class SacAgent(BaseAgent):
"""TO BE DEPRECATED."""
def __init__(
self,
ModelCls=PiMlpModel, # Pi model.
QModelCls=QofMuMlpModel,
VModelCls=VMlpModel,
model_kwargs=None, # Pi model.
q_model_kwargs=None,
v_model_kwargs=None,
initial_model_state_dict=None, # All models.
action_squash=1., # Max magnitude (or None).
pretrain_std=0.75, # With squash 0.75 is near uniform.
):
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[256, 256])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[256, 256])
if v_model_kwargs is None:
v_model_kwargs = dict(hidden_sizes=[256, 256])
super().__init__(ModelCls=ModelCls, model_kwargs=model_kwargs,
initial_model_state_dict=initial_model_state_dict)
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
def initialize(self, env_spaces, share_memory=False,
global_B=1, env_ranks=None):
_initial_model_state_dict = self.initial_model_state_dict
self.initial_model_state_dict = None # Don't let base agent try to load.
super().initialize(env_spaces, share_memory,
global_B=global_B, env_ranks=env_ranks)
self.initial_model_state_dict = _initial_model_state_dict
self.q1_model = self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
self.q2_model = self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
self.v_model = self.VModelCls(**self.env_model_kwargs, **self.v_model_kwargs)
self.target_v_model = self.VModelCls(**self.env_model_kwargs,
**self.v_model_kwargs)
self.target_v_model.load_state_dict(self.v_model.state_dict())
if self.initial_model_state_dict is not None:
self.load_state_dict(self.initial_model_state_dict)
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx)
self.q1_model.to(self.device)
self.q2_model.to(self.device)
self.v_model.to(self.device)
self.target_v_model.to(self.device)
def data_parallel(self):
super().data_parallel
DDP_WRAP = DDPC if self.device.type == "cpu" else DDP
self.q1_model = DDP_WRAP(self.q1_model)
self.q2_model = DDP_WRAP(self.q2_model)
self.v_model = DDP_WRAP(self.v_model)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to((observation, prev_action, prev_reward,
action), device=self.device)
q1 = self.q1_model(*model_inputs)
q2 = self.q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
v = self.v_model(*model_inputs)
return v.cpu()
def pi(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
# action = self.distribution.sample(dist_info)
# log_pi = self.distribution.log_likelihood(action, dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
return action, log_pi, dist_info # Action stays on device for q models.
def target_v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_v = self.target_v_model(*model_inputs)
return target_v.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = AgentInfo(dist_info=dist_info)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_v_model, self.v_model.state_dict(), tau)
@property
def models(self):
return Models(pi=self.model, q1=self.q1_model, q2=self.q2_model,
v=self.v_model)
def pi_parameters(self):
return self.model.parameters()
def q1_parameters(self):
return self.q1_model.parameters()
def q2_parameters(self):
return self.q2_model.parameters()
def v_parameters(self):
return self.v_model.parameters()
def train_mode(self, itr):
super().train_mode(itr)
self.q1_model.train()
self.q2_model.train()
self.v_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
self.v_model.eval()
if itr == 0:
logger.log(f"Agent at itr {itr}, sample std: {self.pretrain_std}")
if itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: learned.")
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super().eval_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
self.v_model.eval()
self.distribution.set_std(0.) # Deterministic (dist_info std ignored).
def state_dict(self):
return dict(
model=self.model.state_dict(), # Pi model.
q1_model=self.q1_model.state_dict(),
q2_model=self.q2_model.state_dict(),
v_model=self.v_model.state_dict(),
target_v_model=self.target_v_model.state_dict(),
)
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.q1_model.load_state_dict(state_dict["q1_model"])
self.q2_model.load_state_dict(state_dict["q2_model"])
self.v_model.load_state_dict(state_dict["v_model"])
self.target_v_model.load_state_dict(state_dict["target_v_model"])
class DdpgAgent(BaseAgent):
"""Agent for deep deterministic policy gradient algorithm."""
shared_mu_model = None
def __init__(
self,
ModelCls=MuMlpModel, # Mu model.
QModelCls=QofMuMlpModel,
model_kwargs=None, # Mu model.
q_model_kwargs=None,
initial_model_state_dict=None, # Mu model.
initial_q_model_state_dict=None,
action_std=0.1,
action_noise_clip=None,
):
"""Saves input arguments; default network sizes saved here."""
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[400, 300])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[400, 300])
save__init__args(locals())
super().__init__() # For async setup.
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
"""Instantiates mu and q, and target_mu and target_q models."""
super().initialize(env_spaces,
share_memory,
global_B=global_B,
env_ranks=env_ranks)
self.q_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
if self.initial_q_model_state_dict is not None:
self.q_model.load_state_dict(self.initial_q_model_state_dict)
self.target_model = self.ModelCls(**self.env_model_kwargs,
**self.model_kwargs)
self.target_q_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q_model.load_state_dict(self.q_model.state_dict())
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
std=self.action_std,
noise_clip=self.action_noise_clip,
clip=env_spaces.action.high[0], # Assume symmetric low=-high.
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx) # Takes care of self.model.
self.target_model.to(self.device)
self.q_model.to(self.device)
self.target_q_model.to(self.device)
def data_parallel(self):
device_id = super().data_parallel() # Takes care of self.model.
self.q_model = DDP(
self.q_model,
device_ids=None if device_id is None else [device_id], # 1 GPU.
output_device=device_id,
)
return device_id
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
"""Compute Q-value for input state/observation and action (with grad)."""
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q = self.q_model(*model_inputs)
return q.cpu()
def q_at_mu(self, observation, prev_action, prev_reward):
"""Compute Q-value for input state/observation, through the mu_model
(with grad)."""
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.model(*model_inputs)
q = self.q_model(*model_inputs, mu)
return q.cpu()
def target_q_at_mu(self, observation, prev_action, prev_reward):
"""Compute target Q-value for input state/observation, through the
target mu_model."""
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_mu = self.target_model(*model_inputs)
target_q_at_mu = self.target_q_model(*model_inputs, target_mu)
return target_q_at_mu.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
"""Computes distribution parameters (mu) for state/observation,
returns (gaussian) sampled action."""
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.model(*model_inputs)
action = self.distribution.sample(DistInfo(mean=mu))
agent_info = AgentInfo(mu=mu)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_model, self.model.state_dict(), tau)
update_state_dict(self.target_q_model, self.q_model.state_dict(), tau)
def q_parameters(self):
return self.q_model.parameters()
def mu_parameters(self):
return self.model.parameters()
def train_mode(self, itr):
super().train_mode(itr)
self.q_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q_model.eval()
self.distribution.set_std(self.action_std)
def eval_mode(self, itr):
super().eval_mode(itr)
self.q_model.eval()
self.distribution.set_std(0.) # Deterministic.
def state_dict(self):
return dict(
model=self.model.state_dict(),
q_model=self.q_model.state_dict(),
target_model=self.target_model.state_dict(),
target_q_model=self.target_q_model.state_dict(),
)
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.q_model.load_state_dict(state_dict["q_model"])
self.target_model.load_state_dict(state_dict["target_model"])
self.target_q_model.load_state_dict(state_dict["target_q_model"])
class SacAgent(BaseAgent):
"""Agent for SAC algorithm, including action-squashing, using twin Q-values."""
def __init__(
self,
ModelCls=PiMlpModel, # Pi model.
QModelCls=QofMuMlpModel,
model_kwargs=None, # Pi model.
q_model_kwargs=None,
v_model_kwargs=None,
initial_model_state_dict=None, # All models.
action_squash=1., # Max magnitude (or None).
pretrain_std=0.75, # With squash 0.75 is near uniform.
):
"""Saves input arguments; network defaults stored within."""
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[256, 256])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[256, 256])
if v_model_kwargs is None:
v_model_kwargs = dict(hidden_sizes=[256, 256])
super().__init__(ModelCls=ModelCls, model_kwargs=model_kwargs,
initial_model_state_dict=initial_model_state_dict)
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
def initialize(self, env_spaces, share_memory=False,
global_B=1, env_ranks=None):
_initial_model_state_dict = self.initial_model_state_dict
# Don't let base agent try to load.
self.initial_model_state_dict = None
super().initialize(env_spaces, share_memory,
global_B=global_B, env_ranks=env_ranks)
self.initial_model_state_dict = _initial_model_state_dict
self.q1_model = self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
self.q2_model = self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
self.target_q1_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q2_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q1_model.load_state_dict(self.q1_model.state_dict())
self.target_q2_model.load_state_dict(self.q2_model.state_dict())
if self.initial_model_state_dict is not None:
self.load_state_dict(self.initial_model_state_dict)
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx)
self.q1_model.to(self.device)
self.q2_model.to(self.device)
self.target_q1_model.to(self.device)
self.target_q2_model.to(self.device)
def data_parallel(self):
device_id = super().data_parallel
self.q1_model = DDP(
self.q1_model,
device_ids=None if device_id is None else [device_id], # 1 GPU.
output_device=device_id,
)
self.q2_model = DDP(
self.q2_model,
device_ids=None if device_id is None else [device_id], # 1 GPU.
output_device=device_id,
)
return device_id
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
"""Compute twin Q-values for state/observation and input action
(with grad)."""
model_inputs = buffer_to((observation, prev_action, prev_reward,
action), device=self.device)
q1 = self.q1_model(*model_inputs)
q2 = self.q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def target_q(self, observation, prev_action, prev_reward, action):
"""Compute twin target Q-values for state/observation and input
action."""
model_inputs = buffer_to((observation, prev_action,
prev_reward, action), device=self.device)
target_q1 = self.target_q1_model(*model_inputs)
target_q2 = self.target_q2_model(*model_inputs)
return target_q1.cpu(), target_q2.cpu()
def pi(self, observation, prev_action, prev_reward):
"""Compute action log-probabilities for state/observation, and
sample new action (with grad). Uses special ``sample_loglikelihood()``
method of Gaussian distriution, which handles action squashing
through this process."""
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
# action = self.distribution.sample(dist_info)
# log_pi = self.distribution.log_likelihood(action, dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
# Action stays on device for q models.
return action, log_pi, dist_info
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = AgentInfo(dist_info=dist_info)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_q1_model,
self.q1_model.state_dict(), tau)
update_state_dict(self.target_q2_model,
self.q2_model.state_dict(), tau)
@property
def models(self):
return Models(pi=self.model, q1=self.q1_model, q2=self.q2_model)
def pi_parameters(self):
return self.model.parameters()
def q1_parameters(self):
return self.q1_model.parameters()
def q2_parameters(self):
return self.q2_model.parameters()
def train_mode(self, itr):
super().train_mode(itr)
self.q1_model.train()
self.q2_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
if itr == 0:
logger.log(f"Agent at itr {itr}, sample std: {self.pretrain_std}")
if itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: learned.")
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super().eval_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
self.distribution.set_std(0.) # Deterministic (dist_info std ignored).
def state_dict(self):
return dict(
model=self.model.state_dict(), # Pi model.
q1_model=self.q1_model.state_dict(),
q2_model=self.q2_model.state_dict(),
target_q1_model=self.target_q1_model.state_dict(),
target_q2_model=self.target_q2_model.state_dict(),
)
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.q1_model.load_state_dict(state_dict["q1_model"])
self.q2_model.load_state_dict(state_dict["q2_model"])
self.target_q1_model.load_state_dict(state_dict["target_q1_model"])
self.target_q2_model.load_state_dict(state_dict["target_q2_model"])
class SacAgent(BaseAgent):
def __init__(
self,
ModelCls=SacModel,
ConvModelCls=SacConvModel,
Fc1ModelCls=SacFc1Model,
PiModelCls=SacActorModel,
QModelCls=SacCriticModel,
conv_kwargs=None,
fc1_kwargs=None,
pi_model_kwargs=None,
q_model_kwargs=None,
initial_state_dict=None,
action_squash=1.0,
pretrain_std=0.75, # 0.75 gets pretty uniform squashed actions
load_conv=False,
load_all=False,
state_dict_filename=None,
store_latent=False,
):
if conv_kwargs is None:
conv_kwargs = dict()
if fc1_kwargs is None:
fc1_kwargs = dict(latent_size=50) # default
if pi_model_kwargs is None:
pi_model_kwargs = dict(hidden_sizes=[1024, 1024]) # default
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[1024, 1024]) # default
save__init__args(locals())
super().__init__(ModelCls=SacModel)
self.min_itr_learn = 0 # Get from algo.
assert not (load_conv and load_all)
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
self.conv = self.ConvModelCls(image_shape=env_spaces.observation.shape,
**self.conv_kwargs)
self.q_fc1 = self.Fc1ModelCls(input_size=self.conv.output_size,
**self.fc1_kwargs)
self.pi_fc1 = self.Fc1ModelCls(input_size=self.conv.output_size,
**self.fc1_kwargs)
latent_size = self.q_fc1.output_size
action_size = env_spaces.action.shape[0]
# These are just MLPs
self.pi_mlp = self.PiModelCls(input_size=latent_size,
action_size=action_size,
**self.pi_model_kwargs)
self.q_mlps = self.QModelCls(input_size=latent_size,
action_size=action_size,
**self.q_model_kwargs)
self.target_q_mlps = copy.deepcopy(self.q_mlps) # Separate params.
# Make reference to the full actor model including encoder.
# CAREFUL ABOUT TRAIN MODE FOR LAYER NORM IF CHANGING THIS?
self.model = SacModel(conv=self.conv,
pi_fc1=self.pi_fc1,
pi_mlp=self.pi_mlp)
if self.load_conv:
logger.log("Agent loading state dict: " + self.state_dict_filename)
loaded_state_dict = torch.load(self.state_dict_filename,
map_location=torch.device("cpu"))
# From UL, saves snapshot: params["algo_state_dict"]["encoder"]
if "algo_state_dict" in loaded_state_dict:
loaded_state_dict = loaded_state_dict
loaded_state_dict = loaded_state_dict.get("algo_state_dict",
loaded_state_dict)
loaded_state_dict = loaded_state_dict.get("encoder",
loaded_state_dict)
# A bit onerous, but ensures that state dicts match:
conv_state_dict = OrderedDict([
(k, v) # .replace("conv.", "", 1)
for k, v in loaded_state_dict.items() if k.startswith("conv.")
])
self.conv.load_state_dict(conv_state_dict)
# Double check it gets into the q_encoder as well.
logger.log("Agent loaded CONV state dict.")
elif self.load_all:
# From RL, saves snapshot: params["agent_state_dict"]
loaded_state_dict = torch.load(self.state_dict_filename,
map_location=torch.device("cpu"))
self.load_state_dict(loaded_state_dict["agent_state_dict"])
logger.log("Agnet loaded FULL state dict.")
else:
logger.log("Agent NOT loading state dict.")
self.target_conv = copy.deepcopy(self.conv)
self.target_q_fc1 = copy.deepcopy(self.q_fc1)
if share_memory:
# The actor model needs to share memory to sampler workers, and
# this includes handling the encoder!
# (Almost always just run serial anyway, no sharing.)
self.model.share_memory()
self.shared_model = self.model
if self.initial_state_dict is not None:
raise NotImplementedError
self.env_spaces = env_spaces
self.share_memory = share_memory
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
# min_std=np.exp(MIN_LOG_STD), # NOPE IN PI_MODEL NOW
# max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx) # Takes care of self.model only.
self.conv.to(self.device) # should already be done
self.q_fc1.to(self.device)
self.pi_fc1.to(self.device) # should already be done
self.q_mlps.to(self.device)
self.pi_mlp.to(self.device) # should already be done
self.target_conv.to(self.device)
self.target_q_fc1.to(self.device)
self.target_q_mlps.to(self.device)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
observation, prev_action, prev_reward = buffer_to(
(observation, prev_action, prev_reward), device=self.device)
# self.model includes encoder + actor MLP.
mean, log_std, latent, conv = self.model(observation, prev_action,
prev_reward)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = AgentInfo(dist_info=dist_info,
conv=conv if self.store_latent else None)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def q(self, conv_out, prev_action, prev_reward, action):
"""Compute twin Q-values for state/observation and input action
(with grad).
Assume variables already on device."""
latent = self.q_fc1(conv_out)
q1, q2 = self.q_mlps(latent, action, prev_action, prev_reward)
return q1.cpu(), q2.cpu()
def target_q(self, conv_out, prev_action, prev_reward, action):
"""Compute twin target Q-values for state/observation and input
action.
Assume variables already on device."""
latent = self.target_q_fc1(conv_out)
target_q1, target_q2 = self.target_q_mlps(latent, action, prev_action,
prev_reward)
return target_q1.cpu(), target_q2.cpu()
def pi(self, conv_out, prev_action, prev_reward):
"""Compute action log-probabilities for state/observation, and
sample new action (with grad). Uses special ``sample_loglikelihood()``
method of Gaussian distriution, which handles action squashing
through this process.
Assume variables already on device."""
# Call just the actor mlp, not the encoder.
latent = self.pi_fc1(conv_out)
mean, log_std = self.pi_mlp(latent, prev_action, prev_reward)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
# action = self.distribution.sample(dist_info)
# log_pi = self.distribution.log_likelihood(action, dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
return action, log_pi, dist_info # Action stays on device for q models.
def train_mode(self, itr):
super().train_mode(itr) # pi_encoder in here in model
self.conv.train() # should already be done
self.q_fc1.train()
self.pi_fc1.train() # should already be done
self.q_mlps.train()
self.pi_mlp.train() # should already be done
def sample_mode(self, itr):
super().sample_mode(itr) # pi_encoder in here in model
self.conv.eval() # should already be done
self.q_fc1.eval()
self.pi_fc1.eval() # should already be done
self.q_mlps.eval() # not used anyway
self.pi_mlp.eval() # should already be done
if itr == 0:
logger.log(f"Agent at itr {itr}, sample std: {self.pretrain_std}")
if itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: learned.")
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super().eval_mode(itr) # pi_encoder in here in model
self.conv.eval() # should already be done
self.q_fc1.eval()
self.pi_fc1.eval() # should already be done
self.q_mlps.eval() # not used anyway
self.pi_mlp.eval() # should already be done
self.distribution.set_std(
0.0) # Deterministic (dist_info std ignored).
def state_dict(self):
return dict(
conv=self.conv.state_dict(),
q_fc1=self.q_fc1.state_dict(),
pi_fc1=self.pi_fc1.state_dict(),
q_mlps=self.q_mlps.state_dict(),
pi_mlp=self.pi_mlp.state_dict(),
target_conv=self.target_conv.state_dict(),
target_q_fc1=self.target_q_fc1.state_dict(),
target_q_mlps=self.target_q_mlps.state_dict(),
)
def load_state_dict(self, state_dict):
self.conv.load_state_dict(state_dict["conv"])
self.q_fc1.load_state_dict(state_dict["q_fc1"])
self.pi_fc1.load_state_dict(state_dict["pi_fc1"])
self.q_mlps.load_state_dict(state_dict["q_mlps"])
self.pi_mlp.load_state_dict(state_dict["pi_mlp"])
self.target_conv.load_state_dict(state_dict["target_conv"])
self.target_q_fc1.load_state_dict(state_dict["target_q_fc1"])
self.target_q_mlps.load_state_dict(state_dict["target_q_mlps"])
def data_parallel(self, *args, **kwargs):
raise NotImplementedError # Do it later.
def async_cpu(self, *args, **kwargs):
raise NotImplementedError # Double check this...
def update_targets(self, q_tau=1, encoder_tau=1):
"""Do each parameter ONLY ONCE."""
update_state_dict(self.target_conv, self.conv.state_dict(),
encoder_tau)
update_state_dict(self.target_q_fc1, self.q_fc1.state_dict(),
encoder_tau)
update_state_dict(self.target_q_mlps, self.q_mlps.state_dict(), q_tau)
class DdpgAgent(BaseAgent):
shared_mu_model = None
def __init__(
self,
ModelCls=MuMlpModel, # Mu model.
QModelCls=QofMuMlpModel,
model_kwargs=None, # Mu model.
q_model_kwargs=None,
initial_model_state_dict=None, # Mu model.
initial_q_model_state_dict=None,
action_std=0.1,
action_noise_clip=None,
):
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[400, 300])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[400, 300])
save__init__args(locals())
super().__init__() # For async setup.
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
super().initialize(env_spaces,
share_memory,
global_B=global_B,
env_ranks=env_ranks)
self.q_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
if self.initial_q_model_state_dict is not None:
self.q_model.load_state_dict(self.initial_q_model_state_dict)
self.target_model = self.ModelCls(**self.env_model_kwargs,
**self.model_kwargs)
self.target_q_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q_model.load_state_dict(self.q_model.state_dict())
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
std=self.action_std,
noise_clip=self.action_noise_clip,
clip=env_spaces.action.high[0], # Assume symmetric low=-high.
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx) # Takes care of self.model.
self.target_model.to(self.device)
self.q_model.to(self.device)
self.target_q_model.to(self.device)
def data_parallel(self):
super().data_parallel() # Takes care of self.model.
if self.device.type == "cpu":
self.q_model = DDPC(self.q_model)
else:
self.q_model = DDP(self.q_model)
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q = self.q_model(*model_inputs)
return q.cpu()
def q_at_mu(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.model(*model_inputs)
q = self.q_model(*model_inputs, mu)
return q.cpu()
def target_q_at_mu(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_mu = self.target_model(*model_inputs)
target_q_at_mu = self.target_q_model(*model_inputs, target_mu)
return target_q_at_mu.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.model(*model_inputs)
action = self.distribution.sample(DistInfo(mean=mu))
agent_info = AgentInfo(mu=mu)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_model, self.model.state_dict(), tau)
update_state_dict(self.target_q_model, self.q_model.state_dict(), tau)
def q_parameters(self):
return self.q_model.parameters()
def mu_parameters(self):
return self.model.parameters()
def train_mode(self, itr):
super().train_mode(itr)
self.q_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q_model.eval()
self.distribution.set_std(self.action_std)
def eval_mode(self, itr):
super().eval_mode(itr)
self.q_model.eval()
self.distribution.set_std(0.) # Deterministic.
def state_dict(self):
return dict(
model=self.model.state_dict(),
q_model=self.q_model.state_dict(),
target_model=self.target_model.state_dict(),
target_q_model=self.target_q_model.state_dict(),
)
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.q_model.load_state_dict(state_dict["q_model"])
self.target_model.load_state_dict(state_dict["target_model"])
self.target_q_model.load_state_dict(state_dict["target_q_model"])
class Td3Agent(DdpgAgent):
def __init__(
self,
pretrain_std=2., # To make actions roughly uniform.
target_noise_std=0.2,
target_noise_clip=0.5,
initial_q2_model_state_dict=None,
**kwargs):
super().__init__(**kwargs)
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
super().initialize(env_spaces, share_memory, global_B, env_ranks)
self.q2_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
if self.initial_q2_model_state_dict is not None:
self.q2_model.load_state_dict(self.initial_q2_model_state_dict)
self.target_q2_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q2_model.load_state_dict(self.q2_model.state_dict())
self.target_distribution = Gaussian(
dim=env_spaces.action.shape[0],
std=self.target_noise_std,
noise_clip=self.target_noise_clip,
clip=env_spaces.action.high[0], # Assume symmetric low=-high.
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx)
self.q2_model.to(self.device)
self.target_q2_model.to(self.device)
def data_parallel(self):
super().data_parallel()
if self.device.type == "cpu":
self.q2_model = DDPC(self.q2_model)
else:
self.q2_model = DDP(self.q2_model)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q1 = self.q_model(*model_inputs)
q2 = self.q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def target_q_at_mu(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_mu = self.target_model(*model_inputs)
target_action = self.target_distribution.sample(
DistInfo(mean=target_mu))
target_q1_at_mu = self.target_q_model(*model_inputs, target_action)
target_q2_at_mu = self.target_q2_model(*model_inputs, target_action)
return target_q1_at_mu.cpu(), target_q2_at_mu.cpu()
def update_target(self, tau=1):
super().update_target(tau)
update_state_dict(self.target_q2_model, self.q2_model.state_dict(),
tau)
def q_parameters(self):
yield from self.q_model.parameters()
yield from self.q2_model.parameters()
def set_target_noise(self, std, noise_clip=None):
self.target_distribution.set_std(std)
self.target_distribution.set_noise_clip(noise_clip)
def train_mode(self, itr):
super().train_mode(itr)
self.q2_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q2_model.eval()
std = self.action_std if itr >= self.min_itr_learn else self.pretrain_std
if itr == 0 or itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: {std}.")
self.distribution.set_std(std)
def eval_mode(self, itr):
super().eval_mode(itr)
self.q2_model.eval()
def state_dict(self):
state_dict = super().state_dict()
state_dict["q2_model"] = self.q2_model.state_dict()
state_dict["target_q2_model"] = self.target_q2_model.state_dict()
return state_dict
def load_state_dict(self, state_dict):
super().load_state_dict(state_dict)
self.q2_model.load_state_dict(state_dict["q2_model"])
self.target_q2_model.load_state_dict(state_dict["target_q2_model"])
class GumbelPiMlpModel(torch.nn.Module):
"""For picking corners"""
def __init__(
self,
observation_shape,
hidden_sizes,
action_size,
all_corners=False
):
super().__init__()
self._obs_ndim = 1
self._all_corners = all_corners
input_dim = int(np.sum(observation_shape))
print('all corners', self._all_corners)
delta_dim = 12 if all_corners else 3
self._delta_dim = delta_dim
self.mlp = MlpModel(
input_size=input_dim,
hidden_sizes=hidden_sizes,
output_size=2 * delta_dim + 4, # 3 for each corners, times two for std, 4 probs
)
self.delta_distribution = Gaussian(
dim=delta_dim,
squash=True,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
self.cat_distribution = Categorical(4)
def forward(self, observation, prev_action, prev_reward):
if isinstance(observation, tuple):
observation = torch.cat(observation, dim=-1)
lead_dim, T, B, _ = infer_leading_dims(observation,
self._obs_ndim)
output = self.mlp(observation.view(T * B, -1))
logits = output[:, :4]
mu, log_std = output[:, 4:4 + self._delta_dim], output[:, 4 + self._delta_dim:]
logits, mu, log_std = restore_leading_dims((logits, mu, log_std), lead_dim, T, B)
return GumbelDistInfo(cat_dist=logits, delta_dist=DistInfoStd(mean=mu, log_std=log_std))
def sample_loglikelihood(self, dist_info):
logits, delta_dist_info = dist_info.cat_dist, dist_info.delta_dist
u = torch.rand_like(logits)
u = torch.clamp(u, 1e-5, 1 - 1e-5)
gumbel = -torch.log(-torch.log(u))
prob = F.softmax((logits + gumbel) / 10, dim=-1)
cat_sample = torch.argmax(prob, dim=-1)
cat_loglikelihood = select_at_indexes(cat_sample, prob)
one_hot = to_onehot(cat_sample, 4, dtype=torch.float32)
one_hot = (one_hot - prob).detach() + prob # Make action differentiable through prob
if self._all_corners:
mu, log_std = delta_dist_info.mean, delta_dist_info.log_std
mu, log_std = mu.view(-1, 4, 3), log_std.view(-1, 4, 3)
mu = mu[torch.arange(len(cat_sample)), cat_sample.squeeze(-1)]
log_std = log_std[torch.arange(len(cat_sample)), cat_sample.squeeze(-1)]
new_dist_info = DistInfoStd(mean=mu, log_std=log_std)
else:
new_dist_info = delta_dist_info
delta_sample, delta_loglikelihood = self.delta_distribution.sample_loglikelihood(new_dist_info)
action = torch.cat((one_hot, delta_sample), dim=-1)
log_likelihood = cat_loglikelihood + delta_loglikelihood
return action, log_likelihood
def sample(self, dist_info):
logits, delta_dist_info = dist_info.cat_dist, dist_info.delta_dist
u = torch.rand_like(logits)
u = torch.clamp(u, 1e-5, 1 - 1e-5)
gumbel = -torch.log(-torch.log(u))
prob = F.softmax((logits + gumbel) / 10, dim=-1)
cat_sample = torch.argmax(prob, dim=-1)
one_hot = to_onehot(cat_sample, 4, dtype=torch.float32)
if len(prob.shape) == 1: # Edge case for when it gets buffer shapes
cat_sample = cat_sample.unsqueeze(0)
if self._all_corners:
mu, log_std = delta_dist_info.mean, delta_dist_info.log_std
mu, log_std = mu.view(-1, 4, 3), log_std.view(-1, 4, 3)
mu = select_at_indexes(cat_sample, mu)
log_std = select_at_indexes(cat_sample, log_std)
if len(prob.shape) == 1: # Edge case for when it gets buffer shapes
mu, log_std = mu.squeeze(0), log_std.squeeze(0)
new_dist_info = DistInfoStd(mean=mu, log_std=log_std)
else:
new_dist_info = delta_dist_info
if self.training:
self.delta_distribution.set_std(None)
else:
self.delta_distribution.set_std(0)
delta_sample = self.delta_distribution.sample(new_dist_info)
return torch.cat((one_hot, delta_sample), dim=-1)
class GumbelAutoregPiMlpModel(torch.nn.Module):
"""For picking corners autoregressively"""
def __init__(
self,
observation_shape,
hidden_sizes,
action_size,
n_tile=20,
):
super().__init__()
self._obs_ndim = 1
self._n_tile = n_tile
input_dim = int(np.sum(observation_shape))
self._action_size = action_size
self.mlp_loc = MlpModel(
input_size=input_dim,
hidden_sizes=hidden_sizes,
output_size=4
)
self.mlp_delta = MlpModel(
input_size=input_dim + 4 * n_tile,
hidden_sizes=hidden_sizes,
output_size=3 * 2,
)
self.delta_distribution = Gaussian(
dim=3,
squash=True,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
self.cat_distribution = Categorical(4)
self._counter = 0
def start(self):
self._counter = 0
def next(self, actions, observation, prev_action, prev_reward):
if isinstance(observation, tuple):
observation = torch.cat(observation, dim=-1)
lead_dim, T, B, _ = infer_leading_dims(observation,
self._obs_ndim)
input_obs = observation.view(T * B, -1)
if self._counter == 0:
logits = self.mlp_loc(input_obs)
logits = restore_leading_dims(logits, lead_dim, T, B)
self._counter += 1
return logits
elif self._counter == 1:
assert len(actions) == 1
action_loc = actions[0].view(T * B, -1)
model_input = torch.cat((input_obs, action_loc.repeat((1, self._n_tile))), dim=-1)
output = self.mlp_delta(model_input)
mu, log_std = output.chunk(2, dim=-1)
mu, log_std = restore_leading_dims((mu, log_std), lead_dim, T, B)
self._counter += 1
return DistInfoStd(mean=mu, log_std=log_std)
else:
raise Exception('Invalid self._counter', self._counter)
def has_next(self):
return self._counter < 2
def sample_loglikelihood(self, dist_info):
if isinstance(dist_info, DistInfoStd):
action, log_likelihood = self.delta_distribution.sample_loglikelihood(dist_info)
else:
logits = dist_info
u = torch.rand_like(logits)
u = torch.clamp(u, 1e-5, 1 - 1e-5)
gumbel = -torch.log(-torch.log(u))
prob = F.softmax((logits + gumbel) / 10, dim=-1)
cat_sample = torch.argmax(prob, dim=-1)
log_likelihood = select_at_indexes(cat_sample, prob)
one_hot = to_onehot(cat_sample, 4, dtype=torch.float32)
action = (one_hot - prob).detach() + prob # Make action differentiable through prob
return action, log_likelihood
def sample(self, dist_info):
if isinstance(dist_info, DistInfoStd):
if self.training:
self.delta_distribution.set_std(None)
else:
self.delta_distribution.set_std(0)
action = self.delta_distribution.sample(dist_info)
else:
logits = dist_info
u = torch.rand_like(logits)
u = torch.clamp(u, 1e-5, 1 - 1e-5)
gumbel = -torch.log(-torch.log(u))
prob = F.softmax((logits + gumbel) / 10, dim=-1)
cat_sample = torch.argmax(prob, dim=-1)
action = to_onehot(cat_sample, 4, dtype=torch.float32)
return action
class DdpgAgent(BaseAgent):
shared_mu_model = None
def __init__(
self,
MuModelCls=MuMlpModel,
QModelCls=QofMuMlpModel,
mu_model_kwargs=None,
q_model_kwargs=None,
initial_mu_model_state_dict=None,
initial_q_model_state_dict=None,
action_std=0.1,
action_noise_clip=None,
):
if mu_model_kwargs is None:
mu_model_kwargs = dict(hidden_sizes=[400, 300])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[400, 300])
save__init__args(locals())
self.min_itr_learn = 0 # Used in TD3
def initialize(self, env_spaces, share_memory=False):
env_model_kwargs = self.make_env_to_model_kwargs(env_spaces)
self.mu_model = self.MuModelCls(**env_model_kwargs,
**self.mu_model_kwargs)
self.q_model = self.QModelCls(**env_model_kwargs,
**self.q_model_kwargs)
if share_memory:
self.mu_model.share_memory()
# self.q_model.share_memory() # Not needed for sampling.
self.shared_mu_model = self.mu_model
# self.shared_q_model = self.q_model
if self.initial_mu_model_state_dict is not None:
self.mu_model.load_state_dict(self.initial_mu_model_state_dict)
if self.initial_q_model_state_dict is not None:
self.q_model.load_state_dict(self.initial_q_model_state_dict)
self.target_mu_model = self.MuModelCls(**env_model_kwargs,
**self.mu_model_kwargs)
self.target_mu_model.load_state_dict(self.mu_model.state_dict())
self.target_q_model = self.QModelCls(**env_model_kwargs,
**self.q_model_kwargs)
self.target_q_model.load_state_dict(self.q_model.state_dict())
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
std=self.action_std,
noise_clip=self.action_noise_clip,
clip=env_spaces.action.high[0], # Assume symmetric low=-high.
)
self.env_spaces = env_spaces
self.env_model_kwargs = env_model_kwargs
def initialize_cuda(self, cuda_idx=None, ddp=False):
if cuda_idx is None:
return # CPU
if self.shared_mu_model is not None:
self.mu_model = self.MuModelCls(**self.env_model_kwargs,
**self.mu_model_kwargs)
self.mu_model.load_state_dict(self.shared_mu_model.state_dict())
self.device = torch.device("cuda", index=cuda_idx)
self.mu_model.to(self.device)
self.q_model.to(self.device)
if ddp:
self.mu_model = DDP(self.mu_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
self.q_model = DDP(self.q_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
logger.log("Initialized DistributedDataParallel agent model "
f"on device: {self.device}.")
else:
logger.log(f"Initialized agent models on device: {self.device}.")
self.target_mu_model.to(self.device)
self.target_q_model.to(self.device)
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # Used in TD3
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q = self.q_model(*model_inputs)
return q.cpu()
def q_at_mu(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.mu_model(*model_inputs)
q = self.q_model(*model_inputs, mu)
return q.cpu()
def target_q_at_mu(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_mu = self.target_mu_model(*model_inputs)
target_q_at_mu = self.target_q_model(*model_inputs, target_mu)
return target_q_at_mu.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mu = self.mu_model(*model_inputs)
action = self.distribution.sample(DistInfo(mean=mu))
agent_info = AgentInfo(mu=mu)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_mu_model, self.mu_model, tau)
update_state_dict(self.target_q_model, self.q_model, tau)
def sync_shared_memory(self):
if self.shared_mu_model is not self.mu_model:
self.shared_mu_model.load_state_dict(self.mu_model.state_dict())
def recv_shared_memory(self):
with self._rw_lock:
if self.mu_model is not self.shared_mu_model:
self.mu_model.load_state_dict(self.shared_mu_model)
def q_parameters(self):
return self.q_model.parameters()
def mu_parameters(self):
return self.mu_model.parameters()
def train_mode(self, itr):
self.q_model.train()
self.mu_model.train()
self._mode = "train"
def sample_mode(self, itr):
self.q_model.eval()
self.mu_model.eval()
self.distribution.set_std(self.action_std)
self._mode = "sample"
def eval_mode(self, itr):
self.q_model.eval()
self.mu_model.eval()
self.distribution.set_std(0.) # Deterministic
self._mode = "eval"
def state_dict(self):
return dict(
q_model=self.q_model.state_dict(),
mu_model=self.mu_model.state_dict(),
q_target=self.target_q_model.state_dict(),
mu_target=self.target_mu_model.state_dict(),
)
class SacAgent(BaseAgent):
shared_pi_model = None
def __init__(
self,
ModelCls=PiMlpModel, # Pi model.
QModelCls=QofMuMlpModel,
model_kwargs=None, # Pi model.
q_model_kwargs=None,
initial_model_state_dict=None, # Pi model.
action_squash=1, # Max magnitude (or None).
pretrain_std=0.75, # High value to make near uniform sampling.
max_q_eval_mode='none',
n_qs=2,
):
self._max_q_eval_mode = max_q_eval_mode
if isinstance(ModelCls, str):
ModelCls = eval(ModelCls)
if isinstance(QModelCls, str):
QModelCls = eval(QModelCls)
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[256, 256])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[256, 256])
super().__init__(ModelCls=ModelCls,
model_kwargs=model_kwargs,
initial_model_state_dict=initial_model_state_dict
) # For async setup.
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
self.log_alpha = None
print('n_qs', self.n_qs)
global Models
Models = namedtuple("Models",
["pi"] + [f"q{i}" for i in range(self.n_qs)])
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
_initial_model_state_dict = self.initial_model_state_dict
self.initial_model_state_dict = None
super().initialize(env_spaces,
share_memory,
global_B=global_B,
env_ranks=env_ranks)
self.initial_model_state_dict = _initial_model_state_dict
self.q_models = [
self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
for _ in range(self.n_qs)
]
self.target_q_models = [
self.QModelCls(**self.env_model_kwargs, **self.q_model_kwargs)
for _ in range(self.n_qs)
]
[
target_q.load_state_dict(q.state_dict())
for target_q, q in zip(self.target_q_models, self.q_models)
]
self.log_alpha = nn.Parameter(torch.tensor(0.0, dtype=torch.float32))
if self.initial_model_state_dict is not None:
self.load_state_dict(self.initial_model_state_dict)
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx)
[q.to(self.device) for q in self.q_models]
[q_target.to(self.device) for q_target in self.target_q_models]
self.log_alpha.to(self.device)
def data_parallel(self):
super().data_parallel()
DDP_WRAP = DDPC if self.device.type == "cpu" else DDP
self.q_models = [DDP_WRAP(q) for q in self.q_models]
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
qs = [q(*model_inputs) for q in self.q_models]
return [q.cpu() for q in qs]
def target_q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
qs = [target_q(*model_inputs) for target_q in self.target_q_models]
return [q.cpu() for q in qs]
def pi(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
return action, log_pi, dist_info # Action stays on device for q models.
def target_v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
next_actions, next_log_pis, _ = self.pi(*model_inputs)
qs = self.target_q(observation, prev_action, prev_reward, next_actions)
min_next_q = torch.min(torch.stack(qs, dim=0), dim=0)[0]
target_v = min_next_q - self.log_alpha.exp().detach().cpu(
) * next_log_pis
return target_v.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
threshold = 0.2
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
if self._max_q_eval_mode == 'none':
mean, log_std = self.model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = AgentInfo(dist_info=dist_info)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
else:
global MaxQInput
observation, prev_action, prev_reward = model_inputs
fields = observation._fields
if 'position' in fields:
no_batch = len(observation.position.shape) == 1
else:
no_batch = len(observation.pixels.shape) == 3
if no_batch:
if 'state' in self._max_q_eval_mode:
observation = [observation.position.unsqueeze(0)]
else:
observation = [observation.pixels.unsqueeze(0)]
else:
if 'state' in self._max_q_eval_mode:
observation = [observation.position]
else:
observation = [observation.pixels]
if self._max_q_eval_mode == 'state_rope':
locations = np.arange(25).astype('float32')
locations = locations[:, None]
locations = np.tile(locations, (1, 50)) / 24
elif self._max_q_eval_mode == 'state_cloth_corner':
locations = np.array(
[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]],
dtype='float32')
locations = np.tile(locations, (1, 50))
elif self._max_q_eval_mode == 'state_cloth_point':
locations = np.mgrid[0:9, 0:9].reshape(2,
81).T.astype('float32')
locations = np.tile(locations, (1, 50)) / 8
elif self._max_q_eval_mode == 'pixel_rope':
image = observation[0].squeeze(0).cpu().numpy()
locations = np.transpose(np.where(np.all(
image > 150, axis=2))).astype('float32')
if locations.shape[0] == 0:
locations = np.array([[-1, -1]], dtype='float32')
locations = np.tile(locations, (1, 50)) / 63
elif self._max_q_eval_mode == 'pixel_cloth':
image = observation[0].squeeze(0).cpu().numpy()
locations = np.transpose(np.where(np.any(
image < 100, axis=-1))).astype('float32')
locations = np.tile(locations, (1, 50)) / 63
else:
raise Exception()
observation_pi = self.model.forward_embedding(observation)
observation_qs = [
q.forward_embedding(observation) for q in self.q_models
]
n_locations = len(locations)
observation_pi_i = [
repeat(o[[i]], [n_locations] + [1] * len(o.shape[1:]))
for o in observation_pi
]
observation_qs_i = [[
repeat(o, [n_locations] + [1] * len(o.shape[1:]))
for o in observation_q
] for observation_q in observation_qs]
locations = torch.from_numpy(locations).to(self.device)
if MaxQInput is None:
MaxQInput = namedtuple('MaxQPolicyInput', fields)
aug_observation_pi = [locations] + list(observation_pi_i)
aug_observation_pi = MaxQInput(*aug_observation_pi)
aug_observation_qs = [[locations] + list(observation_q_i)
for observation_q_i in observation_qs_i]
aug_observation_qs = [
MaxQInput(*aug_observation_q)
for aug_observation_q in aug_observation_qs
]
mean, log_std = self.model.forward_output(
aug_observation_pi) #, prev_action, prev_reward)
qs = [
q.forward_output(aug_obs, mean)
for q, aug_obs in zip(self.q_models, aug_observation_qs)
]
q = torch.min(torch.stack(qs, dim=0), dim=0)[0]
#q = q.view(batch_size, n_locations)
values, indices = torch.topk(q,
math.ceil(threshold * n_locations),
dim=-1)
# vmin, vmax = values.min(dim=-1, keepdim=True)[0], values.max(dim=-1, keepdim=True)[0]
# values = (values - vmin) / (vmax - vmin)
# values = F.log_softmax(values, -1)
#
# uniform = torch.rand_like(values)
# uniform = torch.clamp(uniform, 1e-5, 1 - 1e-5)
# gumbel = -torch.log(-torch.log(uniform))
#sampled_idx = torch.argmax(values + gumbel, dim=-1)
sampled_idx = torch.randint(high=math.ceil(threshold *
n_locations),
size=(1, )).to(self.device)
actual_idxs = indices[sampled_idx]
#actual_idxs += (torch.arange(batch_size) * n_locations).to(self.device)
location = locations[actual_idxs][:, :1]
location = (location - 0.5) / 0.5
delta = torch.tanh(mean[actual_idxs])
action = torch.cat((location, delta), dim=-1)
mean, log_std = mean[actual_idxs], log_std[actual_idxs]
if no_batch:
action = action.squeeze(0)
mean = mean.squeeze(0)
log_std = log_std.squeeze(0)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
agent_info = AgentInfo(dist_info=dist_info)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
[
update_state_dict(target_q, q.state_dict(), tau)
for target_q, q in zip(self.target_q_models, self.q_models)
]
@property
def models(self):
return Models(pi=self.model,
**{f'p{i}': q
for i, q in enumerate(self.q_models)})
def parameters(self):
for model in self.models:
yield from model.parameters()
yield self.log_alpha
def pi_parameters(self):
return self.model.parameters()
def q_parameters(self):
return [q.parameters() for q in self.q_models]
def train_mode(self, itr):
super().train_mode(itr)
[q.train() for q in self.q_models]
def sample_mode(self, itr):
super().sample_mode(itr)
[q.eval() for q in self.q_models]
if itr == 0:
logger.log(f"Agent at itr {itr}, sample std: {self.pretrain_std}")
if itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: learned.")
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super().eval_mode(itr)
[q.eval() for q in self.q_models]
self.distribution.set_std(0.) # Deterministic (dist_info std ignored).
def state_dict(self):
rtn = dict(
model=self.model.state_dict(), # Pi model.
alpha=self.log_alpha.data)
rtn.update({
f'q{i}_model': q.state_dict()
for i, q in enumerate(self.q_models)
})
rtn.update({
f'target_q{i}_model': q.state_dict()
for i, q in enumerate(self.target_q_models)
})
return rtn
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.log_alpha.data = state_dict['alpha']
print(state_dict.keys())
[
q.load_state_dict(state_dict[f'q{i}_model'])
for i, q in enumerate(self.q_models)
]
[
q.load_state_dict(state_dict[f'target_q{i}_model'])
for i, q in enumerate(self.target_q_models)
]
class SacAgent(BaseAgent):
shared_pi_model = None
def __init__(
self,
QModelCls=QofMuMlpModel,
VModelCls=VMlpModel,
PiModelCls=PiMlpModel,
q_model_kwargs=None,
v_model_kwargs=None,
pi_model_kwargs=None,
initial_q1_model_state_dict=None,
initial_q2_model_state_dict=None,
initial_v_model_state_dict=None,
initial_pi_model_state_dict=None,
action_squash=1, # Max magnitude (or None).
pretrain_std=5., # High value to make near uniform sampling.
):
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[256, 256])
if v_model_kwargs is None:
v_model_kwargs = dict(hidden_sizes=[256, 256])
if pi_model_kwargs is None:
pi_model_kwargs = dict(hidden_sizes=[256, 256])
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
def initialize(self, env_spaces, share_memory=False):
env_model_kwargs = self.make_env_to_model_kwargs(env_spaces)
self.q1_model = self.QModelCls(**env_model_kwargs,
**self.q_model_kwargs)
self.q2_model = self.QModelCls(**env_model_kwargs,
**self.q_model_kwargs)
self.v_model = self.VModelCls(**env_model_kwargs,
**self.v_model_kwargs)
self.pi_model = self.PiModelCls(**env_model_kwargs,
**self.pi_model_kwargs)
if share_memory:
self.pi_model.share_memory() # Only one needed for sampling.
self.shared_pi_model = self.pi_model
if self.initial_q1_model_state_dict is not None:
self.q1_model.load_state_dict(self.initial_q1_model_state_dict)
if self.initial_q2_model_state_dict is not None:
self.q2_model.load_state_dict(self.initial_q2_model_state_dict)
if self.initial_v_model_state_dict is not None:
self.v_model.load_state_dict(self.initial_v_model_state_dict)
if self.initial_pi_model_state_dict is not None:
self.pi_model.load_state_dict(self.initial_pi_model_state_dict)
self.target_v_model = self.VModelCls(**env_model_kwargs,
**self.v_model_kwargs)
self.target_v_model.load_state_dict(self.v_model.state_dict())
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
self.env_spaces = env_spaces
self.env_model_kwargs = env_model_kwargs
def initialize_cuda(self, cuda_idx=None, ddp=False):
if cuda_idx is None:
return # CPU
if self.shared_pi_model is not None:
self.pi_model = self.PiModelCls(**self.env_model_kwargs,
**self.pi_model_kwargs)
self.pi_model.load_state_dict(self.shared_pi_model.state_dict())
self.device = torch.device("cuda", index=cuda_idx)
self.q1_model.to(self.device)
self.q2_model.to(self.device)
self.v_model.to(self.device)
self.pi_model.to(self.device)
if ddp:
self.q1_model = DDP(self.q1_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
self.q2_model = DDP(self.q2_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
self.v_model = DDP(self.v_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
self.pi_model = DDP(self.pi_model,
device_ids=[cuda_idx],
output_device=cuda_idx)
logger.log("Initialized DistributedDataParallel agent model "
f"on device: {self.device}.")
else:
logger.log(f"Initialized agent models on device: {self.device}.")
self.target_v_model.to(self.device)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q1 = self.q1_model(*model_inputs)
q2 = self.q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
v = self.v_model(*model_inputs)
return v.cpu()
def pi(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.pi_model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
# action = self.distribution.sample(dist_info)
# log_pi = self.distribution.log_likelihood(action, dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
return action, log_pi, dist_info # Action stays on device for q models.
def target_v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
target_v = self.target_v_model(*model_inputs)
return target_v.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
mean, log_std = self.pi_model(*model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = AgentInfo(dist_info=dist_info)
action, agent_info = buffer_to((action, agent_info), device="cpu")
if np.any(np.isnan(action.numpy())):
breakpoint()
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_v_model, self.v_model, tau)
@property
def models(self):
return self.q1_model, self.q2_model, self.v_model, self.pi_model
def parameters(self):
for model in self.models:
yield from model.parameters()
def parameters_by_model(self):
return (model.parameters() for model in self.models)
def sync_shared_memory(self):
if self.shared_pi_model is not self.pi_model:
self.shared_pi_model.load_state_dict(self.pi_model.state_dict())
def recv_shared_memory(self):
if self.shared_pi_model is not self.pi_model:
with self._rw_lock:
self.pi_model.load_state_dict(
self.shared_pi_model.state_dict())
def train_mode(self, itr):
for model in self.models:
model.train()
self._mode = "train"
def sample_mode(self, itr):
for model in self.models:
model.eval()
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
self._mode = "sample"
def eval_mode(self, itr):
for model in self.models:
model.eval()
self.distribution.set_std(0.) # Deterministic (dist_info std ignored).
self._mode = "eval"
def state_dict(self):
return dict(
q1_model=self.q1_model.state_dict(),
q2_model=self.q2_model.state_dict(),
v_model=self.v_model.state_dict(),
pi_model=self.pi_model.state_dict(),
v_target=self.target_v_model.state_dict(),
)
class SafeSacAgent(SacAgent):
"""
Agent for SAC algorithm, including action-squashing, using twin Q-values.
Modifications:
* prev_reward and prev_action aren't used
Design decisions
* The CNN parameters count as policy parameters; when updating Q1 / Q2, these are
not updated.
"""
def __init__(
self,
ModelCls=ImpalaSacModel,
model_kwargs=None,
initial_model_state_dict=None,
action_squash=1.0, # Max magnitude (or None).
pretrain_std=0.75, # With squash 0.75 is near uniform.
):
"""Saves input arguments; network defaults stored within."""
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[256, 256])
super(SacAgent, self).__init__(
ModelCls=ModelCls,
model_kwargs=model_kwargs,
initial_model_state_dict=initial_model_state_dict,
)
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
super(SacAgent, self).initialize(env_spaces,
share_memory,
global_B=global_B,
env_ranks=env_ranks)
self.target_model = self.ModelCls(**self.env_model_kwargs,
**self.model_kwargs)
self.target_model.load_state_dict(self.model.state_dict())
if self.initial_model_state_dict is not None:
self.load_state_dict(self.initial_model_state_dict)
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super(SacAgent, self).to_device(cuda_idx)
self.target_model.to(self.device)
def data_parallel(self):
super(SacAgent, self).data_parallel()
DDP_WRAP = DDPC if self.device.type == "cpu" else DDP
self.target_model = DDP_WRAP(self.target_model)
def q(self, observation, prev_action, prev_reward, action):
"""Compute twin Q-values for state/observation and input action (with grad)."""
model_inputs = buffer_to((observation, action), device=self.device)
q1, q2, _ = self.model(model_inputs, "q")
return q1.cpu(), q2.cpu()
def target_q(self, observation, prev_action, prev_reward, action):
"""Compute twin target Q-values for state/observation and input action."""
model_inputs = buffer_to((observation, action), device=self.device)
target_q1, target_q2, _ = self.target_model(model_inputs, "q")
return target_q1.cpu(), target_q2.cpu()
def pi(self, observation, prev_action, prev_reward):
"""Compute action log-probabilities for state/observation, and
sample new action (with grad). Uses special ``sample_loglikelihood()``
method of Gaussian distribution, which handles action squashing
through this process."""
model_inputs = buffer_to(observation, device=self.device)
mean, log_std, _ = self.model(model_inputs, "pi")
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
log_pi, dist_info = buffer_to((log_pi, dist_info), device="cpu")
return action, log_pi, dist_info # Action stays on device for q models.
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to(observation, device=self.device)
mean, log_std, sym_features = self.model(model_inputs,
"pi",
extract_sym_features=True)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
agent_info = SafeSacAgentInfo(dist_info=dist_info,
sym_features=sym_features)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_model, self.model.state_dict(), tau)
def pi_parameters(self):
return itertools.chain(self.model.pi.parameters(),
self.model.feature_extractor.parameters())
def q1_parameters(self):
return self.model.q1.parameters()
def q2_parameters(self):
return self.model.q2.parameters()
def train_mode(self, itr):
super(SacAgent, self).train_mode(itr)
self.target_model.train()
def sample_mode(self, itr):
super(SacAgent, self).sample_mode(itr)
self.target_model.eval()
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super(SacAgent, self).eval_mode(itr)
self.target_model.eval()
self.distribution.set_std(
0.0) # Deterministic (dist_info std ignored).
def state_dict(self):
return {
"model": self.model.state_dict(),
"target_model": self.target_model.state_dict(),
}
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.target_model.load_state_dict(state_dict["target_model"])
class SacAgent(BaseAgent):
shared_pi_model = None
def __init__(
self,
ModelCls=AutoregPiMlpModel, # Pi model.
QModelCls=QofMuMlpModel,
model_kwargs=None, # Pi model.
q_model_kwargs=None,
initial_model_state_dict=None, # Pi model.
action_squash=1, # Max magnitude (or None).
pretrain_std=0.75, # High value to make near uniform sampling.
):
if isinstance(ModelCls, str):
ModelCls = eval(ModelCls)
if isinstance(ModelCls, str):
QModelCls = eval(QModelCls)
if model_kwargs is None:
model_kwargs = dict(hidden_sizes=[256, 256])
if q_model_kwargs is None:
q_model_kwargs = dict(hidden_sizes=[256, 256])
super().__init__(ModelCls=ModelCls,
model_kwargs=model_kwargs,
initial_model_state_dict=initial_model_state_dict
) # For async setup.
save__init__args(locals())
self.min_itr_learn = 0 # Get from algo.
self.log_alpha = None
def initialize(self,
env_spaces,
share_memory=False,
global_B=1,
env_ranks=None):
_initial_model_state_dict = self.initial_model_state_dict
self.initial_model_state_dict = None
super().initialize(env_spaces,
share_memory,
global_B=global_B,
env_ranks=env_ranks)
self.initial_model_state_dict = _initial_model_state_dict
self.q1_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.q2_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q1_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q2_model = self.QModelCls(**self.env_model_kwargs,
**self.q_model_kwargs)
self.target_q1_model.load_state_dict(self.q1_model.state_dict())
self.target_q2_model.load_state_dict(self.q2_model.state_dict())
self.log_alpha = nn.Parameter(torch.tensor(0.0, dtype=torch.float32))
if self.initial_model_state_dict is not None:
self.load_state_dict(self.initial_model_state_dict)
assert len(env_spaces.action.shape) == 1
self.distribution = Gaussian(
dim=env_spaces.action.shape[0],
squash=self.action_squash,
min_std=np.exp(MIN_LOG_STD),
max_std=np.exp(MAX_LOG_STD),
)
def to_device(self, cuda_idx=None):
super().to_device(cuda_idx)
self.q1_model.to(self.device)
self.q2_model.to(self.device)
self.target_q1_model.to(self.device)
self.target_q2_model.to(self.device)
self.log_alpha.to(self.device)
def data_parallel(self):
super().data_parallel()
DDP_WRAP = DDPC if self.device.type == "cpu" else DDP
self.q1_model = DDP_WRAP(self.q1_model)
self.q2_model = DDP_WRAP(self.q2_model)
def give_min_itr_learn(self, min_itr_learn):
self.min_itr_learn = min_itr_learn # From algo.
def make_env_to_model_kwargs(self, env_spaces):
assert len(env_spaces.action.shape) == 1
return dict(
observation_shape=env_spaces.observation.shape,
action_size=env_spaces.action.shape[0],
)
def q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q1 = self.q1_model(*model_inputs)
q2 = self.q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def target_q(self, observation, prev_action, prev_reward, action):
model_inputs = buffer_to(
(observation, prev_action, prev_reward, action),
device=self.device)
q1 = self.target_q1_model(*model_inputs)
q2 = self.target_q2_model(*model_inputs)
return q1.cpu(), q2.cpu()
def pi(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
actions, means, log_stds = [], [], []
log_pi_total = 0
self.model.start()
while self.model.has_next():
mean, log_std = self.model.next(actions, *model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action, log_pi = self.distribution.sample_loglikelihood(dist_info)
log_pi_total += log_pi
actions.append(action)
means.append(mean)
log_stds.append(log_std)
mean, log_std = torch.cat(means, dim=-1), torch.cat(log_stds, dim=-1)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
log_pi_total, dist_info = buffer_to((log_pi_total, dist_info),
device="cpu")
action = torch.cat(actions, dim=-1)
return action, log_pi_total, dist_info # Action stays on device for q models.
def target_v(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
next_actions, next_log_pis, _ = self.pi(*model_inputs)
q1, q2 = self.target_q(observation, prev_action, prev_reward,
next_actions)
min_next_q = torch.min(q1, q2)
target_v = min_next_q - self.log_alpha.exp().detach().cpu(
) * next_log_pis
return target_v.cpu()
@torch.no_grad()
def step(self, observation, prev_action, prev_reward):
model_inputs = buffer_to((observation, prev_action, prev_reward),
device=self.device)
actions, means, log_stds = [], [], []
self.model.start()
while self.model.has_next():
mean, log_std = self.model.next(actions, *model_inputs)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
action = self.distribution.sample(dist_info)
actions.append(action)
means.append(mean)
log_stds.append(log_std)
mean, log_std = torch.cat(means, dim=-1), torch.cat(log_stds, dim=-1)
dist_info = DistInfoStd(mean=mean, log_std=log_std)
agent_info = AgentInfo(dist_info=dist_info)
action = torch.cat(actions, dim=-1)
action, agent_info = buffer_to((action, agent_info), device="cpu")
return AgentStep(action=action, agent_info=agent_info)
def update_target(self, tau=1):
update_state_dict(self.target_q1_model, self.q1_model.state_dict(),
tau)
update_state_dict(self.target_q2_model, self.q2_model.state_dict(),
tau)
@property
def models(self):
return Models(pi=self.model, q1=self.q1_model, q2=self.q2_model)
def parameters(self):
for model in self.models:
yield from model.parameters()
yield self.log_alpha
def pi_parameters(self):
return self.model.parameters()
def q1_parameters(self):
return self.q1_model.parameters()
def q2_parameters(self):
return self.q2_model.parameters()
def train_mode(self, itr):
super().train_mode(itr)
self.q1_model.train()
self.q2_model.train()
def sample_mode(self, itr):
super().sample_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
if itr == 0:
logger.log(f"Agent at itr {itr}, sample std: {self.pretrain_std}")
if itr == self.min_itr_learn:
logger.log(f"Agent at itr {itr}, sample std: learned.")
std = None if itr >= self.min_itr_learn else self.pretrain_std
self.distribution.set_std(std) # If None: std from policy dist_info.
def eval_mode(self, itr):
super().eval_mode(itr)
self.q1_model.eval()
self.q2_model.eval()
self.distribution.set_std(0.) # Deterministic (dist_info std ignored).
def state_dict(self):
return dict(
model=self.model.state_dict(), # Pi model.
q1_model=self.q1_model.state_dict(),
q2_model=self.q2_model.state_dict(),
target_q1_model=self.target_q1_model.state_dict(),
target_q2_model=self.target_q2_model.state_dict(),
alpha=self.log_alpha.data)
def load_state_dict(self, state_dict):
self.model.load_state_dict(state_dict["model"])
self.q1_model.load_state_dict(state_dict["q1_model"])
self.q2_model.load_state_dict(state_dict["q2_model"])
self.target_q1_model.load_state_dict(state_dict['target_q1_model'])
self.target_q2_model.load_state_dict(state_dict['target_q2_model'])
self.log_alpha.data = state_dict['alpha']