def ppo_lagrangian(**kwargs):
# Objective-penalized form of Lagrangian PPO.
ppo_kwargs = dict(reward_penalized=False,
objective_penalized=True,
learn_penalty=True,
penalty_param_loss=True)
agent = PPOAgent(**ppo_kwargs)
run_polopt_agent(agent=agent, **kwargs)
def ppo(**kwargs):
ppo_kwargs = dict(
reward_penalized=False,
objective_penalized=False,
learn_penalty=False,
penalty_param_loss=False # Irrelevant in unconstrained
)
agent = PPOAgent(**ppo_kwargs)
run_polopt_agent(agent=agent, **kwargs)
def run_polopt_agent(env_fn,
agent=PPOAgent(),
actor_critic=mlp_actor_critic,
ac_kwargs=dict(),
seed=0,
render=False,
# Experience collection:
steps_per_epoch=4000,
epochs=50,
max_ep_len=1000,
# Discount factors:
gamma=0.99,
lam=0.97,
cost_gamma=0.99,
cost_lam=0.97,
# Policy learning:
ent_reg=0.,
# Cost constraints / penalties:
cost_lim=25,
penalty_init=1.,
penalty_lr=5e-2,
# KL divergence:
target_kl=0.01,
# Value learning:
vf_lr=1e-3,
vf_iters=80,
# Logging:
logger=None,
logger_kwargs=dict(),
save_freq=1
):
#=========================================================================#
# Prepare logger, seed, and environment in this process #
#=========================================================================#
logger = EpochLogger(**logger_kwargs) if logger is None else logger
logger.save_config(locals())
seed += 10000 * proc_id()
tf.set_random_seed(seed)
np.random.seed(seed)
env = env_fn()
agent.set_logger(logger)
#=========================================================================#
# Create computation graph for actor and critic (not training routine) #
#=========================================================================#
# Share information about action space with policy architecture
ac_kwargs['action_space'] = env.action_space
# Inputs to computation graph from environment spaces
x_ph, a_ph = placeholders_from_spaces(env.observation_space, env.action_space)
# Inputs to computation graph for batch data
adv_ph, cadv_ph, ret_ph, cret_ph, logp_old_ph = placeholders(*(None for _ in range(5)))
# Inputs to computation graph for special purposes
surr_cost_rescale_ph = tf.compat.v1.placeholder(tf.float32, shape=())
cur_cost_ph = tf.compat.v1.placeholder(tf.float32, shape=())
# Outputs from actor critic
ac_outs = actor_critic(x_ph, a_ph, **ac_kwargs)
pi, logp, logp_pi, pi_info, pi_info_phs, d_kl, ent, v, vc = ac_outs
# Organize placeholders for zipping with data from buffer on updates
buf_phs = [x_ph, a_ph, adv_ph, cadv_ph, ret_ph, cret_ph, logp_old_ph]
buf_phs += values_as_sorted_list(pi_info_phs)
# Organize symbols we have to compute at each step of acting in env
get_action_ops = dict(pi=pi,
v=v,
logp_pi=logp_pi,
pi_info=pi_info)
# If agent is reward penalized, it doesn't use a separate value function
# for costs and we don't need to include it in get_action_ops; otherwise we do.
if not(agent.reward_penalized):
get_action_ops['vc'] = vc
# Count variables
var_counts = tuple(count_vars(scope) for scope in ['pi', 'vf', 'vc'])
logger.log('\nNumber of parameters: \t pi: %d, \t v: %d, \t vc: %d\n'%var_counts)
# Make a sample estimate for entropy to use as sanity check
approx_ent = tf.reduce_mean(-logp)
#=========================================================================#
# Create replay buffer #
#=========================================================================#
# Obs/act shapes
obs_shape = env.observation_space.shape
act_shape = env.action_space.shape
# Experience buffer
local_steps_per_epoch = int(steps_per_epoch / num_procs())
pi_info_shapes = {k: v.shape.as_list()[1:] for k,v in pi_info_phs.items()}
buf = CPOBuffer(local_steps_per_epoch,
obs_shape,
act_shape,
pi_info_shapes,
gamma,
lam,
cost_gamma,
cost_lam)
#=========================================================================#
# Create computation graph for penalty learning, if applicable #
#=========================================================================#
if agent.use_penalty:
with tf.compat.v1.variable_scope('penalty'):
# param_init = np.log(penalty_init)
param_init = np.log(max(np.exp(penalty_init)-1, 1e-8))
penalty_param = tf.compat.v1.get_variable('penalty_param',
initializer=float(param_init),
trainable=agent.learn_penalty,
dtype=tf.float32)
# penalty = tf.exp(penalty_param)
penalty = tf.nn.softplus(penalty_param)
if agent.learn_penalty:
if agent.penalty_param_loss:
penalty_loss = -penalty_param * (cur_cost_ph - cost_lim)
else:
penalty_loss = -penalty * (cur_cost_ph - cost_lim)
train_penalty = MpiAdamOptimizer(learning_rate=penalty_lr).minimize(penalty_loss)
#=========================================================================#
# Create computation graph for policy learning #
#=========================================================================#
# Likelihood ratio
ratio = tf.exp(logp - logp_old_ph)
# Surrogate advantage / clipped surrogate advantage
if agent.clipped_adv:
min_adv = tf.where(adv_ph>0,
(1+agent.clip_ratio)*adv_ph,
(1-agent.clip_ratio)*adv_ph
)
surr_adv = tf.reduce_mean(tf.minimum(ratio * adv_ph, min_adv))
else:
surr_adv = tf.reduce_mean(ratio * adv_ph)
# Surrogate cost
surr_cost = tf.reduce_mean(ratio * cadv_ph)
# Create policy objective function, including entropy regularization
pi_objective = surr_adv + ent_reg * ent
# Possibly include surr_cost in pi_objective
if agent.objective_penalized:
pi_objective -= penalty * surr_cost
pi_objective /= (1 + penalty)
# Loss function for pi is negative of pi_objective
pi_loss = -pi_objective
# Optimizer-specific symbols
if agent.trust_region:
# Symbols needed for CG solver for any trust region method
pi_params = get_vars('pi')
flat_g = tro.flat_grad(pi_loss, pi_params)
v_ph, hvp = tro.hessian_vector_product(d_kl, pi_params)
if agent.damping_coeff > 0:
hvp += agent.damping_coeff * v_ph
# Symbols needed for CG solver for CPO only
flat_b = tro.flat_grad(surr_cost, pi_params)
# Symbols for getting and setting params
get_pi_params = tro.flat_concat(pi_params)
set_pi_params = tro.assign_params_from_flat(v_ph, pi_params)
training_package = dict(flat_g=flat_g,
flat_b=flat_b,
v_ph=v_ph,
hvp=hvp,
get_pi_params=get_pi_params,
set_pi_params=set_pi_params)
elif agent.first_order:
# Optimizer for first-order policy optimization
train_pi = MpiAdamOptimizer(learning_rate=agent.pi_lr).minimize(pi_loss)
# Prepare training package for agent
training_package = dict(train_pi=train_pi)
else:
raise NotImplementedError
# Provide training package to agent
training_package.update(dict(pi_loss=pi_loss,
surr_cost=surr_cost,
d_kl=d_kl,
target_kl=target_kl,
cost_lim=cost_lim))
agent.prepare_update(training_package)
#=========================================================================#
# Create computation graph for value learning #
#=========================================================================#
# Value losses
v_loss = tf.reduce_mean((ret_ph - v)**2)
vc_loss = tf.reduce_mean((cret_ph - vc)**2)
# If agent uses penalty directly in reward function, don't train a separate
# value function for predicting cost returns. (Only use one vf for r - p*c.)
if agent.reward_penalized:
total_value_loss = v_loss
else:
total_value_loss = v_loss + vc_loss
# Optimizer for value learning
train_vf = MpiAdamOptimizer(learning_rate=vf_lr).minimize(total_value_loss)
#=========================================================================#
# Create session, sync across procs, and set up saver #
#=========================================================================#
sess = tf.compat.v1.Session()
sess.run(tf.global_variables_initializer())
# Sync params across processes
sess.run(sync_all_params())
# Setup model saving
logger.setup_tf_saver(sess, inputs={'x': x_ph}, outputs={'pi': pi, 'v': v, 'vc': vc})
#=========================================================================#
# Provide session to agent #
#=========================================================================#
agent.prepare_session(sess)
#=========================================================================#
# Create function for running update (called at end of each epoch) #
#=========================================================================#
def update():
cur_cost = logger.get_stats('EpCost')[0]
c = cur_cost - cost_lim
if c > 0 and agent.cares_about_cost:
logger.log('Warning! Safety constraint is already violated.', 'red')
#=====================================================================#
# Prepare feed dict #
#=====================================================================#
inputs = {k:v for k,v in zip(buf_phs, buf.get())}
inputs[surr_cost_rescale_ph] = logger.get_stats('EpLen')[0]
inputs[cur_cost_ph] = cur_cost
#=====================================================================#
# Make some measurements before updating #
#=====================================================================#
measures = dict(LossPi=pi_loss,
SurrCost=surr_cost,
LossV=v_loss,
Entropy=ent)
if not(agent.reward_penalized):
measures['LossVC'] = vc_loss
if agent.use_penalty:
measures['Penalty'] = penalty
pre_update_measures = sess.run(measures, feed_dict=inputs)
logger.store(**pre_update_measures)
#=====================================================================#
# Update penalty if learning penalty #
#=====================================================================#
if agent.learn_penalty:
sess.run(train_penalty, feed_dict={cur_cost_ph: cur_cost})
#=====================================================================#
# Update policy #
#=====================================================================#
agent.update_pi(inputs)
#=====================================================================#
# Update value function #
#=====================================================================#
for _ in range(vf_iters):
sess.run(train_vf, feed_dict=inputs)
#=====================================================================#
# Make some measurements after updating #
#=====================================================================#
del measures['Entropy']
measures['KL'] = d_kl
post_update_measures = sess.run(measures, feed_dict=inputs)
deltas = dict()
for k in post_update_measures:
if k in pre_update_measures:
deltas['Delta'+k] = post_update_measures[k] - pre_update_measures[k]
logger.store(KL=post_update_measures['KL'], **deltas)
#=========================================================================#
# Run main environment interaction loop #
#=========================================================================#
start_time = time.time()
o, r, d, c, ep_ret, ep_cost, ep_len = env.reset(), 0, False, 0, 0, 0, 0
cur_penalty = 0
cum_cost = 0
for epoch in range(epochs):
if agent.use_penalty:
cur_penalty = sess.run(penalty)
# will gather 30,000 state, action, next state
for t in range(local_steps_per_epoch):
# Possibly render
if render and proc_id()==0 and t < 1000:
env.render()
# Get outputs from policy
get_action_outs = sess.run(get_action_ops,
feed_dict={x_ph: o[np.newaxis]})
a = get_action_outs['pi']
v_t = get_action_outs['v']
vc_t = get_action_outs.get('vc', 0) # Agent may not use cost value func
logp_t = get_action_outs['logp_pi']
pi_info_t = get_action_outs['pi_info']
# Step in environment
o2, r, d, info = env.step(a)
# Include penalty on cost
c = info.get('cost', 0)
# Track cumulative cost over training
cum_cost += c
# save and log
if agent.reward_penalized:
r_total = r - cur_penalty * c
r_total = r_total / (1 + cur_penalty)
buf.store(o, a, r_total, v_t, 0, 0, logp_t, pi_info_t)
else:
buf.store(o, a, r, v_t, c, vc_t, logp_t, pi_info_t)
logger.store(VVals=v_t, CostVVals=vc_t)
o = o2
ep_ret += r
ep_cost += c
ep_len += 1
"""
t=0 t = 30,000
| 30,000 local_steps_per_epoch |
| ep | ep | ep | ep | ep | ep |
max 1000
"""
# reach the goal or hit max env timesteps (1000)
terminal = (d or (ep_len == max_ep_len))
if terminal or (t==local_steps_per_epoch-1):
# If trajectory didn't reach terminal state, bootstrap value target(s)
if d and not(ep_len == max_ep_len):
# Note: we do not count env time out as true terminal state
last_val, last_cval = 0, 0
else:
feed_dict={x_ph: o[np.newaxis]}
if agent.reward_penalized:
last_val = sess.run(v, feed_dict=feed_dict)
last_cval = 0
else:
last_val, last_cval = sess.run([v, vc], feed_dict=feed_dict)
buf.finish_path(last_val, last_cval)
# Only save EpRet / EpLen if trajectory finished
if terminal:
logger.store(EpRet=ep_ret, EpLen=ep_len, EpCost=ep_cost)
else:
print('Warning: trajectory cut off by epoch at %d steps.'%ep_len)
# Reset environment
o, r, d, c, ep_ret, ep_len, ep_cost = env.reset(), 0, False, 0, 0, 0, 0
except:
print('Make sure to install Safety Gym to use constrained RL environments.')
mpi_fork(args.cpu) # run parallel code with mpi
# Prepare logger
from safe_rl.utils.run_utils import setup_logger_kwargs
logger_kwargs = setup_logger_kwargs(args.exp_name, args.seed)
# Prepare agent
agent_kwargs = dict(reward_penalized=args.reward_penalized,
objective_penalized=args.objective_penalized,
learn_penalty=args.learn_penalty,
penalty_param_loss=args.penalty_param_loss)
if args.agent=='ppo':
agent = PPOAgent(**agent_kwargs)
elif args.agent=='trpo':
agent = TRPOAgent(**agent_kwargs)
elif args.agent=='cpo':
agent = CPOAgent(**agent_kwargs)
run_polopt_agent(lambda : gym.make(args.env),
agent=agent,
actor_critic=mlp_actor_critic,
ac_kwargs=dict(hidden_sizes=[args.hid]*args.l),
seed=args.seed,
render=args.render,
# Experience collection:
steps_per_epoch=args.steps,
epochs=args.epochs,
max_ep_len=args.len,
def run_polopt_agent(
env_fn,
agent=PPOAgent(),
actor_critic=actor_critic,
ac_kwargs=dict(),
seed=0,
render=False,
# Experience collection:
steps_per_epoch=4000,
epochs=50,
max_ep_len=1000,
# Discount factors:
gamma=0.99,
lam=0.97,
cost_gamma=0.99,
cost_lam=0.97,
# Policy learning:
ent_reg=0.0,
# Cost constraints / penalties:
cost_lim=25,
penalty_init=1.0,
penalty_lr=5e-2,
# KL divergence:
target_kl=0.01,
# Value learning:
vf_lr=1e-3,
vf_iters=80,
# Logging:
logger=None,
logger_kwargs=dict(),
save_freq=1,
visual_obs=False,
safety_checks=False,
sym_features=False,
env_name="",
verbose=False,
log_params=None,
n_envs=6,
discretize=False,
):
oracle = True
assert not discretize, "not yet supported; have to change the loss function too?"
sym_features = False
global IMG_SIZE
if not (safety_checks or sym_features):
IMG_SIZE = IMG_RESIZE
# =========================================================================#
# Prepare logger, seed, and environment in this process #
# =========================================================================#
logger = EpochLogger(**logger_kwargs) if logger is None else logger
logger.save_config(locals())
tf.set_random_seed(seed)
np.random.seed(seed)
ray.init()
if safety_checks or sym_features:
if not oracle:
device = torch.device("cuda")
model = torch.jit.load(
"/srl/models/model_0166d3228ffa4cb0a55a7c7c696e43b7_final.zip")
model = model.to(device).eval()
sym_map = SymMapCenterNet(model, device)
@ray.remote
class RemoteEnv:
def __init__(self, env, visual_obs: bool, safety_checks: bool):
if visual_obs or safety_checks:
self.visual_env = VisionWrapper(env, IMG_SIZE, IMG_SIZE)
if self.visual_env.viewer is None:
self.visual_env.reset()
self.visual_env._make_viewer()
if visual_obs:
env = self.visual_env
self.env = env
self.state = State()
self.n_unsafe_allowed = 0
self.safety_checks = safety_checks
self.visual_obs = visual_obs
self.sym_map = SymMapOracle(env)
def reset(self):
i = 0
while True:
obs = self.env.reset()
robot_position, speed, robot_direction, obstacles = self.sym_map(
)
self.state.robot_position = robot_position
self.state.robot_velocity = speed
self.state.robot_direction = robot_direction
self.state.obstacles = obstacles
if self.state.is_safe_action(0, 0):
break # found a safe starting position.
i += 1
if i > 100:
print(
"proceeding with an unsafe starting position.... why is it so"
" hard to find a safe way to start life?!")
if self.safety_checks and not self.visual_obs:
# have to render still for safety
visual_obs = self.visual_env._render()
return obs, visual_obs
else:
return obs, None
def get_oracle_features(self):
return self.sym_map()
def get_n_unsafe_allowed(self):
return self.n_unsafe_allowed
def step(
self,
mu,
log_std,
oracle=False,
robot_position=None,
robot_direction=None,
obstacles=None,
):
std = np.exp(log_std)
action = mu + np.random.normal(scale=std, size=mu.shape)
if self.safety_checks:
if oracle:
robot_position, speed, robot_direction, obstacles = self.sym_map(
)
else:
vel = self.env.world.data.get_body_xvelp("robot")
speed = math.sqrt((vel[0]**2 + vel[1]**2))
self.state.robot_position = robot_position
self.state.robot_velocity = speed
self.state.robot_direction = robot_direction
self.state.obstacles = obstacles
# TODO - better to discretize or to use sampling?
# discretization might help if the probability of safe actions is
# very low
thresh = 100
n_attempts = 0
while not self.state.is_safe_action(*action):
action = mu + np.random.normal(scale=std, size=mu.shape)
n_attempts += 1
if n_attempts >= thresh:
# self.n_unsafe_allowed += 1
try:
action = self.state.find_safe_action()
except:
action = self.state.safe_fallback_action()
# Note: you can set this flag to true in order to get more info about the fact that the safe fallback is not actually safe.
if not self.state.is_safe_action(*action, False):
self.n_unsafe_allowed += 1
break
# print(f"allowing an unsafe action: {self.state.robot_position} {self.state.robot_velocity} {self.state.obstacles}\n")
# assert False, "No safe action found."
eps = 1e-10
pre_sum = -0.5 * (
((action - mu) /
(std + eps))**2 + 2 * log_std + np.log(2 * np.pi))
log_p = pre_sum.sum()
if self.safety_checks and not self.visual_obs:
visual_obs = self.visual_env._render()
else:
visual_obs = None
return (*self.env.step(action), action, log_p, visual_obs)
envs = [env_fn() for _ in range(n_envs)]
envs = [RemoteEnv.remote(env, visual_obs, safety_checks) for env in envs]
# one extra to more easily get shapes, etc.
env = env_fn()
if visual_obs:
env = VisionWrapper(env, IMG_SIZE, IMG_SIZE)
if discretize:
n_bins = 20
action_space = gym.spaces.MultiDiscrete((n_bins, n_bins))
else:
action_space = env.action_space
range_ = lambda *args, **kwargs: trange(*args, leave=False, **kwargs)
exp = comet_ml.Experiment(log_env_gpu=False, log_env_cpu=False)
exp.add_tag("crl")
if exp:
if "Point" in env_name:
robot_type = "Point"
elif "Car" in env_name:
robot_type = "Car"
elif "Doggo" in env_name:
robot_type = "Doggo"
else:
assert False
task = (env_name.replace("-v0",
"").replace("Safexp-",
"").replace(robot_type, ""))
task, difficulty = task[:-1], task[-1]
exp.log_parameters({
"robot": robot_type,
"task": task,
"difficulty": difficulty,
"model": "cnn0" if visual_obs else "mlp",
"use_vision": visual_obs,
"steps_per_epoch": steps_per_epoch,
"vf_iters": vf_iters,
"reduced_obstacles": True,
"cost_lim": cost_lim,
"oracle": oracle,
})
if log_params:
exp.log_parameters(log_params)
agent.set_logger(logger)
# =========================================================================#
# Create computation graph for actor and critic (not training routine) #
# =========================================================================#
# Share information about action space with policy architecture
ac_kwargs["action_space"] = action_space
if visual_obs:
ac_kwargs["net_type"] = "cnn"
# Inputs to computation graph from environment spaces
if visual_obs:
a_ph = placeholder_from_space(action_space)
x_ph = tf.placeholder(dtype=tf.float32,
shape=(None, IMG_RESIZE, IMG_RESIZE, 3))
else:
x_ph, a_ph = placeholders_from_spaces(env.observation_space,
action_space)
# Inputs to computation graph for batch data
adv_ph, cadv_ph, ret_ph, cret_ph, logp_old_ph = placeholders(
*(None for _ in range(5)))
# Inputs to computation graph for special purposes
surr_cost_rescale_ph = tf.placeholder(tf.float32, shape=())
cur_cost_ph = tf.placeholder(tf.float32, shape=())
# Outputs from actor critic
ac_outs = actor_critic(x_ph, a_ph, **ac_kwargs)
pi, logp, logp_pi, pi_info, pi_info_phs, d_kl, ent, v, vc = ac_outs
# Organize placeholders for zipping with data from buffer on updates
buf_phs = [x_ph, a_ph, adv_ph, cadv_ph, ret_ph, cret_ph, logp_old_ph]
buf_phs += values_as_sorted_list(pi_info_phs)
# Organize symbols we have to compute at each step of acting in env
get_action_ops = dict(pi=pi, v=v, logp_pi=logp_pi, pi_info=pi_info)
# If agent is reward penalized, it doesn't use a separate value function
# for costs and we don't need to include it in get_action_ops; otherwise we do.
if not (agent.reward_penalized):
get_action_ops["vc"] = vc
# Count variables
var_counts = tuple(count_vars(scope) for scope in ["pi", "vf", "vc"])
logger.log("\nNumber of parameters: \t pi: %d, \t v: %d, \t vc: %d\n" %
var_counts)
# Make a sample estimate for entropy to use as sanity check
approx_ent = tf.reduce_mean(-logp)
# =========================================================================#
# Create replay buffer #
# =========================================================================#
# Obs/act shapes
if visual_obs:
obs_shape = (IMG_RESIZE, IMG_RESIZE, 3)
else:
obs_shape = env.observation_space.shape
act_shape = action_space.shape
# Experience buffer
local_steps_per_epoch = int(steps_per_epoch / n_envs)
pi_info_shapes = {k: v.shape.as_list()[1:] for k, v in pi_info_phs.items()}
bufs = [
CPOBuffer(
local_steps_per_epoch,
obs_shape,
act_shape,
pi_info_shapes,
gamma,
lam,
cost_gamma,
cost_lam,
) for _ in range(n_envs)
]
# =========================================================================#
# Create computation graph for penalty learning, if applicable #
# =========================================================================#
if agent.use_penalty:
with tf.variable_scope("penalty"):
# param_init = np.log(penalty_init)
param_init = np.log(max(np.exp(penalty_init) - 1, 1e-8))
penalty_param = tf.get_variable(
"penalty_param",
initializer=float(param_init),
trainable=agent.learn_penalty,
dtype=tf.float32,
)
# penalty = tf.exp(penalty_param)
penalty = tf.nn.softplus(penalty_param)
if agent.learn_penalty:
if agent.penalty_param_loss:
penalty_loss = -penalty_param * (cur_cost_ph - cost_lim)
else:
penalty_loss = -penalty * (cur_cost_ph - cost_lim)
# train_penalty = MpiAdamOptimizer(learning_rate=penalty_lr).minimize(penalty_loss)
train_penalty = tf.train.AdamOptimizer(
learning_rate=penalty_lr).minimize(penalty_loss)
# =========================================================================#
# Create computation graph for policy learning #
# =========================================================================#
# Likelihood ratio
ratio = tf.exp(logp - logp_old_ph)
# Surrogate advantage / clipped surrogate advantage
if agent.clipped_adv:
min_adv = tf.where(adv_ph > 0, (1 + agent.clip_ratio) * adv_ph,
(1 - agent.clip_ratio) * adv_ph)
surr_adv = tf.reduce_mean(tf.minimum(ratio * adv_ph, min_adv))
else:
surr_adv = tf.reduce_mean(ratio * adv_ph)
# Surrogate cost
surr_cost = tf.reduce_mean(ratio * cadv_ph)
# Create policy objective function, including entropy regularization
pi_objective = surr_adv + ent_reg * ent
# Possibly include surr_cost in pi_objective
if agent.objective_penalized:
pi_objective -= penalty * surr_cost
pi_objective /= 1 + penalty
# Loss function for pi is negative of pi_objective
pi_loss = -pi_objective
# Optimizer-specific symbols
if agent.trust_region:
# Symbols needed for CG solver for any trust region method
pi_params = get_vars("pi")
flat_g = tro.flat_grad(pi_loss, pi_params)
v_ph, hvp = tro.hessian_vector_product(d_kl, pi_params)
if agent.damping_coeff > 0:
hvp += agent.damping_coeff * v_ph
# Symbols needed for CG solver for CPO only
flat_b = tro.flat_grad(surr_cost, pi_params)
# Symbols for getting and setting params
get_pi_params = tro.flat_concat(pi_params)
set_pi_params = tro.assign_params_from_flat(v_ph, pi_params)
training_package = dict(
flat_g=flat_g,
flat_b=flat_b,
v_ph=v_ph,
hvp=hvp,
get_pi_params=get_pi_params,
set_pi_params=set_pi_params,
)
elif agent.first_order:
# Optimizer for first-order policy optimization
# train_pi = MpiAdamOptimizer(learning_rate=agent.pi_lr).minimize(pi_loss)
train_pi = tf.train.AdamOptimizer(
learning_rate=agent.pi_lr).minimize(pi_loss)
# Prepare training package for agent
training_package = dict(train_pi=train_pi)
else:
raise NotImplementedError
# Provide training package to agent
training_package.update(
dict(
pi_loss=pi_loss,
surr_cost=surr_cost,
d_kl=d_kl,
target_kl=target_kl,
cost_lim=cost_lim,
))
agent.prepare_update(training_package)
# =========================================================================#
# Create computation graph for value learning #
# =========================================================================#
# Value losses
v_loss = tf.reduce_mean((ret_ph - v)**2)
vc_loss = tf.reduce_mean((cret_ph - vc)**2)
# If agent uses penalty directly in reward function, don't train a separate
# value function for predicting cost returns. (Only use one vf for r - p*c.)
if agent.reward_penalized:
total_value_loss = v_loss
else:
total_value_loss = v_loss + vc_loss
# Optimizer for value learning
# train_vf = MpiAdamOptimizer(learning_rate=vf_lr).minimize(total_value_loss)
train_vf = tf.train.AdamOptimizer(
learning_rate=vf_lr).minimize(total_value_loss)
# =========================================================================#
# Create session, sync across procs, and set up saver #
# =========================================================================#
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
sess = tf.Session(config=config)
sess.run(tf.global_variables_initializer())
# Sync params across processes
# sess.run(sync_all_params())
# Setup model saving
logger.setup_tf_saver(sess,
inputs={"x": x_ph},
outputs={
"pi": pi,
"v": v,
"vc": vc
})
# =========================================================================#
# Provide session to agent #
# =========================================================================#
agent.prepare_session(sess)
# =========================================================================#
# Create function for running update (called at end of each epoch) #
# =========================================================================#
def update():
# TODO!!! - is this the correct epcost...
cur_cost = logger.get_stats("EpCost")[0]
c = cur_cost - cost_lim
if c > 0 and agent.cares_about_cost:
if verbose:
logger.log("Warning! Safety constraint is already violated.",
"red")
# =====================================================================#
# Prepare feed dict #
# =====================================================================#
inputs = {}
inputs[surr_cost_rescale_ph] = logger.get_stats("EpLen")[0]
inputs[cur_cost_ph] = cur_cost
buf_inputs = [buf.get() for buf in bufs]
if visual_obs:
splits = 2
else:
splits = 1
for j in range(splits):
for i, ph in enumerate(buf_phs):
inputs[ph] = np.concatenate(
[buf_input[i][j::splits] for buf_input in buf_inputs])
# =====================================================================#
# Make some measurements before updating #
# =====================================================================#
measures = dict(LossPi=pi_loss,
SurrCost=surr_cost,
LossV=v_loss,
Entropy=ent)
if not (agent.reward_penalized):
measures["LossVC"] = vc_loss
if agent.use_penalty:
measures["Penalty"] = penalty
pre_update_measures = sess.run(measures, feed_dict=inputs)
logger.store(**pre_update_measures)
# =====================================================================#
# Update penalty if learning penalty #
# =====================================================================#
if agent.learn_penalty:
sess.run(train_penalty, feed_dict={cur_cost_ph: cur_cost})
# =====================================================================#
# Update policy #
# =====================================================================#
agent.update_pi(inputs)
# =====================================================================#
# Update value function #
# =====================================================================#
for _ in range(vf_iters):
sess.run(train_vf, feed_dict=inputs)
# =====================================================================#
# Make some measurements after updating #
# =====================================================================#
del measures["Entropy"]
measures["KL"] = d_kl
post_update_measures = sess.run(measures, feed_dict=inputs)
deltas = dict()
for k in post_update_measures:
if k in pre_update_measures:
deltas["Delta" + k] = (post_update_measures[k] -
pre_update_measures[k])
logger.store(KL=post_update_measures["KL"], **deltas)
# =========================================================================#
# Run main environment interaction loop #
# =========================================================================#
start_time = time.time()
rs = np.zeros(n_envs)
ds = [False] * n_envs
cs = np.zeros(n_envs)
ep_rets = np.zeros(n_envs)
ep_costs = np.zeros(n_envs)
ep_lens = np.zeros(n_envs)
vc_t0 = np.zeros(n_envs)
os = []
visual_os = []
for o, visual_o in ray.get([env.reset.remote() for env in envs]):
os.append(o)
if safety_checks and not visual_obs:
visual_os.append(visual_o)
os = np.stack(os)
if safety_checks and not visual_obs:
visual_os = np.stack(visual_os)
cur_penalty = 0
cum_cost = 0
n_unsafe = 0
n_unsafe_allowed = 0
for epoch in range_(epochs):
if agent.use_penalty:
cur_penalty = sess.run(penalty)
for t in range_(local_steps_per_epoch):
# Possibly render
# if render and rank == 0 and t < 1000:
# env.render()
if safety_checks or sym_features:
if visual_obs:
if not oracle:
robot_position, robot_direction, obstacles = sym_map(
os)
os = np.stack([
np.array(
Image.fromarray((o * 255).astype(np.uint8)).resize(
(IMG_RESIZE, IMG_RESIZE), resample=4))
for o in os
])
else:
if not oracle:
robot_position, robot_direction, obstacles = sym_map(
visual_os)
# Get outputs from policy
get_action_outs = sess.run(get_action_ops, feed_dict={x_ph: os})
a = get_action_outs["pi"]
v_t = get_action_outs["v"]
vc_t = get_action_outs.get(
"vc", vc_t0) # Agent may not use cost value func
logp_t = get_action_outs["logp_pi"]
pi_info_t = get_action_outs["pi_info"]
mu = pi_info_t["mu"]
log_std = pi_info_t["log_std"]
pi_info_t = [{
"mu": mu[i:i + 1],
"log_std": log_std
} for i in range(n_envs)]
# Step in environment
args = []
for i in range(n_envs):
if safety_checks:
if oracle:
args.append((mu[i], log_std, oracle))
else:
args.append((
mu[i],
log_std,
oracle,
robot_position[i],
robot_direction[i],
obstacles[obstacles[:, 0] == i, 1:],
))
else:
args.append((mu[i], log_std, oracle))
# could consider using ray.wait and handling each env separately. since we use
# a for loop for much of the computation below anyway, this would probably
# be faster (time before + after)
o2s, rs, ds, infos, actions, logps, visual_os = zip(*ray.get(
[env.step.remote(*arg) for env, arg in zip(envs, args)]))
a[:] = actions # new actions
logp_t[:] = logps # new log ps
o2s = np.stack(o2s)
if safety_checks and not visual_obs:
visual_os = np.stack(visual_os)
rs = np.array(rs)
# Include penalty on cost
cs = np.array([info.get("cost", 0) for info in infos])
# Track cumulative cost over training
n_unsafe += (cs > 0).sum()
cum_cost += cs.sum()
# save and log
if agent.reward_penalized:
r_totals = rs - cur_penalty * cs
r_totals = r_totals / (1 + cur_penalty)
for i, buf in enumerate(bufs):
buf.store(os[i], a[i], r_totals[i], v_t[i], 0, 0,
logp_t[i], pi_info_t[i])
else:
for i, buf in enumerate(bufs):
buf.store(
os[i],
a[i],
rs[i],
v_t[i],
cs[i],
vc_t[i],
logp_t[i],
pi_info_t[i],
)
# TODO - what values to use here??
logger.store(VVals=v_t[0], CostVVals=vc_t[0])
os = o2s
ep_rets += rs
ep_costs += cs
ep_lens += 1
for i, buf in enumerate(bufs):
ep_len = ep_lens[i]
d = ds[i]
terminal = d or (ep_len == max_ep_len)
if terminal or (t == local_steps_per_epoch - 1):
# start resetting environment now; get results later
reset_id = envs[i].reset.remote()
# If trajectory didn't reach terminal state, bootstrap value target(s)
if d and not (ep_len == max_ep_len):
# Note: we do not count env time out as true terminal state
last_val, last_cval = 0, 0
else:
if visual_obs:
o = np.array(
Image.fromarray(
(os[i] * 255).astype(np.uint8)).resize(
(IMG_RESIZE, IMG_RESIZE), resample=4))
print(
"check o's dtype; make float32. Make necessary changes"
" after calling sym_map(os) too.")
breakpoint()
else:
o = os[i]
feed_dict = {x_ph: o[None]}
if agent.reward_penalized:
last_val = sess.run(v, feed_dict=feed_dict)
last_cval = 0
else:
last_val, last_cval = sess.run([v, vc],
feed_dict=feed_dict)
buf.finish_path(last_val, last_cval)
# Only save EpRet / EpLen if trajectory finished
if terminal:
ep_ret = ep_rets[i]
ep_cost = ep_costs[i]
logger.store(EpRet=ep_ret,
EpLen=ep_len,
EpCost=ep_cost)
if exp:
exp.log_metrics(
{
"return": ep_ret,
"episode_length": ep_len,
"cost": ep_cost,
},
step=epoch * steps_per_epoch + t,
)
else:
if verbose:
print(
"Warning: trajectory cut off by epoch at %d steps."
% ep_len)
o, visual_o = ray.get(reset_id)
os[i] = o
if safety_checks and not visual_obs:
visual_os[i] = visual_o
rs[i] = 0
# ds[i] = False
cs[i] = 0
ep_rets[i] = 0
ep_lens[i] = 0
ep_costs[i] = 0
cost_rate = cum_cost / ((epoch + 1) * steps_per_epoch)
n_unsafe_allowed += sum(
ray.get([env.get_n_unsafe_allowed.remote() for env in envs]))
exp.log_metrics(
{
"n_unsafe_allowed": n_unsafe_allowed,
"n_unsafe": n_unsafe,
"cum_cost": cum_cost,
"cost_rate": cost_rate,
},
step=epoch * steps_per_epoch + t,
)
# Save model
if (epoch % save_freq == 0) or (epoch == epochs - 1):
logger.save_state({"env": env}, None)
# =====================================================================#
# Run RL update #
# =====================================================================#
update()
# =====================================================================#
# Log performance and stats #
# =====================================================================#
logger.log_tabular("Epoch", epoch)
# Performance stats
logger.log_tabular("EpRet", with_min_and_max=True)
logger.log_tabular("EpCost", with_min_and_max=True)
logger.log_tabular("EpLen", average_only=True)
logger.log_tabular("CumulativeCost", cum_cost)
logger.log_tabular("CostRate", cost_rate)
# Value function values
logger.log_tabular("VVals", with_min_and_max=True)
logger.log_tabular("CostVVals", with_min_and_max=True)
# Pi loss and change
logger.log_tabular("LossPi", average_only=True)
logger.log_tabular("DeltaLossPi", average_only=True)
# Surr cost and change
logger.log_tabular("SurrCost", average_only=True)
logger.log_tabular("DeltaSurrCost", average_only=True)
# V loss and change
logger.log_tabular("LossV", average_only=True)
logger.log_tabular("DeltaLossV", average_only=True)
# Vc loss and change, if applicable (reward_penalized agents don't use vc)
if not (agent.reward_penalized):
logger.log_tabular("LossVC", average_only=True)
logger.log_tabular("DeltaLossVC", average_only=True)
if agent.use_penalty or agent.save_penalty:
logger.log_tabular("Penalty", average_only=True)
logger.log_tabular("DeltaPenalty", average_only=True)
else:
logger.log_tabular("Penalty", 0)
logger.log_tabular("DeltaPenalty", 0)
# Anything from the agent?
agent.log()
# Policy stats
logger.log_tabular("Entropy", average_only=True)
logger.log_tabular("KL", average_only=True)
# Time and steps elapsed
logger.log_tabular("TotalEnvInteracts", (epoch + 1) * steps_per_epoch)
logger.log_tabular("Time", time.time() - start_time)
# Show results!
if verbose:
logger.dump_tabular()
else:
logger.log_current_row.clear()
logger.first_row = False