class PpoOptimizer(object):
envs = None
def __init__(self, *, scope, ob_space, ac_space, stochpol, ent_coef, gamma,
lam, nepochs, lr, cliprange, nminibatches, normrew, normadv,
use_news, ext_coeff, int_coeff, nsteps_per_seg, nsegs_per_env,
dynamics):
self.dynamics = dynamics
with tf.variable_scope(scope):
self.use_recorder = True
self.n_updates = 0
self.scope = scope
self.ob_space = ob_space
self.ac_space = ac_space
self.stochpol = stochpol
self.nepochs = nepochs
self.lr = lr
self.cliprange = cliprange
self.nsteps_per_seg = nsteps_per_seg
self.nsegs_per_env = nsegs_per_env
self.nminibatches = nminibatches
self.gamma = gamma
self.lam = lam
self.normrew = normrew
self.normadv = normadv
self.use_news = use_news
self.ext_coeff = ext_coeff
self.int_coeff = int_coeff
self.ph_adv = tf.placeholder(tf.float32, [None, None])
self.ph_ret = tf.placeholder(tf.float32, [None, None])
self.ph_rews = tf.placeholder(tf.float32, [None, None])
self.ph_oldnlp = tf.placeholder(tf.float32, [None, None])
self.ph_oldvpred = tf.placeholder(tf.float32, [None, None])
self.ph_lr = tf.placeholder(tf.float32, [])
self.ph_cliprange = tf.placeholder(tf.float32, [])
neglogpac = self.stochpol.pd.neglogp(self.stochpol.ph_ac)
entropy = tf.reduce_mean(self.stochpol.pd.entropy())
vpred = self.stochpol.vpred
vf_loss = 0.5 * tf.reduce_mean((vpred - self.ph_ret)**2)
ratio = tf.exp(self.ph_oldnlp - neglogpac) # p_new / p_old
negadv = -self.ph_adv
pg_losses1 = negadv * ratio
pg_losses2 = negadv * tf.clip_by_value(
ratio, 1.0 - self.ph_cliprange, 1.0 + self.ph_cliprange)
pg_loss_surr = tf.maximum(pg_losses1, pg_losses2)
pg_loss = tf.reduce_mean(pg_loss_surr)
ent_loss = (-ent_coef) * entropy
approxkl = .5 * tf.reduce_mean(
tf.square(neglogpac - self.ph_oldnlp))
clipfrac = tf.reduce_mean(
tf.to_float(tf.abs(pg_losses2 - pg_loss_surr) > 1e-6))
self.total_loss = pg_loss + ent_loss + vf_loss
self.to_report = {
'tot': self.total_loss,
'pg': pg_loss,
'vf': vf_loss,
'ent': entropy,
'approxkl': approxkl,
'clipfrac': clipfrac
}
def start_interaction(self, env_fns, dynamics, nlump=2):
self.loss_names, self._losses = zip(*list(self.to_report.items()))
params = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES)
if MPI.COMM_WORLD.Get_size() > 1:
trainer = MpiAdamOptimizer(learning_rate=self.ph_lr,
comm=MPI.COMM_WORLD)
else:
trainer = tf.train.AdamOptimizer(learning_rate=self.ph_lr)
gradsandvars = trainer.compute_gradients(self.total_loss, params)
self._train = trainer.apply_gradients(gradsandvars)
if MPI.COMM_WORLD.Get_rank() == 0:
getsess().run(
tf.variables_initializer(
tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES)))
bcast_tf_vars_from_root(
getsess(), tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES))
self.all_visited_rooms = []
self.all_scores = []
self.nenvs = nenvs = len(env_fns)
self.nlump = nlump
self.lump_stride = nenvs // self.nlump
self.envs = [
VecEnv(env_fns[l * self.lump_stride:(l + 1) * self.lump_stride],
spaces=[self.ob_space, self.ac_space])
for l in range(self.nlump)
]
self.rollout = Rollout(ob_space=self.ob_space,
ac_space=self.ac_space,
nenvs=nenvs,
nsteps_per_seg=self.nsteps_per_seg,
nsegs_per_env=self.nsegs_per_env,
nlumps=self.nlump,
envs=self.envs,
policy=self.stochpol,
int_rew_coeff=self.int_coeff,
ext_rew_coeff=self.ext_coeff,
record_rollouts=self.use_recorder,
dynamics=dynamics)
self.buf_advs = np.zeros((nenvs, self.rollout.nsteps), np.float32)
self.buf_rets = np.zeros((nenvs, self.rollout.nsteps), np.float32)
if self.normrew:
self.rff = RewardForwardFilter(self.gamma)
self.rff_rms = RunningMeanStd()
self.step_count = 0
self.t_last_update = time.time()
self.t_start = time.time()
def stop_interaction(self):
for env in self.envs:
env.close()
def calculate_advantages(self, rews, use_news, gamma, lam):
nsteps = self.rollout.nsteps
lastgaelam = 0
for t in range(nsteps - 1, -1, -1): # nsteps-2 ... 0
nextnew = self.rollout.buf_news[:, t +
1] if t + 1 < nsteps else self.rollout.buf_new_last
if not use_news:
nextnew = 0
nextvals = self.rollout.buf_vpreds[:, t +
1] if t + 1 < nsteps else self.rollout.buf_vpred_last
nextnotnew = 1 - nextnew
delta = rews[:,
t] + gamma * nextvals * nextnotnew - self.rollout.buf_vpreds[:,
t]
self.buf_advs[:,
t] = lastgaelam = delta + gamma * lam * nextnotnew * lastgaelam
self.buf_rets[:] = self.buf_advs + self.rollout.buf_vpreds
def update(self):
if self.normrew:
rffs = np.array(
[self.rff.update(rew) for rew in self.rollout.buf_rews.T])
rffs_mean, rffs_std, rffs_count = mpi_moments(rffs.ravel())
self.rff_rms.update_from_moments(rffs_mean, rffs_std**2,
rffs_count)
rews = self.rollout.buf_rews / np.sqrt(self.rff_rms.var)
else:
rews = np.copy(self.rollout.buf_rews)
self.calculate_advantages(rews=rews,
use_news=self.use_news,
gamma=self.gamma,
lam=self.lam)
info = dict(advmean=self.buf_advs.mean(),
advstd=self.buf_advs.std(),
retmean=self.buf_rets.mean(),
retstd=self.buf_rets.std(),
vpredmean=self.rollout.buf_vpreds.mean(),
vpredstd=self.rollout.buf_vpreds.std(),
ev=explained_variance(self.rollout.buf_vpreds.ravel(),
self.buf_rets.ravel()),
rew_mean=np.mean(self.rollout.buf_rews),
recent_best_ext_ret=self.rollout.current_max)
if self.rollout.best_ext_ret is not None:
info['best_ext_ret'] = self.rollout.best_ext_ret
# normalize advantages
if self.normadv:
m, s = get_mean_and_std(self.buf_advs)
self.buf_advs = (self.buf_advs - m) / (s + 1e-7)
envsperbatch = (self.nenvs * self.nsegs_per_env) // self.nminibatches
envsperbatch = max(1, envsperbatch)
envinds = np.arange(self.nenvs * self.nsegs_per_env)
def resh(x):
if self.nsegs_per_env == 1:
return x
sh = x.shape
return x.reshape((sh[0] * self.nsegs_per_env,
self.nsteps_per_seg) + sh[2:])
ph_buf = [
(self.stochpol.ph_ac, resh(self.rollout.buf_acs)),
(self.ph_rews, resh(self.rollout.buf_rews)),
(self.ph_oldvpred, resh(self.rollout.buf_vpreds)),
(self.ph_oldnlp, resh(self.rollout.buf_nlps)),
(self.stochpol.ph_ob, resh(self.rollout.buf_obs)),
(self.ph_ret, resh(self.buf_rets)),
(self.ph_adv, resh(self.buf_advs)),
]
ph_buf.extend([(self.dynamics.last_ob,
self.rollout.buf_obs_last.reshape([
self.nenvs * self.nsegs_per_env, 1,
*self.ob_space.shape
]))])
mblossvals = []
for _ in range(self.nepochs):
np.random.shuffle(envinds)
for start in range(0, self.nenvs * self.nsegs_per_env,
envsperbatch):
end = start + envsperbatch
mbenvinds = envinds[start:end]
fd = {ph: buf[mbenvinds] for (ph, buf) in ph_buf}
fd.update({
self.ph_lr: self.lr,
self.ph_cliprange: self.cliprange
})
mblossvals.append(getsess().run(self._losses + (self._train, ),
fd)[:-1])
mblossvals = [mblossvals[0]]
info.update(
zip(['opt_' + ln for ln in self.loss_names],
np.mean([mblossvals[0]], axis=0)))
info["rank"] = MPI.COMM_WORLD.Get_rank()
self.n_updates += 1
info["n_updates"] = self.n_updates
info.update({
dn: (np.mean(dvs) if len(dvs) > 0 else 0)
for (dn, dvs) in self.rollout.statlists.items()
})
info.update(self.rollout.stats)
if "states_visited" in info:
info.pop("states_visited")
tnow = time.time()
info["ups"] = 1. / (tnow - self.t_last_update)
info["total_secs"] = tnow - self.t_start
info['tps'] = MPI.COMM_WORLD.Get_size(
) * self.rollout.nsteps * self.nenvs / (tnow - self.t_last_update)
self.t_last_update = tnow
return info
def step(self):
self.rollout.collect_rollout()
update_info = self.update()
print("Update info:", update_info)
return {'update': update_info}
def get_var_values(self):
return self.stochpol.get_var_values()
def set_var_values(self, vv):
self.stochpol.set_var_values(vv)
class VecNormalize(VecEnvWrapper):
"""
A moving average, normalizing wrapper for vectorized environment.
has support for saving/loading moving average,
:param venv: (VecEnv) the vectorized environment to wrap
:param training: (bool) Whether to update or not the moving average
:param norm_obs: (bool) Whether to normalize observation or not (default: True)
:param norm_reward: (bool) Whether to normalize rewards or not (default: True)
:param clip_obs: (float) Max absolute value for observation
:param clip_reward: (float) Max value absolute for discounted reward
:param gamma: (float) discount factor
:param epsilon: (float) To avoid division by zero
"""
def __init__(self,
venv,
training=True,
norm_obs=True,
norm_reward=True,
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
epsilon=1e-8):
VecEnvWrapper.__init__(self, venv)
self.obs_rms = RunningMeanStd(shape=self.observation_space.shape)
self.ret_rms = RunningMeanStd(shape=())
self.clip_obs = clip_obs
self.clip_reward = clip_reward
# Returns: discounted rewards
self.ret = np.zeros(self.num_envs)
self.gamma = gamma
self.epsilon = epsilon
self.training = training
self.norm_obs = norm_obs
self.norm_reward = norm_reward
self.old_obs = np.array([])
def step_wait(self):
"""
Apply sequence of actions to sequence of environments
actions -> (observations, rewards, news)
where 'news' is a boolean vector indicating whether each element is new.
"""
obs, rews, news, infos = self.venv.step_wait()
self.ret = self.ret * self.gamma + rews
self.old_obs = obs
obs = self._normalize_observation(obs)
if self.norm_reward:
if self.training:
self.ret_rms.update(self.ret)
rews = np.clip(rews / np.sqrt(self.ret_rms.var + self.epsilon),
-self.clip_reward, self.clip_reward)
self.ret[news] = 0
return obs, rews, news, infos
def _normalize_observation(self, obs):
"""
:param obs: (numpy tensor)
"""
if self.norm_obs:
if self.training:
self.obs_rms.update(obs)
obs = np.clip((obs - self.obs_rms.mean) /
np.sqrt(self.obs_rms.var + self.epsilon),
-self.clip_obs, self.clip_obs)
return obs
else:
return obs
def get_original_obs(self):
"""
returns the unnormalized observation
:return: (numpy float)
"""
return self.old_obs
def reset(self):
"""
Reset all environments
"""
obs = self.venv.reset()
if len(np.array(obs).shape) == 1: # for when num_cpu is 1
self.old_obs = [obs]
else:
self.old_obs = obs
self.ret = np.zeros(self.num_envs)
return self._normalize_observation(obs)
def save_running_average(self, path):
"""
:param path: (str) path to log dir
"""
for rms, name in zip([self.obs_rms, self.ret_rms],
['obs_rms', 'ret_rms']):
with open("{}/{}.pkl".format(path, name), 'wb') as file_handler:
pickle.dump(rms, file_handler)
def load_running_average(self, path):
"""
:param path: (str) path to log dir
"""
for name in ['obs_rms', 'ret_rms']:
with open("{}/{}.pkl".format(path, name), 'rb') as file_handler:
setattr(self, name, pickle.load(file_handler))
class bVecNormalize(VecEnv):
def __init__(self,
venv,
ob=True,
st=True,
ret=True,
clipob=10.,
clipst=10.,
cliprew=10.,
gamma=0.99,
epsilon=1e-8):
VecEnv.__init__(self,
observation_space=venv.observation_space,
state_space=venv.state_space,
action_space=venv.action_space)
print('bullet vec normalize initialization. ')
self.venv = venv
self.ob_rms = RunningMeanStd(
shape=self.observation_space.shape) if ob else None
self.st_rms = RunningMeanStd(
shape=self.state_space.shape) if st else None
self.ret_rms = RunningMeanStd(shape=()) if ret else None
self.clipob = clipob
self.clipst = clipst
self.cliprew = cliprew
self.ret = np.zeros(1)
self.gamma = gamma
self.epsilon = epsilon
def step(self, action, z, skel):
return self.step_norm(action, z, skel)
def step_norm(self, action, z, skel):
"""
Apply sequence of actions to sequence of environments
actions -> (observations, rewards, news)
where 'news' is a boolean vector indicating whether each element is new.
"""
obs, state, rews, done, infos = self.venv.step(
action, z, skel) # 각 robot에서 정의된 step()이 호출됨
true_rews = copy.deepcopy(rews)
self.ret = self.ret * self.gamma + rews
obs = self._obfilt(obs)
state = self._stfilt(state)
if self.ret_rms:
self.ret_rms.update(self.ret)
rews = np.clip(rews / np.sqrt(self.ret_rms.var + self.epsilon),
-self.cliprew, self.cliprew)
return obs, state, rews, done, infos, true_rews
def step_broadcast(self, action):
res, obs, state, rews, done, infos = self.venv.step_broadcast(
action) # 각 robot에서 정의된 step()이 호출됨
true_rews = copy.deepcopy(rews)
for a in range(self.venv.num_agent):
self.ret = self.ret * self.gamma + rews[a]
obs[a] = self._obfilt(obs[a])
state[a] = self._stfilt(state[a])
if self.ret_rms:
self.ret_rms.update(self.ret)
rews[a] = np.clip(
rews[a] / np.sqrt(self.ret_rms.var + self.epsilon),
-self.cliprew, self.cliprew)
return res, obs, state, rews, done, infos, true_rews
def _obfilt(self, obs):
if self.ob_rms:
self.ob_rms.update(obs) if self.ret_rms else None
obs = np.clip((obs - self.ob_rms.mean) /
np.sqrt(self.ob_rms.var + self.epsilon),
-self.clipob, self.clipob)
return obs
else:
return obs
def _stfilt(self, state):
if self.st_rms:
self.st_rms.update(state) if self.ret_rms else None
state = np.clip((state - self.st_rms.mean) /
np.sqrt(self.st_rms.var + self.epsilon),
-self.clipst, self.clipst)
return state
else:
return state
def reset(self, z, skel):
obs, state = self.venv.reset(z, skel)
return self._obfilt(obs), self._stfilt(state)
def reset_broadcast(self):
obs, state = self.venv.reset_broadcast()
for i in range(self.venv.num_agent):
obs[i] = self._obfilt(obs[i])
state[i] = self._stfilt(state[i])
return obs, state
def get_vrep_scene_path(self):
return self.venv.get_vrep_scene_path()
def initialize_robot(self, clientID):
self.venv.initialize_robot(clientID)
class VecNormalize(VecEnvWrapper):
"""
A moving average, normalizing wrapper for vectorized environment.
It is pickleable which will save moving averages and configuration parameters.
The wrapped environment `venv` is not saved, and must be restored manually with
`set_venv` after being unpickled.
:param venv: (VecEnv) the vectorized environment to wrap
:param training: (bool) Whether to update or not the moving average
:param norm_obs: (bool) Whether to normalize observation or not (default: True)
:param norm_reward: (bool) Whether to normalize rewards or not (default: True)
:param clip_obs: (float) Max absolute value for observation
:param clip_reward: (float) Max value absolute for discounted reward
:param gamma: (float) discount factor
:param epsilon: (float) To avoid division by zero
"""
def __init__(self, venv, training=True, norm_obs=True, norm_reward=True,
clip_obs=10., clip_reward=10., gamma=0.99, epsilon=1e-8):
VecEnvWrapper.__init__(self, venv)
self.obs_rms = RunningMeanStd(shape=self.observation_space.shape)
self.ret_rms = RunningMeanStd(shape=())
self.clip_obs = clip_obs
self.clip_reward = clip_reward
# Returns: discounted rewards
self.ret = np.zeros(self.num_envs)
self.gamma = gamma
self.epsilon = epsilon
self.training = training
self.norm_obs = norm_obs
self.norm_reward = norm_reward
self.old_obs = np.array([])
def __getstate__(self):
"""
Gets state for pickling.
Excludes self.venv, as in general VecEnv's may not be pickleable."""
state = self.__dict__.copy()
# these attributes are not pickleable
del state['venv']
del state['class_attributes']
# these attributes depend on the above and so we would prefer not to pickle
del state['ret']
return state
def __setstate__(self, state):
"""
Restores pickled state.
User must call set_venv() after unpickling before using.
:param state: (dict)"""
self.__dict__.update(state)
assert 'venv' not in state
self.venv = None
def set_venv(self, venv):
"""
Sets the vector environment to wrap to venv.
Also sets attributes derived from this such as `num_env`.
:param venv: (VecEnv)
"""
if self.venv is not None:
raise ValueError("Trying to set venv of already initialized VecNormalize wrapper.")
VecEnvWrapper.__init__(self, venv)
if self.obs_rms.mean.shape != self.observation_space.shape:
raise ValueError("venv is incompatible with current statistics.")
self.ret = np.zeros(self.num_envs)
def step_wait(self):
"""
Apply sequence of actions to sequence of environments
actions -> (observations, rewards, news)
where 'news' is a boolean vector indicating whether each element is new.
"""
obs, rews, news, infos = self.venv.step_wait()
self.ret = self.ret * self.gamma + rews
self.old_obs = obs
obs = self._normalize_observation(obs)
if self.norm_reward:
if self.training:
self.ret_rms.update(self.ret)
rews = np.clip(rews / np.sqrt(self.ret_rms.var + self.epsilon), -self.clip_reward, self.clip_reward)
self.ret[news] = 0
return obs, rews, news, infos
def _normalize_observation(self, obs):
"""
:param obs: (numpy tensor)
"""
if self.norm_obs:
if self.training:
self.obs_rms.update(obs)
obs = np.clip((obs - self.obs_rms.mean) / np.sqrt(self.obs_rms.var + self.epsilon), -self.clip_obs,
self.clip_obs)
return obs
else:
return obs
def get_original_obs(self):
"""
returns the unnormalized observation
:return: (numpy float)
"""
return self.old_obs
def reset(self):
"""
Reset all environments
"""
obs = self.venv.reset()
if len(np.array(obs).shape) == 1: # for when num_cpu is 1
self.old_obs = [obs]
else:
self.old_obs = obs
self.ret = np.zeros(self.num_envs)
return self._normalize_observation(obs)
@staticmethod
def load(load_path, venv):
"""
Loads a saved VecNormalize object.
:param load_path: the path to load from.
:param venv: the VecEnv to wrap.
:return: (VecNormalize)
"""
with open(load_path, "rb") as file_handler:
vec_normalize = pickle.load(file_handler)
vec_normalize.set_venv(venv)
return vec_normalize
def save(self, save_path):
with open(save_path, "wb") as file_handler:
pickle.dump(self, file_handler)
def save_running_average(self, path):
"""
:param path: (str) path to log dir
.. deprecated:: 2.9.0
This function will be removed in a future version
"""
warnings.warn("Usage of `save_running_average` is deprecated. Please "
"use `save` or pickle instead.", DeprecationWarning)
for rms, name in zip([self.obs_rms, self.ret_rms], ['obs_rms', 'ret_rms']):
with open("{}/{}.pkl".format(path, name), 'wb') as file_handler:
pickle.dump(rms, file_handler)
def load_running_average(self, path):
"""
:param path: (str) path to log dir
.. deprecated:: 2.9.0
This function will be removed in a future version
"""
warnings.warn("Usage of `load_running_average` is deprecated. Please "
"use `load` or pickle instead.", DeprecationWarning)
for name in ['obs_rms', 'ret_rms']:
with open("{}/{}.pkl".format(path, name), 'rb') as file_handler:
setattr(self, name, pickle.load(file_handler))
