def train_ae(ae_trainer,
training_distrib,
num_epochs=100,
num_batches_per_epoch=500,
batch_size=512,
goal_key='image_desired_goal',
rl_csv_fname='progress.csv'):
from rlkit.core import logger
logger.remove_tabular_output(rl_csv_fname, relative_to_snapshot_dir=True)
logger.add_tabular_output('ae_progress.csv', relative_to_snapshot_dir=True)
for epoch in range(num_epochs):
for batch_num in range(num_batches_per_epoch):
goals = ptu.from_numpy(
training_distrib.sample(batch_size)[goal_key])
batch = dict(raw_next_observations=goals, )
ae_trainer.train_from_torch(batch)
log = OrderedDict()
log['epoch'] = epoch
append_log(log, ae_trainer.eval_statistics, prefix='ae/')
logger.record_dict(log)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
ae_trainer.end_epoch(epoch)
logger.add_tabular_output(rl_csv_fname, relative_to_snapshot_dir=True)
logger.remove_tabular_output('ae_progress.csv',
relative_to_snapshot_dir=True)
def train_vae_and_update_variant(variant):
from rlkit.core import logger
skewfit_variant = variant["skewfit_variant"]
train_vae_variant = variant["train_vae_variant"]
if skewfit_variant.get("vae_path", None) is None:
logger.remove_tabular_output("progress.csv",
relative_to_snapshot_dir=True)
logger.add_tabular_output("vae_progress.csv",
relative_to_snapshot_dir=True)
vae, vae_train_data, vae_test_data = train_vae(train_vae_variant,
return_data=True)
if skewfit_variant.get("save_vae_data", False):
skewfit_variant["vae_train_data"] = vae_train_data
skewfit_variant["vae_test_data"] = vae_test_data
logger.save_extra_data(vae, "vae.pkl", mode="pickle")
logger.remove_tabular_output("vae_progress.csv",
relative_to_snapshot_dir=True)
logger.add_tabular_output("progress.csv",
relative_to_snapshot_dir=True)
skewfit_variant["vae_path"] = vae # just pass the VAE directly
else:
if skewfit_variant.get("save_vae_data", False):
vae_train_data, vae_test_data, info = generate_vae_dataset(
train_vae_variant["generate_vae_dataset_kwargs"])
skewfit_variant["vae_train_data"] = vae_train_data
skewfit_variant["vae_test_data"] = vae_test_data
def train_vae_and_update_variant(variant):
from rlkit.core import logger
skewfit_variant = variant['skewfit_variant']
train_vae_variant = variant['train_vae_variant']
if skewfit_variant.get('vae_path', None) is None:
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
vae, vae_train_data, vae_test_data = train_vae(
train_vae_variant, variant['other_variant'], return_data=True)
if skewfit_variant.get('save_vae_data', False):
skewfit_variant['vae_train_data'] = vae_train_data
skewfit_variant['vae_test_data'] = vae_test_data
logger.save_extra_data(vae, 'vae.pkl', mode='pickle')
logger.remove_tabular_output(
'vae_progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
skewfit_variant['vae_path'] = vae # just pass the VAE directly
else:
if skewfit_variant.get('save_vae_data', False):
vae_train_data, vae_test_data, info = generate_vae_dataset(
train_vae_variant['generate_vae_dataset_kwargs'])
skewfit_variant['vae_train_data'] = vae_train_data
skewfit_variant['vae_test_data'] = vae_test_data
def train_vae_and_update_config(cfgs):
from rlkit.core import logger
if cfgs.VAE_TRAINER.get('vae_path', None) is None:
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
vae, vae_train_data, vae_test_data = train_vae(cfgs, return_data=True)
cfgs.VAE_TRAINER.vae_path = vae # just pass the VAE directly
if cfgs.VAE_TRAINER.save_vae_data:
cfgs.VAE_TRAINER.train_data = vae_train_data
cfgs.VAE_TRAINER.test_data = vae_test_data
logger.remove_tabular_output(
'vae_progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
else:
vae_train_data, vae_test_data, _ = generate_vae_dataset(cfgs)
if cfgs.VAE_TRAINER.save_vae_data:
cfgs.VAE_TRAINER.train_data = vae_train_data
cfgs.VAE_TRAINER.test_data = vae_test_data
def run(self):
if self.progress_csv_file_name != 'progress.csv':
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output(
self.progress_csv_file_name,
relative_to_snapshot_dir=True,
)
timer.return_global_times = True
for _ in range(self.num_iters):
self._begin_epoch()
timer.start_timer('saving')
logger.save_itr_params(self.epoch, self._get_snapshot())
timer.stop_timer('saving')
log_dict, _ = self._train()
logger.record_dict(log_dict)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
self._end_epoch()
logger.save_itr_params(self.epoch, self._get_snapshot())
if self.progress_csv_file_name != 'progress.csv':
logger.remove_tabular_output(
self.progress_csv_file_name,
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
def continue_experiment(args):
logger.add_text_output('./d_text.txt')
logger.add_tabular_output('./d_tabular.txt')
logger.set_snapshot_dir('./snaps')
extra = joblib.load(args.extra)
algorithm = extra['algorithm']
algorithm.farmlist_base = [('0.0.0.0', 15)]
algorithm.refarm()
if ptu.gpu_enabled():
algorithm.cuda()
algorithm.train()
def pretrain_q_with_bc_data(self, batch_size):
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('pretrain_q.csv',
relative_to_snapshot_dir=True)
self.update_policy = True
# then train policy and Q function together
prev_time = time.time()
for i in range(self.num_pretrain_steps):
self.eval_statistics = dict()
if i % self.pretraining_logging_period == 0:
self._need_to_update_eval_statistics = True
train_data = self.replay_buffer.random_batch(batch_size)
train_data = np_to_pytorch_batch(train_data)
obs = train_data['observations']
next_obs = train_data['next_observations']
# goals = train_data['resampled_goals']
train_data['observations'] = obs # torch.cat((obs, goals), dim=1)
train_data[
'next_observations'] = next_obs # torch.cat((next_obs, goals), dim=1)
self.train_from_torch(train_data)
if self.do_pretrain_rollouts and i % self.pretraining_env_logging_period == 0:
total_ret = self.do_rollouts()
print("Return at step {} : {}".format(i, total_ret / 20))
if i % self.pretraining_logging_period == 0:
if self.do_pretrain_rollouts:
self.eval_statistics[
"pretrain_bc/avg_return"] = total_ret / 20
self.eval_statistics["batch"] = i
self.eval_statistics["epoch_time"] = time.time() - prev_time
logger.record_dict(self.eval_statistics)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
prev_time = time.time()
logger.remove_tabular_output(
'pretrain_q.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
self._need_to_update_eval_statistics = True
self.eval_statistics = dict()
def experiment(variant):
logger.add_text_output('./d_text.txt')
logger.add_tabular_output('./d_tabular.txt')
logger.set_snapshot_dir('./snaps')
farmer = Farmer([('0.0.0.0', 1)])
remote_env = farmer.force_acq_env()
remote_env.set_spaces()
env = NormalizedBoxEnv(remote_env)
es = GaussianStrategy(
action_space=env.action_space,
max_sigma=0.1,
min_sigma=0.1, # Constant sigma
)
obs_dim = env.observation_space.low.size
action_dim = env.action_space.low.size
qf1 = FlattenMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[256, 256],
)
qf2 = FlattenMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[256, 256],
)
policy = TanhMlpPolicy(
input_size=obs_dim,
output_size=action_dim,
hidden_sizes=[256, 256],
)
exploration_policy = PolicyWrappedWithExplorationStrategy(
exploration_strategy=es,
policy=policy,
)
algorithm = TD3(env,
qf1=qf1,
qf2=qf2,
policy=policy,
exploration_policy=exploration_policy,
**variant['algo_kwargs'])
if ptu.gpu_enabled():
algorithm.cuda()
algorithm.train()
def transfer_encoder_goal_conditioned_sac_experiment(train_variant,
transfer_variant=None):
rl_csv_fname = 'progress.csv'
retrain_rl_csv_fname = 'retrain_progress.csv'
train_results = encoder_goal_conditioned_sac_experiment(
**train_variant, rl_csv_fname=rl_csv_fname)
logger.remove_tabular_output(rl_csv_fname, relative_to_snapshot_dir=True)
logger.add_tabular_output(retrain_rl_csv_fname,
relative_to_snapshot_dir=True)
if not transfer_variant:
transfer_variant = {}
transfer_variant = recursive_dict_update(train_variant, transfer_variant)
print('Starting transfer exp')
encoder_goal_conditioned_sac_experiment(**transfer_variant,
is_retraining_from_scratch=True,
train_results=train_results,
rl_csv_fname=retrain_rl_csv_fname)
def pretrain_q_with_bc_data(self, batch_size):
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('pretrain_q.csv',
relative_to_snapshot_dir=True)
prev_time = time.time()
for i in range(self.num_pretrain_steps):
self.eval_statistics = dict()
if i % self.pretraining_logging_period == 0:
self._need_to_update_eval_statistics = True
train_data = self.replay_buffer.random_batch(self.bc_batch_size)
train_data = np_to_pytorch_batch(train_data)
obs = train_data['observations']
next_obs = train_data['next_observations']
# goals = train_data['resampled_goals']
train_data['observations'] = obs # torch.cat((obs, goals), dim=1)
train_data[
'next_observations'] = next_obs # torch.cat((next_obs, goals), dim=1)
self.train_from_torch(train_data, pretrain=True)
if i % self.pretraining_logging_period == 0:
self.eval_statistics["batch"] = i
self.eval_statistics["epoch_time"] = time.time() - prev_time
stats_with_prefix = add_prefix(self.eval_statistics,
prefix="trainer/")
logger.record_dict(stats_with_prefix)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
prev_time = time.time()
logger.remove_tabular_output(
'pretrain_q.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
self._need_to_update_eval_statistics = True
self.eval_statistics = dict()
def grill_her_full_experiment(variant, mode='td3'):
train_vae_variant = variant['train_vae_variant']
grill_variant = variant['grill_variant']
env_class = variant['env_class']
env_kwargs = variant['env_kwargs']
init_camera = variant['init_camera']
train_vae_variant['generate_vae_dataset_kwargs']['env_class'] = env_class
train_vae_variant['generate_vae_dataset_kwargs']['env_kwargs'] = env_kwargs
train_vae_variant['generate_vae_dataset_kwargs'][
'init_camera'] = init_camera
grill_variant['env_class'] = env_class
grill_variant['env_kwargs'] = env_kwargs
grill_variant['init_camera'] = init_camera
if 'vae_paths' not in grill_variant:
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
vae = train_vae(train_vae_variant)
rdim = train_vae_variant['representation_size']
vae_file = logger.save_extra_data(vae, 'vae.pkl', mode='pickle')
logger.remove_tabular_output(
'vae_progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
grill_variant['vae_paths'] = {
str(rdim): vae_file,
}
grill_variant['rdim'] = str(rdim)
if mode == 'td3':
grill_her_td3_experiment(variant['grill_variant'])
elif mode == 'twin-sac':
grill_her_twin_sac_experiment(variant['grill_variant'])
elif mode == 'sac':
grill_her_sac_experiment(variant['grill_variant'])
def experiment(variant):
logger.add_text_output('./d_text.txt')
logger.add_tabular_output('./d_tabular.txt')
logger.set_snapshot_dir('./snaps')
farmer = Farmer([('0.0.0.0', 1)])
remote_env = farmer.force_acq_env()
remote_env.set_spaces()
env = NormalizedBoxEnv(remote_env)
es = OUStrategy(action_space=env.action_space)
obs_dim = env.observation_space.low.size
action_dim = env.action_space.low.size
net_size = variant['net_size']
qf = FlattenMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[net_size, net_size],
)
policy = TanhMlpPolicy(
input_size=obs_dim,
output_size=action_dim,
hidden_sizes=[net_size, net_size],
)
exploration_policy = PolicyWrappedWithExplorationStrategy(
exploration_strategy=es,
policy=policy,
)
algorithm = DDPG(env,
qf=qf,
policy=policy,
exploration_policy=exploration_policy,
**variant['algo_params'])
if ptu.gpu_enabled():
algorithm.cuda()
algorithm.train()
def experiment(variant):
logger.add_text_output('./d_text.txt')
logger.add_tabular_output('./d_tabular.txt')
logger.set_snapshot_dir('./snaps')
farmer = Farmer([('0.0.0.0', 1)])
remote_env = farmer.force_acq_env()
remote_env.set_spaces()
env = NormalizedBoxEnv(remote_env)
obs_dim = int(np.prod(env.observation_space.shape))
action_dim = int(np.prod(env.action_space.shape))
net_size = variant['net_size']
qf = FlattenMlp(
hidden_sizes=[net_size, net_size],
input_size=obs_dim + action_dim,
output_size=1,
)
vf = FlattenMlp(
hidden_sizes=[net_size, net_size],
input_size=obs_dim,
output_size=1,
)
policy = TanhGaussianPolicy(
hidden_sizes=[net_size, net_size],
obs_dim=obs_dim,
action_dim=action_dim,
)
algorithm = SoftActorCritic(env=env,
training_env=env,
policy=policy,
qf=qf,
vf=vf,
**variant['algo_params'])
if ptu.gpu_enabled():
algorithm.cuda()
algorithm.train()
def train_vae(
variant, env_kwargs, env_id, env_class, imsize, init_camera, return_data=False
):
from rlkit.misc.ml_util import PiecewiseLinearSchedule, ConstantSchedule
from rlkit.torch.vae.conv_vae import (
ConvVAE,
SpatialAutoEncoder,
AutoEncoder,
)
import rlkit.torch.vae.conv_vae as conv_vae
from rlkit.torch.vae.vae_trainer import ConvVAETrainer
from rlkit.core import logger
import rlkit.torch.pytorch_util as ptu
from rlkit.pythonplusplus import identity
import torch
logger.remove_tabular_output(
'progress.csv', relative_to_snapshot_dir=True
)
logger.add_tabular_output(
'model_progress.csv', relative_to_snapshot_dir=True
)
beta = variant["beta"]
representation_size = variant.get("representation_size",
variant.get("latent_sizes", variant.get("embedding_dim", None)))
use_linear_dynamics = variant.get('use_linear_dynamics', False)
generate_vae_dataset_fctn = variant.get('generate_vae_data_fctn',
generate_vae_dataset)
variant['generate_vae_dataset_kwargs']['use_linear_dynamics'] = use_linear_dynamics
variant['generate_vae_dataset_kwargs']['batch_size'] = variant['algo_kwargs']['batch_size']
train_dataset, test_dataset, info = generate_vae_dataset_fctn(
env_kwargs, env_id, env_class, imsize, init_camera,
**variant['generate_vae_dataset_kwargs']
)
if use_linear_dynamics:
action_dim = train_dataset.data['actions'].shape[2]
logger.save_extra_data(info)
logger.get_snapshot_dir()
if 'beta_schedule_kwargs' in variant:
beta_schedule = PiecewiseLinearSchedule(
**variant['beta_schedule_kwargs'])
else:
beta_schedule = None
if 'context_schedule' in variant:
schedule = variant['context_schedule']
if type(schedule) is dict:
context_schedule = PiecewiseLinearSchedule(**schedule)
else:
context_schedule = ConstantSchedule(schedule)
variant['algo_kwargs']['context_schedule'] = context_schedule
if variant.get('decoder_activation', None) == 'sigmoid':
decoder_activation = torch.nn.Sigmoid()
else:
decoder_activation = identity
architecture = variant['vae_kwargs'].get('architecture', None)
if not architecture and imsize == 84:
architecture = conv_vae.imsize84_default_architecture
elif not architecture and imsize == 48:
architecture = conv_vae.imsize48_default_architecture
variant['vae_kwargs']['architecture'] = architecture
variant['vae_kwargs']['imsize'] = imsize
if variant['algo_kwargs'].get('is_auto_encoder', False):
model = AutoEncoder(representation_size, decoder_output_activation=decoder_activation,**variant['vae_kwargs'])
elif variant.get('use_spatial_auto_encoder', False):
model = SpatialAutoEncoder(representation_size, decoder_output_activation=decoder_activation,**variant['vae_kwargs'])
else:
vae_class = variant.get('vae_class', ConvVAE)
if use_linear_dynamics:
model = vae_class(representation_size, decoder_output_activation=decoder_activation, action_dim=action_dim,**variant['vae_kwargs'])
else:
model = vae_class(representation_size, decoder_output_activation=decoder_activation,**variant['vae_kwargs'])
model.to(ptu.device)
vae_trainer_class = variant.get('vae_trainer_class', ConvVAETrainer)
trainer = vae_trainer_class(model, beta=beta,
beta_schedule=beta_schedule,
**variant['algo_kwargs'])
save_period = variant['save_period']
dump_skew_debug_plots = variant.get('dump_skew_debug_plots', False)
for epoch in range(variant['num_epochs']):
should_save_imgs = (epoch % save_period == 0)
trainer.train_epoch(epoch, train_dataset)
trainer.test_epoch(epoch, test_dataset)
if should_save_imgs:
trainer.dump_reconstructions(epoch)
trainer.dump_samples(epoch)
if dump_skew_debug_plots:
trainer.dump_best_reconstruction(epoch)
trainer.dump_worst_reconstruction(epoch)
trainer.dump_sampling_histogram(epoch)
stats = trainer.get_diagnostics()
for k, v in stats.items():
logger.record_tabular(k, v)
logger.dump_tabular()
trainer.end_epoch(epoch)
if epoch % 50 == 0:
logger.save_itr_params(epoch, model)
logger.save_extra_data(model, 'vae.pkl', mode='pickle')
logger.remove_tabular_output(
'model_progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
if return_data:
return model, train_dataset, test_dataset
return model
def setup_logger(
exp_prefix="default",
variant=None,
text_log_file="debug.log",
variant_log_file="variant.json",
tabular_log_file="progress.csv",
snapshot_mode="last",
snapshot_gap=1,
log_tabular_only=False,
log_dir=None,
git_infos=None,
script_name=None,
**create_log_dir_kwargs
):
"""
Set up logger to have some reasonable default settings.
Will save log output to
based_log_dir/exp_prefix/exp_name.
exp_name will be auto-generated to be unique.
If log_dir is specified, then that directory is used as the output dir.
:param exp_prefix: The sub-directory for this specific experiment.
:param variant:
:param text_log_file:
:param variant_log_file:
:param tabular_log_file:
:param snapshot_mode:
:param log_tabular_only:
:param snapshot_gap:
:param log_dir:
:param git_infos:
:param script_name: If set, save the script name to this.
:return:
"""
if git_infos is None:
git_infos = get_git_infos(conf.CODE_DIRS_TO_MOUNT)
first_time = log_dir is None
if first_time:
log_dir = create_log_dir(exp_prefix, **create_log_dir_kwargs)
if variant is not None:
logger.log("Variant:")
logger.log(json.dumps(dict_to_safe_json(variant), indent=2))
variant_log_path = osp.join(log_dir, variant_log_file)
logger.log_variant(variant_log_path, variant)
tabular_log_path = osp.join(log_dir, tabular_log_file)
text_log_path = osp.join(log_dir, text_log_file)
logger.add_text_output(text_log_path)
if first_time:
logger.add_tabular_output(tabular_log_path)
else:
logger._add_output(tabular_log_path, logger._tabular_outputs,
logger._tabular_fds, mode='a')
for tabular_fd in logger._tabular_fds:
logger._tabular_header_written.add(tabular_fd)
logger.set_snapshot_dir(log_dir)
logger.set_snapshot_mode(snapshot_mode)
logger.set_snapshot_gap(snapshot_gap)
logger.set_log_tabular_only(log_tabular_only)
exp_name = log_dir.split("/")[-1]
logger.push_prefix("[%s] " % exp_name)
if git_infos is not None:
for (
directory, code_diff, code_diff_staged, commit_hash, branch_name
) in git_infos:
if directory[-1] == '/':
directory = directory[:-1]
diff_file_name = directory[1:].replace("/", "-") + ".patch"
diff_staged_file_name = (
directory[1:].replace("/", "-") + "_staged.patch"
)
if code_diff is not None and len(code_diff) > 0:
with open(osp.join(log_dir, diff_file_name), "w") as f:
f.write(code_diff + '\n')
if code_diff_staged is not None and len(code_diff_staged) > 0:
with open(osp.join(log_dir, diff_staged_file_name), "w") as f:
f.write(code_diff_staged + '\n')
with open(osp.join(log_dir, "git_infos.txt"), "a") as f:
f.write("directory: {}\n".format(directory))
f.write("git hash: {}\n".format(commit_hash))
f.write("git branch name: {}\n\n".format(branch_name))
if script_name is not None:
with open(osp.join(log_dir, "script_name.txt"), "w") as f:
f.write(script_name)
return log_dir
def setup_logger(
exp_prefix="default",
exp_id=0,
seed=0,
variant=None,
base_log_dir=None,
text_log_file="debug.log",
variant_log_file="variant.json",
tabular_log_file="progress.csv",
snapshot_mode="last",
snapshot_gap=1,
log_tabular_only=False,
log_dir=None,
git_info=None,
script_name=None,
):
"""
Set up logger to have some reasonable default settings.
Will save log output to
based_log_dir/exp_prefix/exp_name.
exp_name will be auto-generated to be unique.
If log_dir is specified, then that directory is used as the output dir.
:param exp_prefix: The sub-directory for this specific experiment.
:param exp_id: The number of the specific experiment run within this
experiment.
:param variant:
:param base_log_dir: The directory where all log should be saved.
:param text_log_file:
:param variant_log_file:
:param tabular_log_file:
:param snapshot_mode:
:param log_tabular_only:
:param snapshot_gap:
:param log_dir:
:param git_info:
:param script_name: If set, save the script name to this.
:return:
"""
first_time = log_dir is None
if first_time:
log_dir = create_log_dir(exp_prefix,
exp_id=exp_id,
seed=seed,
base_log_dir=base_log_dir)
if variant is not None:
logger.log("Variant:")
logger.log(json.dumps(dict_to_safe_json(variant), indent=2))
variant_log_path = osp.join(log_dir, variant_log_file)
logger.log_variant(variant_log_path, variant)
tabular_log_path = osp.join(log_dir, tabular_log_file)
text_log_path = osp.join(log_dir, text_log_file)
logger.add_text_output(text_log_path)
if first_time:
logger.add_tabular_output(tabular_log_path)
else:
logger._add_output(tabular_log_path,
logger._tabular_outputs,
logger._tabular_fds,
mode='a')
for tabular_fd in logger._tabular_fds:
logger._tabular_header_written.add(tabular_fd)
logger.set_snapshot_dir(log_dir)
logger.set_snapshot_mode(snapshot_mode)
logger.set_snapshot_gap(snapshot_gap)
logger.set_log_tabular_only(log_tabular_only)
exp_name = log_dir.split("/")[-1]
logger.push_prefix("[%s] " % exp_name)
if git_info is not None:
code_diff, commit_hash, branch_name = git_info
if code_diff is not None:
with open(osp.join(log_dir, "code.diff"), "w") as f:
f.write(code_diff)
with open(osp.join(log_dir, "git_info.txt"), "w") as f:
f.write("git hash: {}".format(commit_hash))
f.write('\n')
f.write("git branch name: {}".format(branch_name))
if script_name is not None:
with open(osp.join(log_dir, "script_name.txt"), "w") as f:
f.write(script_name)
return log_dir
def pretrain_q_with_bc_data(self):
"""
:return:
"""
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('pretrain_q.csv',
relative_to_snapshot_dir=True)
self.update_policy = False
# first train only the Q function
for i in range(self.q_num_pretrain1_steps):
self.eval_statistics = dict()
train_data = self.replay_buffer.random_batch(self.bc_batch_size)
train_data = np_to_pytorch_batch(train_data)
obs = train_data['observations']
next_obs = train_data['next_observations']
# goals = train_data['resampled_goals']
train_data['observations'] = obs # torch.cat((obs, goals), dim=1)
train_data[
'next_observations'] = next_obs # torch.cat((next_obs, goals), dim=1)
self.train_from_torch(train_data, pretrain=True)
if i % self.pretraining_logging_period == 0:
stats_with_prefix = add_prefix(self.eval_statistics,
prefix="trainer/")
logger.record_dict(stats_with_prefix)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
self.update_policy = True
# then train policy and Q function together
prev_time = time.time()
for i in range(self.q_num_pretrain2_steps):
self.eval_statistics = dict()
if i % self.pretraining_logging_period == 0:
self._need_to_update_eval_statistics = True
train_data = self.replay_buffer.random_batch(self.bc_batch_size)
train_data = np_to_pytorch_batch(train_data)
obs = train_data['observations']
next_obs = train_data['next_observations']
# goals = train_data['resampled_goals']
train_data['observations'] = obs # torch.cat((obs, goals), dim=1)
train_data[
'next_observations'] = next_obs # torch.cat((next_obs, goals), dim=1)
self.train_from_torch(train_data, pretrain=True)
if i % self.pretraining_logging_period == 0:
self.eval_statistics["batch"] = i
self.eval_statistics["epoch_time"] = time.time() - prev_time
stats_with_prefix = add_prefix(self.eval_statistics,
prefix="trainer/")
logger.record_dict(stats_with_prefix)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
prev_time = time.time()
logger.remove_tabular_output(
'pretrain_q.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
self._need_to_update_eval_statistics = True
self.eval_statistics = dict()
if self.post_pretrain_hyperparams:
self.set_algorithm_weights(**self.post_pretrain_hyperparams)
def pretrain_policy_with_bc(
self,
policy,
train_buffer,
test_buffer,
steps,
label="policy",
):
"""Given a policy, first get its optimizer, then run the policy on the train buffer, get the
losses, and back propagate the loss. After training on a batch, test on the test buffer and
get the statistics
:param policy:
:param train_buffer:
:param test_buffer:
:param steps:
:param label:
:return:
"""
logger.remove_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'pretrain_%s.csv' % label,
relative_to_snapshot_dir=True,
)
optimizer = self.optimizers[policy]
prev_time = time.time()
for i in range(steps):
train_policy_loss, train_logp_loss, train_mse_loss, train_stats = self.run_bc_batch(
train_buffer, policy)
train_policy_loss = train_policy_loss * self.bc_weight
optimizer.zero_grad()
train_policy_loss.backward()
optimizer.step()
test_policy_loss, test_logp_loss, test_mse_loss, test_stats = self.run_bc_batch(
test_buffer, policy)
test_policy_loss = test_policy_loss * self.bc_weight
if i % self.pretraining_logging_period == 0:
stats = {
"pretrain_bc/batch":
i,
"pretrain_bc/Train Logprob Loss":
ptu.get_numpy(train_logp_loss),
"pretrain_bc/Test Logprob Loss":
ptu.get_numpy(test_logp_loss),
"pretrain_bc/Train MSE":
ptu.get_numpy(train_mse_loss),
"pretrain_bc/Test MSE":
ptu.get_numpy(test_mse_loss),
"pretrain_bc/train_policy_loss":
ptu.get_numpy(train_policy_loss),
"pretrain_bc/test_policy_loss":
ptu.get_numpy(test_policy_loss),
"pretrain_bc/epoch_time":
time.time() - prev_time,
}
logger.record_dict(stats)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
pickle.dump(
self.policy,
open(logger.get_snapshot_dir() + '/bc_%s.pkl' % label,
"wb"))
prev_time = time.time()
logger.remove_tabular_output(
'pretrain_%s.csv' % label,
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
if self.post_bc_pretrain_hyperparams:
self.set_algorithm_weights(**self.post_bc_pretrain_hyperparams)
def train_vae(
vae: VAE,
dset: NpGroundTruthData,
num_epochs: int = 0, # Do not pre-train by default
save_period: int = 5,
test_p: float = 0.1, # data proportion to use for test
vae_trainer_kwargs: Dict = {},
):
logger.remove_tabular_output('progress.csv', relative_to_snapshot_dir=True)
logger.add_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
# Flatten images.
n = dset.data.shape[0]
data = dset.data.transpose(0, 3, 2, 1)
data = data.reshape((n, -1))
# Un-normalize images.
if data.dtype != np.uint8:
assert np.min(data) >= 0.0
assert np.max(data) <= 1.0
data = (data * 255).astype(np.uint8)
# Make sure factors are normalized.
assert np.min(dset.factors) >= 0.0
assert np.max(dset.factors) <= 1.0
# Split into train and test set.
test_size = int(n * test_p)
test_data = data[:test_size]
train_data = data[test_size:]
train_factors = dset.factors[test_size:]
test_factors = dset.factors[:test_size]
logger.get_snapshot_dir()
trainer = VAETrainer(vae,
train_data,
test_data,
train_factors=train_factors,
test_factors=test_factors,
**vae_trainer_kwargs)
for epoch in range(num_epochs):
should_save_imgs = (epoch % save_period == 0)
trainer.train_epoch(epoch)
trainer.test_epoch(epoch, save_reconstruction=should_save_imgs)
if should_save_imgs:
trainer.dump_samples(epoch)
trainer.update_train_weights()
logger.save_extra_data(vae, 'vae.pkl', mode='pickle')
logger.remove_tabular_output(
'vae_progress.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
return vae, trainer
def smac_experiment(
trainer_kwargs=None,
algo_kwargs=None,
qf_kwargs=None,
policy_kwargs=None,
context_encoder_kwargs=None,
context_decoder_kwargs=None,
env_name=None,
env_params=None,
path_loader_kwargs=None,
latent_dim=None,
policy_class="TanhGaussianPolicy",
# video/debug
debug=False,
use_dummy_encoder=False,
networks_ignore_context=False,
use_ground_truth_context=False,
save_video=False,
save_video_period=False,
# Pre-train params
pretrain_rl=False,
pretrain_offline_algo_kwargs=None,
pretrain_buffer_kwargs=None,
load_buffer_kwargs=None,
saved_tasks_path=None,
macaw_format_base_path=None, # overrides saved_tasks_path and load_buffer_kwargs
load_macaw_buffer_kwargs=None,
train_task_idxs=None,
eval_task_idxs=None,
relabel_offline_dataset=False,
skip_initial_data_collection_if_pretrained=False,
relabel_kwargs=None,
# PEARL
n_train_tasks=0,
n_eval_tasks=0,
use_next_obs_in_context=False,
tags=None,
online_trainer_kwargs=None,
):
if not skip_initial_data_collection_if_pretrained:
raise NotImplementedError("deprecated! make sure to skip it!")
if relabel_kwargs is None:
relabel_kwargs = {}
del tags
pretrain_buffer_kwargs = pretrain_buffer_kwargs or {}
context_decoder_kwargs = context_decoder_kwargs or {}
pretrain_offline_algo_kwargs = pretrain_offline_algo_kwargs or {}
online_trainer_kwargs = online_trainer_kwargs or {}
register_pearl_envs()
env_params = env_params or {}
context_encoder_kwargs = context_encoder_kwargs or {}
trainer_kwargs = trainer_kwargs or {}
path_loader_kwargs = path_loader_kwargs or {}
load_macaw_buffer_kwargs = load_macaw_buffer_kwargs or {}
base_env = ENVS[env_name](**env_params)
if saved_tasks_path:
task_data = load_local_or_remote_file(saved_tasks_path,
file_type='joblib')
tasks = task_data['tasks']
train_task_idxs = task_data['train_task_indices']
eval_task_idxs = task_data['eval_task_indices']
base_env.tasks = tasks
elif macaw_format_base_path is not None:
tasks = pickle.load(
open('{}/tasks.pkl'.format(macaw_format_base_path), 'rb'))
base_env.tasks = tasks
else:
tasks = base_env.tasks
task_indices = base_env.get_all_task_idx()
train_task_idxs = list(task_indices[:n_train_tasks])
eval_task_idxs = list(task_indices[-n_eval_tasks:])
if hasattr(base_env, 'task_to_vec'):
train_tasks = [base_env.task_to_vec(tasks[i]) for i in train_task_idxs]
eval_tasks = [base_env.task_to_vec(tasks[i]) for i in eval_task_idxs]
else:
train_tasks = [tasks[i] for i in train_task_idxs]
eval_tasks = [tasks[i] for i in eval_task_idxs]
if use_ground_truth_context:
latent_dim = len(train_tasks[0])
expl_env = NormalizedBoxEnv(base_env)
reward_dim = 1
if debug:
algo_kwargs['max_path_length'] = 50
algo_kwargs['batch_size'] = 5
algo_kwargs['num_epochs'] = 5
algo_kwargs['num_eval_steps_per_epoch'] = 100
algo_kwargs['num_expl_steps_per_train_loop'] = 100
algo_kwargs['num_trains_per_train_loop'] = 10
algo_kwargs['min_num_steps_before_training'] = 100
obs_dim = expl_env.observation_space.low.size
action_dim = expl_env.action_space.low.size
if use_next_obs_in_context:
context_encoder_input_dim = 2 * obs_dim + action_dim + reward_dim
else:
context_encoder_input_dim = obs_dim + action_dim + reward_dim
context_encoder_output_dim = latent_dim * 2
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim + latent_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
if isinstance(policy_class, str):
policy_class = policy_class_from_str(policy_class)
policy = policy_class(
obs_dim=obs_dim + latent_dim,
action_dim=action_dim,
**policy_kwargs,
)
encoder_class = DummyMlpEncoder if use_dummy_encoder else MlpEncoder
context_encoder = encoder_class(
input_size=context_encoder_input_dim,
output_size=context_encoder_output_dim,
hidden_sizes=[200, 200, 200],
use_ground_truth_context=use_ground_truth_context,
**context_encoder_kwargs)
context_decoder = MlpDecoder(input_size=obs_dim + action_dim + latent_dim,
output_size=1,
**context_decoder_kwargs)
reward_predictor = context_decoder
agent = SmacAgent(
latent_dim,
context_encoder,
policy,
reward_predictor,
use_next_obs_in_context=use_next_obs_in_context,
_debug_ignore_context=networks_ignore_context,
_debug_use_ground_truth_context=use_ground_truth_context,
)
trainer = SmacTrainer(
agent=agent,
env=expl_env,
latent_dim=latent_dim,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
reward_predictor=reward_predictor,
context_encoder=context_encoder,
context_decoder=context_decoder,
_debug_ignore_context=networks_ignore_context,
_debug_use_ground_truth_context=use_ground_truth_context,
**trainer_kwargs)
algorithm = MetaRLAlgorithm(
agent=agent,
env=expl_env,
trainer=trainer,
train_task_indices=train_task_idxs,
eval_task_indices=eval_task_idxs,
train_tasks=train_tasks,
eval_tasks=eval_tasks,
use_next_obs_in_context=use_next_obs_in_context,
use_ground_truth_context=use_ground_truth_context,
env_info_sizes=get_env_info_sizes(expl_env),
**algo_kwargs)
if macaw_format_base_path:
load_macaw_buffer_onto_algo(algo=algorithm,
base_directory=macaw_format_base_path,
train_task_idxs=train_task_idxs,
**load_macaw_buffer_kwargs)
elif load_buffer_kwargs:
load_buffer_onto_algo(algorithm, **load_buffer_kwargs)
if relabel_offline_dataset:
relabel_offline_data(algorithm,
tasks=tasks,
env=expl_env.wrapped_env,
**relabel_kwargs)
if path_loader_kwargs:
replay_buffer = algorithm.replay_buffer.task_buffers[0]
enc_replay_buffer = algorithm.enc_replay_buffer.task_buffers[0]
demo_test_buffer = EnvReplayBuffer(env=expl_env,
**pretrain_buffer_kwargs)
path_loader = MDPPathLoader(trainer,
replay_buffer=replay_buffer,
demo_train_buffer=enc_replay_buffer,
demo_test_buffer=demo_test_buffer,
**path_loader_kwargs)
path_loader.load_demos()
if pretrain_rl:
eval_pearl_fn = EvalPearl(algorithm, train_task_idxs, eval_task_idxs)
pretrain_algo = OfflineMetaRLAlgorithm(
meta_replay_buffer=algorithm.meta_replay_buffer,
replay_buffer=algorithm.replay_buffer,
task_embedding_replay_buffer=algorithm.enc_replay_buffer,
trainer=trainer,
train_tasks=train_task_idxs,
extra_eval_fns=[eval_pearl_fn],
use_meta_learning_buffer=algorithm.use_meta_learning_buffer,
**pretrain_offline_algo_kwargs)
pretrain_algo.to(ptu.device)
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('pretrain.csv',
relative_to_snapshot_dir=True)
pretrain_algo.train()
logger.remove_tabular_output('pretrain.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
if skip_initial_data_collection_if_pretrained:
algorithm.num_initial_steps = 0
algorithm.trainer.configure(**online_trainer_kwargs)
algorithm.to(ptu.device)
algorithm.train()
def pretrain_policy_with_bc(self):
if self.buffer_for_bc_training == "demos":
self.bc_training_buffer = self.demo_train_buffer
self.bc_test_buffer = self.demo_test_buffer
elif self.buffer_for_bc_training == "replay_buffer":
self.bc_training_buffer = self.replay_buffer.train_replay_buffer
self.bc_test_buffer = self.replay_buffer.validation_replay_buffer
else:
self.bc_training_buffer = None
self.bc_test_buffer = None
if self.load_policy_path:
self.policy = load_local_or_remote_file(self.load_policy_path)
ptu.copy_model_params_from_to(self.policy, self.target_policy)
return
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('pretrain_policy.csv',
relative_to_snapshot_dir=True)
if self.do_pretrain_rollouts:
total_ret = self.do_rollouts()
print("INITIAL RETURN", total_ret / 20)
prev_time = time.time()
for i in range(self.bc_num_pretrain_steps):
train_policy_loss, train_logp_loss, train_mse_loss, train_log_std = self.run_bc_batch(
self.demo_train_buffer, self.policy)
train_policy_loss = train_policy_loss * self.bc_weight
self.policy_optimizer.zero_grad()
train_policy_loss.backward()
self.policy_optimizer.step()
test_policy_loss, test_logp_loss, test_mse_loss, test_log_std = self.run_bc_batch(
self.demo_test_buffer, self.policy)
test_policy_loss = test_policy_loss * self.bc_weight
if self.do_pretrain_rollouts and i % self.pretraining_env_logging_period == 0:
total_ret = self.do_rollouts()
print("Return at step {} : {}".format(i, total_ret / 20))
if i % self.pretraining_logging_period == 0:
stats = {
"pretrain_bc/batch":
i,
"pretrain_bc/Train Logprob Loss":
ptu.get_numpy(train_logp_loss),
"pretrain_bc/Test Logprob Loss":
ptu.get_numpy(test_logp_loss),
"pretrain_bc/Train MSE":
ptu.get_numpy(train_mse_loss),
"pretrain_bc/Test MSE":
ptu.get_numpy(test_mse_loss),
"pretrain_bc/train_policy_loss":
ptu.get_numpy(train_policy_loss),
"pretrain_bc/test_policy_loss":
ptu.get_numpy(test_policy_loss),
"pretrain_bc/epoch_time":
time.time() - prev_time,
}
if self.do_pretrain_rollouts:
stats["pretrain_bc/avg_return"] = total_ret / 20
logger.record_dict(stats)
logger.dump_tabular(with_prefix=True, with_timestamp=False)
pickle.dump(self.policy,
open(logger.get_snapshot_dir() + '/bc.pkl', "wb"))
prev_time = time.time()
logger.remove_tabular_output(
'pretrain_policy.csv',
relative_to_snapshot_dir=True,
)
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
ptu.copy_model_params_from_to(self.policy, self.target_policy)
if self.post_bc_pretrain_hyperparams:
self.set_algorithm_weights(**self.post_bc_pretrain_hyperparams)
def train_vae_and_update_variant(variant): # actually pretrain vae and ROLL.
skewfit_variant = variant['skewfit_variant']
train_vae_variant = variant['train_vae_variant']
# prepare the background subtractor needed to perform segmentation
if 'unet' in skewfit_variant['segmentation_method']:
print("training opencv background model!")
v = train_vae_variant['generate_lstm_dataset_kwargs']
env_id = v.get('env_id', None)
env_id_invis = invisiable_env_id[env_id]
import gym
import multiworld
multiworld.register_all_envs()
obj_invisible_env = gym.make(env_id_invis)
init_camera = v.get('init_camera', None)
presampled_goals = None
if skewfit_variant.get("presampled_goals_path") is not None:
presampled_goals = load_local_or_remote_file(
skewfit_variant['presampled_goals_path']).item()
print("presampled goal path is: ",
skewfit_variant['presampled_goals_path'])
obj_invisible_env = ImageEnv(
obj_invisible_env,
v.get('imsize'),
init_camera=init_camera,
transpose=True,
normalize=True,
presampled_goals=presampled_goals,
)
train_num = 2000 if 'Push' in env_id else 4000
train_bgsb(obj_invisible_env, train_num=train_num)
if skewfit_variant.get('vae_path', None) is None: # train new vaes
logger.remove_tabular_output('progress.csv',
relative_to_snapshot_dir=True)
vaes, vae_train_datas, vae_test_datas = train_vae(
train_vae_variant,
skewfit_variant=skewfit_variant,
return_data=True) # one original vae, one segmented ROLL.
if skewfit_variant.get('save_vae_data', False):
skewfit_variant['vae_train_data'] = vae_train_datas
skewfit_variant['vae_test_data'] = vae_test_datas
logger.add_tabular_output(
'progress.csv',
relative_to_snapshot_dir=True,
)
skewfit_variant['vae_path'] = vaes # just pass the VAE directly
else: # load pre-trained vaes
print("load pretrain scene-/objce-VAE from: {}".format(
skewfit_variant['vae_path']))
data = torch.load(osp.join(skewfit_variant['vae_path'], 'params.pkl'))
vae_original = data['vae_original']
vae_segmented = data['lstm_segmented']
skewfit_variant['vae_path'] = [vae_segmented, vae_original]
generate_vae_dataset_fctn = train_vae_variant.get(
'generate_vae_data_fctn', generate_vae_dataset)
generate_lstm_dataset_fctn = train_vae_variant.get(
'generate_lstm_data_fctn')
assert generate_lstm_dataset_fctn is not None, "Must provide a custom generate lstm pretraining dataset function!"
train_data_lstm, test_data_lstm, info_lstm = generate_lstm_dataset_fctn(
train_vae_variant['generate_lstm_dataset_kwargs'],
segmented=True,
segmentation_method=skewfit_variant['segmentation_method'])
train_data_ori, test_data_ori, info_ori = generate_vae_dataset_fctn(
train_vae_variant['generate_vae_dataset_kwargs'])
train_datas = [train_data_lstm, train_data_ori]
test_datas = [test_data_lstm, test_data_ori]
if skewfit_variant.get('save_vae_data', False):
skewfit_variant['vae_train_data'] = train_datas
skewfit_variant['vae_test_data'] = test_datas
def train_vae(
variant,
return_data=False,
skewfit_variant=None): # acutally train both the vae and the lstm
from rlkit.util.ml_util import PiecewiseLinearSchedule
from rlkit.torch.vae.conv_vae import (
ConvVAE, )
import rlkit.torch.vae.conv_vae as conv_vae
import ROLL.LSTM_model as LSTM_model
from ROLL.LSTM_model import ConvLSTM2
from ROLL.LSTM_trainer import ConvLSTMTrainer
from rlkit.torch.vae.vae_trainer import ConvVAETrainer
import rlkit.torch.pytorch_util as ptu
from rlkit.pythonplusplus import identity
import torch
seg_pretrain = variant['seg_pretrain']
ori_pretrain = variant['ori_pretrain']
generate_vae_dataset_fctn = variant.get('generate_vae_data_fctn',
generate_vae_dataset)
generate_lstm_dataset_fctn = variant.get('generate_lstm_data_fctn')
assert generate_lstm_dataset_fctn is not None, "Must provide a custom generate lstm pretraining dataset function!"
train_data_lstm, test_data_lstm, info_lstm = generate_lstm_dataset_fctn(
variant['generate_lstm_dataset_kwargs'],
segmented=True,
segmentation_method=skewfit_variant['segmentation_method'])
train_data_ori, test_data_ori, info_ori = generate_vae_dataset_fctn(
variant['generate_vae_dataset_kwargs'])
if 'beta_schedule_kwargs' in variant:
beta_schedule = PiecewiseLinearSchedule(
**variant['beta_schedule_kwargs'])
else:
beta_schedule = None
if variant.get('decoder_activation', None) == 'sigmoid':
decoder_activation = torch.nn.Sigmoid()
else:
decoder_activation = identity
architecture = variant['vae_kwargs'].get('architecture', None)
if not architecture and variant.get('imsize') == 84:
architecture = conv_vae.imsize84_default_architecture
elif not architecture and variant.get('imsize') == 48:
architecture = conv_vae.imsize48_default_architecture
variant['vae_kwargs']['architecture'] = architecture
variant['vae_kwargs']['imsize'] = variant.get('imsize')
architecture = variant['lstm_kwargs'].get('architecture', None)
if not architecture and variant.get('imsize') == 84:
architecture = None # TODO LSTM: wrap a 84 lstm architecutre
elif not architecture and variant.get('imsize') == 48:
architecture = LSTM_model.imsize48_default_architecture
variant['lstm_kwargs']['architecture'] = architecture
variant['lstm_kwargs']['imsize'] = variant.get('imsize')
train_datas = [
train_data_lstm,
train_data_ori,
]
test_datas = [
test_data_lstm,
test_data_ori,
]
names = [
'lstm_seg_pretrain',
'vae_ori_pretrain',
]
vaes = []
env_id = variant['generate_lstm_dataset_kwargs'].get('env_id')
assert env_id is not None
lstm_pretrain_vae_only = variant.get('lstm_pretrain_vae_only', False)
for idx in range(2):
train_data, test_data, name = train_datas[idx], test_datas[idx], names[
idx]
logger.add_tabular_output('{}_progress.csv'.format(name),
relative_to_snapshot_dir=True)
if idx == 1: # train the original vae
representation_size = variant.get(
"vae_representation_size", variant.get('representation_size'))
beta = variant.get('vae_beta', variant.get('beta'))
m = ConvVAE(representation_size,
decoder_output_activation=decoder_activation,
**variant['vae_kwargs'])
t = ConvVAETrainer(train_data,
test_data,
m,
beta=beta,
beta_schedule=beta_schedule,
**variant['algo_kwargs'])
else: # train the segmentation lstm
lstm_version = variant.get('lstm_version', 2)
if lstm_version == 2:
lstm_class = ConvLSTM2
representation_size = variant.get(
"lstm_representation_size", variant.get('representation_size'))
beta = variant.get('lstm_beta', variant.get('beta'))
m = lstm_class(representation_size,
decoder_output_activation=decoder_activation,
**variant['lstm_kwargs'])
t = ConvLSTMTrainer(train_data,
test_data,
m,
beta=beta,
beta_schedule=beta_schedule,
**variant['algo_kwargs'])
m.to(ptu.device)
vaes.append(m)
print("test data len: ", len(test_data))
print("train data len: ", len(train_data))
save_period = variant['save_period']
pjhome = os.environ['PJHOME']
if env_id == 'SawyerPushHurdle-v0' and osp.exists(
osp.join(
pjhome,
'data/local/pre-train-lstm', '{}-{}-{}-0.3-0.5.npy'.format(
'SawyerPushHurdle-v0', 'seg-color', '500'))):
data_file_path = osp.join(
pjhome, 'data/local/pre-train-lstm',
'{}-{}-{}-0.3-0.5.npy'.format(env_id, 'seg-color', 500))
puck_pos_path = osp.join(
pjhome, 'data/local/pre-train-lstm',
'{}-{}-{}-0.3-0.5-puck-pos.npy'.format(env_id, 'seg-color',
500))
all_data = np.load(data_file_path)
puck_pos = np.load(puck_pos_path)
all_data = normalize_image(all_data.copy())
obj_states = puck_pos
else:
all_data = np.concatenate([train_data_lstm, test_data_lstm],
axis=0)
all_data = normalize_image(all_data.copy())
obj_states = info_lstm['obj_state']
obj = 'door' if 'Door' in env_id else 'puck'
num_epochs = variant['num_lstm_epochs'] if idx == 0 else variant[
'num_vae_epochs']
if (idx == 0 and seg_pretrain) or (idx == 1 and ori_pretrain):
for epoch in range(num_epochs):
should_save_imgs = (epoch % save_period == 0)
if idx == 0: # only LSTM trainer has 'only_train_vae' argument
t.train_epoch(epoch, only_train_vae=lstm_pretrain_vae_only)
t.test_epoch(epoch,
save_reconstruction=should_save_imgs,
save_prefix='r_' + name,
only_train_vae=lstm_pretrain_vae_only)
else:
t.train_epoch(epoch)
t.test_epoch(
epoch,
save_reconstruction=should_save_imgs,
save_prefix='r_' + name,
)
if should_save_imgs:
t.dump_samples(epoch, save_prefix='s_' + name)
if idx == 0:
compare_latent_distance(
m,
all_data,
obj_states,
obj_name=obj,
save_dir=logger.get_snapshot_dir(),
save_name='lstm_latent_distance_{}.png'.format(
epoch))
test_lstm_traj(
env_id,
m,
save_path=logger.get_snapshot_dir(),
save_name='lstm_test_traj_{}.png'.format(epoch))
test_masked_traj_lstm(
env_id,
m,
save_dir=logger.get_snapshot_dir(),
save_name='masked_test_{}.png'.format(epoch))
t.update_train_weights()
logger.save_extra_data(m, '{}.pkl'.format(name), mode='pickle')
logger.remove_tabular_output('{}_progress.csv'.format(name),
relative_to_snapshot_dir=True)
if idx == 0 and variant.get("only_train_lstm", False):
exit()
if return_data:
return vaes, train_datas, test_datas
return m
def get_n_train_vae(latent_dim,
env,
vae_train_epochs,
num_image_examples,
vae_kwargs,
vae_trainer_kwargs,
vae_architecture,
vae_save_period=10,
vae_test_p=.9,
decoder_activation='sigmoid',
vae_class='VAE',
**kwargs):
env.goal_sampling_mode = 'test'
image_examples = unnormalize_image(
env.sample_goals(num_image_examples)['desired_goal'])
n = int(num_image_examples * vae_test_p)
train_dataset = ImageObservationDataset(image_examples[:n, :])
test_dataset = ImageObservationDataset(image_examples[n:, :])
if decoder_activation == 'sigmoid':
decoder_activation = torch.nn.Sigmoid()
vae_class = vae_class.lower()
if vae_class == 'VAE'.lower():
vae_class = ConvVAE
elif vae_class == 'SpatialVAE'.lower():
vae_class = SpatialAutoEncoder
else:
raise RuntimeError("Invalid VAE Class: {}".format(vae_class))
vae = vae_class(latent_dim,
architecture=vae_architecture,
decoder_output_activation=decoder_activation,
**vae_kwargs)
trainer = ConvVAETrainer(vae, **vae_trainer_kwargs)
logger.remove_tabular_output('progress.csv', relative_to_snapshot_dir=True)
logger.add_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
for epoch in range(vae_train_epochs):
should_save_imgs = (epoch % vae_save_period == 0)
trainer.train_epoch(epoch, train_dataset)
trainer.test_epoch(epoch, test_dataset)
if should_save_imgs:
trainer.dump_reconstructions(epoch)
trainer.dump_samples(epoch)
stats = trainer.get_diagnostics()
for k, v in stats.items():
logger.record_tabular(k, v)
logger.dump_tabular()
trainer.end_epoch(epoch)
if epoch % 50 == 0:
logger.save_itr_params(epoch, vae)
logger.save_extra_data(vae, 'vae.pkl', mode='pickle')
logger.remove_tabular_output('vae_progress.csv',
relative_to_snapshot_dir=True)
logger.add_tabular_output('progress.csv', relative_to_snapshot_dir=True)
return vae
def run_experiment(argv):
default_log_dir = config.LOCAL_LOG_DIR
now = datetime.datetime.now(dateutil.tz.tzlocal())
# avoid name clashes when running distributed jobs
rand_id = str(uuid.uuid4())[:5]
timestamp = now.strftime('%Y_%m_%d_%H_%M_%S_%f_%Z')
default_exp_name = 'experiment_%s_%s' % (timestamp, rand_id)
parser = argparse.ArgumentParser()
parser.add_argument(
'--n_parallel',
type=int,
default=1,
help=
'Number of parallel workers to perform rollouts. 0 => don\'t start any workers'
)
parser.add_argument('--exp_name',
type=str,
default=default_exp_name,
help='Name of the experiment.')
parser.add_argument('--log_dir',
type=str,
default=None,
help='Path to save the log and iteration snapshot.')
parser.add_argument('--snapshot_mode',
type=str,
default='all',
help='Mode to save the snapshot. Can be either "all" '
'(all iterations will be saved), "last" (only '
'the last iteration will be saved), "gap" (every'
'`snapshot_gap` iterations are saved), or "none" '
'(do not save snapshots)')
parser.add_argument('--snapshot_gap',
type=int,
default=1,
help='Gap between snapshot iterations.')
parser.add_argument('--tabular_log_file',
type=str,
default='progress.csv',
help='Name of the tabular log file (in csv).')
parser.add_argument('--text_log_file',
type=str,
default='debug.log',
help='Name of the text log file (in pure text).')
parser.add_argument('--params_log_file',
type=str,
default='params.json',
help='Name of the parameter log file (in json).')
parser.add_argument('--variant_log_file',
type=str,
default='variant.json',
help='Name of the variant log file (in json).')
parser.add_argument(
'--resume_from',
type=str,
default=None,
help='Name of the pickle file to resume experiment from.')
parser.add_argument('--plot',
type=ast.literal_eval,
default=False,
help='Whether to plot the iteration results')
parser.add_argument(
'--log_tabular_only',
type=ast.literal_eval,
default=False,
help=
'Whether to only print the tabular log information (in a horizontal format)'
)
parser.add_argument('--seed', type=int, help='Random seed for numpy')
parser.add_argument('--args_data',
type=str,
help='Pickled data for stub objects')
parser.add_argument('--variant_data',
type=str,
help='Pickled data for variant configuration')
parser.add_argument('--use_cloudpickle',
type=ast.literal_eval,
default=False)
parser.add_argument('--code_diff',
type=str,
help='A string of the code diff to save.')
parser.add_argument('--commit_hash',
type=str,
help='A string of the commit hash')
parser.add_argument('--script_name',
type=str,
help='Name of the launched script')
args = parser.parse_args(argv[1:])
if args.seed is not None:
set_seed(args.seed)
if args.n_parallel > 0:
from rllab.sampler import parallel_sampler
parallel_sampler.initialize(n_parallel=args.n_parallel)
if args.seed is not None:
parallel_sampler.set_seed(args.seed)
if args.plot:
from rllab.plotter import plotter
plotter.init_worker()
if args.log_dir is None:
log_dir = osp.join(default_log_dir, args.exp_name)
else:
log_dir = args.log_dir
tabular_log_file = osp.join(log_dir, args.tabular_log_file)
text_log_file = osp.join(log_dir, args.text_log_file)
params_log_file = osp.join(log_dir, args.params_log_file)
if args.variant_data is not None:
variant_data = pickle.loads(base64.b64decode(args.variant_data))
variant_log_file = osp.join(log_dir, args.variant_log_file)
logger.log_variant(variant_log_file, variant_data)
else:
variant_data = None
if not args.use_cloudpickle:
raise NotImplementedError("Not supporting non-cloud-pickle")
logger.add_text_output(text_log_file)
logger.add_tabular_output(tabular_log_file)
prev_snapshot_dir = logger.get_snapshot_dir()
prev_mode = logger.get_snapshot_mode()
logger.set_snapshot_dir(log_dir)
logger.set_snapshot_mode(args.snapshot_mode)
logger.set_snapshot_gap(args.snapshot_gap)
logger.set_log_tabular_only(args.log_tabular_only)
logger.push_prefix("[%s] " % args.exp_name)
"""
Save information for code reproducibility.
"""
if args.code_diff is not None:
code_diff_str = cloudpickle.loads(base64.b64decode(args.code_diff))
with open(osp.join(log_dir, "code.diff"), "w") as f:
f.write(code_diff_str)
if args.commit_hash is not None:
with open(osp.join(log_dir, "commit_hash.txt"), "w") as f:
f.write(args.commit_hash)
if args.script_name is not None:
with open(osp.join(log_dir, "script_name.txt"), "w") as f:
f.write(args.script_name)
if args.resume_from is not None:
data = joblib.load(args.resume_from)
assert 'algo' in data
algo = data['algo']
algo.train()
else:
# read from stdin
if args.use_cloudpickle:
method_call = cloudpickle.loads(base64.b64decode(args.args_data))
method_call(variant_data)
else:
data = pickle.loads(base64.b64decode(args.args_data))
maybe_iter = concretize(data)
if is_iterable(maybe_iter):
for _ in maybe_iter:
pass
logger.set_snapshot_mode(prev_mode)
logger.set_snapshot_dir(prev_snapshot_dir)
logger.remove_tabular_output(tabular_log_file)
logger.remove_text_output(text_log_file)
logger.pop_prefix()