class InfoGAIL(BaseGAIL):
def __init__(self,
args,
logger,
state_size=2,
action_size=4,
context_size=1,
num_goals=4,
history_size=1,
dtype=torch.FloatTensor):
super(InfoGAIL, self).__init__(args,
logger,
state_size=state_size,
action_size=action_size,
context_size=context_size,
num_goals=num_goals,
history_size=history_size,
dtype=dtype)
# Create networks
self.policy_net = Policy(state_size=state_size * history_size,
action_size=0,
latent_size=context_size,
output_size=action_size,
hidden_size=64,
output_activation='sigmoid')
self.old_policy_net = Policy(state_size=state_size * history_size,
action_size=0,
latent_size=context_size,
output_size=action_size,
hidden_size=64,
output_activation='sigmoid')
# Use value network for calculating GAE. We should use this for
# training the policy network.
if args.use_value_net:
# context_size contains num_goals
self.value_net = Value(state_size * history_size + context_size,
hidden_size=64)
# Reward net is the discriminator network. Discriminator does not
# receive the latent vector in InfoGAIL.
self.reward_net = Reward(
state_size * history_size,
action_size, # action size
0, # latent size
hidden_size=64)
self.posterior_net = DiscretePosterior(
state_size=state_size * history_size, # state
action_size=0, # action
latent_size=0, # context
hidden_size=64,
output_size=num_goals)
self.opt_policy = optim.Adam(self.policy_net.parameters(), lr=0.0003)
self.opt_reward = optim.Adam(self.reward_net.parameters(), lr=0.0003)
self.opt_value = optim.Adam(self.value_net.parameters(), lr=0.0003)
self.opt_posterior = optim.Adam(self.posterior_net.parameters(),
lr=0.0003)
# Create loss functions
self.criterion = nn.BCELoss()
self.criterion_posterior = nn.CrossEntropyLoss()
self.create_environment()
def checkpoint_data_to_save(self):
return {
'policy': self.policy_net,
'value': self.value_net,
'reward': self.reward_net,
'posterior': self.posterior_net,
}
def load_checkpoint_data(self, checkpoint_path):
assert os.path.exists(checkpoint_path), \
'Checkpoint path does not exists {}'.format(checkpoint_path)
checkpoint_data = torch.load(checkpoint_path)
self.policy_net = checkpoint_data['policy']
self.value_net = checkpoint_data['value']
self.reward_net = checkpoint_data['reward']
self.posterior_net = checkpoint_data['posterior']
def update_params_for_batch(self, states, actions, latent_c, targets,
advantages, expert_states, expert_actions,
optim_batch_size, optim_batch_size_exp,
optim_iters):
'''Update parameters for one batch of data.
Update the policy network, discriminator (reward) network and the
posterior network here.
'''
args, dtype = self.args, self.dtype
curr_id, curr_id_exp = 0, 0
for _ in range(optim_iters):
curr_batch_size = min(optim_batch_size, actions.size(0) - curr_id)
curr_batch_size_exp = min(optim_batch_size_exp,
expert_actions.size(0) - curr_id_exp)
start_idx, end_idx = curr_id, curr_id + curr_batch_size
state_var = Variable(states[start_idx:end_idx])
action_var = Variable(actions[start_idx:end_idx])
latent_c_var = Variable(latent_c[start_idx:end_idx])
advantages_var = Variable(advantages[start_idx:end_idx])
start_idx, end_idx = curr_id_exp, curr_id_exp + curr_batch_size_exp
expert_state_var = Variable(expert_states[start_idx:end_idx])
expert_action_var = Variable(expert_actions[start_idx:end_idx])
# Update reward net
self.opt_reward.zero_grad()
# Backprop with expert demonstrations
expert_output = self.reward_net(
torch.cat((expert_state_var, expert_action_var), 1))
expert_disc_loss = self.criterion(
expert_output,
Variable(
torch.zeros(expert_action_var.size(0), 1).type(dtype)))
expert_disc_loss.backward()
# Backprop with generated demonstrations
gen_output = self.reward_net(torch.cat((state_var, action_var), 1))
gen_disc_loss = self.criterion(
gen_output,
Variable(torch.ones(action_var.size(0), 1)).type(dtype))
gen_disc_loss.backward()
# Add loss scalars.
self.logger.summary_writer.add_scalars(
'loss/discriminator', {
'total': expert_disc_loss.data[0] + gen_disc_loss.data[0],
'expert': expert_disc_loss.data[0],
'gen': gen_disc_loss.data[0],
}, self.gail_step_count)
self.opt_reward.step()
reward_l2_norm, reward_grad_l2_norm = \
get_weight_norm_for_network(self.reward_net)
self.logger.summary_writer.add_scalar('weight/discriminator/param',
reward_l2_norm,
self.gail_step_count)
self.logger.summary_writer.add_scalar('weight/discriminator/grad',
reward_grad_l2_norm,
self.gail_step_count)
# Update posterior net. We need to do this by reparameterization
# trick.
predicted_posterior = self.posterior_net(state_var)
# There is no GOAL info in latent_c_var here.
# TODO: This 0 and -1 stuff is not needed here. Confirm?
_, true_posterior = torch.max(latent_c_var.data, dim=1)
posterior_loss = self.criterion_posterior(predicted_posterior,
Variable(true_posterior))
posterior_loss.backward()
self.logger.summary_writer.add_scalar('loss/posterior',
posterior_loss.data[0],
self.gail_step_count)
# compute old and new action probabilities
action_means, action_log_stds, action_stds = self.policy_net(
torch.cat((state_var, latent_c_var), 1))
log_prob_cur = normal_log_density(action_var, action_means,
action_log_stds, action_stds)
action_means_old, action_log_stds_old, action_stds_old = \
self.old_policy_net(torch.cat(
(state_var, latent_c_var), 1))
log_prob_old = normal_log_density(action_var, action_means_old,
action_log_stds_old,
action_stds_old)
if args.use_value_net:
# update value net
self.opt_value.zero_grad()
value_var = self.value_net(
torch.cat((state_var, latent_c_var), 1))
value_loss = (value_var - \
targets[curr_id:curr_id+curr_batch_size]).pow(2.).mean()
value_loss.backward()
self.opt_value.step()
# Update policy net (PPO step)
self.opt_policy.zero_grad()
ratio = torch.exp(log_prob_cur - log_prob_old) # pnew / pold
surr1 = ratio * advantages_var[:, 0]
surr2 = torch.clamp(ratio, 1.0 - self.args.clip_epsilon, 1.0 +
self.args.clip_epsilon) * advantages_var[:, 0]
policy_surr = -torch.min(surr1, surr2).mean()
policy_surr.backward()
# torch.nn.utils.clip_grad_norm(self.policy_net.parameters(), 40)
self.opt_policy.step()
self.logger.summary_writer.add_scalar('loss/policy',
policy_surr.data[0],
self.gail_step_count)
policy_l2_norm, policy_grad_l2_norm = \
get_weight_norm_for_network(self.policy_net)
self.logger.summary_writer.add_scalar('weight/policy/param',
policy_l2_norm,
self.gail_step_count)
self.logger.summary_writer.add_scalar('weight/policy/grad',
policy_grad_l2_norm,
self.gail_step_count)
# set new starting point for batch
curr_id += curr_batch_size
curr_id_exp += curr_batch_size_exp
self.gail_step_count += 1
def update_params(self, gen_batch, expert_batch, episode_idx, optim_epochs,
optim_batch_size):
'''Update params for Policy (G), Reward (D) and Posterior (q) networks.
'''
args, dtype = self.args, self.dtype
self.opt_policy.lr = self.args.learning_rate \
* max(1.0 - float(episode_idx)/args.num_epochs, 0)
clip_epsilon = self.args.clip_epsilon \
* max(1.0 - float(episode_idx)/args.num_epochs, 0)
# generated trajectories
states = torch.Tensor(np.array(gen_batch.state)).type(dtype)
actions = torch.Tensor(np.array(gen_batch.action)).type(dtype)
rewards = torch.Tensor(np.array(gen_batch.reward)).type(dtype)
masks = torch.Tensor(np.array(gen_batch.mask)).type(dtype)
## Expand states to include history ##
# Generated trajectories already have history in them.
latent_c = torch.Tensor(np.array(gen_batch.c)).type(dtype)
values = None
if args.use_value_net:
values = self.value_net(Variable(torch.cat((states, latent_c), 1)))
# expert trajectories
list_of_expert_states, list_of_expert_actions = [], []
list_of_masks = []
for i in range(len(expert_batch.state)):
## Expand expert states ##
expanded_states = self.expand_states_numpy(expert_batch.state[i],
self.history_size)
list_of_expert_states.append(torch.Tensor(expanded_states))
list_of_expert_actions.append(torch.Tensor(expert_batch.action[i]))
list_of_masks.append(torch.Tensor(expert_batch.mask[i]))
expert_states = torch.cat(list_of_expert_states, 0).type(dtype)
expert_actions = torch.cat(list_of_expert_actions, 0).type(dtype)
expert_masks = torch.cat(list_of_masks, 0).type(dtype)
assert expert_states.size(0) == expert_actions.size(0), \
"Expert transition size do not match"
assert expert_states.size(0) == expert_masks.size(0), \
"Expert transition size do not match"
# compute advantages
returns, advantages = get_advantage_for_rewards(rewards,
masks,
self.args.gamma,
values,
dtype=dtype)
targets = Variable(returns)
advantages = (advantages - advantages.mean()) / advantages.std()
# Backup params after computing probs but before updating new params
for old_policy_param, policy_param in zip(
self.old_policy_net.parameters(),
self.policy_net.parameters()):
old_policy_param.data.copy_(policy_param.data)
# update value, reward and policy networks
optim_iters = self.args.batch_size // optim_batch_size
optim_batch_size_exp = expert_actions.size(0) // optim_iters
# Remove extra 1 array shape from actions, since actions were added as
# 1-hot vector of shape (1, A).
actions = np.squeeze(actions)
expert_actions = np.squeeze(expert_actions)
for _ in range(optim_epochs):
perm = np.random.permutation(np.arange(actions.size(0)))
perm_exp = np.random.permutation(np.arange(expert_actions.size(0)))
if args.cuda:
perm = torch.cuda.LongTensor(perm)
perm_exp = torch.cuda.LongTensor(perm_exp)
else:
perm, perm_exp = torch.LongTensor(perm), torch.LongTensor(
perm_exp)
self.update_params_for_batch(
states[perm], actions[perm], latent_c[perm], targets[perm],
advantages[perm], expert_states[perm_exp],
expert_actions[perm_exp], optim_batch_size,
optim_batch_size_exp, optim_iters)
def train_gail(self, expert):
'''Train Info-GAIL.'''
args, dtype = self.args, self.dtype
results = {
'average_reward': [],
'episode_reward': [],
'true_traj': {},
'pred_traj': {}
}
self.train_step_count, self.gail_step_count = 0, 0
for ep_idx in range(args.num_epochs):
memory = Memory()
num_steps = 0
reward_batch, true_reward_batch = [], []
expert_true_reward_batch = []
true_traj_curr_episode, gen_traj_curr_episode = [], []
while num_steps < args.batch_size:
traj_expert = expert.sample(size=1)
state_expert, action_expert, _, _ = traj_expert
# Expert state and actions
state_expert = state_expert[0]
action_expert = action_expert[0]
expert_episode_len = len(state_expert)
# Sample start state or should we just choose the start state
# from the expert trajectory sampled above.
# curr_state_obj = self.sample_start_state()
curr_state_obj = State(state_expert[0], self.obstacles)
curr_state_feat = self.get_state_features(
curr_state_obj, self.args.use_state_features)
# Add history to state
if args.history_size > 1:
curr_state = -1 * np.ones(
(args.history_size * curr_state_feat.shape[0]),
dtype=np.float32)
curr_state[(args.history_size-1) \
* curr_state_feat.shape[0]:] = curr_state_feat
else:
curr_state = curr_state_feat
# TODO: Make this a separate function. Can be parallelized.
ep_reward, ep_true_reward, expert_true_reward = 0, 0, 0
true_traj, gen_traj = [], []
gen_traj_dict = {
'features': [],
'actions': [],
'c': [],
'mask': []
}
disc_reward, posterior_reward = 0.0, 0.0
# Use a hard-coded list for memory to gather experience since we
# need to mutate it before finally creating a memory object.
c_sampled = np.zeros((self.num_goals), dtype=np.float32)
c_sampled[np.random.randint(0, self.num_goals)] = 1.0
c_sampled_tensor = torch.zeros((1)).type(torch.LongTensor)
c_sampled_tensor[0] = int(np.argmax(c_sampled))
if self.args.cuda:
c_sampled_tensor = torch.cuda.LongTensor(c_sampled_tensor)
memory_list = []
for t in range(expert_episode_len):
action = self.select_action(
np.concatenate((curr_state, c_sampled)))
action_numpy = action.data.cpu().numpy()
# Save generated and true trajectories
true_traj.append((state_expert[t], action_expert[t]))
gen_traj.append((curr_state_obj.coordinates, action_numpy))
gen_traj_dict['features'].append(
self.get_state_features(curr_state_obj,
self.args.use_state_features))
gen_traj_dict['actions'].append(action_numpy)
gen_traj_dict['c'].append(c_sampled)
action = epsilon_greedy_linear_decay(action_numpy,
args.num_epochs * 0.5,
ep_idx,
self.action_size,
low=0.05,
high=0.3)
# Get the discriminator reward
disc_reward_t = float(
self.reward_net(
torch.cat((Variable(
torch.from_numpy(curr_state).unsqueeze(
0)).type(dtype),
Variable(
torch.from_numpy(
oned_to_onehot(
action, self.action_size)).
unsqueeze(0)).type(dtype)),
1)).data.cpu().numpy()[0, 0])
if args.use_log_rewards and disc_reward_t < 1e-6:
disc_reward_t += 1e-6
disc_reward_t = -math.log(disc_reward_t) \
if args.use_log_rewards else -disc_reward_t
disc_reward += disc_reward_t
# Predict c given (x_t)
predicted_posterior = self.posterior_net(
Variable(torch.from_numpy(curr_state).unsqueeze(
0)).type(dtype))
posterior_reward_t = self.criterion_posterior(
predicted_posterior,
Variable(c_sampled_tensor)).data.cpu().numpy()[0]
posterior_reward += (self.args.lambda_posterior *
posterior_reward_t)
# Update Rewards
ep_reward += (disc_reward_t + posterior_reward_t)
true_goal_state = [
int(x) for x in state_expert[-1].tolist()
]
if self.args.flag_true_reward == 'grid_reward':
ep_true_reward += self.true_reward.reward_at_location(
curr_state_obj.coordinates,
goals=[true_goal_state])
expert_true_reward += self.true_reward.reward_at_location(
state_expert[t], goals=[true_goal_state])
elif self.args.flag_true_reward == 'action_reward':
ep_true_reward += self.true_reward.reward_at_location(
np.argmax(action_expert[t]), action)
expert_true_reward += self.true_reward.corret_action_reward
else:
raise ValueError("Incorrect true reward type")
# Update next state
next_state_obj = self.transition_func(
curr_state_obj, Action(action), 0)
next_state_feat = self.get_state_features(
next_state_obj, self.args.use_state_features)
#next_state = running_state(next_state)
mask = 0 if t == expert_episode_len - 1 else 1
# Push to memory
memory_list.append([
curr_state,
np.array([oned_to_onehot(action,
self.action_size)]), mask,
next_state_feat, disc_reward_t + posterior_reward_t,
c_sampled, c_sampled
])
if args.render:
env.render()
if not mask:
break
curr_state_obj = next_state_obj
curr_state_feat = next_state_feat
if args.history_size > 1:
curr_state[:(args.history_size-1) \
* curr_state_feat.shape[0]] = \
curr_state[curr_state_feat.shape[0]:]
curr_state[(args.history_size-1) \
* curr_state_feat.shape[0]:] = curr_state_feat
else:
curr_state = curr_state_feat
assert memory_list[-1][2] == 0, \
"Mask for final end state is not 0."
for memory_t in memory_list:
memory.push(*memory_t)
self.logger.summary_writer.add_scalars(
'gen_traj/gen_reward', {
'discriminator': disc_reward,
'posterior': posterior_reward,
}, self.train_step_count)
num_steps += (t - 1)
reward_batch.append(ep_reward)
true_reward_batch.append(ep_true_reward)
expert_true_reward_batch.append(expert_true_reward)
results['episode_reward'].append(ep_reward)
# Append trajectories
true_traj_curr_episode.append(true_traj)
gen_traj_curr_episode.append(gen_traj)
results['average_reward'].append(np.mean(reward_batch))
# Add to tensorboard
self.logger.summary_writer.add_scalars(
'gen_traj/reward', {
'average': np.mean(reward_batch),
'max': np.max(reward_batch),
'min': np.min(reward_batch)
}, self.train_step_count)
self.logger.summary_writer.add_scalars(
'gen_traj/true_reward', {
'average': np.mean(true_reward_batch),
'max': np.max(true_reward_batch),
'min': np.min(true_reward_batch),
'expert_true': np.mean(expert_true_reward_batch)
}, self.train_step_count)
# Add predicted and generated trajectories to results
if ep_idx % self.args.save_interval == 0:
results['true_traj'][ep_idx] = copy.deepcopy(
true_traj_curr_episode)
results['pred_traj'][ep_idx] = copy.deepcopy(
gen_traj_curr_episode)
# Update parameters
gen_batch = memory.sample()
# We do not get the context variable from expert trajectories.
# Hence we need to fill it in later.
expert_batch = expert.sample(size=args.num_expert_trajs)
self.update_params(gen_batch, expert_batch, ep_idx,
args.optim_epochs, args.optim_batch_size)
self.train_step_count += 1
if ep_idx > 0 and ep_idx % args.log_interval == 0:
print('Episode [{}/{}] Avg R: {:.2f} Max R: {:.2f} \t' \
'True Avg {:.2f} True Max R: {:.2f} ' \
'Expert (Avg): {:.2f}'.format(
ep_idx, args.num_epochs, np.mean(reward_batch),
np.max(reward_batch), np.mean(true_reward_batch),
np.max(true_reward_batch),
np.mean(expert_true_reward_batch)))
results_path = os.path.join(args.results_dir, 'results.pkl')
with open(results_path, 'wb') as results_f:
pickle.dump((results), results_f, protocol=2)
# print("Did save results to {}".format(results_path))
if ep_idx % args.save_interval == 0:
checkpoint_filepath = self.model_checkpoint_filepath(ep_idx)
torch.save(self.checkpoint_data_to_save(), checkpoint_filepath)
print("Did save checkpoint: {}".format(checkpoint_filepath))
num_actions = env.action_space.shape[0]
env.seed(args.seed)
torch.manual_seed(args.seed)
if args.use_joint_pol_val:
ac_net = ActorCritic(num_inputs, num_actions)
opt_ac = optim.Adam(ac_net.parameters(), lr=0.0003)
else:
policy_net = Policy(num_inputs, num_actions)
old_policy_net = Policy(num_inputs, num_actions)
value_net = Value(num_inputs)
reward_net = Reward(num_inputs, num_actions)
opt_policy = optim.Adam(policy_net.parameters(), lr=0.0003)
opt_value = optim.Adam(value_net.parameters(), lr=0.0003)
opt_reward = optim.Adam(reward_net.parameters(), lr=0.0003)
def select_action(state):
state = torch.from_numpy(state).unsqueeze(0)
action_mean, _, action_std = policy_net(Variable(state))
action = torch.normal(action_mean, action_std)
return action
def select_action_actor_critic(state):
state = torch.from_numpy(state).unsqueeze(0)
action_mean, _, action_std, v = ac_net(Variable(state))
action = torch.normal(action_mean, action_std)
return action