def transitions(self, states, actions, rewards, next_states, term):
states = self._state_preprocessor(states)
next_states = self._state_preprocessor(next_states)
batch_size = self._n_agents * self._n_envs
actions_shape = (batch_size, ) + self._action_space.shape
assert actions.shape == actions_shape, actions.shape
stats = Statistics()
n_agents = self._n_agents
for idx, agent in enumerate(self._agents):
s = agent.transitions(
states[idx::n_agents],
actions[idx::n_agents],
rewards[idx::n_agents],
next_states[idx::n_agents],
term[idx::n_agents],
)
stats.set_all(s)
return stats
def step(self, states):
stats = Statistics()
self._step += 1
if not self.eval:
self._sample_noise()
states_tensor = torch.from_numpy(states).float().to(self._device)
self._policy_net.train(False)
with torch.no_grad():
q_values = self._policy_net(states_tensor)
policy = self._greedy_policy if self.eval else self._policy
actions = policy.get_action(q_values.cpu().numpy())
if not self.eval: # During training
# Do logging
q = torch.max(q_values).detach()
stats.set('q', q)
self._policy_net.log_scalars(stats.set)
try:
stats.set('epsilon', self._policy.get_epsilon())
except AttributeError:
pass
return actions
def transitions(self, states, actions, rewards, next_states, dones):
stats = Statistics()
assert not self.eval
for idx in range(len(states)):
self._buffer.push(state=states[idx],
action=actions[idx],
reward=rewards[idx],
next_state=next_states[idx],
done=dones[idx])
stats.set("replay_buffer_size", len(self._buffer))
if len(self._buffer) >= self._min_replay_buffer_size:
t0 = time.time() # time spent for optimization
stats.set_all(self._optimize())
stats.set("optimization_time", time.time() - t0)
return stats
def main(checkpoint, debug=False):
filename = os.path.basename(checkpoint)
s = filename.split('-')
# Create Environment
# Derive environment ID from the checkpoint filename
file_prefix = s[0]
openai_env_ids = {
"pole": "CartPole-v1",
"lunarcont": "LunarLanderContinuous-v2",
"lunar": "LunarLander-v2",
"carcont": "MountainCarContinuous-v0",
"pendulum": "Pendulum-v0",
}
if file_prefix in openai_env_ids:
env_id = openai_env_ids[file_prefix]
else:
env_id = file_prefix
s = s[1:]
env = create_env(env_id)
# Create agent
sample_action = sample_action_fn(checkpoint, env.action_space)
stats = Statistics()
try:
while True:
episode_stats = play_episode(env, sample_action, debug=debug)
stats.set_all(episode_stats)
print(
("Episode #{}: {:.2f}; Average Reward: {:.2f}; " +
"Episode length: {}; Average episode length: {:.1f}").format(
stats.sum("episodes"), episode_stats.avg("rewards"),
stats.avg("rewards"), int(episode_stats.avg("steps")),
stats.avg("steps")))
except KeyboardInterrupt:
env.close()
return
env.close()
def transitions(self, states, actions, rewards, next_states, term):
stats = Statistics()
if self.eval:
return stats
t0 = time.time()
self._net.train(True)
states = torch.from_numpy(states).float().to(self._device)
actions = torch.tensor(actions).long().to(self._device)
actions = torch.unsqueeze(actions, dim=1)
rewards = torch.from_numpy(rewards).float().to(self._device)
rewards = torch.unsqueeze(rewards, dim=1)
term_mask = torch.from_numpy(term.astype(np.uint8)).to(self._device)
term_mask = torch.unsqueeze(term_mask, dim=1)
next_states = torch.from_numpy(next_states).float().to(self._device)
_, v_next = self._net(next_states)
v_next = v_next * (1 - term_mask).float() # 0 -> term
action_logits, v = self._net(states)
# it's used as:
# 1. loss for the critic
# 2. advantage for the actor
delta = rewards + self._gamma * v_next - v
critic_loss = delta.abs().mean()
log_softmax = torch.nn.LogSoftmax(dim=1)
action_log_probs = log_softmax(action_logits)
action_log_probs = action_log_probs.gather(dim=1, index=actions)
# minus here because optimizer is going to *minimize* the
# loss. If we were going to update the weights manually,
# (without optimizer) we would remove the -1.
actor_loss = -(delta * action_log_probs).mean()
loss = actor_loss + critic_loss
# Optimize
self._optimizer.zero_grad()
loss.backward()
self._optimizer.step()
stats.set('loss', loss.detach())
stats.set('loss_critic', critic_loss.detach())
stats.set('loss_actor', actor_loss.detach())
stats.set('optimization_time', time.time() - t0)
# Log entropy metric (opposite to confidence)
action_probs = torch.nn.Softmax(dim=1)(action_logits)
entropy = -(action_probs * action_log_probs).sum(dim=1).mean()
stats.set('entropy', entropy.detach())
# Log gradients
for p in self._net.parameters():
if p.grad is not None:
stats.set('grad_max', p.grad.abs().max().detach())
stats.set('grad_mean', (p.grad**2).mean().sqrt().detach())
# Log Kullback-Leibler divergence between the new
# and the old policy.
new_action_logits, _ = self._net(states)
new_action_probs = torch.nn.Softmax(dim=1)(new_action_logits)
kl = -((new_action_probs / action_probs).log() *
action_probs).sum(dim=1).mean()
stats.set('kl', kl.detach())
return stats
def _run_one_phase(self, is_training):
stats = Statistics()
agent_stats = Statistics()
self._agent.eval = not is_training
min_steps = (self._training_steps if is_training else
self._evaluation_steps) * self._env.n_agents
self._env.reset()
while stats.sum("steps") < min_steps:
step_time0 = time.time()
states = np.copy(self._env.states)
actions = self._agent.step(states)
rewards, next_states, dones, env_stats = \
self._env.step(actions)
stats.set_all(env_stats)
if self._traj_buffer is not None:
self._traj_buffer.push(states, actions, rewards, next_states,
dones)
if is_training:
t0 = time.time()
agent_stats.set_all(
self._agent.transitions(states, actions, rewards,
next_states, dones))
stats.set("agent_time", time.time() - t0)
stats.set("step_time", time.time() - step_time0)
sys.stdout.write(
"Iteration {} ({}). ".format(
self._iteration, "train" if is_training else "eval") +
"Steps executed: {} ".format(stats.sum("steps")) +
"Episode length: {} ".format(int(stats.avg("steps"))) +
"Return: {:.4f} \r".format(stats.avg("rewards")))
sys.stdout.flush()
print()
self._agent.episodes_end()
return stats, agent_stats
def _run_one_iteration(self):
stats = Statistics(self._summary_writer, self._iteration)
phase_stats, agent_stats = self._run_one_phase(is_training=True)
stats.set("training_episodes", phase_stats.sum("episodes"))
stats.set("training_steps", phase_stats.sum("steps"))
stats.set_all(phase_stats.get(["agent_time", "step_time", "env_time"]))
stats.set_all(agent_stats)
if self._evaluation_steps != 0:
phase_stats, _ = self._run_one_phase(is_training=False)
stats.set("eval_episodes", phase_stats.sum("episodes"))
stats.set("episode_reward", phase_stats.get("rewards"))
stats.set("episode_steps", phase_stats.get("steps"))
return stats
def _optimize(self):
stats = Statistics()
t0 = time.time()
stats.set('replay_buffer_size', len(self._buffer))
if not self._buffer.ready():
return stats
self.net.train(True)
# Create tensors: state, action, next_state, term
states, actions, target_v, advantage = self._buffer.sample()
batch_size = len(states)
assert batch_size == self._buffer.capacity()
states = torch.from_numpy(states).float().to(self._device)
actions = torch.from_numpy(actions).to(self._device)
if self._is_continous:
actions_shape = (batch_size, ) + self._action_space.shape
actions = actions.float()
else:
actions_shape = (batch_size, )
actions = actions.long()
assert actions.shape == actions_shape, actions.shape
target_v = torch.from_numpy(target_v).float().to(self._device)
target_v = torch.unsqueeze(target_v, dim=1)
advantage = torch.from_numpy(advantage).float().to(self._device)
advantage = (advantage - advantage.mean()) / advantage.std()
advantage = advantage.detach()
assert not torch.isnan(advantage).any(), advantage
if self._is_continous:
advantage = torch.unsqueeze(advantage, dim=1)
assert advantage.shape == (batch_size, 1), advantage.shape
else:
assert advantage.shape == (batch_size, )
stats.set('advantage', advantage.abs().mean())
# Iteratively optimize the network
critic_loss_fn = nn.MSELoss()
# Action probabilities of the network before optimization
old_log_probs = None
old_dist = None
for _ in range(self._epochs):
# Calculate Actor Loss
if self._is_continous:
actions_mu, actions_var, v = self.net(states)
assert actions_var.shape == actions_shape, actions_var.shape
assert actions_mu.shape == actions_shape, actions_mu.shape
assert len(self._action_space.shape) == 1
log_probs_arr = []
for action_idx in range(self._action_space.shape[0]):
action_mu = actions_mu[:, action_idx]
action_var = actions_var[:, action_idx]
assert action_mu.shape == (batch_size, ), action_mu.shape
assert action_var.shape == (batch_size, ), action_var.shape
dist = torch.distributions.Normal(action_mu, action_var)
sub_actions = actions[:, action_idx]
assert sub_actions.shape == (batch_size, )
log_probs = dist.log_prob(sub_actions)
log_probs_arr.append(log_probs)
log_probs = torch.stack(log_probs_arr, dim=1)
else:
action_logits, _, v = self.net(states)
assert action_logits.shape == (batch_size,
self._action_space.n)
dist = torch.distributions.categorical.Categorical(
logits=action_logits)
log_probs = dist.log_prob(actions)
assert log_probs.shape == actions_shape, log_probs.shape
if old_log_probs is None:
old_log_probs = log_probs.detach()
old_dist = dist
r = (log_probs - old_log_probs).exp()
assert not torch.isnan(r).any(), r
assert r.shape == actions_shape, r.shape
obj = torch.min(
r * advantage,
torch.clamp(r, 1. - self._epsilon, 1. + self._epsilon) *
advantage)
assert obj.shape == actions_shape, obj.shape
# Minus is here because optimizer is going to *minimize* the
# loss. If we were going to update the weights manually,
# (without optimizer) we would remove the -1.
actor_loss = -obj.mean()
# Calculate Critic Loss
assert v.shape == (batch_size, 1)
assert target_v.shape == (batch_size, 1)
critic_loss = critic_loss_fn(v, target_v)
# Optimize
loss = critic_loss + actor_loss
self._optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(self.net.parameters(), 30.0)
self._optimizer.step()
stats.set('loss_actor', actor_loss.detach())
stats.set('loss_critic', critic_loss.detach())
# Log gradients
for p in self.net.parameters():
if p.grad is not None:
stats.set('grad_max', p.grad.abs().max().detach())
stats.set('grad_mean', (p.grad**2).mean().sqrt().detach())
self._buffer.reset()
# Log stats
stats.set('optimization_time', time.time() - t0)
stats.set('ppo_optimization_epochs', self._epochs)
stats.set('ppo_optimization_samples', batch_size)
# Log entropy metric (opposite to confidence)
if self._is_continous:
action_mu, action_var, _ = self.net(states)
stats.set('action_variance', action_var.mean().detach())
stats.set('action_mu_mean', (action_mu**2).mean().sqrt().detach())
stats.set('action_mu_max', action_mu.abs().max().detach())
stats.set('entropy', dist.entropy().mean().detach())
# Log Kullback-Leibler divergence between the new
# and the old policy.
kl = torch.distributions.kl.kl_divergence(dist, old_dist)
stats.set('kl', kl.mean().detach())
return stats
def step(self, actions):
stats = Statistics()
t0 = time.time()
next_states = []
states = []
rewards = []
dones = []
if isinstance(actions, np.ndarray):
actions = actions.tolist()
step_promises = []
for env_idx, env in enumerate(self._envs):
count = env.n_envs * env.n_agents
start = env_idx * count
end = start + count
env_actions = actions[start:end]
step_promises.append(env.step(env_actions))
reset_states = []
for env_idx, step_promise in enumerate(step_promises):
env_next_states, env_rewards, env_dones = step_promise()
env = self._envs[env_idx]
env_states = env_next_states
env_stat = self._env_stats[env]
env_stat.set("steps", 1)
env_stat.set("rewards", sum(env_rewards))
if env_dones.any():
stats.set("steps", env_stat.sum("steps"))
avg_reward = env_stat.sum("rewards") / (
env.n_envs * env.n_agents)
stats.set("rewards", avg_reward)
stats.set("episodes", 1)
self._env_stats[env] = Statistics()
reset_states.append((env_idx, env.reset()))
next_states.append(env_next_states)
states.append(env_states)
rewards.append(env_rewards)
dones.append(env_dones)
for env_idx, step_promise in reset_states:
states[env_idx] = step_promise()
rewards = np.concatenate(rewards, axis=0)
dones = np.concatenate(dones, axis=0)
next_states = np.concatenate(next_states, axis=0)
self.states = np.concatenate(states, axis=0)
stats.set("env_time", time.time() - t0)
return rewards, next_states, dones, stats
def reset(self):
self._env_stats = {env: Statistics() for env in self._envs}
step_promises = [env.reset() for env in self._envs]
states = [step_promise() for step_promise in step_promises]
self.states = np.concatenate(states, axis=0)
def _optimize(self):
stats = Statistics()
if self.eval:
return stats
if self._step % self._train_freq != 0:
return stats
self._policy_net.train(True)
# Increase ReplayBuffer beta parameter 0.4 → 1.0
# (These numbers are taken from the Rainbow paper)
beta0 = 0.4
beta1 = 1.0
bonus = min(1.0, self._optimization_step / self._beta_decay)
beta = beta0 + (beta1 - beta0) * bonus
try:
self._buffer.set_beta(beta)
stats.set('replay_beta', beta)
except AttributeError:
# In case it's not a PriorityReplayBuffer
pass
states, actions, rewards, next_states, term, ids = self._buffer.sample(
self._batch_size)
# Make Replay Buffer values consumable by PyTorch
states = torch.from_numpy(states).float().to(self._device)
actions = torch.from_numpy(actions).long().to(self._device)
actions = torch.unsqueeze(actions, dim=1)
rewards = torch.from_numpy(rewards).float().to(self._device)
rewards = torch.unsqueeze(rewards, dim=1)
# For term states the Q value is calculated differently:
# Q(term_state) = R
term_mask = torch.from_numpy(term).to(self._device)
term_mask = torch.unsqueeze(term_mask, dim=1)
term_mask = (1 - term_mask).float()
next_states = torch.from_numpy(next_states).float().to(self._device)
# Calculate TD Target
self._sample_noise()
if self._double:
# Double DQN: use target_net for Q values estimation of the
# next_state and policy_net for choosing the action
# in the next_state.
next_q_pnet = self._policy_net(next_states).detach()
next_actions = torch.argmax(next_q_pnet, dim=1).unsqueeze(dim=1)
else:
next_q_tnet = self._target_net(next_states).detach()
next_actions = torch.argmax(next_q_tnet, dim=1).unsqueeze(dim=1)
self._sample_noise()
next_q = self._target_net(next_states).gather(
1, next_actions).detach() # detach → don't backpropagate
next_q = next_q * (1 - term_mask).float() # 0 -> term
target_q = rewards + self._gamma * next_q
self._sample_noise()
q = self._policy_net(states).gather(dim=1, index=actions)
loss = self._loss_fn(q, target_q)
try:
w = self._buffer.importance_sampling_weights(ids)
w = torch.from_numpy(w).float().to(self._device)
loss = w * loss
except AttributeError:
# Not a priority replay buffer
pass
loss = torch.mean(loss)
stats.set('loss', loss.detach())
self._optimizer.zero_grad()
loss.backward()
for param in self._policy_net.parameters():
if param.grad is not None:
param.grad.data.clamp_(-1, 1)
self._optimizer.step()
self._update_target_net()
self._optimization_step += 1
# Update priorities in the Replay Buffer
with torch.no_grad():
buffer_loss = self._buffer_loss_fn(q, target_q)
buffer_loss = torch.squeeze(buffer_loss)
buffer_loss = buffer_loss.cpu().numpy()
try:
self._buffer.update_priorities(ids, buffer_loss)
except AttributeError:
# That's not a priority replay buffer
pass
return stats