles)
self.eval_statistics['test/lstm KL'] = np.mean(lstm_kles)
self.eval_statistics['test/loss'] = np.mean(losses)
self.eval_statistics['test/contrastive loss'] = np.mean(
contrastive_losses)
self.eval_statistics['beta'] = beta
self.eval_statistics['test/ae loss'] = np.mean(ae_losses)
if not from_rl:
for k, v in self.eval_statistics.items():
logger.record_tabular(k, v)
logger.dump_tabular()
if save_vae:
logger.save_itr_params(epoch, self.model)
torch.cuda.empty_cache()
