def collect_experiences(self):
for i in range(self.num_frames_per_proc):
# Do one agent-environment interaction
preprocessed_obs = self.preprocess_obss(self.obs,
device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
dist, value, memory = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
dist, value = self.acmodel(preprocessed_obs)
action = dist.sample()
obs, reward, done, _ = self.env.step(action.cpu().numpy())
# Update experiences values
self.obss[i] = self.obs
self.obs = obs
if self.acmodel.recurrent:
self.memories[i] = self.memory
self.memory = memory
self.masks[i] = self.mask
self.mask = 1 - torch.tensor(
done, device=self.device, dtype=torch.float)
self.actions[i] = action
self.values[i] = value
if self.reshape_reward is not None:
self.rewards[i] = torch.tensor([
self.reshape_reward(obs_, action_, reward_, done_)
for obs_, action_, reward_, done_ in zip(
obs, action, reward, done)
],
device=self.device)
else:
self.rewards[i] = torch.tensor(reward, device=self.device)
self.log_probs[i] = dist.log_prob(action)
# Update log values
self.log_episode_return += torch.tensor(reward,
device=self.device,
dtype=torch.float)
self.log_episode_reshaped_return += self.rewards[i]
self.log_episode_num_frames += torch.ones(self.num_procs,
device=self.device)
for i, done_ in enumerate(done):
if done_:
self.log_done_counter += 1
self.log_return.append(self.log_episode_return[i].item())
self.log_reshaped_return.append(
self.log_episode_reshaped_return[i].item())
self.log_num_frames.append(
self.log_episode_num_frames[i].item())
self.log_episode_return *= self.mask
self.log_episode_reshaped_return *= self.mask
self.log_episode_num_frames *= self.mask
# Add advantage and return to experiences
preprocessed_obs = self.preprocess_obss(self.obs, device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
_, next_value, _ = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
_, next_value = self.acmodel(preprocessed_obs)
for i in reversed(range(self.num_frames_per_proc)):
next_mask = self.masks[
i + 1] if i < self.num_frames_per_proc - 1 else self.mask
next_value = self.values[
i + 1] if i < self.num_frames_per_proc - 1 else next_value
next_advantage = self.advantages[
i + 1] if i < self.num_frames_per_proc - 1 else 0
delta = self.rewards[
i] + self.discount * next_value * next_mask - self.values[i]
self.advantages[
i] = delta + self.discount * self.gae_tau * next_advantage * next_mask
# Defines experiences
exps = DictList()
exps.obs = [obs for obss in self.obss for obs in obss]
if self.acmodel.recurrent:
exps.memory = self.memories.view(-1, *self.memories.shape[2:])
exps.mask = self.masks.view(-1, *self.masks.shape[2:]).unsqueeze(1)
exps.action = self.actions.view(-1, *self.actions.shape[2:])
exps.value = self.values.view(-1, *self.values.shape[2:])
exps.reward = self.rewards.view(-1, *self.rewards.shape[2:])
exps.advantage = self.advantages.view(-1, *self.advantages.shape[2:])
exps.returnn = exps.value + exps.advantage
exps.log_prob = self.log_probs.view(-1, *self.log_probs.shape[2:])
# Preprocess experiences
exps.obs = self.preprocess_obss(exps.obs, device=self.device)
# Log some values
keep = max(self.log_done_counter, self.num_procs)
log = {
"return_per_episode": self.log_return[-keep:],
"reshaped_return_per_episode": self.log_reshaped_return[-keep:],
"num_frames_per_episode": self.log_num_frames[-keep:],
"num_frames": self.num_frames
}
self.log_done_counter = 0
self.log_return = self.log_return[-self.num_procs:]
self.log_reshaped_return = self.log_reshaped_return[-self.num_procs:]
self.log_num_frames = self.log_num_frames[-self.num_procs:]
return exps, log
def collect_experiences(self):
"""Collects rollouts and computes advantages.
Runs several environments concurrently. The next actions are computed
in a batch mode for all environments at the same time. The rollouts
and advantages from all environments are concatenated together.
Returns
-------
exps : DictList
Contains actions, rewards, advantages etc as attributes.
Each attribute, e.g. `exps.reward` has a shape
(self.num_frames_per_proc * num_envs, ...). k-th block
of consecutive `self.num_frames_per_proc` frames contains
data obtained from the k-th environment. Be careful not to mix
data from different environments!
logs : dict
Useful stats about the training process, including the average
reward, policy loss, value loss, etc.
"""
for i in range(self.num_frames_per_proc):
# Do one agent-environment interaction
preprocessed_obs = self.preprocess_obss(self.obs,
device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
dist, value, memory = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
dist, value = self.acmodel(preprocessed_obs)
action = dist.sample()
obs, reward, done, info = self.env.step(action.cpu().numpy())
self.collect_interactions(info)
# Update experiences values
self.obss[i] = self.obs
self.obs = obs
if self.acmodel.recurrent:
self.memories[i] = self.memory
self.memory = memory
self.masks[i] = self.mask
self.mask = 1 - torch.tensor(
done, device=self.device, dtype=torch.float)
self.actions[i] = action
self.values_ext[i] = value[0]
self.values_int[i] = value[1]
if self.reshape_reward is not None:
self.rewards_ext[i] = torch.tensor([
self.reshape_reward(obs_, action_, reward_, done_)
for obs_, action_, reward_, done_ in zip(
obs, action, reward, done)
],
device=self.device)
else:
self.rewards_ext[i] = torch.tensor(reward, device=self.device)
self.log_probs[i] = dist.log_prob(action)
# Update log values
self.log_episode_return += torch.tensor(reward,
device=self.device,
dtype=torch.float)
self.log_episode_reshaped_return += self.rewards_ext[i]
self.log_episode_num_frames += torch.ones(self.num_procs,
device=self.device)
for i, done_ in enumerate(done):
if done_:
self.log_done_counter += 1
self.log_return.append(self.log_episode_return[i].item())
self.log_reshaped_return.append(
self.log_episode_reshaped_return[i].item())
self.log_num_frames.append(
self.log_episode_num_frames[i].item())
self.log_episode_return *= self.mask
self.log_episode_reshaped_return *= self.mask
self.log_episode_num_frames *= self.mask
# ==========================================================================================
# Define experiences: ---> for observations
# the whole experience is the concatenation of the experience
# of each process.
# import pdb; pdb.set_trace()
exps = DictList()
exps.obs = [
self.obss[i][j] for j in range(self.num_procs)
for i in range(self.num_frames_per_proc)
]
# Preprocess experiences
exps.obs = self.preprocess_obss(exps.obs, device=self.device)
exps.action = self.actions.transpose(0, 1).reshape(-1)
if self.acmodel.recurrent:
# T x P x D -> P x T x D -> (P * T) x D
exps.memory = self.memories.transpose(0, 1).reshape(
-1, *self.memories.shape[2:])
# T x P -> P x T -> (P * T) x 1
exps.mask = self.masks.transpose(0, 1).reshape(-1).unsqueeze(1)
# Add other data to experience buffer
self.add_extra_experience(exps)
# ==========================================================================================
# -- Calculate intrinsic return
self.rewards_int = self.calculate_intrinsic_reward(
exps, self.rewards_int)
# Add advantage and return to experiences
# don;t use end of episode signal for intrinsic rewards
preprocessed_obs = self.preprocess_obss(self.obs, device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
_, next_value, _ = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
_, next_value = self.acmodel(preprocessed_obs)
# Calculate intrinsic rewards and advantages
for i in reversed(range(self.num_frames_per_proc)):
next_value_int = self.values_int[
i + 1] if i < self.num_frames_per_proc - 1 else next_value[1]
next_advantage_int = self.advantages_int[
i + 1] if i < self.num_frames_per_proc - 1 else 0
delta = self.rewards_int[
i] + self.discount * next_value_int - self.values_int[i]
self.advantages_int[
i] = delta + self.discount * self.gae_lambda * next_advantage_int
# Calculate extrinisc rewards and advantages
for i in reversed(range(self.num_frames_per_proc)):
next_mask = self.masks[
i + 1] if i < self.num_frames_per_proc - 1 else self.mask
next_value_ext = self.values_ext[
i + 1] if i < self.num_frames_per_proc - 1 else next_value[0]
next_advantage_ext = self.advantages_ext[
i + 1] if i < self.num_frames_per_proc - 1 else 0
delta = self.rewards_ext[
i] + self.discount * next_value_ext * next_mask - self.values_ext[
i]
self.advantages_ext[
i] = delta + self.discount * self.gae_lambda * next_advantage_ext * next_mask
# ==========================================================================================
# @ continue Define experiences:
# the whole experience is the concatenation of the experience
# of each process.
# In comments below:
# - T is self.num_frames_per_proc,
# - P is self.num_procs,
# - D is the dimensionality.
# for all tensors below, T x P -> P x T -> P * T
exps.value_ext = self.values_ext.transpose(0, 1).reshape(-1)
exps.value_int = self.values_int.transpose(0, 1).reshape(-1)
exps.reward_ext = self.rewards_ext.transpose(0, 1).reshape(-1)
exps.reward_int = self.rewards_int.transpose(0, 1).reshape(-1)
exps.advantage_ext = self.advantages_ext.transpose(0, 1).reshape(-1)
exps.advantage_int = self.advantages_int.transpose(0, 1).reshape(-1)
exps.returnn_ext = exps.value_ext + exps.advantage_ext
exps.returnn_int = exps.value_int + exps.advantage_int
exps.log_prob = self.log_probs.transpose(0, 1).reshape(-1)
# Log some values
keep = max(self.log_done_counter, self.num_procs)
log = {
"return_per_episode": self.log_return[-keep:],
"reshaped_return_per_episode": self.log_reshaped_return[-keep:],
"num_frames_per_episode": self.log_num_frames[-keep:],
"num_frames": self.num_frames
}
aux_logs = self.process_interactions()
# add extra logs with agent interactions
for k in aux_logs:
log[k] = aux_logs[k]
self.log_done_counter = 0
self.log_return = self.log_return[-self.num_procs:]
self.log_reshaped_return = self.log_reshaped_return[-self.num_procs:]
self.log_num_frames = self.log_num_frames[-self.num_procs:]
return exps, log
def collect_experiences(self):
"""Collects rollouts and computes advantages.
Runs several environments concurrently. The next actions are computed
in a batch mode for all environments at the same time. The rollouts
and advantages from all environments are concatenated together.
Returns
-------
exps : DictList
Contains actions, rewards, advantages etc as attributes.
Each attribute, e.g. `exps.reward` has a shape
(self.num_frames_per_proc * num_envs, ...). k-th block
of consecutive `self.num_frames_per_proc` frames contains
data obtained from the k-th environment. Be careful not to mix
data from different environments!
logs : dict
useful stats about the training process, including the average
reward, policy loss, value loss, etc.
"""
for i in range(self.num_frames_per_proc):
# Do one agent-environment interaction
preprocessed_obs = self.preprocess_obss(self.obs,
device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
dist, value, memory = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
dist, value = self.acmodel(preprocessed_obs)
action = dist.sample()
obs, reward, done, _ = self.env.step(action.cpu().numpy())
# Update experiences values
self.obss[i] = self.obs
self.obs = obs
if self.acmodel.recurrent:
self.memories[i] = self.memory
self.memory = memory
self.masks[i] = self.mask
self.mask = 1 - torch.tensor(
done, device=self.device, dtype=torch.float)
self.actions[i] = action
self.values[i] = value
if self.reshape_reward is not None:
self.rewards[i] = torch.tensor([
self.reshape_reward(obs_, action_, reward_, done_)
for obs_, action_, reward_, done_ in zip(
obs, action, reward, done)
],
device=self.device)
else:
self.rewards[i] = torch.tensor(reward, device=self.device)
self.log_probs[i] = dist.log_prob(action)
# Update log values
self.log_episode_return += torch.tensor(reward,
device=self.device,
dtype=torch.float)
self.log_episode_reshaped_return += self.rewards[i]
self.log_episode_num_frames += torch.ones(self.num_procs,
device=self.device)
for i, done_ in enumerate(done):
if done_:
self.log_done_counter += 1
self.log_return.append(self.log_episode_return[i].item())
self.log_reshaped_return.append(
self.log_episode_reshaped_return[i].item())
self.log_num_frames.append(
self.log_episode_num_frames[i].item())
self.log_episode_return *= self.mask
self.log_episode_reshaped_return *= self.mask
self.log_episode_num_frames *= self.mask
# Add advantage and return to experiences
preprocessed_obs = self.preprocess_obss(self.obs, device=self.device)
with torch.no_grad():
if self.acmodel.recurrent:
_, next_value, _ = self.acmodel(
preprocessed_obs, self.memory * self.mask.unsqueeze(1))
else:
_, next_value = self.acmodel(preprocessed_obs)
for i in reversed(range(self.num_frames_per_proc)):
next_mask = self.masks[
i + 1] if i < self.num_frames_per_proc - 1 else self.mask
next_value = self.values[
i + 1] if i < self.num_frames_per_proc - 1 else next_value
next_advantage = self.advantages[
i + 1] if i < self.num_frames_per_proc - 1 else 0
delta = self.rewards[
i] + self.discount * next_value * next_mask - self.values[i]
self.advantages[
i] = delta + self.discount * self.gae_lambda * next_advantage * next_mask
# Defines experiences
exps = DictList()
exps.obs = [obs for obss in self.obss for obs in obss]
if self.acmodel.recurrent:
exps.memory = self.memories.view(-1, *self.memories.shape[2:])
exps.mask = self.masks.view(-1, *self.masks.shape[2:]).unsqueeze(1)
exps.action = self.actions.view(-1, *self.actions.shape[2:])
exps.value = self.values.view(-1, *self.values.shape[2:])
exps.reward = self.rewards.view(-1, *self.rewards.shape[2:])
exps.advantage = self.advantages.view(-1, *self.advantages.shape[2:])
exps.returnn = exps.value + exps.advantage
exps.log_prob = self.log_probs.view(-1, *self.log_probs.shape[2:])
# Preprocess experiences
exps.obs = self.preprocess_obss(exps.obs, device=self.device)
# Log some values
keep = max(self.log_done_counter, self.num_procs)
log = {
"return_per_episode": self.log_return[-keep:],
"reshaped_return_per_episode": self.log_reshaped_return[-keep:],
"num_frames_per_episode": self.log_num_frames[-keep:],
"num_frames": self.num_frames
}
self.log_done_counter = 0
self.log_return = self.log_return[-self.num_procs:]
self.log_reshaped_return = self.log_reshaped_return[-self.num_procs:]
self.log_num_frames = self.log_num_frames[-self.num_procs:]
return exps, log