def _init(self):
self.global_step = 0
self.local_evaluator = PPOEvaluator(self.env_creator, self.config,
self.logdir, False)
RemotePPOEvaluator = ray.remote(
num_cpus=self.config["num_cpus_per_worker"],
num_gpus=self.config["num_gpus_per_worker"])(PPOEvaluator)
self.remote_evaluators = [
RemotePPOEvaluator.remote(self.env_creator, self.config,
self.logdir, True)
for _ in range(self.config["num_workers"])
]
self.optimizer = LocalMultiGPUOptimizer(
{
"sgd_batch_size": self.config["sgd_batchsize"],
"sgd_stepsize": self.config["sgd_stepsize"],
"num_sgd_iter": self.config["num_sgd_iter"],
"timesteps_per_batch": self.config["timesteps_per_batch"]
},
self.local_evaluator,
self.remote_evaluators,
)
self.saver = tf.train.Saver(max_to_keep=None)
def _init(self):
self.global_step = 0
self.kl_coeff = self.config["kl_coeff"]
self.local_evaluator = PPOEvaluator(self.registry, self.env_creator,
self.config, self.logdir, False)
self.remote_evaluators = [
RemotePPOEvaluator.remote(self.registry, self.env_creator,
self.config, self.logdir, True)
for _ in range(self.config["num_workers"])
]
self.start_time = time.time()
if self.config["write_logs"]:
self.file_writer = tf.summary.FileWriter(
self.logdir, self.local_evaluator.sess.graph)
else:
self.file_writer = None
self.saver = tf.train.Saver(max_to_keep=None)
def _init(self):
self.global_step = 0
self.kl_coeff = self.config["kl_coeff"]
self.local_evaluator = PPOEvaluator(
self.registry, self.env_creator, self.config, self.logdir, False)
RemotePPOEvaluator = ray.remote(
**self.config["worker_resources"])(PPOEvaluator)
self.remote_evaluators = [
RemotePPOEvaluator.remote(
self.registry, self.env_creator, self.config, self.logdir,
True)
for _ in range(self.config["num_workers"])]
self.start_time = time.time()
if self.config["write_logs"]:
self.file_writer = tf.summary.FileWriter(
self.logdir, self.local_evaluator.sess.graph)
else:
self.file_writer = None
self.saver = tf.train.Saver(max_to_keep=None)
class PPOAgent(Agent):
_agent_name = "PPO"
_allow_unknown_subkeys = [
"model", "tf_session_args", "env_config", "worker_resources"
]
_default_config = DEFAULT_CONFIG
def _init(self):
self.global_step = 0
self.kl_coeff = self.config["kl_coeff"]
self.local_evaluator = PPOEvaluator(self.registry, self.env_creator,
self.config, self.logdir, False)
RemotePPOEvaluator = ray.remote(
**self.config["worker_resources"])(PPOEvaluator)
self.remote_evaluators = [
RemotePPOEvaluator.remote(self.registry, self.env_creator,
self.config, self.logdir, True)
for _ in range(self.config["num_workers"])
]
self.start_time = time.time()
if self.config["write_logs"]:
self.file_writer = tf.summary.FileWriter(
self.logdir, self.local_evaluator.sess.graph)
else:
self.file_writer = None
self.saver = tf.train.Saver(max_to_keep=None)
def _train(self):
agents = self.remote_evaluators
config = self.config
model = self.local_evaluator
print("===> iteration", self.iteration)
iter_start = time.time()
weights = ray.put(model.get_weights())
[a.set_weights.remote(weights) for a in agents]
samples = collect_samples(agents, config, self.local_evaluator)
def standardized(value):
# Divide by the maximum of value.std() and 1e-4
# to guard against the case where all values are equal
return (value - value.mean()) / max(1e-4, value.std())
samples.data["advantages"] = standardized(samples["advantages"])
rollouts_end = time.time()
print("Computing policy (iterations=" + str(config["num_sgd_iter"]) +
", stepsize=" + str(config["sgd_stepsize"]) + "):")
names = [
"iter", "total loss", "policy loss", "vf loss", "kl", "entropy"
]
print(("{:>15}" * len(names)).format(*names))
samples.shuffle()
shuffle_end = time.time()
tuples_per_device = model.load_data(
samples, self.iteration == 0 and config["full_trace_data_load"])
load_end = time.time()
rollouts_time = rollouts_end - iter_start
shuffle_time = shuffle_end - rollouts_end
load_time = load_end - shuffle_end
sgd_time = 0
for i in range(config["num_sgd_iter"]):
sgd_start = time.time()
batch_index = 0
num_batches = (int(tuples_per_device) //
int(model.per_device_batch_size))
loss, policy_loss, vf_loss, kl, entropy = [], [], [], [], []
permutation = np.random.permutation(num_batches)
# Prepare to drop into the debugger
if self.iteration == config["tf_debug_iteration"]:
model.sess = tf_debug.LocalCLIDebugWrapperSession(model.sess)
while batch_index < num_batches:
full_trace = (i == 0 and self.iteration == 0 and batch_index
== config["full_trace_nth_sgd_batch"])
batch_loss, batch_policy_loss, batch_vf_loss, batch_kl, \
batch_entropy = model.run_sgd_minibatch(
permutation[batch_index] * model.per_device_batch_size,
self.kl_coeff, full_trace,
self.file_writer)
loss.append(batch_loss)
policy_loss.append(batch_policy_loss)
vf_loss.append(batch_vf_loss)
kl.append(batch_kl)
entropy.append(batch_entropy)
batch_index += 1
loss = np.mean(loss)
policy_loss = np.mean(policy_loss)
vf_loss = np.mean(vf_loss)
kl = np.mean(kl)
entropy = np.mean(entropy)
sgd_end = time.time()
print("{:>15}{:15.5e}{:15.5e}{:15.5e}{:15.5e}{:15.5e}".format(
i, loss, policy_loss, vf_loss, kl, entropy))
values = []
if i == config["num_sgd_iter"] - 1:
metric_prefix = "ppo/sgd/final_iter/"
values.append(
tf.Summary.Value(tag=metric_prefix + "kl_coeff",
simple_value=self.kl_coeff))
values.extend([
tf.Summary.Value(tag=metric_prefix + "mean_entropy",
simple_value=entropy),
tf.Summary.Value(tag=metric_prefix + "mean_loss",
simple_value=loss),
tf.Summary.Value(tag=metric_prefix + "mean_kl",
simple_value=kl)
])
if self.file_writer:
sgd_stats = tf.Summary(value=values)
self.file_writer.add_summary(sgd_stats, self.global_step)
self.global_step += 1
sgd_time += sgd_end - sgd_start
if kl > 2.0 * config["kl_target"]:
self.kl_coeff *= 1.5
elif kl < 0.5 * config["kl_target"]:
self.kl_coeff *= 0.5
info = {
"kl_divergence": kl,
"kl_coefficient": self.kl_coeff,
"rollouts_time": rollouts_time,
"shuffle_time": shuffle_time,
"load_time": load_time,
"sgd_time": sgd_time,
"sample_throughput": len(samples["observations"]) / sgd_time
}
FilterManager.synchronize(self.local_evaluator.filters,
self.remote_evaluators)
res = self._fetch_metrics_from_remote_evaluators()
res = res._replace(info=info)
return res
def _fetch_metrics_from_remote_evaluators(self):
episode_rewards = []
episode_lengths = []
metric_lists = [
a.get_completed_rollout_metrics.remote()
for a in self.remote_evaluators
]
for metrics in metric_lists:
for episode in ray.get(metrics):
episode_lengths.append(episode.episode_length)
episode_rewards.append(episode.episode_reward)
avg_reward = (np.mean(episode_rewards)
if episode_rewards else float('nan'))
avg_length = (np.mean(episode_lengths)
if episode_lengths else float('nan'))
timesteps = np.sum(episode_lengths) if episode_lengths else 0
result = TrainingResult(episode_reward_mean=avg_reward,
episode_len_mean=avg_length,
timesteps_this_iter=timesteps)
return result
def _save(self):
checkpoint_path = self.saver.save(self.local_evaluator.sess,
os.path.join(self.logdir,
"checkpoint"),
global_step=self.iteration)
agent_state = ray.get(
[a.save.remote() for a in self.remote_evaluators])
extra_data = [
self.local_evaluator.save(), self.global_step, self.kl_coeff,
agent_state
]
pickle.dump(extra_data, open(checkpoint_path + ".extra_data", "wb"))
return checkpoint_path
def _restore(self, checkpoint_path):
self.saver.restore(self.local_evaluator.sess, checkpoint_path)
extra_data = pickle.load(open(checkpoint_path + ".extra_data", "rb"))
self.local_evaluator.restore(extra_data[0])
self.global_step = extra_data[1]
self.kl_coeff = extra_data[2]
ray.get([
a.restore.remote(o)
for (a, o) in zip(self.remote_evaluators, extra_data[3])
])
def compute_action(self, observation):
observation = self.local_evaluator.obs_filter(observation,
update=False)
return self.local_evaluator.common_policy.compute(observation)[0]
class PPOAgent(Agent):
_agent_name = "PPO"
_allow_unknown_subkeys = ["model", "tf_session_args", "env_config"]
_default_config = DEFAULT_CONFIG
@classmethod
def default_resource_request(cls, config):
cf = dict(cls._default_config, **config)
return Resources(
cpu=1,
gpu=len([d for d in cf["devices"] if "gpu" in d.lower()]),
extra_cpu=cf["num_cpus_per_worker"] * cf["num_workers"],
extra_gpu=cf["num_gpus_per_worker"] * cf["num_workers"])
def _init(self):
self.global_step = 0
self.local_evaluator = PPOEvaluator(self.env_creator, self.config,
self.logdir, False)
RemotePPOEvaluator = ray.remote(
num_cpus=self.config["num_cpus_per_worker"],
num_gpus=self.config["num_gpus_per_worker"])(PPOEvaluator)
self.remote_evaluators = [
RemotePPOEvaluator.remote(self.env_creator, self.config,
self.logdir, True)
for _ in range(self.config["num_workers"])
]
self.optimizer = LocalMultiGPUOptimizer(
{
"sgd_batch_size": self.config["sgd_batchsize"],
"sgd_stepsize": self.config["sgd_stepsize"],
"num_sgd_iter": self.config["num_sgd_iter"],
"timesteps_per_batch": self.config["timesteps_per_batch"]
},
self.local_evaluator,
self.remote_evaluators,
)
self.saver = tf.train.Saver(max_to_keep=None)
def _train(self):
def postprocess_samples(batch):
# Divide by the maximum of value.std() and 1e-4
# to guard against the case where all values are equal
value = batch["advantages"]
standardized = (value - value.mean()) / max(1e-4, value.std())
batch.data["advantages"] = standardized
batch.shuffle()
dummy = np.zeros_like(batch["advantages"])
if not self.config["use_gae"]:
batch.data["value_targets"] = dummy
batch.data["vf_preds"] = dummy
extra_fetches = self.optimizer.step(postprocess_fn=postprocess_samples)
final_metrics = np.array(extra_fetches).mean(axis=1)[-1, :].tolist()
total_loss, policy_loss, vf_loss, kl, entropy = final_metrics
self.local_evaluator.update_kl(kl)
info = {
"total_loss": total_loss,
"policy_loss": policy_loss,
"vf_loss": vf_loss,
"kl_divergence": kl,
"entropy": entropy,
"kl_coefficient": self.local_evaluator.kl_coeff_val,
}
FilterManager.synchronize(self.local_evaluator.filters,
self.remote_evaluators)
res = self._fetch_metrics_from_remote_evaluators()
res = res._replace(info=info)
return res
def _fetch_metrics_from_remote_evaluators(self):
episode_rewards = []
episode_lengths = []
metric_lists = [
a.get_completed_rollout_metrics.remote()
for a in self.remote_evaluators
]
for metrics in metric_lists:
for episode in ray.get(metrics):
episode_lengths.append(episode.episode_length)
episode_rewards.append(episode.episode_reward)
avg_reward = (np.mean(episode_rewards)
if episode_rewards else float('nan'))
avg_length = (np.mean(episode_lengths)
if episode_lengths else float('nan'))
timesteps = np.sum(episode_lengths) if episode_lengths else 0
result = TrainingResult(episode_reward_mean=avg_reward,
episode_len_mean=avg_length,
timesteps_this_iter=timesteps)
return result
def _stop(self):
# workaround for https://github.com/ray-project/ray/issues/1516
for ev in self.remote_evaluators:
ev.__ray_terminate__.remote()
def _save(self, checkpoint_dir):
checkpoint_path = self.saver.save(self.local_evaluator.sess,
os.path.join(checkpoint_dir,
"checkpoint"),
global_step=self.iteration)
agent_state = ray.get(
[a.save.remote() for a in self.remote_evaluators])
extra_data = [
self.local_evaluator.save(), self.global_step, agent_state
]
pickle.dump(extra_data, open(checkpoint_path + ".extra_data", "wb"))
return checkpoint_path
def _restore(self, checkpoint_path):
self.saver.restore(self.local_evaluator.sess, checkpoint_path)
extra_data = pickle.load(open(checkpoint_path + ".extra_data", "rb"))
self.local_evaluator.restore(extra_data[0])
self.global_step = extra_data[1]
ray.get([
a.restore.remote(o)
for (a, o) in zip(self.remote_evaluators, extra_data[2])
])
def compute_action(self, observation):
observation = self.local_evaluator.obs_filter(observation,
update=False)
return self.local_evaluator.common_policy.compute_actions(
[observation], [], False)[0][0]
class PPOAgent(Agent):
_agent_name = "PPO"
_allow_unknown_subkeys = ["model", "tf_session_args", "env_config",
"worker_resources"]
_default_config = DEFAULT_CONFIG
def _init(self):
self.global_step = 0
self.kl_coeff = self.config["kl_coeff"]
self.local_evaluator = PPOEvaluator(
self.registry, self.env_creator, self.config, self.logdir, False)
RemotePPOEvaluator = ray.remote(
**self.config["worker_resources"])(PPOEvaluator)
self.remote_evaluators = [
RemotePPOEvaluator.remote(
self.registry, self.env_creator, self.config, self.logdir,
True)
for _ in range(self.config["num_workers"])]
self.start_time = time.time()
if self.config["write_logs"]:
self.file_writer = tf.summary.FileWriter(
self.logdir, self.local_evaluator.sess.graph)
else:
self.file_writer = None
self.saver = tf.train.Saver(max_to_keep=None)
def _train(self):
agents = self.remote_evaluators
config = self.config
model = self.local_evaluator
if (config["num_workers"] * config["min_steps_per_task"] >
config["timesteps_per_batch"]):
print(
"WARNING: num_workers * min_steps_per_task > "
"timesteps_per_batch. This means that the output of some "
"tasks will be wasted. Consider decreasing "
"min_steps_per_task or increasing timesteps_per_batch.")
print("===> iteration", self.iteration)
iter_start = time.time()
weights = ray.put(model.get_weights())
[a.set_weights.remote(weights) for a in agents]
samples = collect_samples(agents, config, self.local_evaluator)
def standardized(value):
# Divide by the maximum of value.std() and 1e-4
# to guard against the case where all values are equal
return (value - value.mean()) / max(1e-4, value.std())
samples.data["advantages"] = standardized(samples["advantages"])
rollouts_end = time.time()
print("Computing policy (iterations=" + str(config["num_sgd_iter"]) +
", stepsize=" + str(config["sgd_stepsize"]) + "):")
names = [
"iter", "total loss", "policy loss", "vf loss", "kl", "entropy"]
print(("{:>15}" * len(names)).format(*names))
samples.shuffle()
shuffle_end = time.time()
tuples_per_device = model.load_data(
samples, self.iteration == 0 and config["full_trace_data_load"])
load_end = time.time()
rollouts_time = rollouts_end - iter_start
shuffle_time = shuffle_end - rollouts_end
load_time = load_end - shuffle_end
sgd_time = 0
for i in range(config["num_sgd_iter"]):
sgd_start = time.time()
batch_index = 0
num_batches = (
int(tuples_per_device) // int(model.per_device_batch_size))
loss, policy_loss, vf_loss, kl, entropy = [], [], [], [], []
permutation = np.random.permutation(num_batches)
# Prepare to drop into the debugger
if self.iteration == config["tf_debug_iteration"]:
model.sess = tf_debug.LocalCLIDebugWrapperSession(model.sess)
while batch_index < num_batches:
full_trace = (
i == 0 and self.iteration == 0 and
batch_index == config["full_trace_nth_sgd_batch"])
batch_loss, batch_policy_loss, batch_vf_loss, batch_kl, \
batch_entropy = model.run_sgd_minibatch(
permutation[batch_index] * model.per_device_batch_size,
self.kl_coeff, full_trace,
self.file_writer)
loss.append(batch_loss)
policy_loss.append(batch_policy_loss)
vf_loss.append(batch_vf_loss)
kl.append(batch_kl)
entropy.append(batch_entropy)
batch_index += 1
loss = np.mean(loss)
policy_loss = np.mean(policy_loss)
vf_loss = np.mean(vf_loss)
kl = np.mean(kl)
entropy = np.mean(entropy)
sgd_end = time.time()
print(
"{:>15}{:15.5e}{:15.5e}{:15.5e}{:15.5e}{:15.5e}".format(
i, loss, policy_loss, vf_loss, kl, entropy))
values = []
if i == config["num_sgd_iter"] - 1:
metric_prefix = "ppo/sgd/final_iter/"
values.append(tf.Summary.Value(
tag=metric_prefix + "kl_coeff",
simple_value=self.kl_coeff))
values.extend([
tf.Summary.Value(
tag=metric_prefix + "mean_entropy",
simple_value=entropy),
tf.Summary.Value(
tag=metric_prefix + "mean_loss",
simple_value=loss),
tf.Summary.Value(
tag=metric_prefix + "mean_kl",
simple_value=kl)])
if self.file_writer:
sgd_stats = tf.Summary(value=values)
self.file_writer.add_summary(sgd_stats, self.global_step)
self.global_step += 1
sgd_time += sgd_end - sgd_start
if kl > 2.0 * config["kl_target"]:
self.kl_coeff *= 1.5
elif kl < 0.5 * config["kl_target"]:
self.kl_coeff *= 0.5
info = {
"kl_divergence": kl,
"kl_coefficient": self.kl_coeff,
"rollouts_time": rollouts_time,
"shuffle_time": shuffle_time,
"load_time": load_time,
"sgd_time": sgd_time,
"sample_throughput": len(samples["observations"]) / sgd_time
}
FilterManager.synchronize(
self.local_evaluator.filters, self.remote_evaluators)
res = self._fetch_metrics_from_remote_evaluators()
res = res._replace(info=info)
return res
def _fetch_metrics_from_remote_evaluators(self):
episode_rewards = []
episode_lengths = []
metric_lists = [a.get_completed_rollout_metrics.remote()
for a in self.remote_evaluators]
for metrics in metric_lists:
for episode in ray.get(metrics):
episode_lengths.append(episode.episode_length)
episode_rewards.append(episode.episode_reward)
avg_reward = (
np.mean(episode_rewards) if episode_rewards else float('nan'))
avg_length = (
np.mean(episode_lengths) if episode_lengths else float('nan'))
timesteps = np.sum(episode_lengths) if episode_lengths else 0
result = TrainingResult(
episode_reward_mean=avg_reward,
episode_len_mean=avg_length,
timesteps_this_iter=timesteps)
return result
def _stop(self):
# workaround for https://github.com/ray-project/ray/issues/1516
for ev in self.remote_evaluators:
ev.__ray_terminate__.remote(ev._ray_actor_id.id())
def _save(self, checkpoint_dir):
checkpoint_path = self.saver.save(
self.local_evaluator.sess,
os.path.join(checkpoint_dir, "checkpoint"),
global_step=self.iteration)
agent_state = ray.get(
[a.save.remote() for a in self.remote_evaluators])
extra_data = [
self.local_evaluator.save(),
self.global_step,
self.kl_coeff,
agent_state]
pickle.dump(extra_data, open(checkpoint_path + ".extra_data", "wb"))
return checkpoint_path
def _restore(self, checkpoint_path):
self.saver.restore(self.local_evaluator.sess, checkpoint_path)
extra_data = pickle.load(open(checkpoint_path + ".extra_data", "rb"))
self.local_evaluator.restore(extra_data[0])
self.global_step = extra_data[1]
self.kl_coeff = extra_data[2]
ray.get([
a.restore.remote(o)
for (a, o) in zip(self.remote_evaluators, extra_data[3])])
def compute_action(self, observation):
observation = self.local_evaluator.obs_filter(
observation, update=False)
return self.local_evaluator.common_policy.compute(observation)[0]