def start_worker(self):
"""Initialize the sampler."""
n_envs = self.n_envs
envs = [pickle.loads(pickle.dumps(self.env)) for _ in range(n_envs)]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.env.spec
def start_worker(self):
n_envs = self.n_envs
if n_envs is None:
n_envs = int(self.algo.batch_size / self.algo.max_path_length)
n_envs = max(1, min(n_envs, 100))
if getattr(self.algo.env, 'vectorized', False):
self.vec_env = self.algo.env.vec_env_executor(
n_envs=n_envs, max_path_length=self.algo.max_path_length)
else:
print(self.algo.env)
if isinstance(self.algo.env.env, EmbeddedPolicyEnv):
envs = [
EmbeddedPolicyEnv(
pickle.loads(
pickle.dumps(self.algo.env.env._wrapped_env)),
self.algo.env.env._wrapped_policy)
for _ in range(n_envs)
]
else:
envs = [
pickle.loads(pickle.dumps(self.algo.env))
for _ in range(n_envs)
]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.algo.env.spec
def start_worker(self):
n_envs = self.n_envs
if getattr(self.algo.env, 'vectorized', False):
self.vec_env = self.algo.env.vec_env_executor(
n_envs=n_envs, max_path_length=self.algo.max_path_length)
else:
envs = [
pickle.loads(pickle.dumps(self.algo.env))
for _ in range(n_envs)
]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.algo.env.spec
def start_worker(self):
"""Initialize the sampler."""
n_envs = self.n_envs
if n_envs is None:
n_envs = int(self.algo.rollout_batch_size)
n_envs = max(1, min(n_envs, 100))
if getattr(self.algo.env, 'vectorized', False):
self.vec_env = self.algo.env.vec_env_executor(
n_envs=n_envs, max_path_length=self.algo.max_path_length)
else:
envs = [
pickle.loads(pickle.dumps(self.algo.env))
for _ in range(n_envs)
]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.algo.env.spec
class OffPolicyVectorizedSampler(BatchSampler):
"""This class implements OffPolicyVectorizedSampler."""
def __init__(self, algo, n_envs=None):
"""
Construct an OffPolicyVectorizedSampler.
:param algo: Algorithms.
:param n_envs: Number of parallelized sampling envs.
"""
super(OffPolicyVectorizedSampler, self).__init__(algo)
self.n_envs = n_envs
@overrides
def start_worker(self):
"""Initialize the sampler."""
n_envs = self.n_envs
if n_envs is None:
n_envs = int(self.algo.rollout_batch_size)
n_envs = max(1, min(n_envs, 100))
if getattr(self.algo.env, 'vectorized', False):
self.vec_env = self.algo.env.vec_env_executor(
n_envs=n_envs, max_path_length=self.algo.max_path_length)
else:
envs = [
pickle.loads(pickle.dumps(self.algo.env))
for _ in range(n_envs)
]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.algo.env.spec
@overrides
def shutdown_worker(self):
"""Terminate workers if necessary."""
self.vec_env.close()
@overrides
def obtain_samples(self, itr):
"""
Collect samples for the given iteration number.
:param itr: Iteration number.
:return: A list of paths.
"""
paths = []
obses = self.vec_env.reset()
dones = np.asarray([True] * self.vec_env.num_envs)
running_paths = [None] * self.vec_env.num_envs
n_samples = 0
batch_samples = self.vec_env.num_envs * self.algo.max_path_length
policy = self.algo.policy
if self.algo.es:
self.algo.es.reset()
while n_samples < batch_samples:
policy.reset(dones)
if self.algo.input_include_goal:
obs = [obs["observation"] for obs in obses]
d_g = [obs["desired_goal"] for obs in obses]
a_g = [obs["achieved_goal"] for obs in obses]
input_obses = np.concatenate((obs, d_g), axis=-1)
else:
input_obses = obses
if self.algo.es:
actions, agent_infos = self.algo.es.get_actions(
input_obses, self.algo.policy)
else:
actions, agent_infos = self.algo.policy.get_actions(
input_obses)
next_obses, rewards, dones, env_infos = self.vec_env.step(actions)
agent_infos = tensor_utils.split_tensor_dict_list(agent_infos)
env_infos = tensor_utils.split_tensor_dict_list(env_infos)
if agent_infos is None:
agent_infos = [dict() for _ in range(self.vec_env.num_envs)]
if env_infos is None:
env_infos = [dict() for _ in range(self.vec_env.num_envs)]
if self.algo.input_include_goal:
self.algo.replay_buffer.add_transition(
observation=obs,
action=actions,
goal=d_g,
achieved_goal=a_g,
terminal=dones,
next_observation=[
next_obs["observation"] for next_obs in next_obses
],
next_achieved_goal=[
next_obs["achieved_goal"] for next_obs in next_obses
],
)
else:
self.algo.replay_buffer.add_transition(
observation=obses,
action=actions,
reward=rewards * self.algo.reward_scale,
terminal=dones,
next_observation=next_obses,
)
for idx, reward, env_info, done in zip(itertools.count(), rewards,
env_infos, dones):
if running_paths[idx] is None:
running_paths[idx] = dict(
rewards=[],
env_infos=[],
)
running_paths[idx]["rewards"].append(reward)
running_paths[idx]["env_infos"].append(env_info)
if done:
paths.append(
dict(rewards=tensor_utils.stack_tensor_list(
running_paths[idx]["rewards"]),
env_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]["env_infos"])))
n_samples += len(running_paths[idx]["rewards"])
running_paths[idx] = None
if self.algo.es:
self.algo.es.reset()
obses = next_obses
return paths
@overrides
def process_samples(self, itr, paths):
"""
Return processed sample data based on the collected paths.
:param itr: Iteration number.
:param paths: A list of collected paths.
:return: Processed sample data.
"""
success_history = []
for path in paths:
if "is_success" in path["env_infos"]:
success = np.array(path["env_infos"]["is_success"])
success_rate = np.mean(success)
success_history.append(success_rate)
undiscounted_returns = [sum(path["rewards"]) for path in paths]
samples_data = dict(undiscounted_returns=undiscounted_returns,
success_history=success_history)
return samples_data
class OffPolicyVectorizedSampler(BatchSampler):
"""This class implements OffPolicyVectorizedSampler.
Args:
algo(garage.np.RLAlgorithm): Algorithm.
env(garage.envs.GarageEnv): Environment.
n_envs(int): Number of parallel environments managed by sampler.
"""
def __init__(self, algo, env, n_envs=None, no_reset=True):
if n_envs is None:
n_envs = int(algo.rollout_batch_size)
super(OffPolicyVectorizedSampler, self).__init__(algo, env, n_envs)
self.n_envs = n_envs
self.no_reset = no_reset
self._last_obses = None
self._last_uncounted_discount = [0] * n_envs
self._last_running_length = [0] * n_envs
self._last_success_count = [0] * n_envs
@overrides
def start_worker(self):
"""Initialize the sampler."""
n_envs = self.n_envs
envs = [pickle.loads(pickle.dumps(self.env)) for _ in range(n_envs)]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.env.spec
@overrides
def shutdown_worker(self):
"""Terminate workers if necessary."""
self.vec_env.close()
@overrides
def obtain_samples(self, itr, batch_size):
"""Collect samples for the given iteration number.
Args:
itr(int): Iteration number.
batch_size(int): Number of environment interactions in one batch.
Returns:
list: A list of paths.
"""
paths = []
if not self.no_reset or self._last_obses is None:
obses = self.vec_env.reset()
else:
obses = self._last_obses
dones = np.asarray([True] * self.vec_env.num_envs)
running_paths = [None] * self.vec_env.num_envs
n_samples = 0
policy = self.algo.policy
if self.algo.es:
self.algo.es.reset()
while n_samples < batch_size:
policy.reset(dones)
if self.algo.input_include_goal:
obs = [obs['observation'] for obs in obses]
d_g = [obs['desired_goal'] for obs in obses]
a_g = [obs['achieved_goal'] for obs in obses]
input_obses = np.concatenate((obs, d_g), axis=-1)
else:
input_obses = obses
if self.algo.es:
actions, agent_infos = self.algo.es.get_actions(
itr, input_obses, self.algo.policy)
else:
actions, agent_infos = self.algo.policy.get_actions(
input_obses)
next_obses, rewards, dones, env_infos = self.vec_env.step(actions)
self._last_obses = next_obses
agent_infos = tensor_utils.split_tensor_dict_list(agent_infos)
env_infos = tensor_utils.split_tensor_dict_list(env_infos)
n_samples += len(next_obses)
if agent_infos is None:
agent_infos = [dict() for _ in range(self.vec_env.num_envs)]
if env_infos is None:
env_infos = [dict() for _ in range(self.vec_env.num_envs)]
if self.algo.input_include_goal:
self.algo.replay_buffer.add_transitions(
observation=obs,
action=actions,
goal=d_g,
achieved_goal=a_g,
terminal=dones,
next_observation=[
next_obs['observation'] for next_obs in next_obses
],
next_achieved_goal=[
next_obs['achieved_goal'] for next_obs in next_obses
],
)
else:
self.algo.replay_buffer.add_transitions(
observation=obses,
action=actions,
reward=rewards * self.algo.reward_scale,
terminal=dones,
next_observation=next_obses,
)
for idx, reward, env_info, done in zip(itertools.count(), rewards,
env_infos, dones):
if running_paths[idx] is None:
running_paths[idx] = dict(
rewards=[],
env_infos=[],
dones=[],
undiscounted_return=self._last_uncounted_discount[idx],
# running_length: Length of path up to now
# Note that running_length is not len(rewards)
# Because a path may not be complete in one batch
running_length=self._last_running_length[idx],
success_count=self._last_success_count[idx])
running_paths[idx]['rewards'].append(reward)
running_paths[idx]['env_infos'].append(env_info)
running_paths[idx]['dones'].append(done)
running_paths[idx]['running_length'] += 1
running_paths[idx]['undiscounted_return'] += reward
running_paths[idx]['success_count'] += env_info.get(
'is_success') or 0
self._last_uncounted_discount[idx] += reward
self._last_success_count[idx] += env_info.get(
'is_success') or 0
self._last_running_length[idx] += 1
if done or n_samples >= batch_size:
paths.append(
dict(
rewards=tensor_utils.stack_tensor_list(
running_paths[idx]['rewards']),
dones=tensor_utils.stack_tensor_list(
running_paths[idx]['dones']),
env_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]['env_infos']),
running_length=running_paths[idx]
['running_length'],
undiscounted_return=running_paths[idx]
['undiscounted_return'],
success_count=running_paths[idx]['success_count']))
running_paths[idx] = None
if done:
self._last_running_length[idx] = 0
self._last_success_count[idx] = 0
self._last_uncounted_discount[idx] = 0
if self.algo.es:
self.algo.es.reset()
obses = next_obses
return paths
@overrides
def process_samples(self, itr, paths):
"""Return processed sample data based on the collected paths.
Args:
itr(int): Iteration number.
paths(list): A list of collected paths.
Returns:
list: Processed sample data.
"""
success_history = [
path['success_count'] / path['running_length'] for path in paths
]
undiscounted_returns = [path['undiscounted_return'] for path in paths]
samples_data = dict(
undiscounted_returns=undiscounted_returns,
success_history=success_history)
return samples_data
class OnPolicyVectorizedSampler(BatchSampler):
def __init__(self, algo, env, n_envs=1):
super(OnPolicyVectorizedSampler, self).__init__(algo, env, n_envs)
self.n_envs = n_envs
@overrides
def start_worker(self):
n_envs = self.n_envs
envs = [pickle.loads(pickle.dumps(self.env)) for _ in range(n_envs)]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.env.spec
@overrides
def shutdown_worker(self):
self.vec_env.close()
@overrides
def obtain_samples(self, itr, batch_size=None, whole_paths=True):
logger.log('Obtaining samples for iteration %d...' % itr)
if not batch_size:
batch_size = self.algo.max_path_length * self.n_envs
paths = []
n_samples = 0
obses = self.vec_env.reset()
dones = np.asarray([True] * self.vec_env.num_envs)
running_paths = [None] * self.vec_env.num_envs
pbar = ProgBarCounter(batch_size)
policy_time = 0
env_time = 0
process_time = 0
policy = self.algo.policy
import time
while n_samples < batch_size:
t = time.time()
policy.reset(dones)
actions, agent_infos = policy.get_actions(obses)
policy_time += time.time() - t
t = time.time()
next_obses, rewards, dones, env_infos = self.vec_env.step(actions)
env_time += time.time() - t
t = time.time()
agent_infos = tensor_utils.split_tensor_dict_list(agent_infos)
env_infos = tensor_utils.split_tensor_dict_list(env_infos)
if env_infos is None:
env_infos = [dict() for _ in range(self.vec_env.num_envs)]
if agent_infos is None:
agent_infos = [dict() for _ in range(self.vec_env.num_envs)]
for idx, observation, action, reward, env_info, agent_info, done in zip( # noqa: E501
itertools.count(), obses, actions, rewards, env_infos,
agent_infos, dones):
if running_paths[idx] is None:
running_paths[idx] = dict(
observations=[],
actions=[],
rewards=[],
env_infos=[],
agent_infos=[],
)
running_paths[idx]['observations'].append(observation)
running_paths[idx]['actions'].append(action)
running_paths[idx]['rewards'].append(reward)
running_paths[idx]['env_infos'].append(env_info)
running_paths[idx]['agent_infos'].append(agent_info)
if done:
paths.append(
dict(observations=self.env_spec.observation_space.
flatten_n(running_paths[idx]['observations']),
actions=self.env_spec.action_space.flatten_n(
running_paths[idx]['actions']),
rewards=tensor_utils.stack_tensor_list(
running_paths[idx]['rewards']),
env_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]['env_infos']),
agent_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]['agent_infos'])))
n_samples += len(running_paths[idx]['rewards'])
running_paths[idx] = None
process_time += time.time() - t
pbar.inc(len(obses))
obses = next_obses
pbar.stop()
tabular.record('PolicyExecTime', policy_time)
tabular.record('EnvExecTime', env_time)
tabular.record('ProcessExecTime', process_time)
if whole_paths:
return paths
else:
paths_truncated = truncate_paths(paths, batch_size)
return paths_truncated
class OnPolicyVectorizedSampler(BatchSampler):
def __init__(self, algo, n_envs=None):
super(OnPolicyVectorizedSampler, self).__init__(algo)
self.n_envs = n_envs
@overrides
def start_worker(self):
n_envs = self.n_envs
if n_envs is None:
n_envs = int(self.algo.batch_size / self.algo.max_path_length)
n_envs = max(1, min(n_envs, 100))
if getattr(self.algo.env, 'vectorized', False):
self.vec_env = self.algo.env.vec_env_executor(
n_envs=n_envs, max_path_length=self.algo.max_path_length)
else:
envs = [
pickle.loads(pickle.dumps(self.algo.env))
for _ in range(n_envs)
]
self.vec_env = VecEnvExecutor(
envs=envs, max_path_length=self.algo.max_path_length)
self.env_spec = self.algo.env.spec
@overrides
def shutdown_worker(self):
self.vec_env.close()
@overrides
def obtain_samples(self, itr):
logger.log("Obtaining samples for iteration %d..." % itr)
paths = []
n_samples = 0
obses = self.vec_env.reset()
dones = np.asarray([True] * self.vec_env.num_envs)
running_paths = [None] * self.vec_env.num_envs
pbar = ProgBarCounter(self.algo.batch_size)
policy_time = 0
env_time = 0
process_time = 0
policy = self.algo.policy
import time
while n_samples < self.algo.batch_size:
t = time.time()
policy.reset(dones)
actions, agent_infos = policy.get_actions(obses)
policy_time += time.time() - t
t = time.time()
next_obses, rewards, dones, env_infos = self.vec_env.step(actions)
env_time += time.time() - t
t = time.time()
agent_infos = tensor_utils.split_tensor_dict_list(agent_infos)
env_infos = tensor_utils.split_tensor_dict_list(env_infos)
if env_infos is None:
env_infos = [dict() for _ in range(self.vec_env.num_envs)]
if agent_infos is None:
agent_infos = [dict() for _ in range(self.vec_env.num_envs)]
for idx, observation, action, reward, next_observation, env_info, agent_info, done in zip( # noqa: E501
itertools.count(), obses, actions, rewards, next_obses,
env_infos, agent_infos, dones):
if running_paths[idx] is None:
running_paths[idx] = dict(
observations=[],
actions=[],
rewards=[],
next_observations=[],
env_infos=[],
agent_infos=[],
)
running_paths[idx]["observations"].append(observation)
running_paths[idx]["actions"].append(action)
running_paths[idx]["rewards"].append(reward)
running_paths[idx]["next_observations"].append(
next_observation)
running_paths[idx]["env_infos"].append(env_info)
running_paths[idx]["agent_infos"].append(agent_info)
if done:
paths.append(
dict(observations=self.env_spec.observation_space.
flatten_n(running_paths[idx]["observations"]),
actions=self.env_spec.action_space.flatten_n(
running_paths[idx]["actions"]),
rewards=tensor_utils.stack_tensor_list(
running_paths[idx]["rewards"]),
next_observation=tensor_utils.stack_tensor_list(
running_paths[idx]["next_observations"]),
env_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]["env_infos"]),
agent_infos=tensor_utils.stack_tensor_dict_list(
running_paths[idx]["agent_infos"])))
n_samples += len(running_paths[idx]["rewards"])
running_paths[idx] = None
process_time += time.time() - t
pbar.inc(len(obses))
obses = next_obses
pbar.stop()
logger.record_tabular("PolicyExecTime", policy_time)
logger.record_tabular("EnvExecTime", env_time)
logger.record_tabular("ProcessExecTime", process_time)
return paths