def appo_surrogate_loss(
policy: Policy, model: ModelV2, dist_class: Type[TFActionDistribution],
train_batch: SampleBatch) -> Union[TensorType, List[TensorType]]:
"""Constructs the loss for APPO.
With IS modifications and V-trace for Advantage Estimation.
Args:
policy (Policy): The Policy to calculate the loss for.
model (ModelV2): The Model to calculate the loss for.
dist_class (Type[ActionDistribution]): The action distr. class.
train_batch (SampleBatch): The training data.
Returns:
Union[TensorType, List[TensorType]]: A single loss tensor or a list
of loss tensors.
"""
model_out, _ = model.from_batch(train_batch)
action_dist = dist_class(model_out, model)
if isinstance(policy.action_space, gym.spaces.Discrete):
is_multidiscrete = False
output_hidden_shape = [policy.action_space.n]
elif isinstance(policy.action_space,
gym.spaces.multi_discrete.MultiDiscrete):
is_multidiscrete = True
output_hidden_shape = policy.action_space.nvec.astype(np.int32)
else:
is_multidiscrete = False
output_hidden_shape = 1
# TODO: (sven) deprecate this when trajectory view API gets activated.
def make_time_major(*args, **kw):
return _make_time_major(policy, train_batch.get("seq_lens"), *args,
**kw)
actions = train_batch[SampleBatch.ACTIONS]
dones = train_batch[SampleBatch.DONES]
rewards = train_batch[SampleBatch.REWARDS]
behaviour_logits = train_batch[SampleBatch.ACTION_DIST_INPUTS]
target_model_out, _ = policy.target_model.from_batch(train_batch)
prev_action_dist = dist_class(behaviour_logits, policy.model)
values = policy.model.value_function()
values_time_major = make_time_major(values)
policy.model_vars = policy.model.variables()
policy.target_model_vars = policy.target_model.variables()
if policy.is_recurrent():
max_seq_len = tf.reduce_max(train_batch["seq_lens"]) - 1
mask = tf.sequence_mask(train_batch["seq_lens"], max_seq_len)
mask = tf.reshape(mask, [-1])
mask = make_time_major(mask, drop_last=policy.config["vtrace"])
def reduce_mean_valid(t):
return tf.reduce_mean(tf.boolean_mask(t, mask))
else:
reduce_mean_valid = tf.reduce_mean
if policy.config["vtrace"]:
logger.debug("Using V-Trace surrogate loss (vtrace=True)")
# Prepare actions for loss.
loss_actions = actions if is_multidiscrete else tf.expand_dims(actions,
axis=1)
old_policy_behaviour_logits = tf.stop_gradient(target_model_out)
old_policy_action_dist = dist_class(old_policy_behaviour_logits, model)
# Prepare KL for Loss
mean_kl = make_time_major(old_policy_action_dist.multi_kl(action_dist),
drop_last=True)
unpacked_behaviour_logits = tf.split(behaviour_logits,
output_hidden_shape,
axis=1)
unpacked_old_policy_behaviour_logits = tf.split(
old_policy_behaviour_logits, output_hidden_shape, axis=1)
# Compute vtrace on the CPU for better perf.
with tf.device("/cpu:0"):
vtrace_returns = vtrace.multi_from_logits(
behaviour_policy_logits=make_time_major(
unpacked_behaviour_logits, drop_last=True),
target_policy_logits=make_time_major(
unpacked_old_policy_behaviour_logits, drop_last=True),
actions=tf.unstack(make_time_major(loss_actions,
drop_last=True),
axis=2),
discounts=tf.cast(
~make_time_major(tf.cast(dones, tf.bool), drop_last=True),
tf.float32) * policy.config["gamma"],
rewards=make_time_major(rewards, drop_last=True),
values=values_time_major[:-1], # drop-last=True
bootstrap_value=values_time_major[-1],
dist_class=Categorical if is_multidiscrete else dist_class,
model=model,
clip_rho_threshold=tf.cast(
policy.config["vtrace_clip_rho_threshold"], tf.float32),
clip_pg_rho_threshold=tf.cast(
policy.config["vtrace_clip_pg_rho_threshold"], tf.float32),
)
actions_logp = make_time_major(action_dist.logp(actions),
drop_last=True)
prev_actions_logp = make_time_major(prev_action_dist.logp(actions),
drop_last=True)
old_policy_actions_logp = make_time_major(
old_policy_action_dist.logp(actions), drop_last=True)
is_ratio = tf.clip_by_value(
tf.math.exp(prev_actions_logp - old_policy_actions_logp), 0.0, 2.0)
logp_ratio = is_ratio * tf.exp(actions_logp - prev_actions_logp)
policy._is_ratio = is_ratio
advantages = vtrace_returns.pg_advantages
surrogate_loss = tf.minimum(
advantages * logp_ratio,
advantages *
tf.clip_by_value(logp_ratio, 1 - policy.config["clip_param"],
1 + policy.config["clip_param"]))
action_kl = tf.reduce_mean(mean_kl, axis=0) \
if is_multidiscrete else mean_kl
mean_kl = reduce_mean_valid(action_kl)
mean_policy_loss = -reduce_mean_valid(surrogate_loss)
# The value function loss.
delta = values_time_major[:-1] - vtrace_returns.vs
value_targets = vtrace_returns.vs
mean_vf_loss = 0.5 * reduce_mean_valid(tf.math.square(delta))
# The entropy loss.
actions_entropy = make_time_major(action_dist.multi_entropy(),
drop_last=True)
mean_entropy = reduce_mean_valid(actions_entropy)
else:
logger.debug("Using PPO surrogate loss (vtrace=False)")
# Prepare KL for Loss
mean_kl = make_time_major(prev_action_dist.multi_kl(action_dist))
logp_ratio = tf.math.exp(
make_time_major(action_dist.logp(actions)) -
make_time_major(prev_action_dist.logp(actions)))
advantages = make_time_major(train_batch[Postprocessing.ADVANTAGES])
surrogate_loss = tf.minimum(
advantages * logp_ratio,
advantages *
tf.clip_by_value(logp_ratio, 1 - policy.config["clip_param"],
1 + policy.config["clip_param"]))
action_kl = tf.reduce_mean(mean_kl, axis=0) \
if is_multidiscrete else mean_kl
mean_kl = reduce_mean_valid(action_kl)
mean_policy_loss = -reduce_mean_valid(surrogate_loss)
# The value function loss.
value_targets = make_time_major(
train_batch[Postprocessing.VALUE_TARGETS])
delta = values_time_major - value_targets
mean_vf_loss = 0.5 * reduce_mean_valid(tf.math.square(delta))
# The entropy loss.
mean_entropy = reduce_mean_valid(
make_time_major(action_dist.multi_entropy()))
# The summed weighted loss
total_loss = mean_policy_loss + \
mean_vf_loss * policy.config["vf_loss_coeff"] - \
mean_entropy * policy.config["entropy_coeff"]
# Optional additional KL Loss
if policy.config["use_kl_loss"]:
total_loss += policy.kl_coeff * mean_kl
policy._total_loss = total_loss
policy._mean_policy_loss = mean_policy_loss
policy._mean_kl = mean_kl
policy._mean_vf_loss = mean_vf_loss
policy._mean_entropy = mean_entropy
policy._value_targets = value_targets
# Store stats in policy for stats_fn.
return total_loss
def appo_surrogate_loss(policy: Policy, model: ModelV2,
dist_class: Type[TorchDistributionWrapper],
train_batch: SampleBatch) -> TensorType:
"""Constructs the loss for APPO.
With IS modifications and V-trace for Advantage Estimation.
Args:
policy (Policy): The Policy to calculate the loss for.
model (ModelV2): The Model to calculate the loss for.
dist_class (Type[ActionDistribution]): The action distr. class.
train_batch (SampleBatch): The training data.
Returns:
Union[TensorType, List[TensorType]]: A single loss tensor or a list
of loss tensors.
"""
target_model = policy.target_models[model]
model_out, _ = model.from_batch(train_batch)
action_dist = dist_class(model_out, model)
if isinstance(policy.action_space, gym.spaces.Discrete):
is_multidiscrete = False
output_hidden_shape = [policy.action_space.n]
elif isinstance(policy.action_space,
gym.spaces.multi_discrete.MultiDiscrete):
is_multidiscrete = True
output_hidden_shape = policy.action_space.nvec.astype(np.int32)
else:
is_multidiscrete = False
output_hidden_shape = 1
def _make_time_major(*args, **kw):
return make_time_major(policy, train_batch.get("seq_lens"), *args,
**kw)
actions = train_batch[SampleBatch.ACTIONS]
dones = train_batch[SampleBatch.DONES]
rewards = train_batch[SampleBatch.REWARDS]
behaviour_logits = train_batch[SampleBatch.ACTION_DIST_INPUTS]
target_model_out, _ = target_model.from_batch(train_batch)
prev_action_dist = dist_class(behaviour_logits, model)
values = model.value_function()
values_time_major = _make_time_major(values)
if policy.is_recurrent():
max_seq_len = torch.max(train_batch["seq_lens"])
mask = sequence_mask(train_batch["seq_lens"], max_seq_len)
mask = torch.reshape(mask, [-1])
mask = _make_time_major(mask, drop_last=policy.config["vtrace"])
num_valid = torch.sum(mask)
def reduce_mean_valid(t):
return torch.sum(t[mask]) / num_valid
else:
reduce_mean_valid = torch.mean
if policy.config["vtrace"]:
logger.debug("Using V-Trace surrogate loss (vtrace=True)")
old_policy_behaviour_logits = target_model_out.detach()
old_policy_action_dist = dist_class(old_policy_behaviour_logits, model)
if isinstance(output_hidden_shape, (list, tuple, np.ndarray)):
unpacked_behaviour_logits = torch.split(behaviour_logits,
list(output_hidden_shape),
dim=1)
unpacked_old_policy_behaviour_logits = torch.split(
old_policy_behaviour_logits, list(output_hidden_shape), dim=1)
else:
unpacked_behaviour_logits = torch.chunk(behaviour_logits,
output_hidden_shape,
dim=1)
unpacked_old_policy_behaviour_logits = torch.chunk(
old_policy_behaviour_logits, output_hidden_shape, dim=1)
# Prepare actions for loss.
loss_actions = actions if is_multidiscrete else torch.unsqueeze(
actions, dim=1)
# Prepare KL for loss.
action_kl = _make_time_major(old_policy_action_dist.kl(action_dist),
drop_last=True)
# Compute vtrace on the CPU for better perf.
vtrace_returns = vtrace.multi_from_logits(
behaviour_policy_logits=_make_time_major(unpacked_behaviour_logits,
drop_last=True),
target_policy_logits=_make_time_major(
unpacked_old_policy_behaviour_logits, drop_last=True),
actions=torch.unbind(_make_time_major(loss_actions,
drop_last=True),
dim=2),
discounts=(1.0 - _make_time_major(dones, drop_last=True).float()) *
policy.config["gamma"],
rewards=_make_time_major(rewards, drop_last=True),
values=values_time_major[:-1], # drop-last=True
bootstrap_value=values_time_major[-1],
dist_class=TorchCategorical if is_multidiscrete else dist_class,
model=model,
clip_rho_threshold=policy.config["vtrace_clip_rho_threshold"],
clip_pg_rho_threshold=policy.config["vtrace_clip_pg_rho_threshold"]
)
actions_logp = _make_time_major(action_dist.logp(actions),
drop_last=True)
prev_actions_logp = _make_time_major(prev_action_dist.logp(actions),
drop_last=True)
old_policy_actions_logp = _make_time_major(
old_policy_action_dist.logp(actions), drop_last=True)
is_ratio = torch.clamp(
torch.exp(prev_actions_logp - old_policy_actions_logp), 0.0, 2.0)
logp_ratio = is_ratio * torch.exp(actions_logp - prev_actions_logp)
policy._is_ratio = is_ratio
advantages = vtrace_returns.pg_advantages.to(logp_ratio.device)
surrogate_loss = torch.min(
advantages * logp_ratio,
advantages *
torch.clamp(logp_ratio, 1 - policy.config["clip_param"],
1 + policy.config["clip_param"]))
mean_kl = reduce_mean_valid(action_kl)
mean_policy_loss = -reduce_mean_valid(surrogate_loss)
# The value function loss.
value_targets = vtrace_returns.vs.to(values_time_major.device)
delta = values_time_major[:-1] - value_targets
mean_vf_loss = 0.5 * reduce_mean_valid(torch.pow(delta, 2.0))
# The entropy loss.
mean_entropy = reduce_mean_valid(
_make_time_major(action_dist.entropy(), drop_last=True))
else:
logger.debug("Using PPO surrogate loss (vtrace=False)")
# Prepare KL for Loss
action_kl = _make_time_major(prev_action_dist.kl(action_dist))
actions_logp = _make_time_major(action_dist.logp(actions))
prev_actions_logp = _make_time_major(prev_action_dist.logp(actions))
logp_ratio = torch.exp(actions_logp - prev_actions_logp)
advantages = _make_time_major(train_batch[Postprocessing.ADVANTAGES])
surrogate_loss = torch.min(
advantages * logp_ratio,
advantages *
torch.clamp(logp_ratio, 1 - policy.config["clip_param"],
1 + policy.config["clip_param"]))
mean_kl = reduce_mean_valid(action_kl)
mean_policy_loss = -reduce_mean_valid(surrogate_loss)
# The value function loss.
value_targets = _make_time_major(
train_batch[Postprocessing.VALUE_TARGETS])
delta = values_time_major - value_targets
mean_vf_loss = 0.5 * reduce_mean_valid(torch.pow(delta, 2.0))
# The entropy loss.
mean_entropy = reduce_mean_valid(
_make_time_major(action_dist.entropy()))
# The summed weighted loss
total_loss = mean_policy_loss + \
mean_vf_loss * policy.config["vf_loss_coeff"] - \
mean_entropy * policy.config["entropy_coeff"]
# Optional additional KL Loss
if policy.config["use_kl_loss"]:
total_loss += policy.kl_coeff * mean_kl
policy._total_loss = total_loss
policy._mean_policy_loss = mean_policy_loss
policy._mean_kl = mean_kl
policy._mean_vf_loss = mean_vf_loss
policy._mean_entropy = mean_entropy
policy._value_targets = value_targets
policy._vf_explained_var = explained_variance(
torch.reshape(value_targets, [-1]),
torch.reshape(
values_time_major[:-1]
if policy.config["vtrace"] else values_time_major, [-1]),
)
return total_loss
