def main():
parser = argparse.ArgumentParser(
description='Evolutionary training of controller')
parser.add_argument('--env_name',
nargs='?',
default='CarRacing-v0',
help='Environment to use (default=CarRacing-v0)')
parser.add_argument(
'--n_rollouts',
type=int,
default=1,
help='How many rollouts to perform when evaluating (default=1)')
parser.add_argument('--n_generations',
type=int,
default=300,
help='Number of generations to train (default=300)')
parser.add_argument('--latent_dim',
type=int,
default=32,
help='Dimension of latent space (default=32)')
parser.add_argument('--seq_len',
type=int,
default=10,
help='Length of sequences for learning (default=10)')
parser.add_argument('--action_dim',
type=int,
default=3,
help='Dimension of action space (default=3)')
parser.add_argument('--rnn_hidden_dim',
nargs='?',
type=int,
default=256,
help='Dimension of RNN hidden state (default=256)')
parser.add_argument(
'--n_gaussians',
type=int,
default=5,
help='Number of gaussians for the Mixture Density Network (default=5)')
parser.add_argument(
'--pop_size',
type=int,
default=64,
help='Population size for evolutionary search (default=64)')
parser.add_argument(
'--n_workers',
type=int,
default=32,
help='Number of workers for parallel processing (default=32)')
parser.add_argument('--vae_fname', help='VAE model file name')
parser.add_argument('--rnn_fname', nargs='?', help='RNN model file name')
parser.add_argument(
'--eval_interval',
nargs='?',
default=15,
type=int,
help='After how many generation to evaluate best params (default=15)')
args = parser.parse_args()
device = torch.device('cpu')
# Load the VAE model from file.
vae = VAE(latent_dim=args.latent_dim)
vae.load_state_dict(
torch.load(os.path.join(DATA_DIR, 'vae', args.vae_fname),
map_location={'cuda:0':
'cpu'})) # Previously trained on GPU.
vae.to(device)
# TODO: add identity/None RNN for dealing with the below?
if args.rnn_fname is not None: # Use memory module.
# Load the MDNRNN model from file.
mdnrnn = MDNRNN(action_dim=args.action_dim,
hidden_dim=args.rnn_hidden_dim,
latent_dim=args.latent_dim,
n_gaussians=args.n_gaussians)
mdnrnn.load_state_dict(
torch.load(os.path.join(DATA_DIR, 'rnn', args.rnn_fname),
map_location={'cuda:0':
'cpu'})) # Previously trained on GPU.
mdnrnn.to(device)
else: # TODO: hacky, but dunno how to have default value for dim and pass it later without too many ifs. Fix?
args.rnn_hidden_dim = 0
mdnrnn = None
# Set up controller model.
agent = ControllerAgent(vae=vae,
v_dim=args.latent_dim,
action_dim=args.action_dim,
rnn=mdnrnn,
m_dim=args.rnn_hidden_dim)
# Set up evolutionary strategy optimizer.
with suppress_stdout(
): # Suppress evolutionary strategy optimizer creation message.
es = CMAES(
num_params=param_count(agent.controller),
sigma_init=0.1, # initial standard deviation
popsize=args.pop_size)
# Set up multiprocessing.
pool = mp.Pool(processes=args.n_workers)
# Create results folder.
dir_name = datetime.datetime.today().isoformat() + '_' + str(
args.rnn_hidden_dim)
os.makedirs(os.path.join(RESULTS_DIR, 'controller', dir_name))
# TODO: add antithetic?
for i in range(1, args.n_generations + 1):
start_time = datetime.datetime.now()
# Create a set of candidate specimens.
specimens = es.ask()
# Evaluate the fitness of candidate specimens.
func = partial(evaluate,
env_name=args.env_name,
vae=vae,
rnn=mdnrnn,
v_dim=args.latent_dim,
action_dim=args.action_dim,
m_dim=args.rnn_hidden_dim,
n_rollouts=args.n_rollouts)
fitness_list = np.array(pool.map(func, specimens))
# Give list of fitness results back to ES.
es.tell(fitness_list)
# get best parameter, fitness from ES
es_solution = es.result()
duration = datetime.datetime.now() - start_time
history = {
'best_params': es_solution[0], # Best historical parameters.
'best_fitness': es_solution[1], # Best historical reward.
'curr_best_fitness':
es_solution[2], # Best fitness of current generation.
'mean_fitness':
fitness_list.mean(), # Mean fitness of current generation.
'std_fitness':
fitness_list.std() # Std of fitness of current generation.
}
np.savez(os.path.join(RESULTS_DIR, 'controller', dir_name, str(i)),
**history)
print(
'Gen: {0:}\t| Best fit of gen: {1:.2f}\t| Best fit historical: {2:.2f}\t|'
' Mean fit: {3:.2f}\t| Std of fit: {4:.2f}\t| Time: {5:}m {6:}s'.
format(i, es_solution[2], es_solution[1], fitness_list.mean(),
fitness_list.std(),
*divmod(int(duration.total_seconds()), 60)))
if i % args.eval_interval == 0:
start_time = datetime.datetime.now()
eval_fitness_list = np.array(
pool.map(
func,
np.broadcast_to(es_solution[0], (args.n_workers, ) +
es_solution[0].shape)))
duration = datetime.datetime.now() - start_time
print(
'{0:}-worker average fit of best params after gen {1:}: {2:.2f}. Time: {3:}m {4:}s.'
.format(args.n_workers, i, eval_fitness_list.mean(),
*divmod(int(duration.total_seconds()), 60)))
np.savez(
os.path.join(RESULTS_DIR, 'controller', dir_name,
str(i) + '_eval'), eval_fitness_list)
def main():
parser = argparse.ArgumentParser(description='RNN')
parser.add_argument('--batch_size',
type=int,
default=100,
help='Input batch size for training (default=100)')
parser.add_argument('--n_epochs',
type=int,
default=20,
help='Number of epochs to train (default=20)')
parser.add_argument('--latent_dim',
type=int,
default=32,
help='Dimension of latent space (default=32)')
parser.add_argument('--seq_len',
type=int,
default=1000,
help='Length of sequences for learning (default=1000)')
parser.add_argument('--action_dim',
type=int,
default=3,
help='Dimension of action space (default=3)')
parser.add_argument('--rnn_hidden_dim',
type=int,
default=256,
help='Dimension of RNN hidden state (default=256)')
parser.add_argument(
'--n_gaussians',
type=int,
default=5,
help='Number of gaussians for the Mixture Density Network (default=5)')
parser.add_argument('--learning_rate',
type=float,
default=1e-3,
help='Learning rate for optimizer (default=1e-3)')
parser.add_argument('--grad_clip',
type=float,
default=1.0,
help='Gradient clipping value (default=1.0)')
parser.add_argument('--cuda',
action='store_true',
default=False,
help='enables CUDA training')
parser.add_argument('--vae_fname', help='VAE model file name')
parser.add_argument('--train_dir_name',
help='Rollouts directory name for training')
parser.add_argument('--test_dir_name',
help='Rollouts directory name for testing')
parser.add_argument('--log_interval',
nargs='?',
default='2',
type=int,
help='After how many epochs to log')
args = parser.parse_args()
# TODO: is there a better way to do this?
if not os.path.exists(
os.path.join(DATA_DIR, 'rollouts', args.train_dir_name)):
print("Folder {} does not exist.".format(args.train_dir_name))
pass
if not os.path.exists(
os.path.join(DATA_DIR, 'rollouts', args.test_dir_name)):
print("Folder {} does not exist.".format(args.test_dir_name))
pass
# Read in and prepare the data.
train_dataset = RolloutDataset(
path_to_dir=os.path.join(DATA_DIR, 'rollouts', args.train_dir_name),
size=int(args.train_dir_name.split('_')[-1])) # TODO: hack. fix?
train_loader = DataLoader(train_dataset,
batch_size=args.batch_size,
shuffle=True)
test_dataset = RolloutDataset(
path_to_dir=os.path.join(DATA_DIR, 'rollouts', args.test_dir_name),
size=int(args.test_dir_name.split('_')[-1])) # TODO: hack. fix?
test_loader = DataLoader(test_dataset,
batch_size=args.batch_size,
shuffle=True)
# Use GPU if available.
use_cuda = args.cuda and torch.cuda.is_available()
device = torch.device('cuda' if use_cuda else 'cpu')
# Load the VAE model from file.
vae = VAE(latent_dim=args.latent_dim)
vae.load_state_dict(
torch.load(os.path.join(DATA_DIR, 'vae', args.vae_fname)))
vae.to(device)
# Set up the MDNRNN model and the optimizer.
mdnrnn = MDNRNN(action_dim=args.action_dim,
hidden_dim=args.rnn_hidden_dim,
latent_dim=args.latent_dim,
n_gaussians=args.n_gaussians).to(device)
optimizer = optim.Adam(params=mdnrnn.parameters(), lr=args.learning_rate)
# Train procedure.
def train(epoch):
mdnrnn.train()
train_loss = 0
start_time = datetime.datetime.now()
for batch_id, batch in enumerate(train_loader):
obs_batch = batch['obs'].to(device)
act_batch = batch['act'].to(device)
optimizer.zero_grad()
# Encode obs using VAE.
vae_obs_batch = obs_batch.view(
(-1, ) + obs_batch.size()[2:]) # Reshape for VAE.
z_batch = vae.reparameterize(*vae.encode(vae_obs_batch))
z_batch = z_batch.view(-1, args.seq_len, args.latent_dim)
# Predict all but first encoded obs from all but last encoded obs and action.
targets = z_batch[:, 1:]
z_batch = z_batch[:, :-1]
act_batch = act_batch[:, :-1]
pi, mu, sigma, _ = mdnrnn(act_batch, z_batch)
loss = nll_gmm_loss(targets, pi, mu, sigma)
loss.backward()
train_loss += loss.item()
torch.nn.utils.clip_grad_value_(mdnrnn.parameters(),
args.grad_clip)
optimizer.step()
if batch_id % args.log_interval == 0:
print(
'Epoch: {0:}\t| Examples: {1:}/{2:} ({3:.0f}%)\t| Loss: {4:.2f}\t'
.format(epoch, (batch_id + 1) * len(obs_batch),
len(train_loader.dataset),
100. * (batch_id + 1) / len(train_loader),
loss.item() / len(obs_batch)))
duration = datetime.datetime.now() - start_time
print(
'Epoch {} average train loss was {:.4f} after {}m{}s of training.'.
format(epoch, train_loss / len(train_loader.dataset),
*divmod(int(duration.total_seconds()), 60)))
# Test procedure.
def test(epoch):
mdnrnn.eval()
test_loss = 0
with torch.no_grad():
for batch_id, batch in enumerate(test_loader):
obs_batch = batch['obs'].to(device)
act_batch = batch['act'].to(device)
# Encode obs using VAE.
vae_obs_batch = obs_batch.view(
(-1, ) + obs_batch.size()[2:]) # Reshape for VAE.
z_batch = vae.reparameterize(*vae.encode(vae_obs_batch))
z_batch = z_batch.view(-1, args.seq_len, args.latent_dim)
# Predict all but first encoded obs from all but last encoded obs and action.
targets = z_batch[:, 1:]
z_batch = z_batch[:, :-1]
act_batch = act_batch[:, :-1]
pi, mu, sigma, _ = mdnrnn(act_batch, z_batch)
test_loss += nll_gmm_loss(targets, pi, mu, sigma).item()
print('Epoch {} average test loss was {:.4f}.'.format(
epoch, test_loss / len(test_loader.dataset)))
# Train/test loop.
for i in range(1, args.n_epochs + 1):
train(i)
test(i)
# Save the learned model.
if not os.path.exists(os.path.join(DATA_DIR, 'rnn')):
os.makedirs(os.path.join(DATA_DIR, 'rnn'))
torch.save(
mdnrnn.state_dict(),
os.path.join(
DATA_DIR, 'rnn',
datetime.datetime.today().isoformat() + '_' + str(args.n_epochs)))