def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
# import pdb; pdb.set_trace()
if acktr:
self.optimizer = KFACOptimizer([actor_critic, actor_critic])
else:
self.optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False,
gradient_noise=0.0):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
else:
self.optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
self.gradient_noise = gradient_noise
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
lr_beta=None,
reg_beta=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.beta_actor_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.beta_net_actor" in name :
self.beta_actor_list.append(param)
else:
self.param_list.append(param)
else:
# Pierre: separate learning rates for beta net and actor net
self.optimizer = optim.RMSprop([{'params': self.param_list},
{'params': self.beta_actor_list, 'lr': lr_beta, 'weight_decay':reg_beta}], lr, eps=eps, alpha=alpha)
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False,
train_selfsup_attention=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
self.train_selfsup_attention = train_selfsup_attention
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
else:
self.optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
if self.train_selfsup_attention:
self.selfsup_attention_optimizer = optim.Adam(
actor_critic.base.selfsup_attention.parameters(), 0.001)
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False,
path_recorder=None,
cost_evaluator=None,
arch_loss_coef=0):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
self.path_recorder = path_recorder
self.cost_evaluator = cost_evaluator
self.arch_loss_coef = arch_loss_coef
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
else:
self.optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
def init_optimizer(self):
if self.acktr:
self.optimizer = KFACOptimizer(self.actor_critic)
else:
self.optimizer = optim.RMSprop(self.actor_critic.parameters(),
self.lr,
eps=self.eps,
alpha=self.alpha)
self.schedulers = ExponentialLR(self.optimizer, self.lr_decay)
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
filter_mem=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.filter_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.filter_net" in name:
self.filter_list.append(param)
else:
self.param_list.append(param)
else:
self.optimizer = optim.RMSprop([{
'params': self.param_list
}, {
'params': self.filter_list
}],
lr,
eps=eps,
alpha=alpha)
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
lr_beta=None,
reg_beta=None,
delib_center=0.5,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
self.reg_beta = reg_beta
self.delib_center = delib_center
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.beta_value_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.beta_value_net" in name :
self.beta_value_list.append(param)
else:
self.param_list.append(param)
else:
self.optimizer = optim.RMSprop([{'params': self.param_list},
{'params': self.beta_value_list, 'lr': lr_beta}], lr, eps=eps, alpha=alpha)
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
else:
self.optimizer = optim.RMSprop(
actor_critic.parameters(), lr, eps=eps, alpha=alpha)
def update(self, rollouts):
obs_shape = rollouts.obs.size()[2:]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
values, action_log_probs, dist_entropy, _, _ = self.actor_critic.evaluate_actions(
rollouts.obs[:-1].view(-1, *obs_shape),
rollouts.recurrent_hidden_states[0].view(
-1, self.actor_critic.recurrent_hidden_state_size),
rollouts.masks[:-1].view(-1, 1),
rollouts.actions.view(-1, action_shape))
values = values.view(num_steps, num_processes, 1)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
advantages = rollouts.returns[:-1] - values
value_loss = advantages.pow(2).mean()
action_loss = -(advantages.detach() * action_log_probs).mean()
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Compute fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
self.optimizer.zero_grad()
(value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef).backward()
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
self.optimizer.step()
return value_loss.item(), action_loss.item(), dist_entropy.item()
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
filter_mem=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.filter_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.filter_net" in name:
self.filter_list.append(param)
else:
self.param_list.append(param)
else:
self.optimizer = optim.RMSprop([{
'params': self.param_list
}, {
'params': self.filter_list
}],
lr,
eps=eps,
alpha=alpha)
def update(self, rollouts, value_prev_eval, filter_mem_latent_eval,
filter_type, filter_mem):
obs_shape = rollouts.obs.size()[2:]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
values, action_log_probs, dist_entropy, _, value_prev_eval, filter_mem_latent_eval, att_list, grad_term = self.actor_critic.evaluate_actions(
rollouts.obs[:-1],
rollouts.recurrent_hidden_states[0],
rollouts.masks[:-1],
rollouts.actions,
rollouts.att_target,
value_prev_eval=value_prev_eval,
filter_mem_latent_eval=filter_mem_latent_eval,
filter_type=filter_type,
filter_mem=filter_mem)
values = values.view(num_steps, num_processes, 1)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
#advantages = rollouts.returns[:-1] - grad_term.unsqueeze(2)
#value_loss = advantages.pow(2).mean()
advantages = rollouts.returns[:-1] - values
value_loss = (
-2 * advantages *
grad_term.unsqueeze(2)).mean() # credit-TD error, assignment-FIR
action_loss = -(advantages.detach() * action_log_probs).mean()
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Sampled fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
self.optimizer.zero_grad()
(value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef).backward(retain_graph=True)
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
self.optimizer.step()
return value_loss.item(), action_loss.item(), dist_entropy.item(
), value_prev_eval, filter_mem_latent_eval, att_list
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
lr_beta=None,
reg_beta=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.beta_actor_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.beta_net_actor" in name :
self.beta_actor_list.append(param)
else:
self.param_list.append(param)
else:
# Pierre: separate learning rates for beta net and actor net
self.optimizer = optim.RMSprop([{'params': self.param_list},
{'params': self.beta_actor_list, 'lr': lr_beta, 'weight_decay':reg_beta}], lr, eps=eps, alpha=alpha)
def update(self, rollouts, eval_prev_mean):
# Nishanth: modified shape to make compatible to the function call
obs_shape = rollouts.obs.size()[2:]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
values, action_log_probs, dist_entropy, _, eval_prev_mean = self.actor_critic.evaluate_actions(
rollouts.obs[:-1],
rollouts.recurrent_hidden_states[0],
rollouts.masks[:-1],
rollouts.actions,
eval_prev_mean)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
advantages = rollouts.returns[:-1] - values
value_loss = advantages.pow(2).mean()
action_loss = -(advantages.detach() * action_log_probs).mean()
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Sampled fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
self.optimizer.zero_grad()
(value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef).backward(retain_graph=True)
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
self.optimizer.step()
return value_loss.item(), action_loss.item(), dist_entropy.item(), eval_prev_mean
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
lr_decay=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.algo = 'a2c'
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.lr, self.lr_decay = lr, lr_decay
self.eps, self.alpha = eps, alpha
self.init_optimizer()
self.max_grad_norm = max_grad_norm
def init_optimizer(self):
if self.acktr:
self.optimizer = KFACOptimizer(self.actor_critic)
else:
self.optimizer = optim.RMSprop(self.actor_critic.parameters(),
self.lr,
eps=self.eps,
alpha=self.alpha)
self.schedulers = ExponentialLR(self.optimizer, self.lr_decay)
def update(self, rollouts):
obs_shape = rollouts.obs.size()[2:]
feat_dim = rollouts.feats.size()[-1]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
values, action_log_probs, dist_entropy, _ = self.actor_critic.evaluate_actions(
rollouts.obs[:-1].view(-1, *obs_shape),
rollouts.feats[:-1].view(-1, feat_dim),
rollouts.recurrent_hidden_states[0].view(
-1, self.actor_critic.recurrent_hidden_state_size),
rollouts.active[:-1].view(-1),
rollouts.actions.view(-1, action_shape))
loss_mask = rollouts.active[:-1] # srsohn
divider = loss_mask.sum().detach()
values = values.view(num_steps, num_processes, 1)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
advantages = (rollouts.returns[:-1] - values) * loss_mask
value_loss = advantages.pow(2).sum() / divider
action_loss = -(advantages.detach() * action_log_probs).sum() / divider
dist_entropy /= divider
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Sampled fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
self.optimizer.zero_grad()
loss = (value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef)
loss.backward()
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
self.optimizer.step()
self.schedulers.step() # lr decay
return value_loss.item() * self.value_loss_coef, action_loss.item(
), dist_entropy.item()
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
lr_beta=None,
reg_beta=None,
delib_center=0.5,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
self.reg_beta = reg_beta
self.delib_center = delib_center
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
self.beta_value_list = []
self.param_list = []
for name, param in actor_critic.named_parameters():
if "base.beta_value_net" in name :
self.beta_value_list.append(param)
else:
self.param_list.append(param)
else:
self.optimizer = optim.RMSprop([{'params': self.param_list},
{'params': self.beta_value_list, 'lr': lr_beta}], lr, eps=eps, alpha=alpha)
def update(self, rollouts, eval_prev_value, eval_prev_rew):
obs_shape = rollouts.obs.size()[2:]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
rewards = torch.cat((eval_prev_rew.unsqueeze(0), rollouts.rewards.squeeze(2)))
values, action_log_probs, dist_entropy, _ , eval_prev_value, betas = self.actor_critic.evaluate_actions(
rollouts.obs[:-1],
rollouts.recurrent_hidden_states[0],
rollouts.masks[:-1],
rollouts.actions,
eval_prev_value=eval_prev_value,
eval_prev_rew=rewards)
values = values.view(num_steps, num_processes, 1)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
advantages = rollouts.returns[:-1] - values
value_loss = advantages.pow(2).mean()
action_loss = -(advantages.detach() * action_log_probs).mean()
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Sampled fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
if self.reg_beta > 0:
target_beta = torch.zeros_like(betas).fill_(self.delib_center)
delib_loss = F.mse_loss(betas, target_beta)
else:
delib_loss = torch.zeros_like(value_loss)
self.optimizer.zero_grad()
(value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef + self.reg_beta * delib_loss).backward(retain_graph=True)
self.optimizer.step()
return value_loss.item(), action_loss.item(), dist_entropy.item(), eval_prev_value, delib_loss.item(), rewards[-1,:]
class A2C_ACKTR():
def __init__(self,
actor_critic,
value_loss_coef,
entropy_coef,
lr=None,
eps=None,
alpha=None,
max_grad_norm=None,
acktr=False,
path_recorder=None,
cost_evaluator=None,
arch_loss_coef=0):
self.actor_critic = actor_critic
self.acktr = acktr
self.value_loss_coef = value_loss_coef
self.entropy_coef = entropy_coef
self.max_grad_norm = max_grad_norm
self.path_recorder = path_recorder
self.cost_evaluator = cost_evaluator
self.arch_loss_coef = arch_loss_coef
if acktr:
self.optimizer = KFACOptimizer(actor_critic)
else:
self.optimizer = optim.RMSprop(actor_critic.parameters(),
lr,
eps=eps,
alpha=alpha)
def update(self, rollouts):
obs_shape = rollouts.obs.size()[2:]
action_shape = rollouts.actions.size()[-1]
num_steps, num_processes, _ = rollouts.rewards.size()
values, action_log_probs, dist_entropy, _ = self.actor_critic.evaluate_actions(
rollouts.obs[:-1].view(-1, *obs_shape),
rollouts.recurrent_hidden_states[0].view(
-1, self.actor_critic.recurrent_hidden_state_size),
rollouts.masks[:-1].view(-1, 1),
rollouts.actions.view(-1, action_shape))
values = values.view(num_steps, num_processes, 1)
action_log_probs = action_log_probs.view(num_steps, num_processes, 1)
advantages = rollouts.returns[:-1] - values
value_loss = advantages.pow(2).mean()
action_loss = -(advantages.detach() * action_log_probs).mean()
### ARCH LOSS
sampled, pruned = self.path_recorder.get_architectures(
self.actor_critic.base.base.out_nodes)
costs_s = self.cost_evaluator.get_costs(sampled) # Sampled cost
costs_p = self.cost_evaluator.get_costs(pruned) # Pruned cost
stacked_log_probas = torch.stack(
self.actor_critic.base.base.log_probas)
arch_reward = (value_loss * self.value_loss_coef +
action_loss) - self.arch_loss_coef * costs_p.mean()
arch_loss = -(arch_reward * stacked_log_probas).mean()
# print('Sampled={}, pruned={}'.format(costs_s, costs_p))
###
if self.acktr and self.optimizer.steps % self.optimizer.Ts == 0:
# Sampled fisher, see Martens 2014
self.actor_critic.zero_grad()
pg_fisher_loss = -action_log_probs.mean()
value_noise = torch.randn(values.size())
if values.is_cuda:
value_noise = value_noise.cuda()
sample_values = values + value_noise
vf_fisher_loss = -(values - sample_values.detach()).pow(2).mean()
fisher_loss = pg_fisher_loss + vf_fisher_loss
self.optimizer.acc_stats = True
fisher_loss.backward(retain_graph=True)
self.optimizer.acc_stats = False
self.optimizer.zero_grad()
# print('Params: {}'.format(self.actor_critic.base.probas))
# print('Params: {}'.format(self.actor_critic.base.base.probas))
(value_loss * self.value_loss_coef + action_loss -
dist_entropy * self.entropy_coef + arch_loss).backward()
if self.acktr == False:
nn.utils.clip_grad_norm_(self.actor_critic.parameters(),
self.max_grad_norm)
self.optimizer.step()
return value_loss.item(), action_loss.item(), dist_entropy.item()