def main(**args): # path, index, runs, norender, deterministic, env):
"""
Loads a snapshot and simulates the corresponding policy and environment.
"""
snapshot = None
saver = SnapshotSaver(args["path"])
while snapshot is None:
snapshot = saver.get_state(args["index"])
if snapshot is None:
time.sleep(1)
config, state = snapshot
pprint.pprint(config)
if args["env"] is not None:
env = VecEnvMaker(args["env"])(train=False)
else:
env = VecEnvMaker(config["env"])(train=False)
policy = config["policy"].pop("class")(env, **config["policy"])
policy.load_state_dict(state["policy"])
if args["deterministic"]:
policy.eval()
with torch.no_grad(), suppress(KeyboardInterrupt):
simulate(env, policy, render=args["render"])
env.close()
log_reward_statistics(env)
logger.dumpkvs()
def test_policy():
nonlocal ob, don
for _ in range(10):
while not don:
act = policy.actions(torch.from_numpy(ob))
ob, _, don, _ = test_env.step(act.numpy())
don = False
log_reward_statistics(test_env, num_last_eps=10, prefix="Test")
def acktr(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=125,
n_envs=16,
gamma=0.99,
gaelam=0.96,
val_iters=20,
pikfac=None,
vfkfac=None,
warm_start=None,
linesearch=True,
**saver_kwargs):
# handling default values
pikfac = pikfac or {}
vfkfac = vfkfac or {}
val_fn = val_fn or ValueFunction.from_policy(policy)
# save config and setup state saving
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
# initialize models and optimizer
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
val_fn = val_fn.pop("class")(vec_env, **val_fn)
pol_optim = KFACOptimizer(policy, **{**DEFAULT_PIKFAC, **pikfac})
val_optim = KFACOptimizer(val_fn, **{**DEFAULT_VFKFAC, **vfkfac})
loss_fn = torch.nn.MSELoss()
# load state if provided
if warm_start is not None:
if ":" in warm_start:
warm_start, index = warm_start.split(":")
else:
index = None
_, state = SnapshotSaver(warm_start,
latest_only=False).get_state(int(index))
policy.load_state_dict(state["policy"])
val_fn.load_state_dict(state["val_fn"])
if "pol_optim" in state:
pol_optim.load_state_dict(state["pol_optim"])
if "val_optim" in state:
val_optim.load_state_dict(state["val_optim"])
# Algorithm main loop
collector = parallel_samples_collector(vec_env, policy, steps)
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
logger.info("Starting iteration {}".format(samples // stp))
logger.logkv("Iteration", samples // stp)
logger.info("Start collecting samples")
trajs = next(collector)
logger.info("Computing policy gradient variables")
compute_pg_vars(trajs, val_fn, gamma, gaelam)
flatten_trajs(trajs)
all_obs, all_acts, _, _, all_advs, all_vals, all_rets = trajs.values()
all_obs, all_vals = all_obs[:-n_envs], all_vals[:-n_envs]
logger.info("Computing natural gradient using KFAC")
with pol_optim.record_stats():
policy.zero_grad()
all_dists = policy(all_obs)
all_logp = all_dists.log_prob(all_acts)
all_logp.mean().backward(retain_graph=True)
policy.zero_grad()
old_dists, old_logp = all_dists.detach(), all_logp.detach()
surr_loss = -((all_logp - old_logp).exp() * all_advs).mean()
surr_loss.backward()
pol_grad = [p.grad.clone() for p in policy.parameters()]
pol_optim.step()
if linesearch:
logger.info("Performing line search")
kl_clip = pol_optim.state["kl_clip"]
expected_improvement = sum(
(g * p.grad.data).sum()
for g, p in zip(pol_grad, policy.parameters())).item()
def f_barrier(scale):
for p in policy.parameters():
p.data.add_(scale, p.grad.data)
new_dists = policy(all_obs)
for p in policy.parameters():
p.data.sub_(scale, p.grad.data)
new_logp = new_dists.log_prob(all_acts)
surr_loss = -((new_logp - old_logp).exp() * all_advs).mean()
avg_kl = kl(old_dists, new_dists).mean().item()
return surr_loss.item() if avg_kl < kl_clip else float("inf")
scale, expected_improvement, improvement = line_search(
f_barrier,
x0=1,
dx=1,
expected_improvement=expected_improvement,
y0=surr_loss.item(),
)
logger.logkv("ExpectedImprovement", expected_improvement)
logger.logkv("ActualImprovement", improvement)
logger.logkv("ImprovementRatio",
improvement / expected_improvement)
for p in policy.parameters():
p.data.add_(scale, p.grad.data)
logger.info("Updating val_fn")
for _ in range(val_iters):
with val_optim.record_stats():
val_fn.zero_grad()
values = val_fn(all_obs)
noise = values.detach() + 0.5 * torch.randn_like(values)
loss_fn(values, noise).backward(retain_graph=True)
val_fn.zero_grad()
val_loss = loss_fn(values, all_rets)
val_loss.backward()
val_optim.step()
logger.info("Logging information")
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(old_dists)
logu.log_average_kl_divergence(old_dists, policy, all_obs)
logger.dumpkvs()
logger.info("Saving snapshot")
saver.save_state(
index=samples // stp,
state=dict(
alg=dict(last_iter=samples // stp),
policy=policy.state_dict(),
val_fn=val_fn.state_dict(),
pol_optim=pol_optim.state_dict(),
val_optim=val_optim.state_dict(),
),
)
vec_env.close()
def sac(env,
policy,
q_func=None,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
gamma=0.99,
replay_size=REPLAY_SIZE_DEFAULT,
polyak=0.995,
start_steps=10000,
epoch=5000,
mb_size=100,
lr=1e-3,
alpha=0.2,
target_entropy=None,
reward_scale=1.0,
updates_per_step=1.0,
max_ep_length=1000,
**saver_kwargs):
# Set and save experiment hyperparameters
q_func = q_func or ContinuousQFunction.from_policy(policy)
val_fn = val_fn or ValueFunction.from_policy(policy)
save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
# Initialize environments, models and replay buffer
vec_env = VecEnvMaker(env)()
test_env = VecEnvMaker(env)(train=False)
ob_space, ac_space = vec_env.observation_space, vec_env.action_space
pi_class, pi_args = policy.pop("class"), policy
qf_class, qf_args = q_func.pop("class"), q_func
vf_class, vf_args = val_fn.pop("class"), val_fn
policy = pi_class(vec_env, **pi_args)
q1func = qf_class(vec_env, **qf_args)
q2func = qf_class(vec_env, **qf_args)
val_fn = vf_class(vec_env, **vf_args)
replay = ReplayBuffer(replay_size, ob_space, ac_space)
if target_entropy is not None:
log_alpha = torch.nn.Parameter(torch.zeros([]))
if target_entropy == "auto":
target_entropy = -np.prod(ac_space.shape)
# Initialize optimizers and target networks
loss_fn = torch.nn.MSELoss()
pi_optim = torch.optim.Adam(policy.parameters(), lr=lr)
qf_optim = torch.optim.Adam(list(q1func.parameters()) +
list(q2func.parameters()),
lr=lr)
vf_optim = torch.optim.Adam(val_fn.parameters(), lr=lr)
vf_targ = vf_class(vec_env, **vf_args)
vf_targ.load_state_dict(val_fn.state_dict())
if target_entropy is not None:
al_optim = torch.optim.Adam([log_alpha], lr=lr)
# Save initial state
state = dict(
alg=dict(samples=0),
policy=policy.state_dict(),
q1func=q1func.state_dict(),
q2func=q2func.state_dict(),
val_fn=val_fn.state_dict(),
pi_optim=pi_optim.state_dict(),
qf_optim=qf_optim.state_dict(),
vf_optim=vf_optim.state_dict(),
vf_targ=vf_targ.state_dict(),
)
if target_entropy is not None:
state["log_alpha"] = log_alpha
state["al_optim"] = al_optim.state_dict()
saver.save_state(index=0, state=state)
# Setup and run policy tests
ob, don = test_env.reset(), False
@torch.no_grad()
def test_policy():
nonlocal ob, don
policy.eval()
for _ in range(10):
while not don:
act = policy.actions(torch.from_numpy(ob))
ob, _, don, _ = test_env.step(act.numpy())
don = False
policy.train()
log_reward_statistics(test_env, num_last_eps=10, prefix="Test")
test_policy()
logger.logkv("Epoch", 0)
logger.logkv("TotalNSamples", 0)
logger.dumpkvs()
# Set action sampling strategies
def rand_uniform_actions(_):
return np.stack([ac_space.sample() for _ in range(vec_env.num_envs)])
@torch.no_grad()
def stoch_policy_actions(obs):
return policy.actions(torch.from_numpy(obs)).numpy()
# Algorithm main loop
obs1, ep_length = vec_env.reset(), 0
for samples in trange(1, total_steps + 1, desc="Training", unit="step"):
if samples <= start_steps:
actions = rand_uniform_actions
else:
actions = stoch_policy_actions
acts = actions(obs1)
obs2, rews, dones, _ = vec_env.step(acts)
ep_length += 1
dones[0] = False if ep_length == max_ep_length else dones[0]
as_tensors = map(torch.from_numpy,
(obs1, acts, rews, obs2, dones.astype("f")))
for ob1, act, rew, ob2, done in zip(*as_tensors):
replay.store(ob1, act, rew, ob2, done)
obs1 = obs2
if (dones[0] or ep_length == max_ep_length) and replay.size >= mb_size:
for _ in range(int(ep_length * updates_per_step)):
ob_1, act_, rew_, ob_2, done_ = replay.sample(mb_size)
dist = policy(ob_1)
pi_a = dist.rsample()
logp = dist.log_prob(pi_a)
if target_entropy is not None:
al_optim.zero_grad()
alpha_loss = torch.mean(
log_alpha * (logp.detach() + target_entropy)).neg()
alpha_loss.backward()
al_optim.step()
logger.logkv_mean("AlphaLoss", alpha_loss.item())
alpha = log_alpha.exp().item()
with torch.no_grad():
y_qf = reward_scale * rew_ + gamma * (
1 - done_) * vf_targ(ob_2)
y_vf = (torch.min(q1func(ob_1, pi_a), q2func(ob_1, pi_a)) -
alpha * logp)
qf_optim.zero_grad()
q1_val = q1func(ob_1, act_)
q2_val = q2func(ob_1, act_)
q1_loss = loss_fn(q1_val, y_qf).div(2)
q2_loss = loss_fn(q2_val, y_qf).div(2)
q1_loss.add(q2_loss).backward()
qf_optim.step()
vf_optim.zero_grad()
vf_val = val_fn(ob_1)
vf_loss = loss_fn(vf_val, y_vf).div(2)
vf_loss.backward()
vf_optim.step()
pi_optim.zero_grad()
qpi_val = q1func(ob_1, pi_a)
# qpi_val = torch.min(q1func(ob_1, pi_a), q2func(ob_1, pi_a))
pi_loss = qpi_val.sub(logp, alpha=alpha).mean().neg()
pi_loss.backward()
pi_optim.step()
update_polyak(val_fn, vf_targ, polyak)
logger.logkv_mean("Entropy", logp.mean().neg().item())
logger.logkv_mean("Q1Val", q1_val.mean().item())
logger.logkv_mean("Q2Val", q2_val.mean().item())
logger.logkv_mean("VFVal", vf_val.mean().item())
logger.logkv_mean("QPiVal", qpi_val.mean().item())
logger.logkv_mean("Q1Loss", q1_loss.item())
logger.logkv_mean("Q2Loss", q2_loss.item())
logger.logkv_mean("VFLoss", vf_loss.item())
logger.logkv_mean("PiLoss", pi_loss.item())
logger.logkv_mean("Alpha", alpha)
ep_length = 0
if samples % epoch == 0:
test_policy()
logger.logkv("Epoch", samples // epoch)
logger.logkv("TotalNSamples", samples)
log_reward_statistics(vec_env)
logger.dumpkvs()
state = dict(
alg=dict(samples=samples),
policy=policy.state_dict(),
q1func=q1func.state_dict(),
q2func=q2func.state_dict(),
val_fn=val_fn.state_dict(),
pi_optim=pi_optim.state_dict(),
qf_optim=qf_optim.state_dict(),
vf_optim=vf_optim.state_dict(),
vf_targ=vf_targ.state_dict(),
)
if target_entropy is not None:
state["log_alpha"] = log_alpha
state["al_optim"] = al_optim.state_dict()
saver.save_state(index=samples // epoch, state=state)
def a2c(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=20,
n_envs=16,
gamma=0.99,
optimizer=None,
max_grad_norm=0.5,
ent_coeff=0.01,
vf_loss_coeff=0.5,
log_interval=100,
**saver_kwargs):
assert val_fn is None or not issubclass(
policy["class"], WeightSharingAC
), "Choose between a weight sharing model or separate policy and val_fn"
optimizer = optimizer or {}
optimizer = {
"class": torch.optim.RMSprop,
"lr": 1e-3,
"eps": 1e-5,
"alpha": 0.99,
**optimizer,
}
if val_fn is None and not issubclass(policy["class"], WeightSharingAC):
val_fn = ValueFunction.from_policy(policy)
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
param_list = torch.nn.ParameterList(policy.parameters())
if val_fn is not None:
val_fn = val_fn.pop("class")(vec_env, **val_fn)
param_list.extend(val_fn.parameters())
optimizer = optimizer.pop("class")(param_list.parameters(), **optimizer)
loss_fn = torch.nn.MSELoss()
# Algorith main loop
if val_fn is None:
compute_dists_vals = policy
else:
def compute_dists_vals(obs):
return policy(obs), val_fn(obs)
generator = samples_generator(vec_env, policy, steps, compute_dists_vals)
logger.info("Starting epoch {}".format(1))
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
all_acts, all_rews, all_dones, all_dists, all_vals, next_vals = next(
generator)
# Compute returns and advantages
all_rets = all_rews.clone()
all_rets[-1] += gamma * (1 - all_dones[-1]) * next_vals
for i in reversed(range(steps - 1)):
all_rets[i] += gamma * (1 - all_dones[i]) * all_rets[i + 1]
all_advs = all_rets - all_vals.detach()
# Compute loss
log_li = all_dists.log_prob(all_acts.reshape(stp, -1).squeeze())
pi_loss = -torch.mean(log_li * all_advs.flatten())
vf_loss = loss_fn(all_vals.flatten(), all_rets.flatten())
entropy = all_dists.entropy().mean()
total_loss = pi_loss - ent_coeff * entropy + vf_loss_coeff * vf_loss
optimizer.zero_grad()
total_loss.backward()
torch.nn.utils.clip_grad_norm_(param_list.parameters(), max_grad_norm)
optimizer.step()
updates = samples // stp
if updates == 1 or updates % log_interval == 0:
logger.logkv("Epoch", updates // log_interval + 1)
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals.flatten(), all_rets.flatten())
logu.log_action_distribution_statistics(all_dists)
logger.dumpkvs()
logger.info("Starting epoch {}".format(updates // log_interval +
2))
saver.save_state(
index=updates,
state=dict(
alg=dict(last_updt=updates),
policy=policy.state_dict(),
val_fn=None if val_fn is None else val_fn.state_dict(),
optimizer=optimizer.state_dict(),
),
)
vec_env.close()
def td3(env,
policy,
q_func=None,
total_steps=TOTAL_STEPS_DEFAULT,
gamma=0.99,
replay_size=REPLAY_SIZE_DEFAULT,
polyak=0.995,
start_steps=10000,
epoch=5000,
pi_lr=1e-3,
qf_lr=1e-3,
mb_size=100,
act_noise=0.1,
max_ep_length=1000,
target_noise=0.2,
noise_clip=0.5,
policy_delay=2,
updates_per_step=1.0,
**saver_kwargs):
# Set and save experiment hyperparameters
q_func = q_func or ContinuousQFunction.from_policy(policy)
save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
# Initialize environments, models and replay buffer
vec_env = VecEnvMaker(env)()
test_env = VecEnvMaker(env)(train=False)
ob_space, ac_space = vec_env.observation_space, vec_env.action_space
pi_class, pi_args = policy.pop("class"), policy
qf_class, qf_args = q_func.pop("class"), q_func
policy = pi_class(vec_env, **pi_args)
q1func = qf_class(vec_env, **qf_args)
q2func = qf_class(vec_env, **qf_args)
replay = ReplayBuffer(replay_size, ob_space, ac_space)
# Initialize optimizers and target networks
loss_fn = torch.nn.MSELoss()
pi_optim = torch.optim.Adam(policy.parameters(), lr=pi_lr)
qf_optim = torch.optim.Adam(chain(q1func.parameters(),
q2func.parameters()),
lr=qf_lr)
pi_targ = pi_class(vec_env, **pi_args)
q1_targ = qf_class(vec_env, **qf_args)
q2_targ = qf_class(vec_env, **qf_args)
pi_targ.load_state_dict(policy.state_dict())
q1_targ.load_state_dict(q1func.state_dict())
q2_targ.load_state_dict(q2func.state_dict())
# Save initial state
saver.save_state(
index=0,
state=dict(
alg=dict(samples=0),
policy=policy.state_dict(),
q1func=q1func.state_dict(),
q2func=q2func.state_dict(),
pi_optim=pi_optim.state_dict(),
qf_optim=qf_optim.state_dict(),
pi_targ=pi_targ.state_dict(),
q1_targ=q1_targ.state_dict(),
q2_targ=q2_targ.state_dict(),
),
)
# Setup and run policy tests
ob, don = test_env.reset(), False
@torch.no_grad()
def test_policy():
nonlocal ob, don
for _ in range(10):
while not don:
act = policy.actions(torch.from_numpy(ob))
ob, _, don, _ = test_env.step(act.numpy())
don = False
log_reward_statistics(test_env, num_last_eps=10, prefix="Test")
test_policy()
logger.logkv("Epoch", 0)
logger.logkv("TotalNSamples", 0)
logger.dumpkvs()
# Set action sampling strategies
def rand_uniform_actions(_):
return np.stack([ac_space.sample() for _ in range(vec_env.num_envs)])
act_low, act_high = map(torch.Tensor, (ac_space.low, ac_space.high))
@torch.no_grad()
def noisy_policy_actions(obs):
acts = policy.actions(torch.from_numpy(obs))
acts += act_noise * torch.randn_like(acts)
return np.clip(acts.numpy(), ac_space.low, ac_space.high)
# Algorithm main loop
obs1, ep_length, critic_updates = vec_env.reset(), 0, 0
for samples in trange(1, total_steps + 1, desc="Training", unit="step"):
if samples <= start_steps:
actions = rand_uniform_actions
else:
actions = noisy_policy_actions
acts = actions(obs1)
obs2, rews, dones, _ = vec_env.step(acts)
ep_length += 1
dones[0] = False if ep_length == max_ep_length else dones[0]
as_tensors = map(torch.from_numpy,
(obs1, acts, rews, obs2, dones.astype("f")))
for ob1, act, rew, ob2, done in zip(*as_tensors):
replay.store(ob1, act, rew, ob2, done)
obs1 = obs2
if (dones[0] or ep_length == max_ep_length) and replay.size >= mb_size:
for _ in range(int(ep_length * updates_per_step)):
ob_1, act_, rew_, ob_2, done_ = replay.sample(mb_size)
with torch.no_grad():
atarg = pi_targ(ob_2)
atarg += torch.clamp(
target_noise * torch.randn_like(atarg), -noise_clip,
noise_clip)
atarg = torch.max(torch.min(atarg, act_high), act_low)
targs = rew_ + gamma * (1 - done_) * torch.min(
q1_targ(ob_2, atarg), q2_targ(ob_2, atarg))
qf_optim.zero_grad()
q1_val = q1func(ob_1, act_)
q2_val = q2func(ob_1, act_)
q1_loss = loss_fn(q1_val, targs).div(2)
q2_loss = loss_fn(q2_val, targs).div(2)
q1_loss.add(q2_loss).backward()
qf_optim.step()
critic_updates += 1
if critic_updates % policy_delay == 0:
pi_optim.zero_grad()
qpi_val = q1func(ob_1, policy(ob_1))
pi_loss = qpi_val.mean().neg()
pi_loss.backward()
pi_optim.step()
update_polyak(policy, pi_targ, polyak)
update_polyak(q1func, q1_targ, polyak)
update_polyak(q2func, q2_targ, polyak)
logger.logkv_mean("QPiVal", qpi_val.mean().item())
logger.logkv_mean("PiLoss", pi_loss.item())
logger.logkv_mean("Q1Val", q1_val.mean().item())
logger.logkv_mean("Q2Val", q2_val.mean().item())
logger.logkv_mean("Q1Loss", q1_loss.item())
logger.logkv_mean("Q2Loss", q2_loss.item())
ep_length = 0
if samples % epoch == 0:
test_policy()
logger.logkv("Epoch", samples // epoch)
logger.logkv("TotalNSamples", samples)
log_reward_statistics(vec_env)
logger.dumpkvs()
saver.save_state(
index=samples // epoch,
state=dict(
alg=dict(samples=samples),
policy=policy.state_dict(),
q1func=q1func.state_dict(),
q2func=q2func.state_dict(),
pi_optim=pi_optim.state_dict(),
qf_optim=qf_optim.state_dict(),
pi_targ=pi_targ.state_dict(),
q1_targ=q1_targ.state_dict(),
q2_targ=q2_targ.state_dict(),
),
)
def trpo(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=125,
n_envs=16,
gamma=0.99,
gaelam=0.97,
kl_frac=1.0,
delta=0.01,
val_iters=80,
val_lr=1e-3,
linesearch=True,
**saver_kwargs):
val_fn = val_fn or ValueFunction.from_policy(policy)
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
val_fn = val_fn.pop("class")(vec_env, **val_fn)
val_optim = torch.optim.Adam(val_fn.parameters(), lr=val_lr)
loss_fn = torch.nn.MSELoss()
# Algorithm main loop
collector = parallel_samples_collector(vec_env, policy, steps)
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
logger.info("Starting iteration {}".format(samples // stp))
logger.logkv("Iteration", samples // stp)
logger.info("Start collecting samples")
trajs = next(collector)
logger.info("Computing policy gradient variables")
compute_pg_vars(trajs, val_fn, gamma, gaelam)
flatten_trajs(trajs)
all_obs, all_acts, _, _, all_advs, all_vals, all_rets = trajs.values()
all_obs, all_vals = all_obs[:-n_envs], all_vals[:-n_envs]
# subsample for fisher vector product computation
if kl_frac < 1.0:
n_samples = int(kl_frac * len(all_obs))
indexes = torch.randperm(len(all_obs))[:n_samples]
subsamp_obs = all_obs.index_select(0, indexes)
else:
subsamp_obs = all_obs
logger.info("Computing policy gradient")
all_dists = policy(all_obs)
all_logp = all_dists.log_prob(all_acts)
old_dists = all_dists.detach()
old_logp = old_dists.log_prob(all_acts)
surr_loss = -((all_logp - old_logp).exp() * all_advs).mean()
pol_grad = flat_grad(surr_loss, policy.parameters())
logger.info("Computing truncated natural gradient")
def fvp(v):
return fisher_vec_prod(v, subsamp_obs, policy)
descent_direction = conjugate_gradient(fvp, pol_grad)
scale = torch.sqrt(2 * delta /
(pol_grad.dot(descent_direction) + 1e-8))
descent_step = descent_direction * scale
if linesearch:
logger.info("Performing line search")
expected_improvement = pol_grad.dot(descent_step).item()
def f_barrier(params,
all_obs=all_obs,
all_acts=all_acts,
all_advs=all_advs):
vector_to_parameters(params, policy.parameters())
new_dists = policy(all_obs)
new_logp = new_dists.log_prob(all_acts)
surr_loss = -((new_logp - old_logp).exp() * all_advs).mean()
avg_kl = kl(old_dists, new_dists).mean().item()
return surr_loss.item() if avg_kl < delta else float("inf")
new_params, expected_improvement, improvement = line_search(
f_barrier,
parameters_to_vector(policy.parameters()),
descent_step,
expected_improvement,
y0=surr_loss.item(),
)
logger.logkv("ExpectedImprovement", expected_improvement)
logger.logkv("ActualImprovement", improvement)
logger.logkv("ImprovementRatio",
improvement / expected_improvement)
else:
new_params = parameters_to_vector(
policy.parameters()) - descent_step
vector_to_parameters(new_params, policy.parameters())
logger.info("Updating val_fn")
for _ in range(val_iters):
val_optim.zero_grad()
loss_fn(val_fn(all_obs), all_rets).backward()
val_optim.step()
logger.info("Logging information")
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(old_dists)
logu.log_average_kl_divergence(old_dists, policy, all_obs)
logger.dumpkvs()
logger.info("Saving snapshot")
saver.save_state(
index=samples // stp,
state=dict(
alg=dict(last_iter=samples // stp),
policy=policy.state_dict(),
val_fn=val_fn.state_dict(),
val_optim=val_optim.state_dict(),
),
)
del all_obs, all_acts, all_advs, all_vals, all_rets, trajs
vec_env.close()
def natural(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=125,
n_envs=16,
gamma=0.99,
gaelam=0.97,
kl_frac=1.0,
delta=0.01,
val_iters=80,
val_lr=1e-3,
**saver_kwargs):
"""
Natural Policy Gradient
env: instance of proj.common.env_makers.VecEnvMaker
policy: instance of proj.common.models.Policy
val_fn (optional): instance of proj.common.models.ValueFunction
total_steps: total number of environment steps to take
steps: number of steps to take in each environment per iteration
n_envs: number of environment copies to run in parallel
gamma: GAE discount parameter
gaelam: GAE lambda exponential average parameter
kl_frac:
delta:
val_iters: number of optimization steps to update the critic per iteration
val_lr: learning rate for critic optimizer
saver_kwargs: keyword arguments for proj.utils.saver.SnapshotSaver
"""
val_fn = val_fn or ValueFunction.from_policy(policy)
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
val_fn = val_fn.pop("class")(vec_env, **val_fn)
val_optim = torch.optim.Adam(val_fn.parameters(), lr=val_lr)
loss_fn = torch.nn.MSELoss()
# Algorithm main loop
collector = parallel_samples_collector(vec_env, policy, steps)
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
logger.info("Starting iteration {}".format(samples // stp))
logger.logkv("Iteration", samples // stp)
logger.info("Start collecting samples")
trajs = next(collector)
logger.info("Computing policy gradient variables")
compute_pg_vars(trajs, val_fn, gamma, gaelam)
flatten_trajs(trajs)
all_obs, all_acts, _, _, all_advs, all_vals, all_rets = trajs.values()
all_obs, all_vals = all_obs[:-n_envs], all_vals[:-n_envs]
# subsample for fisher vector product computation
if kl_frac < 1.0:
n_samples = int(kl_frac * len(all_obs))
indexes = torch.randperm(len(all_obs))[:n_samples]
subsamp_obs = all_obs.index_select(0, indexes)
else:
subsamp_obs = all_obs
logger.info("Computing policy gradient")
all_dists = policy(all_obs)
old_dists = all_dists.detach()
pol_loss = torch.mean(all_dists.log_prob(all_acts) * all_advs).neg()
pol_grad = flat_grad(pol_loss, policy.parameters())
logger.info("Computing truncated natural gradient")
def fvp(v):
return fisher_vec_prod(v, subsamp_obs, policy)
descent_direction = conjugate_gradient(fvp, pol_grad)
scale = torch.sqrt(2 * delta /
(pol_grad.dot(descent_direction) + 1e-8))
descent_step = descent_direction * scale
new_params = parameters_to_vector(policy.parameters()) - descent_step
vector_to_parameters(new_params, policy.parameters())
logger.info("Updating val_fn")
for _ in range(val_iters):
val_optim.zero_grad()
loss_fn(val_fn(all_obs), all_rets).backward()
val_optim.step()
logger.info("Logging information")
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(old_dists)
logu.log_average_kl_divergence(old_dists, policy, all_obs)
logger.dumpkvs()
logger.info("Saving snapshot")
saver.save_state(
samples // stp,
dict(
alg=dict(last_iter=samples // stp),
policy=policy.state_dict(),
val_fn=val_fn.state_dict(),
val_optim=val_optim.state_dict(),
),
)
del all_obs, all_acts, all_advs, all_vals, all_rets, trajs
vec_env.close()
def a2c_kfac(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=20,
n_envs=16,
kfac=None,
ent_coeff=0.01,
vf_loss_coeff=0.5,
gamma=0.99,
log_interval=100,
warm_start=None,
**saver_kwargs):
assert val_fn is None or not issubclass(
policy["class"], WeightSharingAC
), "Choose between a weight sharing model or separate policy and val_fn"
# handle default values
kfac = kfac or {}
kfac = {
"eps": 1e-3,
"pi": True,
"alpha": 0.95,
"kl_clip": 1e-3,
"eta": 1.0,
**kfac
}
if val_fn is None and not issubclass(policy["class"], WeightSharingAC):
val_fn = ValueFunction.from_policy(policy)
# save config and setup state saving
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
# initialize models and optimizer
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
module_list = torch.nn.ModuleList(policy.modules())
if val_fn is not None:
val_fn = val_fn.pop("class")(vec_env, **val_fn)
module_list.extend(val_fn.modules())
optimizer = KFACOptimizer(module_list, **kfac)
# scheduler = LinearLR(optimizer, total_steps // (steps*n_envs))
loss_fn = torch.nn.MSELoss()
# load state if provided
updates = 0
if warm_start is not None:
if ":" in warm_start:
warm_start, index = warm_start.split(":")
else:
index = None
config, state = SnapshotSaver(warm_start,
latest_only=False).get_state(int(index))
policy.load_state_dict(state["policy"])
if "optimizer" in state:
optimizer.load_state_dict(state["optimizer"])
updates = state["alg"]["last_updt"]
# Algorith main loop
if val_fn is None:
compute_dists_vals = policy
else:
def compute_dists_vals(obs):
return policy(obs), val_fn(obs)
ob_space, ac_space = vec_env.observation_space, vec_env.action_space
obs = torch.from_numpy(vec_env.reset())
with torch.no_grad():
acts = policy.actions(obs)
logger.info("Starting epoch {}".format(1))
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
total_updates = total_steps // stp
for samples in trange(beg, end, stp, desc="Training", unit="step"):
all_obs = torch.empty((steps, n_envs) + ob_space.shape,
dtype=_NP_TO_PT[ob_space.dtype.type])
all_acts = torch.empty((steps, n_envs) + ac_space.shape,
dtype=_NP_TO_PT[ac_space.dtype.type])
all_rews = torch.empty((steps, n_envs))
all_dones = torch.empty((steps, n_envs))
with torch.no_grad():
for i in range(steps):
next_obs, rews, dones, _ = vec_env.step(acts.numpy())
all_obs[i] = obs
all_acts[i] = acts
all_rews[i] = torch.from_numpy(rews)
all_dones[i] = torch.from_numpy(dones.astype("f"))
obs = torch.from_numpy(next_obs)
acts = policy.actions(obs)
all_obs = all_obs.reshape(stp, -1).squeeze()
all_acts = all_acts.reshape(stp, -1).squeeze()
# Sample Fisher curvature matrix
with optimizer.record_stats():
optimizer.zero_grad()
all_dists, all_vals = compute_dists_vals(all_obs)
logp = all_dists.log_prob(all_acts)
noise = all_vals.detach() + 0.5 * torch.randn_like(all_vals)
(logp.mean() +
loss_fn(all_vals, noise)).backward(retain_graph=True)
# Compute returns and advantages
with torch.no_grad():
_, next_vals = compute_dists_vals(obs)
all_rets = all_rews.clone()
all_rets[-1] += gamma * (1 - all_dones[-1]) * next_vals
for i in reversed(range(steps - 1)):
all_rets[i] += gamma * (1 - all_dones[i]) * all_rets[i + 1]
all_rets = all_rets.flatten()
all_advs = all_rets - all_vals.detach()
# Compute loss
updates += 1
# ent_coeff = ent_coeff*0.99 if updates % 10 == 0 else ent_coeff
pi_loss = -torch.mean(logp * all_advs)
vf_loss = loss_fn(all_vals, all_rets)
entropy = all_dists.entropy().mean()
total_loss = pi_loss - ent_coeff * entropy + vf_loss_coeff * vf_loss
# scheduler.step()
optimizer.zero_grad()
total_loss.backward()
optimizer.step()
if updates == 1 or updates % log_interval == 0:
logger.logkv("Epoch", updates // log_interval + 1)
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(all_dists)
logger.dumpkvs()
logger.info("Starting epoch {}".format(updates // log_interval +
2))
saver.save_state(
index=updates,
state=dict(
alg=dict(last_updt=updates),
policy=policy.state_dict(),
val_fn=None if val_fn is None else val_fn.state_dict(),
optimizer=optimizer.state_dict(),
),
)
vec_env.close()
def ppo(env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=125,
n_envs=16,
gamma=0.99,
gaelam=0.96,
clip_ratio=0.2,
pol_iters=80,
val_iters=80,
pol_lr=3e-4,
val_lr=1e-3,
target_kl=0.01,
mb_size=100,
**saver_kwargs):
val_fn = val_fn or ValueFunction.from_policy(policy)
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
val_fn = val_fn.pop("class")(vec_env, **val_fn)
pol_optim = torch.optim.Adam(policy.parameters(), lr=pol_lr)
val_optim = torch.optim.Adam(val_fn.parameters(), lr=val_lr)
loss_fn = torch.nn.MSELoss()
# Algorithm main loop
collector = parallel_samples_collector(vec_env, policy, steps)
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
logger.info("Starting iteration {}".format(samples // stp))
logger.logkv("Iteration", samples // stp)
logger.info("Start collecting samples")
trajs = next(collector)
logger.info("Computing policy gradient variables")
compute_pg_vars(trajs, val_fn, gamma, gaelam)
flatten_trajs(trajs)
all_obs, all_acts, _, _, all_advs, all_vals, all_rets = trajs.values()
all_obs, all_vals = all_obs[:-n_envs], all_vals[:-n_envs]
logger.info("Minimizing surrogate loss")
with torch.no_grad():
old_dists = policy(all_obs)
old_logp = old_dists.log_prob(all_acts)
min_advs = torch.where(all_advs > 0, (1 + clip_ratio) * all_advs,
(1 - clip_ratio) * all_advs)
dataset = TensorDataset(all_obs, all_acts, all_advs, min_advs,
old_logp)
dataloader = DataLoader(dataset, batch_size=mb_size, shuffle=True)
for itr in range(pol_iters):
for obs, acts, advs, min_adv, logp in dataloader:
ratios = (policy(obs).log_prob(acts) - logp).exp()
pol_optim.zero_grad()
(-torch.min(ratios * advs, min_adv)).mean().backward()
pol_optim.step()
with torch.no_grad():
mean_kl = kl(old_dists, policy(all_obs)).mean().item()
if mean_kl > 1.5 * target_kl:
logger.info(
"Stopped at step {} due to reaching max kl".format(itr +
1))
break
logger.logkv("StopIter", itr + 1)
logger.info("Updating val_fn")
for _ in range(val_iters):
val_optim.zero_grad()
loss_fn(val_fn(all_obs), all_rets).backward()
val_optim.step()
logger.info("Logging information")
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(old_dists)
logger.logkv("MeanKL", mean_kl)
logger.dumpkvs()
logger.info("Saving snapshot")
saver.save_state(
index=samples // stp,
state=dict(
alg=dict(last_iter=samples // stp),
policy=policy.state_dict(),
val_fn=val_fn.state_dict(),
pol_optim=pol_optim.state_dict(),
val_optim=val_optim.state_dict(),
),
)
vec_env.close()
def vanilla(
env,
policy,
val_fn=None,
total_steps=TOTAL_STEPS_DEFAULT,
steps=125,
n_envs=16,
gamma=0.99,
gaelam=0.97,
optimizer=None,
val_iters=80,
val_lr=1e-3,
**saver_kwargs
):
"""
Vanilla Policy Gradient
env: instance of proj.common.env_makers.VecEnvMaker
policy: instance of proj.common.models.Policy
val_fn (optional): instance of proj.common.models.ValueFunction
total_steps: total number of environment steps to take
steps: number of steps to take in each environment per iteration
n_envs: number of environment copies to run in parallel
gamma: GAE discount parameter
gaelam: GAE lambda exponential average parameter
optimizer (optional): dictionary containing optimizer kwargs and/or class
val_iters: number of optimization steps to update the critic per iteration
val_lr: learning rate for critic optimizer
saver_kwargs: keyword arguments for proj.utils.saver.SnapshotSaver
"""
optimizer = optimizer or {}
optimizer = {"class": torch.optim.Adam, **optimizer}
val_fn = val_fn or ValueFunction.from_policy(policy)
logu.save_config(locals())
saver = SnapshotSaver(logger.get_dir(), locals(), **saver_kwargs)
vec_env = VecEnvMaker(env)(n_envs)
policy = policy.pop("class")(vec_env, **policy)
val_fn = val_fn.pop("class")(vec_env, **val_fn)
pol_optim = optimizer.pop("class")(policy.parameters(), **optimizer)
val_optim = torch.optim.Adam(val_fn.parameters(), lr=val_lr)
loss_fn = torch.nn.MSELoss()
# Algorithm main loop
collector = parallel_samples_collector(vec_env, policy, steps)
beg, end, stp = steps * n_envs, total_steps + steps * n_envs, steps * n_envs
for samples in trange(beg, end, stp, desc="Training", unit="step"):
logger.info("Starting iteration {}".format(samples // stp))
logger.logkv("Iteration", samples // stp)
logger.info("Start collecting samples")
trajs = next(collector)
logger.info("Computing policy gradient variables")
compute_pg_vars(trajs, val_fn, gamma, gaelam)
flatten_trajs(trajs)
all_obs, all_acts, _, _, all_advs, all_vals, all_rets = trajs.values()
all_obs, all_vals = all_obs[:-n_envs], all_vals[:-n_envs]
logger.info("Applying policy gradient")
all_dists = policy(all_obs)
old_dists = all_dists.detach()
objective = torch.mean(all_dists.log_prob(all_acts) * all_advs)
pol_optim.zero_grad()
objective.neg().backward()
pol_optim.step()
logger.info("Updating val_fn")
for _ in range(val_iters):
val_optim.zero_grad()
loss_fn(val_fn(all_obs), all_rets).backward()
val_optim.step()
logger.info("Logging information")
logger.logkv("Objective", objective.item())
logger.logkv("TotalNSamples", samples)
logu.log_reward_statistics(vec_env)
logu.log_val_fn_statistics(all_vals, all_rets)
logu.log_action_distribution_statistics(old_dists)
logu.log_average_kl_divergence(old_dists, policy, all_obs)
logger.dumpkvs()
logger.info("Saving snapshot")
saver.save_state(
samples // stp,
dict(
alg=dict(last_iter=samples // stp),
policy=policy.state_dict(),
val_fn=val_fn.state_dict(),
pol_optim=pol_optim.state_dict(),
val_optim=val_optim.state_dict(),
),
)
del all_obs, all_acts, all_advs, all_vals, all_rets, trajs
vec_env.close()