if not args.noreload and exists(reload_file):
state = torch.load(reload_file, map_location=device)
print("Reloading model at epoch {}"
", with val error {}".format(state['epoch'], state['precision']))
model.load_state_dict(state['state_dict'])
optimizer.load_state_dict(state['optimizer'])
scheduler.load_state_dict(state['scheduler'])
earlystopping.load_state_dict(state['earlystopping'])
cur_best = None
for epoch in range(1, args.epochs + 1):
train(epoch)
val_loss = val()
scheduler.step(val_loss)
earlystopping.step(val_loss)
# checkpointing
best_filename = join(vae_dir, 'best.tar')
filename = join(vae_dir, 'checkpoint.tar')
is_best = not cur_best or val_loss < cur_best
if is_best:
cur_best = val_loss
save_checkpoint(
{
'epoch': epoch,
'state_dict': model.state_dict(),
'precision': val_loss,
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
loss=cum_loss / (i + 1), bce=cum_bce / (i + 1),
gmm=cum_gmm / LSIZE / (i + 1), mse=cum_mse / (i + 1)))
pbar.update(BSIZE)
pbar.close()
return cum_loss * BSIZE / len(loader.dataset)
train = partial(data_pass, train=True, include_reward=args.include_reward)
test = partial(data_pass, train=False, include_reward=args.include_reward)
for e in range(epochs):
cur_best = None
train(e)
test_loss = test(e)
scheduler.step(test_loss)
earlystopping.step(test_loss)
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss
checkpoint_fname = join(rnn_dir, 'checkpoint.tar')
save_checkpoint({
"state_dict": mdrnn.state_dict(),
"optimizer": optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'earlystopping': earlystopping.state_dict(),
"precision": test_loss,
"epoch": e}, is_best, checkpoint_fname,
rnn_file)
if earlystopping.stop:
"gmm={gmm:10.6f} mse={mse:10.6f}".format(
loss=cum_loss / (i + 1), bce=cum_bce / (i + 1),
gmm=cum_gmm / LSIZE / (i + 1), mse=cum_mse / (i + 1)))
pbar.update(BSIZE)
pbar.close()
return cum_loss * BSIZE / len(loader.dataset)
train = partial(data_pass, train=True)
test = partial(data_pass, train=False)
for e in range(epochs):
cur_best = None
train(e)
test_loss = test(e)
scheduler.step(test_loss)
earlystopping.step(test_loss)
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss
checkpoint_fname = join(rnn_dir, 'checkpoint.tar')
save_checkpoint({
"state_dict": mdrnn.state_dict(),
"optimizer": optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'earlystopping': earlystopping.state_dict(),
"precision": test_loss,
"epoch": e}, is_best, checkpoint_fname,
rnn_file)
if earlystopping.stop:
cur_best = None
#rnn_epoch(0, train=True)
for e in range(args.epochs):
#for each epoch runs one loop on train and one validation
rnn_epoch(e, train=True)
with torch.no_grad():
test_loss = rnn_epoch(e, train=False)
#check if new test_loss is the current best
is_best = not cur_best or test_loss < cur_best # TODO: finish this
if is_best:
cur_best = test_loss
#saves the last model and in case it is the best one it calls it best.tar
save_checkpoint({
'state_dict': net.state_dict(),
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'earlystopping': early_stopper.state_dict(),
'precision': test_loss,
'epoch': e
}, is_best,
join(args.save_dir, 'checkpoint.tar'),
join(args.save_dir, 'best.tar'))
#updates scheduler and early stopping with the new loss and eventually interrupt the job
scheduler.step(test_loss)
early_stopper.step(test_loss)
if early_stopper.stop:
print("End of Training because of early stopping at epoch {}".format(e))
break
def train_vae(logdir, traindir, epochs=100, testdir=None):
print('Training VAE using traindir', traindir)
batch_size = 100 # maybe should change this back to their initial one of 32
noreload = False #Best model is not reloaded if specified
nosamples = False #'Does not save samples during training if specified'
testdir = testdir if testdir else traindir
torch.manual_seed(123)
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
transform_train = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((RED_SIZE, RED_SIZE)),
transforms.RandomHorizontalFlip(),
transforms.ToTensor(),
])
transform_test = transforms.Compose([
transforms.ToPILImage(),
transforms.Resize((RED_SIZE, RED_SIZE)),
transforms.ToTensor(),
])
dataset_train = RolloutObservationDataset(traindir,
transform_train,
train=True)
dataset_test = RolloutObservationDataset(testdir,
transform_test,
train=False)
train_loader = torch.utils.data.DataLoader(dataset_train,
batch_size=batch_size,
shuffle=True,
num_workers=2)
test_loader = torch.utils.data.DataLoader(dataset_test,
batch_size=batch_size,
shuffle=True,
num_workers=2)
model = VAE(3, LSIZE).to(device)
optimizer = optim.Adam(model.parameters())
scheduler = ReduceLROnPlateau(optimizer, 'min', factor=0.5, patience=5)
earlystopping = EarlyStopping('min', patience=30)
# Reconstruction + KL divergence losses summed over all elements and batch
def loss_function(recon_x, x, mu, logsigma):
""" VAE loss function """
BCE = F.mse_loss(recon_x, x, size_average=False)
# see Appendix B from VAE paper:
# Kingma and Welling. Auto-Encoding Variational Bayes. ICLR, 2014
# https://arxiv.org/abs/1312.6114
# 0.5 * sum(1 + log(sigma^2) - mu^2 - sigma^2)
KLD = -0.5 * torch.sum(1 + 2 * logsigma - mu.pow(2) -
(2 * logsigma).exp())
return BCE + KLD
def train(epoch):
""" One training epoch """
model.train()
dataset_train.load_next_buffer()
train_loss = 0
for batch_idx, data in enumerate(train_loader):
data = data.to(device)
optimizer.zero_grad()
recon_batch, mu, logvar = model(data)
loss = loss_function(recon_batch, data, mu, logvar)
loss.backward()
train_loss += loss.item()
optimizer.step()
if batch_idx % 20 == 0:
print('Train Epoch: {} [{}/{} ({:.0f}%)]\tLoss: {:.6f}'.format(
epoch, batch_idx * len(data), len(train_loader.dataset),
100. * batch_idx / len(train_loader),
loss.item() / len(data)))
print('====> Epoch: {} Average loss: {:.4f}'.format(
epoch, train_loss / len(train_loader.dataset)))
def test():
""" One test epoch """
model.eval()
dataset_test.load_next_buffer()
test_loss = 0
with torch.no_grad():
for data in test_loader:
data = data.to(device)
recon_batch, mu, logvar = model(data)
test_loss += loss_function(recon_batch, data, mu,
logvar).item()
test_loss /= len(test_loader.dataset)
print('====> Test set loss: {:.4f}'.format(test_loss))
return test_loss
# check vae dir exists, if not, create it
vae_dir = join(logdir, 'vae')
if not exists(vae_dir):
mkdir(vae_dir)
mkdir(join(vae_dir, 'samples'))
reload_file = join(vae_dir, 'best.tar')
if not noreload and exists(reload_file):
state = torch.load(reload_file)
print("Reloading model at epoch {}"
", with test error {}".format(state['epoch'],
state['precision']))
model.load_state_dict(state['state_dict'])
optimizer.load_state_dict(state['optimizer'])
scheduler.load_state_dict(state['scheduler'])
earlystopping.load_state_dict(state['earlystopping'])
cur_best = None
for epoch in range(1, epochs + 1):
train(epoch)
test_loss = test()
scheduler.step(test_loss)
earlystopping.step(test_loss)
# checkpointing
best_filename = join(vae_dir, 'best.tar')
filename = join(vae_dir, 'checkpoint.tar')
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss
save_checkpoint(
{
'epoch': epoch,
'state_dict': model.state_dict(),
'precision': test_loss,
'optimizer': optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'earlystopping': earlystopping.state_dict()
}, is_best, filename, best_filename)
if not nosamples:
with torch.no_grad():
sample = torch.randn(RED_SIZE, LSIZE).to(device)
sample = model.decoder(sample).cpu()
save_image(
sample.view(64, 3, RED_SIZE, RED_SIZE),
join(vae_dir, 'samples/sample_' + str(epoch) + '.png'))
if earlystopping.stop:
print(
"End of Training because of early stopping at epoch {}".format(
epoch))
break
def train_mdrnn(logdir, traindir, epochs=10, testdir=None):
BSIZE = 80 # maybe should change this back to their initial one of 16
noreload = False #Best model is not reloaded if specified
SEQ_LEN = 32
epochs = int(epochs)
testdir = testdir if testdir else traindir
cuda = torch.cuda.is_available()
torch.manual_seed(123)
device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
# Loading VAE
vae_file = join(logdir, 'vae', 'best.tar')
assert exists(vae_file), "No trained VAE in the logdir..."
state = torch.load(vae_file)
print("Loading VAE at epoch {} "
"with test error {}".format(
state['epoch'], state['precision']))
vae = VAE(3, LSIZE).to(device)
vae.load_state_dict(state['state_dict'])
# Loading model
rnn_dir = join(logdir, 'mdrnn')
rnn_file = join(rnn_dir, 'best.tar')
if not exists(rnn_dir):
mkdir(rnn_dir)
mdrnn = MDRNN(LSIZE, ASIZE, RSIZE, 5)
mdrnn.to(device)
optimizer = torch.optim.RMSprop(mdrnn.parameters(), lr=1e-3, alpha=.9)
scheduler = ReduceLROnPlateau(optimizer, 'min', factor=0.5, patience=5)
earlystopping = EarlyStopping('min', patience=30)
if exists(rnn_file) and not noreload:
rnn_state = torch.load(rnn_file)
print("Loading MDRNN at epoch {} "
"with test error {}".format(
rnn_state["epoch"], rnn_state["precision"]))
mdrnn.load_state_dict(rnn_state["state_dict"])
optimizer.load_state_dict(rnn_state["optimizer"])
scheduler.load_state_dict(state['scheduler'])
earlystopping.load_state_dict(state['earlystopping'])
# Data Loading
transform = transforms.Lambda(
lambda x: np.transpose(x, (0, 3, 1, 2)) / 255)
train_loader = DataLoader(
RolloutSequenceDataset(traindir, SEQ_LEN, transform, buffer_size=30),
batch_size=BSIZE, num_workers=8, shuffle=True)
test_loader = DataLoader(
RolloutSequenceDataset(testdir, SEQ_LEN, transform, train=False, buffer_size=10),
batch_size=BSIZE, num_workers=8)
def to_latent(obs, next_obs):
""" Transform observations to latent space.
:args obs: 5D torch tensor (BSIZE, SEQ_LEN, ASIZE, SIZE, SIZE)
:args next_obs: 5D torch tensor (BSIZE, SEQ_LEN, ASIZE, SIZE, SIZE)
:returns: (latent_obs, latent_next_obs)
- latent_obs: 4D torch tensor (BSIZE, SEQ_LEN, LSIZE)
- next_latent_obs: 4D torch tensor (BSIZE, SEQ_LEN, LSIZE)
"""
with torch.no_grad():
obs, next_obs = [
f.upsample(x.view(-1, 3, SIZE, SIZE), size=RED_SIZE,
mode='bilinear', align_corners=True)
for x in (obs, next_obs)]
(obs_mu, obs_logsigma), (next_obs_mu, next_obs_logsigma) = [
vae(x)[1:] for x in (obs, next_obs)]
latent_obs, latent_next_obs = [
(x_mu + x_logsigma.exp() * torch.randn_like(x_mu)).view(BSIZE, SEQ_LEN, LSIZE)
for x_mu, x_logsigma in
[(obs_mu, obs_logsigma), (next_obs_mu, next_obs_logsigma)]]
return latent_obs, latent_next_obs
def get_loss(latent_obs, action, reward, terminal, latent_next_obs):
""" Compute losses.
The loss that is computed is:
(GMMLoss(latent_next_obs, GMMPredicted) + MSE(reward, predicted_reward) +
BCE(terminal, logit_terminal)) / (LSIZE + 2)
The LSIZE + 2 factor is here to counteract the fact that the GMMLoss scales
approximately linearily with LSIZE. All losses are averaged both on the
batch and the sequence dimensions (the two first dimensions).
:args latent_obs: (BSIZE, SEQ_LEN, LSIZE) torch tensor
:args action: (BSIZE, SEQ_LEN, ASIZE) torch tensor
:args reward: (BSIZE, SEQ_LEN) torch tensor
:args latent_next_obs: (BSIZE, SEQ_LEN, LSIZE) torch tensor
:returns: dictionary of losses, containing the gmm, the mse, the bce and
the averaged loss.
"""
latent_obs, action,\
reward, terminal,\
latent_next_obs = [arr.transpose(1, 0)
for arr in [latent_obs, action,
reward, terminal,
latent_next_obs]]
mus, sigmas, logpi, rs, ds = mdrnn(action, latent_obs)
gmm = gmm_loss(latent_next_obs, mus, sigmas, logpi)
bce = f.binary_cross_entropy_with_logits(ds, terminal)
mse = f.mse_loss(rs, reward)
loss = (gmm + bce + mse) / (LSIZE + 2)
return dict(gmm=gmm, bce=bce, mse=mse, loss=loss)
def data_pass(epoch, train): # pylint: disable=too-many-locals
""" One pass through the data """
if train:
mdrnn.train()
loader = train_loader
else:
mdrnn.eval()
loader = test_loader
loader.dataset.load_next_buffer()
cum_loss = 0
cum_gmm = 0
cum_bce = 0
cum_mse = 0
pbar = tqdm(total=len(loader.dataset), desc="Epoch {}".format(epoch))
for i, data in enumerate(loader):
obs, action, reward, terminal, next_obs = [arr.to(device) for arr in data]
# transform obs
latent_obs, latent_next_obs = to_latent(obs, next_obs)
if train:
losses = get_loss(latent_obs, action, reward,
terminal, latent_next_obs)
optimizer.zero_grad()
losses['loss'].backward()
optimizer.step()
else:
with torch.no_grad():
losses = get_loss(latent_obs, action, reward,
terminal, latent_next_obs)
cum_loss += losses['loss'].item()
cum_gmm += losses['gmm'].item()
cum_bce += losses['bce'].item()
cum_mse += losses['mse'].item()
pbar.set_postfix_str("loss={loss:10.6f} bce={bce:10.6f} "
"gmm={gmm:10.6f} mse={mse:10.6f}".format(
loss=cum_loss / (i + 1), bce=cum_bce / (i + 1),
gmm=cum_gmm / LSIZE / (i + 1), mse=cum_mse / (i + 1)))
pbar.update(BSIZE)
pbar.close()
return cum_loss * BSIZE / len(loader.dataset)
train = partial(data_pass, train=True)
test = partial(data_pass, train=False)
for e in range(epochs):
cur_best = None
train(e)
test_loss = test(e)
scheduler.step(test_loss)
earlystopping.step(test_loss)
is_best = not cur_best or test_loss < cur_best
if is_best:
cur_best = test_loss
checkpoint_fname = join(rnn_dir, 'checkpoint.tar')
save_checkpoint({
"state_dict": mdrnn.state_dict(),
"optimizer": optimizer.state_dict(),
'scheduler': scheduler.state_dict(),
'earlystopping': earlystopping.state_dict(),
"precision": test_loss,
"epoch": e}, is_best, checkpoint_fname,
rnn_file)
if earlystopping.stop:
print("End of Training because of early stopping at epoch {}".format(e))
break
def test_mdrnn_learning(self):
num_epochs = 300
num_episodes = 400
batch_size = 200
action_dim = 2
seq_len = 5
state_dim = 2
simulated_num_gaussian = 2
mdrnn_num_gaussian = 2
simulated_hidden_size = 3
mdrnn_hidden_size = 10
mdrnn_hidden_layer = 1
adam_lr = 0.01
cur_state_mem = numpy.zeros((num_episodes, seq_len, state_dim))
next_state_mem = numpy.zeros((num_episodes, seq_len, state_dim))
action_mem = numpy.zeros((num_episodes, seq_len, action_dim))
reward_mem = numpy.zeros((num_episodes, seq_len))
terminal_mem = numpy.zeros((num_episodes, seq_len))
next_mus_mem = numpy.zeros(
(num_episodes, seq_len, simulated_num_gaussian, state_dim))
swm = SimulatedWorldModel(
action_dim=action_dim,
state_dim=state_dim,
num_gaussian=simulated_num_gaussian,
lstm_num_layer=1,
lstm_hidden_dim=simulated_hidden_size,
)
actions = torch.eye(action_dim)
for e in range(num_episodes):
swm.init_hidden(batch_size=1)
next_state = torch.randn((1, 1, state_dim))
for s in range(seq_len):
cur_state = next_state
action = torch.tensor(
actions[numpy.random.randint(action_dim)]).view(
1, 1, action_dim)
next_mus, reward = swm(action, cur_state)
terminal = 0
if s == seq_len - 1:
terminal = 1
next_pi = torch.ones(
simulated_num_gaussian) / simulated_num_gaussian
index = Categorical(next_pi).sample((1, )).long().item()
next_state = next_mus[0, 0, index].view(1, 1, state_dim)
print(
"{} cur_state: {}, action: {}, next_state: {}, reward: {}, terminal: {}"
.format(e, cur_state, action, next_state, reward,
terminal))
print("next_pi: {}, sampled index: {}".format(next_pi, index))
print("next_mus:", next_mus, "\n")
cur_state_mem[e, s, :] = cur_state.detach().numpy()
action_mem[e, s, :] = action.numpy()
reward_mem[e, s] = reward.detach().numpy()
terminal_mem[e, s] = terminal
next_state_mem[e, s, :] = next_state.detach().numpy()
next_mus_mem[e, s, :, :] = next_mus.detach().numpy()
mdrnn = MDRNN(
latents=state_dim,
actions=action_dim,
gaussians=mdrnn_num_gaussian,
hiddens=mdrnn_hidden_size,
layers=mdrnn_hidden_layer,
)
mdrnn.train()
optimizer = torch.optim.Adam(mdrnn.parameters(), lr=adam_lr)
num_batch = num_episodes // batch_size
earlystopping = EarlyStopping('min', patience=30)
cum_loss = []
cum_gmm = []
cum_bce = []
cum_mse = []
for e in range(num_epochs):
for i in range(0, num_batch):
mdrnn.init_hidden(batch_size=batch_size)
optimizer.zero_grad()
sample_indices = numpy.random.randint(num_episodes,
size=batch_size)
obs, action, reward, terminal, next_obs = \
cur_state_mem[sample_indices], \
action_mem[sample_indices], \
reward_mem[sample_indices], \
terminal_mem[sample_indices], \
next_state_mem[sample_indices]
obs, action, reward, terminal, next_obs = \
torch.tensor(obs, dtype=torch.float), \
torch.tensor(action, dtype=torch.float), \
torch.tensor(reward, dtype=torch.float), \
torch.tensor(terminal, dtype=torch.float), \
torch.tensor(next_obs, dtype=torch.float)
print("learning at epoch {} step {} best score {} counter {}".
format(e, i, earlystopping.best,
earlystopping.num_bad_epochs))
losses = self.get_loss(obs, action, reward, terminal, next_obs,
state_dim, mdrnn)
losses['loss'].backward()
optimizer.step()
cum_loss += [losses['loss'].item()]
cum_gmm += [losses['gmm'].item()]
cum_bce += [losses['bce'].item()]
cum_mse += [losses['mse'].item()]
print(
"loss={loss:10.6f} bce={bce:10.6f} gmm={gmm:10.6f} mse={mse:10.6f}"
.format(
loss=losses['loss'],
bce=losses['bce'],
gmm=losses['gmm'],
mse=losses['mse'],
))
print(
"cum loss={loss:10.6f} cum bce={bce:10.6f} cum gmm={gmm:10.6f} cum mse={mse:10.6f}"
.format(
loss=numpy.mean(cum_loss),
bce=numpy.mean(cum_bce),
gmm=numpy.mean(cum_gmm),
mse=numpy.mean(cum_mse),
))
print()
earlystopping.step(numpy.mean(cum_loss[-num_batch:]))
if numpy.mean(cum_loss[-num_batch:]) < -3. and earlystopping.stop:
break
assert numpy.mean(cum_loss[-num_batch:]) < -3.
sample_indices = [0]
mdrnn.init_hidden(batch_size=len(sample_indices))
mdrnn.eval()
obs, action, reward, terminal, next_obs = \
cur_state_mem[sample_indices], \
action_mem[sample_indices], \
reward_mem[sample_indices], \
terminal_mem[sample_indices], \
next_state_mem[sample_indices]
obs, action, reward, terminal, next_obs = \
torch.tensor(obs, dtype=torch.float), \
torch.tensor(action, dtype=torch.float), \
torch.tensor(reward, dtype=torch.float), \
torch.tensor(terminal, dtype=torch.float), \
torch.tensor(next_obs, dtype=torch.float)
transpose_obs, transpose_action, transpose_reward, transpose_terminal, transpose_next_obs = \
self.transpose(obs, action, reward, terminal, next_obs)
mus, sigmas, logpi, rs, ds = mdrnn(transpose_action, transpose_obs)
pi = torch.exp(logpi)
gl = gmm_loss(transpose_next_obs, mus, sigmas, logpi)
print(gl)
print()