def setup(log_dir):
logger.configure(log_dir, prefix='main_test_script')
logger.remove('')
logger.log_line('hey')
sleep(1.0)
print(f"logging to {pathJoin(logger.log_directory, logger.prefix)}")
def setup(log_dir):
logger.configure(log_dir, prefix='main_test_script')
logger.remove('')
logger.log_line('hey')
logger.log_data(dict(test=True), "test-data/dict.pkl")
print(f"logging to {pathJoin(logger.log_directory, logger.prefix)}")
def __init__(self,
exp_prefix,
est_params,
sim_params,
observations,
keys_of_interest,
n_mc_samples=10**7,
n_x_cond=5,
n_seeds=5,
use_gpu=True,
tail_measures=True):
assert est_params and exp_prefix and sim_params and keys_of_interest
assert observations.all()
# every simulator configuration will be run multiple times with different randomness seeds
sim_params = _add_seeds_to_sim_params(n_seeds, sim_params)
self.observations = observations
self.n_mc_samples = n_mc_samples
self.n_x_cond = n_x_cond
self.keys_of_interest = keys_of_interest
self.exp_prefix = exp_prefix
self.use_gpu = use_gpu
self.tail_measures = tail_measures
logger.configure(log_directory=config.DATA_DIR,
prefix=exp_prefix,
color='green')
''' ---------- Either load or generate the configs ----------'''
config_pkl_path = os.path.join(logger.log_directory, logger.prefix,
EXP_CONFIG_FILE)
if os.path.isfile(config_pkl_path):
logger.log("{:<70s} {:<30s}".format(
"Loading experiment previous configs from file: ",
config_pkl_path))
self.configs = logger.load_pkl(EXP_CONFIG_FILE)
else:
logger.log("{:<70s} {:<30s}".format(
"Generating and storing experiment configs under: ",
config_pkl_path))
self.configs = self._generate_configuration_variants(
est_params, sim_params)
logger.dump_pkl(data=self.configs, path=EXP_CONFIG_FILE)
''' ---------- Either load already existing results or start a new result collection ---------- '''
results_pkl_path = os.path.join(logger.log_directory, logger.prefix,
RESULTS_FILE)
if os.path.isfile(results_pkl_path):
logger.log_line("{:<70s} {:<30s}".format("Continue with: ",
results_pkl_path))
self.gof_single_res_collection = dict(
logger.load_pkl_log(RESULTS_FILE))
else: # start from scratch
self.gof_single_res_collection = {}
self.gof_results = GoodnessOfFitResults(self.gof_single_res_collection)
def thunk(*args, **kwargs):
import traceback
from ml_logger import logger
assert not (args and ARGS), \
f"can not use position argument at both thunk creation as well as run.\n" \
f"_args: {args}\n" \
f"ARGS: {ARGS}\n"
logger.configure(root_dir=RUN.server,
prefix=PREFIX,
register_experiment=False,
max_workers=10)
logger.log_params(host=dict(hostname=logger.hostname),
run=dict(status="running",
startTime=logger.now(),
job_id=logger.job_id))
import time
try:
_KWARGS = {**KWARGS}
_KWARGS.update(**kwargs)
results = fn(*(args or ARGS), **_KWARGS)
logger.log_line("========== execution is complete ==========")
logger.log_params(
run=dict(status="completed", completeTime=logger.now()))
logger.flush()
time.sleep(3)
except Exception as e:
tb = traceback.format_exc()
with logger.SyncContext(
): # Make sure uploaded finished before termination.
logger.print(tb, color="red")
logger.log_text(tb, filename="traceback.err")
logger.log_params(
run=dict(status="error", exitTime=logger.now()))
logger.flush()
time.sleep(3)
raise e
return results
def _(*args, **kwargs):
import traceback
from ml_logger import logger
assert not (args and ARGS), f"can not use position argument at both thunk creation as well as " \
f"run.\n_args: {args}\nARGS: {ARGS}"
logger.configure(log_directory=RUN.server,
prefix=PREFIX,
register_experiment=False,
max_workers=10)
logger.log_params(host=dict(hostname=logger.hostname),
run=dict(status="running", startTime=logger.now()))
try:
_KWARGS = KWARGS.copy()
_KWARGS.update(kwargs)
fn(*(args or ARGS), **_KWARGS)
logger.log_line("========= execution is complete ==========")
logger.log_params(
run=dict(status="completed", completeTime=logger.now()))
except Exception as e:
import time
time.sleep(1)
tb = traceback.format_exc()
with logger.SyncContext(
): # Make sure uploaded finished before termination.
logger.log_text(tb, filename="traceback.err")
logger.log_params(
run=dict(status="error", exitTime=logger.now()))
logger.log_line(tb)
logger.flush()
time.sleep(30)
raise e
import time
time.sleep(30)
def train_maml(*, n_tasks: int, tasks: MetaRLTasks, maml: E_MAML):
if not G.inner_alg.startswith("BC"):
path_gen = path_gen_fn(env=tasks.envs, policy=maml.runner.policy, start_reset=G.reset_on_start)
next(path_gen)
meta_path_gen = path_gen_fn(env=tasks.envs, policy=maml.meta_runner.policy, start_reset=G.reset_on_start)
next(meta_path_gen)
if G.load_from_checkpoint:
# todo: add variable to checkpoint
# todo: set the epoch_ind starting point here.
logger.load_variables(G.load_from_checkpoint)
if G.meta_sgd:
assert maml.alpha is not None, "Coding Mistake if meta_sgd is trueful but maml.alpha is None."
max_episode_length = tasks.spec.max_episode_steps
sess = tf.get_default_session()
epoch_ind, prefix = G.epoch_init - 1, ""
while epoch_ind < G.epoch_init + G.n_epochs:
logger.flush()
logger.split()
is_bc_test = (prefix != "test/" and G.eval_interval and epoch_ind % G.eval_interval == 0)
prefix = "test/" if is_bc_test else ""
epoch_ind += 0 if is_bc_test else 1
if G.meta_sgd:
alpha_lr = sess.run(maml.alpha) # only used in the runner.
logger.log(metrics={f"alpha_{i}/{stem(t.name, 2)}": a
for i, a_ in enumerate(alpha_lr)
for t, a in zip(maml.runner.trainables, a_)}, silent=True)
else:
alpha_lr = G.alpha.send(epoch_ind) if isinstance(G.alpha, Schedule) else np.array(G.alpha)
logger.log(alpha=metrify(alpha_lr), epoch=epoch_ind, silent=True)
beta_lr = G.beta.send(epoch_ind) if isinstance(G.beta, Schedule) else np.array(G.beta)
clip_range = G.clip_range.send(epoch_ind) if isinstance(G.clip_range, Schedule) else np.array(G.clip_range)
logger.log(beta=metrify(beta_lr), clip_range=metrify(clip_range), epoch=epoch_ind, silent=True)
batch_timesteps = G.batch_timesteps.send(epoch_ind) \
if isinstance(G.batch_timesteps, Schedule) else G.batch_timesteps
# Compute updates for each task in the batch
# 0. save value of variables
# 1. sample
# 2. gradient descent
# 3. repeat step 1., 2. until all gradient steps are exhausted.
batch_data = defaultdict(list)
maml.save_weight_cache()
load_ops = [] if DEBUG.no_weight_reset else [maml.cache.load]
if G.checkpoint_interval and epoch_ind % G.checkpoint_interval == 0 \
and not is_bc_test and epoch_ind >= G.start_checkpoint_after_epoch:
cp_path = f"checkpoints/variables_{epoch_ind:04d}.pkl"
logger.log_line(f'saving checkpoint {cp_path}')
# note: of course I don't know that are all of the trainables at the moment.
logger.save_variables(tf.trainable_variables(), path=cp_path)
feed_dict = {}
for task_ind in range(n_tasks if is_bc_test else G.n_tasks):
graph_branch = maml.graphs[0] if G.n_graphs == 1 else maml.graphs[task_ind]
if G.n_graphs == 1:
gradient_sum_op = maml.gradient_sum.set_op if task_ind == 0 else maml.gradient_sum.add_op
print(f"task_ind {task_ind}...")
if not DEBUG.no_task_resample:
if not is_bc_test:
print(f'L250: sampling task')
tasks.sample()
elif task_ind < n_tasks:
task_spec = dict(index=task_ind % n_tasks)
print(f'L254: sampling task {task_spec}')
tasks.sample(**task_spec)
else:
raise RuntimeError('should never hit here.')
for k in range(G.n_grad_steps + 1): # 0 - 10 <== last one being the maml policy.
_is_new = False
# for imitation inner loss, we still sample trajectory for evaluation purposes, but
# replace it with the demonstration data for learning
if k < G.n_grad_steps:
if G.inner_alg.startswith("BC"):
p = p if G.single_sampling and k > 0 else \
bc.sample_demonstration_data(tasks.task_spec, key=("eval" if is_bc_test else None))
else:
p, _is_new = path_gen.send(batch_timesteps), True
elif k == G.n_grad_steps:
if G.meta_alg.startswith("BC"):
# note: use meta bc samples.
p = bc.sample_demonstration_data(tasks.task_spec, key="meta")
else:
p, _is_new = meta_path_gen.send(batch_timesteps), True
else:
raise Exception('Implementation error. Should never reach this line.')
if k in G.eval_grad_steps:
_ = path_gen if k < G.n_grad_steps else meta_path_gen
p_eval = p if _is_new else _.send(G.eval_timesteps)
# reporting on new trajectory samples
avg_r = p_eval['ep_info']['reward'] if G.normalize_env else np.mean(p_eval['rewards'])
episode_r = avg_r * max_episode_length # default horizon for HalfCheetah
if episode_r < G.term_reward_threshold: # todo: make this batch-based instead of on single episode
logger.log_line("episode reward is too low: ", episode_r, "terminating training.", flush=True)
raise RuntimeError('AVERAGE REWARD TOO LOW. Terminating the experiment.')
batch_data[prefix + f"grad_{k}_step_reward"].append(avg_r if Reporting.report_mean else episode_r)
if k in G.eval_grad_steps:
logger.log_key_value(prefix + f"task_{task_ind}_grad_{k}_reward", episode_r, silent=True)
_p = {k: v for k, v in p.items() if k != "ep_info"}
if k < G.n_grad_steps:
# note: under meta-SGD mode, the runner needs the k^th learning rate.
_lr = alpha_lr[k] if G.meta_sgd else alpha_lr
# clip_range is not used in BC mode. but still passed in.
runner_feed_dict = \
path_to_feed_dict(inputs=maml.runner.inputs, paths=_p, lr=_lr,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
horizon=max_episode_length, clip_range=clip_range)
# todo: optimize `maml.meta_runner` if k >= G.n_grad_steps.
loss, *_, __ = maml.runner.optim.run_optimize(feed_dict=runner_feed_dict)
runner_feed_dict.clear()
for key, value in zip(maml.runner.model.reports.keys(), [loss, *_]):
batch_data[prefix + f"grad_{k}_step_{key}"].append(value)
logger.log_key_value(prefix + f"task_{task_ind}_grad_{k}_{key}", value, silent=True)
if loss > G.term_loss_threshold: # todo: make this batch-based instead of on single episode
logger.log_line(prefix + "episode loss blew up:", loss, "terminating training.", flush=True)
raise RuntimeError('loss is TOO HIGH. Terminating the experiment.')
# done: has bug when using fixed learning rate. Needs the learning rate as input.
feed_dict.update( # do NOT pass in the learning rate because the graph already includes those.
path_to_feed_dict(inputs=graph_branch.workers[k].inputs, paths=_p,
lr=None if G.meta_sgd else alpha_lr, # but do with fixed alpha
horizon=max_episode_length,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
clip_range=clip_range))
elif k == G.n_grad_steps:
yield_keys = dict(
movie=epoch_ind >= G.start_movie_after_epoch and epoch_ind % G.record_movie_interval == 0,
eval=is_bc_test
)
if np.fromiter(yield_keys.values(), bool).any():
yield yield_keys, epoch_ind, tasks.task_spec
if is_bc_test:
if load_ops: # we need to reset the weights. Otherwise the world would be on fire.
tf.get_default_session().run(load_ops)
continue # do NOT meta learn from test samples.
# we don't treat the meta_input the same way even though we could. This is more clear to read.
# note: feed in the learning rate only later.
feed_dict.update( # do NOT need learning rate
path_to_feed_dict(inputs=graph_branch.meta.inputs, paths=_p,
horizon=max_episode_length,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
clip_range=clip_range))
if G.n_graphs == 1:
# load from checkpoint before computing the meta gradient\nrun gradient sum operation
if load_ops:
tf.get_default_session().run(load_ops)
# note: meta reporting should be run here. Not supported for simplicity. (need to reduce across
# note: tasks, and can not be done outside individual task graphs.
if G.meta_sgd is None: # note: copied from train_supervised_maml, not tested
feed_dict[maml.alpha] = alpha_lr
tf.get_default_session().run(gradient_sum_op, feed_dict)
feed_dict.clear()
if load_ops:
tf.get_default_session().run(load_ops)
if is_bc_test:
continue # do NOT meta learn from test samples.
# note: copied from train_supervised_maml, not tested
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
if G.n_graphs == 1:
assert G.meta_n_grad_steps == 1, "ERROR: Can only run 1 meta gradient step with a single graph."
# note: remove meta reporting b/c meta report should be in each task in this case.
tf.get_default_session().run(maml.meta_update_ops[0], {maml.beta: beta_lr})
else:
assert feed_dict, "ERROR: It is likely that you jumped here from L:178."
feed_dict[maml.beta] = beta_lr
for i in range(G.meta_n_grad_steps):
update_op = maml.meta_update_ops[0 if G.reuse_meta_optimizer else i]
*reports, _ = tf.get_default_session().run(maml.meta_reporting + [update_op], feed_dict)
if i not in (0, G.meta_n_grad_steps - 1):
continue
for key, v in zip(maml.meta_reporting_keys, reports):
logger.log_key_value(prefix + f"grad_{G.n_grad_steps + i}_step_{key}", v, silent=True)
feed_dict.clear()
tf.get_default_session().run(maml.cache.save)
# Now compute the meta gradients.
# note: runner shares variables with the MAML graph. Reload from state_dict
# note: if max_grad_step is the same as n_grad_steps then no need here.
dt = logger.split()
logger.log_line('Timer Starts...' if dt is None else f'{dt:0.2f} sec/epoch')
logger.log(dt_epoch=dt or np.nan, epoch=epoch_ind)
for key, arr in batch_data.items():
reduced = np.array(arr).mean()
logger.log_key_value(key, reduced)
logger.flush()
def train_supervised_maml(*, k_tasks=1, maml: E_MAML):
# env used for evaluation purposes only.
if G.meta_sgd:
assert maml.alpha is not None, "Coding Mistake if meta_sgd is trueful but maml.alpha is None."
assert G.n_tasks >= k_tasks, f"Is this intended? You probably want to have " \
f"meta-batch({G.n_tasks}) >= k_tasks({k_tasks})."
sess = tf.get_default_session()
epoch_ind, pref = -1, ""
while epoch_ind < G.n_epochs:
# for epoch_ind in range(G.n_epochs + 1):
logger.flush()
logger.split()
is_bc_test = (pref != "test/" and G.eval_interval and epoch_ind % G.eval_interval == 0)
pref = "test/" if is_bc_test else ""
epoch_ind += 0 if is_bc_test else 1
if G.meta_sgd:
alpha_lr = sess.run(maml.alpha) # only used in the runner.
logger.log(metrics={f"alpha_{i}/{stem(t.name, 2)}": a
for i, a_ in enumerate(alpha_lr)
for t, a in zip(maml.runner.trainables, a_)}, silent=True)
else:
alpha_lr = G.alpha.send(epoch_ind) if isinstance(G.alpha, Schedule) else np.array(G.alpha)
logger.log(alpha=metrify(alpha_lr), epoch=epoch_ind, silent=True)
beta_lr = G.beta.send(epoch_ind) if isinstance(G.beta, Schedule) else np.array(G.beta)
logger.log(beta=metrify(beta_lr), epoch=epoch_ind, silent=True)
if G.checkpoint_interval and epoch_ind % G.checkpoint_interval == 0:
yield "pre-update-checkpoint", epoch_ind
# Compute updates for each task in the batch
# 0. save value of variables
# 1. sample
# 2. gradient descent
# 3. repeat step 1., 2. until all gradient steps are exhausted.
batch_data = defaultdict(list)
maml.save_weight_cache()
load_ops = [] if DEBUG.no_weight_reset else [maml.cache.load]
feed_dict = {}
for task_ind in range(k_tasks if is_bc_test else G.n_tasks):
graph_branch = maml.graphs[0] if G.n_graphs == 1 else maml.graphs[task_ind]
if G.n_graphs == 1:
gradient_sum_op = maml.gradient_sum.set_op if task_ind == 0 else maml.gradient_sum.add_op
"""
In BC mode, we don't have an environment. The sampling is handled here then fed to the sampler.
> task_spec = dict(index=0)
Here we make the testing more efficient.
"""
if not DEBUG.no_task_resample:
if not is_bc_test:
task_spec = dict(index=np.random.randint(0, k_tasks))
elif task_ind < k_tasks:
task_spec = dict(index=task_ind % k_tasks)
else:
raise RuntimeError('should never hit here.')
for k in range(G.n_grad_steps + 1): # 0 - 10 <== last one being the maml policy.
# for imitation inner loss, we still sample trajectory for evaluation purposes, but
# replace it with the demonstration data for learning
if k < G.n_grad_steps:
p = p if G.single_sampling and k > 0 else \
bc.sample_demonstration_data(task_spec, key=("eval" if is_bc_test else None))
elif k == G.n_grad_steps:
# note: use meta bc samples.
p = bc.sample_demonstration_data(task_spec, key="meta")
else:
raise Exception('Implementation error. Should never reach this line.')
_p = {k: v for k, v in p.items() if k != "ep_info"}
if k < G.n_grad_steps:
# note: under meta-SGD mode, the runner needs the k^th learning rate.
_lr = alpha_lr[k] if G.meta_sgd else alpha_lr
runner_feed_dict = \
path_to_feed_dict(inputs=maml.runner.inputs, paths=_p, lr=_lr)
# todo: optimize `maml.meta_runner` if k >= G.n_grad_steps.
loss, *_, __ = maml.runner.optim.run_optimize(feed_dict=runner_feed_dict)
runner_feed_dict.clear()
for key, value in zip(maml.runner.model.reports.keys(), [loss, *_]):
batch_data[pref + f"grad_{k}_step_{key}"].append(value)
logger.log_key_value(pref + f"task_{task_ind}_grad_{k}_{key}", value, silent=True)
if loss > G.term_loss_threshold: # todo: make this batch-based instead of on single episode
err = pref + "episode loss blew up:", loss, "terminating training."
logger.log_line(colored(err, "red"), flush=True)
raise RuntimeError('loss is TOO HIGH. Terminating the experiment.')
# fixit: has bug when using fixed learning rate. Still needs to get learning rate from placeholder
feed_dict.update(path_to_feed_dict(inputs=graph_branch.workers[k].inputs, paths=_p))
elif k == G.n_grad_steps:
yield_keys = dict(
movie=G.record_movie_interval and epoch_ind >= G.start_movie_after_epoch and
epoch_ind % G.record_movie_interval == 0,
eval=is_bc_test
)
if np.fromiter(yield_keys.values(), bool).any():
yield yield_keys, epoch_ind, task_spec
if is_bc_test:
if load_ops:
tf.get_default_session().run(load_ops)
continue # do NOT meta learn from test samples.
# we don't treat the meta_input the same way even though we could. This is more clear to read.
# note: feed in the learning rate only later.
feed_dict.update(path_to_feed_dict(inputs=graph_branch.meta.inputs, paths=_p))
if G.n_graphs == 1:
# load from checkpoint before computing the meta gradient\nrun gradient sum operation
if load_ops:
tf.get_default_session().run(load_ops)
# note: meta reporting should be run here. Not supported for simplicity. (need to reduce across
# note: tasks, and can not be done outside individual task graphs.
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
tf.get_default_session().run(gradient_sum_op, feed_dict)
feed_dict.clear()
if load_ops:
tf.get_default_session().run(load_ops)
if is_bc_test:
continue # do NOT meta learn from test samples.
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
if G.n_graphs == 1:
assert G.meta_n_grad_steps == 1, "ERROR: Can only run 1 meta gradient step with a single graph."
# note: remove meta reporting b/c meta report should be in each task in this case.
tf.get_default_session().run(maml.meta_update_ops[0], {maml.beta: beta_lr})
else:
assert feed_dict, "ERROR: It is likely that you jumped here from L:178."
feed_dict[maml.beta] = beta_lr
for i in range(G.meta_n_grad_steps):
update_op = maml.meta_update_ops[0 if G.reuse_meta_optimizer else i]
*reports, _ = tf.get_default_session().run(maml.meta_reporting + [update_op], feed_dict)
if i not in (0, G.meta_n_grad_steps - 1):
continue
for key, v in zip(maml.meta_reporting_keys, reports):
logger.log_key_value(pref + f"grad_{G.n_grad_steps + i}_step_{key}", v, silent=True)
feed_dict.clear()
tf.get_default_session().run(maml.cache.save)
# Now compute the meta gradients.
# note: runner shares variables with the MAML graph. Reload from state_dict
# note: if max_grad_step is the same as n_grad_steps then no need here.
dt = logger.split()
logger.log_line('Timer Starts...' if dt is None else f'{dt:0.2f} sec/epoch')
logger.log(dt_epoch=dt or np.nan, epoch=epoch_ind)
for key, arr in batch_data.items():
reduced = np.array(arr).mean()
logger.log_key_value(key, reduced)
for ep in range(500 + 1):
logger.log_metrics(epoch=ep,
sine=fn(ep),
slow_sine=fn_1(ep))
logger.flush()
if ep % 10 == 0:
logger.log_image(face('gray'),
f"figures/gray_{ep:04d}.png")
logger.log_image(face('rgb'),
f"figures/rgb_{ep:04d}.png")
logger.log_image(face('gray'), "figures/face_gray.png")
logger.log_image(face('rgb'), "figures/face_rgb.png")
with logger.PrefixContext(f"runs/{username}/{project}"):
logger.log_line("# Root Files\n", file="RAEDME.md")
# import numpy as np
# import matplotlib.pyplot as plt
#
# xs = np.arange(500)
# ys = (1 + 0.001 * xs) * np.sin(xs * 0.1 / np.pi)
# ys += np.random.rand(*ys.shape) * 1
# plt.plot(xs, ys)
# plt.show()
#
# import numpy as np
# import matplotlib.pyplot as plt
#
# xs = np.arange(500)
# ys = (1 + 0.001 * xs) * np.sin(xs * 0.02 / np.pi)
def train_fn(root, prefix=None):
from ml_logger import logger
logger.configure(root_dir=root, prefix=prefix)
logger.log_line(prefix, "launch is working.", file="o_hey")