def testPyEnvCompatible(self):
if not common.has_eager_been_enabled():
self.skipTest('Only supported in eager.')
observation_spec = array_spec.ArraySpec([2], np.float32)
action_spec = array_spec.BoundedArraySpec([1], np.float32, 2, 3)
observation_tensor_spec = tensor_spec.from_spec(observation_spec)
action_tensor_spec = tensor_spec.from_spec(action_spec)
time_step_tensor_spec = ts.time_step_spec(observation_tensor_spec)
actor_net = actor_network.ActorNetwork(
observation_tensor_spec,
action_tensor_spec,
fc_layer_params=(10, ),
)
tf_policy = actor_policy.ActorPolicy(time_step_tensor_spec,
action_tensor_spec,
actor_network=actor_net)
py_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_policy)
# Env will validate action types automaticall since we provided the
# action_spec.
env = random_py_environment.RandomPyEnvironment(
observation_spec, action_spec)
time_step = env.reset()
for _ in range(100):
action_step = py_policy.action(time_step)
time_step = env.step(action_step.action)
def testBatchedPyEnvCompatible(self):
if not common.has_eager_been_enabled():
self.skipTest('Only supported in eager.')
actor_net = actor_network.ActorNetwork(
self._observation_tensor_spec,
self._action_tensor_spec,
fc_layer_params=(10, ),
)
tf_policy = actor_policy.ActorPolicy(self._time_step_tensor_spec,
self._action_tensor_spec,
actor_network=actor_net)
py_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_policy,
batch_time_steps=False)
env_ctr = lambda: random_py_environment.RandomPyEnvironment( # pylint: disable=g-long-lambda
self._observation_spec, self._action_spec)
env = batched_py_environment.BatchedPyEnvironment(
[env_ctr() for _ in range(3)])
time_step = env.reset()
for _ in range(20):
action_step = py_policy.action(time_step)
time_step = env.step(action_step.action)
def create_actor_network(self, actor_fc_layers,
actor_dropout_layer_params):
return actor_network.ActorNetwork(
spec.get_observation_spec(),
spec.get_action_spec(),
fc_layer_params=actor_fc_layers,
dropout_layer_params=dropout_layer_params,
name='actor_' + self.name)
def test2DAction(self):
batch_size = 3
num_obs_dims = 5
obs_spec = tensor_spec.TensorSpec([num_obs_dims], tf.float32)
action_spec = tensor_spec.BoundedTensorSpec([2, 3], tf.float32, 2., 3.)
actor_net = actor_network.ActorNetwork(obs_spec, action_spec)
obs = tf.random.uniform([batch_size, num_obs_dims])
actions, _ = actor_net(obs)
self.assertAllEqual(actions.shape.as_list(),
[batch_size] + action_spec.shape.as_list())
self.assertEqual(len(actor_net.trainable_variables), 2)
def testActionsWithinRange(self):
batch_size = 3
num_obs_dims = 5
obs_spec = tensor_spec.TensorSpec([num_obs_dims], tf.float32)
action_spec = tensor_spec.BoundedTensorSpec([2, 3], tf.float32, 2., 3.)
actor_net = actor_network.ActorNetwork(obs_spec, action_spec)
obs = tf.random.uniform([batch_size, num_obs_dims])
actions, _ = actor_net(obs)
self.evaluate(tf.compat.v1.global_variables_initializer())
actions_ = self.evaluate(actions)
self.assertTrue(np.all(actions_ >= action_spec.minimum))
self.assertTrue(np.all(actions_ <= action_spec.maximum))
def testAddConvLayers(self):
batch_size = 3
num_obs_dims = 5
obs_spec = tensor_spec.TensorSpec([3, 3, num_obs_dims], tf.float32)
action_spec = tensor_spec.BoundedTensorSpec([1], tf.float32, 2., 3.)
actor_net = actor_network.ActorNetwork(obs_spec,
action_spec,
conv_layer_params=[(16, 3, 2)])
obs = tf.random.uniform([batch_size, 3, 3, num_obs_dims])
actions, _ = actor_net(obs)
self.assertAllEqual(actions.shape.as_list(),
[batch_size] + action_spec.shape.as_list())
self.assertEqual(len(actor_net.trainable_variables), 4)
def get_agent(self, env, params):
"""Returns a TensorFlow SAC-Agent
Arguments:
env {TFAPyEnvironment} -- Tensorflow-Agents PyEnvironment
params {ParameterServer} -- ParameterServer from BARK
Returns:
agent -- tf-agent
"""
# actor network
actor_net = actor_network.ActorNetwork(
env.observation_spec(),
env.action_spec(),
fc_layer_params=tuple(
self._params["ML"]["Agent"]["actor_fc_layer_params"]),
)
# critic network
critic_net = critic_network.CriticNetwork(
(env.observation_spec(), env.action_spec()),
observation_fc_layer_params=None,
action_fc_layer_params=None,
joint_fc_layer_params=tuple(
self._params["ML"]["Agent"]["critic_joint_fc_layer_params"]))
# agent
# TODO(@hart): put all parameters in config file
tf_agent = td3_agent.Td3Agent(
env.time_step_spec(),
env.action_spec(),
critic_network=critic_net,
actor_network=actor_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=self._params["ML"]["Agent"]
["actor_learning_rate"]),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=self._params["ML"]["Agent"]
["critic_learning_rate"]),
debug_summaries=self._params["ML"]["Agent"]["debug_summaries"],
train_step_counter=self._ckpt.step,
gamma=0.99,
target_update_tau=0.5,
target_policy_noise_clip=0.5)
tf_agent.initialize()
return tf_agent
def init_agent():
""" a DDPG agent is set by default in the application"""
# get the global step
global_step = tf.compat.v1.train.get_or_create_global_step()
# TODO: update this to get the optimizer from tensorflow 2.0 if possible
optimizer = tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate)
time_step_spec = time_step.time_step_spec(
self._rl_app.observation_spec)
actor_net = actor_network.ActorNetwork(
self._rl_app.observation_spec,
self._rl_app.action_spec,
fc_layer_params=(400, 300))
value_net = critic_network.CriticNetwork(
(time_step_spec.observation, self._rl_app.action_spec),
observation_fc_layer_params=(400, ),
action_fc_layer_params=None,
joint_fc_layer_params=(300, ))
tf_agent = ddpg_agent.DdpgAgent(
time_step_spec,
self._rl_app.action_spec,
actor_network=actor_net,
critic_network=value_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=1e-4),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=1e-3),
ou_stddev=0.2,
ou_damping=0.15,
target_update_tau=0.05,
target_update_period=5,
dqda_clipping=None,
td_errors_loss_fn=tf.compat.v1.losses.huber_loss,
gamma=discount,
reward_scale_factor=1.0,
gradient_clipping=gradient_clipping,
debug_summaries=True,
summarize_grads_and_vars=True,
train_step_counter=global_step)
tf_agent.initialize()
logger.info("tf_agent initialization is complete")
# Optimize by wrapping some of the code in a graph using TF function.
tf_agent.train = common.function(tf_agent.train)
return tf_agent
def testSavedModel(self):
if not common.has_eager_been_enabled():
self.skipTest('Only supported in eager.')
observation_spec = array_spec.ArraySpec([2], np.float32)
action_spec = array_spec.BoundedArraySpec([1], np.float32, 2, 3)
time_step_spec = ts.time_step_spec(observation_spec)
observation_tensor_spec = tensor_spec.from_spec(observation_spec)
action_tensor_spec = tensor_spec.from_spec(action_spec)
time_step_tensor_spec = tensor_spec.from_spec(time_step_spec)
actor_net = actor_network.ActorNetwork(
observation_tensor_spec,
action_tensor_spec,
fc_layer_params=(10, ),
)
tf_policy = actor_policy.ActorPolicy(time_step_tensor_spec,
action_tensor_spec,
actor_network=actor_net)
path = os.path.join(self.get_temp_dir(), 'saved_policy')
saver = policy_saver.PolicySaver(tf_policy)
saver.save(path)
eager_py_policy = py_tf_eager_policy.SavedModelPyTFEagerPolicy(
path, time_step_spec, action_spec)
rng = np.random.RandomState()
sample_time_step = array_spec.sample_spec_nest(time_step_spec, rng)
batched_sample_time_step = nest_utils.batch_nested_array(
sample_time_step)
original_action = tf_policy.action(batched_sample_time_step)
unbatched_original_action = nest_utils.unbatch_nested_tensors(
original_action)
original_action_np = tf.nest.map_structure(lambda t: t.numpy(),
unbatched_original_action)
saved_policy_action = eager_py_policy.action(sample_time_step)
tf.nest.assert_same_structure(saved_policy_action.action, action_spec)
np.testing.assert_array_almost_equal(original_action_np.action,
saved_policy_action.action)
def testPyEnvCompatible(self):
if not common.has_eager_been_enabled():
self.skipTest('Only supported in eager.')
actor_net = actor_network.ActorNetwork(
self._observation_tensor_spec,
self._action_tensor_spec,
fc_layer_params=(10, ),
)
tf_policy = actor_policy.ActorPolicy(self._time_step_tensor_spec,
self._action_tensor_spec,
actor_network=actor_net)
py_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_policy)
time_step = self._env.reset()
for _ in range(100):
action_step = py_policy.action(time_step)
time_step = self._env.step(action_step.action)
def setUp(self):
super(SavedModelPYTFEagerPolicyTest, self).setUp()
if not common.has_eager_been_enabled():
self.skipTest('Only supported in eager.')
observation_spec = array_spec.ArraySpec([2], np.float32)
self.action_spec = array_spec.BoundedArraySpec([1], np.float32, 2, 3)
self.time_step_spec = ts.time_step_spec(observation_spec)
observation_tensor_spec = tensor_spec.from_spec(observation_spec)
action_tensor_spec = tensor_spec.from_spec(self.action_spec)
time_step_tensor_spec = tensor_spec.from_spec(self.time_step_spec)
actor_net = actor_network.ActorNetwork(
observation_tensor_spec,
action_tensor_spec,
fc_layer_params=(10,),
)
self.tf_policy = actor_policy.ActorPolicy(
time_step_tensor_spec, action_tensor_spec, actor_network=actor_net)
def ACnetworks(environment, hyperparams) -> (actor_network, critic_network):
observation_spec = environment.observation_spec()
action_spec = environment.action_spec()
actor_net = actor_network.ActorNetwork(
input_tensor_spec=observation_spec,
output_tensor_spec=action_spec,
fc_layer_params=hyperparams['actor_fc_layer_params'],
dropout_layer_params=hyperparams['actor_dropout'],
activation_fn=tf.nn.relu
)
critic_net = critic_network.CriticNetwork(
input_tensor_spec=(observation_spec, action_spec),
observation_fc_layer_params=hyperparams['critic_obs_fc_layer_params'],
action_fc_layer_params=hyperparams['critic_action_fc_layer_params'],
joint_fc_layer_params=hyperparams['critic_joint_fc_layer_params'],
joint_dropout_layer_params=hyperparams['critic_joint_dropout'],
activation_fn=tf.nn.relu
)
return (actor_net, critic_net)
def DDPG_Bipedal(root_dir):
# Setting up directories for results
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train' + '/' + str(run_id))
eval_dir = os.path.join(root_dir, 'eval' + '/' + str(run_id))
vid_dir = os.path.join(root_dir, 'vid' + '/' + str(run_id))
# Set up Summary writer for training and evaluation
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
# Metric to record average return
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
# Metric to record average episode length
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
#Create global step
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
# Load Environment with different wrappers
tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name))
eval_py_env = suite_gym.load(env_name)
# Define Actor Network
actorNN = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=(400, 300),
)
# Define Critic Network
NN_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
criticNN = critic_network.CriticNetwork(
NN_input_specs,
observation_fc_layer_params=(400, ),
action_fc_layer_params=None,
joint_fc_layer_params=(300, ),
)
# Define & initialize DDPG Agent
agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actorNN,
critic_network=criticNN,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=tf.compat.v1.losses.mean_squared_error,
gamma=gamma,
train_step_counter=global_step)
agent.initialize()
# Determine which train metrics to display with summary writer
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
# Set policies for evaluation, initial collection
eval_policy = agent.policy # Actor policy
collect_policy = agent.collect_policy # Actor policy with OUNoise
# Set up replay buffer
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
# Define driver for initial replay buffer filling
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy, # Initializes with random Parameters
observers=[replay_buffer.add_batch],
num_steps=initial_collect_steps)
# Define collect driver for collect steps per iteration
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
agent.train = common.function(agent.train)
# Make 1000 random steps in tf_env and save in Replay Buffer
logging.info(
'Initializing replay buffer by collecting experience for 1000 steps with '
'a random policy.', initial_collect_steps)
initial_collect_driver.run()
# Computes Evaluation Metrics
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset outputs steps in batches of 64
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=64,
num_steps=2).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(
iterator) #Get experience from dataset (replay buffer)
return agent.train(experience) #Train agent on that experience
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time() # Get start time
# Collect data for replay buffer
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
# Train on experience
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='iterations_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
if results['AverageReturn'].numpy() >= 230.0:
video_score = create_video(video_dir=vid_dir,
env_name="BipedalWalker-v2",
vid_policy=eval_policy,
video_id=global_step.numpy())
return train_loss
def train_eval(
root_dir,
env_name='HalfCheetah-v2',
num_iterations=2000000,
actor_fc_layers=(400, 300),
critic_obs_fc_layers=(400, ),
critic_action_fc_layers=None,
critic_joint_fc_layers=(300, ),
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
replay_buffer_capacity=100000,
exploration_noise_std=0.1,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=64,
actor_update_period=2,
actor_learning_rate=1e-4,
critic_learning_rate=1e-3,
dqda_clipping=None,
td_errors_loss_fn=tf.compat.v1.losses.huber_loss,
gamma=0.995,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for checkpoints, summaries, and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for TD3."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(suite_mujoco.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_mujoco.load(env_name))
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
)
tf_agent = td3_agent.Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
tf_agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch],
num_steps=initial_collect_steps)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
initial_collect_driver.run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
return train_loss
def train_eval(
root_dir,
env_name='HalfCheetah-v2',
num_iterations=2000000,
actor_fc_layers=(400, 300),
critic_obs_fc_layers=(400,),
critic_action_fc_layers=None,
critic_joint_fc_layers=(300,),
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
replay_buffer_capacity=100000,
exploration_noise_std=0.1,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=64,
actor_update_period=2,
actor_learning_rate=1e-4,
critic_learning_rate=1e-3,
dqda_clipping=None,
td_errors_loss_fn=tf.compat.v1.losses.huber_loss,
gamma=0.995,
reward_scale_factor=1.0,
gradient_clipping=None,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for checkpoints, summaries, and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=20000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for TD3."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
py_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
py_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(suite_mujoco.load(env_name))
eval_py_env = suite_mujoco.load(env_name)
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
)
tf_agent = td3_agent.Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
eval_py_policy = py_tf_policy.PyTFPolicy(tf_agent.policy)
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
collect_policy = tf_agent.collect_policy
initial_collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration).run()
dataset = replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = tf.compat.v1.data.make_initializable_iterator(dataset)
trajectories, unused_info = iterator.get_next()
train_fn = common.function(tf_agent.train)
train_op = train_fn(experience=trajectories)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'policy'),
policy=tf_agent.policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
summary_ops = []
for train_metric in train_metrics:
summary_ops.append(train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2]))
with eval_summary_writer.as_default(), \
tf.compat.v2.summary.record_if(True):
for eval_metric in eval_metrics:
eval_metric.tf_summaries(train_step=global_step)
init_agent_op = tf_agent.initialize()
with tf.compat.v1.Session() as sess:
# Initialize the graph.
train_checkpointer.initialize_or_restore(sess)
rb_checkpointer.initialize_or_restore(sess)
sess.run(iterator.initializer)
# TODO(b/126239733): Remove once Periodically can be saved.
common.initialize_uninitialized_variables(sess)
sess.run(init_agent_op)
sess.run(train_summary_writer.init())
sess.run(eval_summary_writer.init())
sess.run(initial_collect_op)
global_step_val = sess.run(global_step)
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=global_step_val,
callback=eval_metrics_callback,
log=True,
)
collect_call = sess.make_callable(collect_op)
train_step_call = sess.make_callable([train_op, summary_ops, global_step])
timed_at_step = sess.run(global_step)
time_acc = 0
steps_per_second_ph = tf.compat.v1.placeholder(
tf.float32, shape=(), name='steps_per_sec_ph')
steps_per_second_summary = tf.compat.v2.summary.scalar(
name='global_steps_per_sec', data=steps_per_second_ph,
step=global_step)
for _ in range(num_iterations):
start_time = time.time()
collect_call()
for _ in range(train_steps_per_iteration):
loss_info_value, _, global_step_val = train_step_call()
time_acc += time.time() - start_time
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val,
loss_info_value.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
sess.run(
steps_per_second_summary,
feed_dict={steps_per_second_ph: steps_per_sec})
timed_at_step = global_step_val
time_acc = 0
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
if global_step_val % eval_interval == 0:
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=global_step_val,
callback=eval_metrics_callback,
log=True,
)
def train_eval():
# ==========================================================================
# Setup Logging
# ==========================================================================
log_dir = get_log_dir(TrainingParameters.ENV, TrainingParameters.ALGO)
train_summary_writer = tf.compat.v2.summary.create_file_writer(
log_dir + '/train',
flush_millis=TrainingParameters.LOG_FLUSH_STEP * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
log_dir + '/eval',
flush_millis=EvaluationParameters.LOG_FLUSH_STEP * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(
buffer_size=EvaluationParameters.NUM_EVAL_EPISODE),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=EvaluationParameters.NUM_EVAL_EPISODE)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(lambda: tf.math.equal(
global_step % TrainingParameters.SUMMARY_INTERVAL, 0)):
# ======================================================================
# Create Parallel Environment
# ======================================================================
if TrainingParameters.NUM_AGENTS > 1:
tf_env = tf_py_environment.TFPyEnvironment(
parallel_py_environment.ParallelPyEnvironment([
lambda: TrainingParameters.ENV_LOAD_FN(TrainingParameters.
ENV)
] * TrainingParameters.NUM_AGENTS))
else:
tf_env = tf_py_environment.TFPyEnvironment(
TrainingParameters.ENV_LOAD_FN(TrainingParameters.ENV))
eval_tf_env = tf_py_environment.TFPyEnvironment(
TrainingParameters.ENV_LOAD_FN(TrainingParameters.ENV))
# ======================================================================
# Create Actor Network
# ======================================================================
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=TrainingParameters.ACTOR_LAYERS,
activation_fn=TrainingParameters.ACTOR_ACTIVATION)
# ======================================================================
# Create Critic Network and Agent
# ======================================================================
critic_input_tensor_spec = (tf_env.time_step_spec().observation,
tf_env.action_spec())
if TrainingParameters.ALGO == 'D4PG':
critic_net = distributional_critic_network.DistributionalCriticNetwork(
critic_input_tensor_spec,
num_atoms=TrainingParameters.NUM_ATOMS,
observation_fc_layer_params=TrainingParameters.
CRITIC_OBSERVATION_LAYERS,
action_fc_layer_params=TrainingParameters.CRITIC_ACTION_LAYERS,
joint_fc_layer_params=TrainingParameters.CRITIC_JOINT_LAYERS,
activation_fn=TrainingParameters.CRITIC_ACTIVATION)
tf_agent = d4pg_agent.D4pgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
min_v=TrainingParameters.V_MIN,
max_v=TrainingParameters.V_MAX,
n_step_return=TrainingParameters.N_STEP_RETURN,
actor_optimizer=tf.keras.optimizers.Adam(
learning_rate=TrainingParameters.ACTOR_LEARNING_RATE),
actor_l2_lambda=TrainingParameters.ACTOR_L2_LAMBDA,
critic_optimizer=tf.keras.optimizers.Adam(
learning_rate=TrainingParameters.CRITIC_LEARNING_RATE),
critic_l2_lambda=TrainingParameters.CRITIC_L2_LAMBDA,
ou_stddev=TrainingParameters.OU_STDDEV,
ou_damping=TrainingParameters.OU_DAMPING,
target_update_tau=TrainingParameters.TAU,
target_update_period=TrainingParameters.TARGET_UPDATE_PERIOD,
dqda_clipping=None,
td_errors_loss_fn=TrainingParameters.TD_ERROR_LOSS_FN,
gamma=TrainingParameters.DISCOUNT_RATE,
reward_scale_factor=TrainingParameters.REWARD_SCALE_FACTOR,
gradient_clipping=None,
debug_summaries=True,
summarize_grads_and_vars=True,
train_step_counter=global_step)
elif TrainingParameters.ALGO == 'DDPG':
critic_net = critic_network.CriticNetwork(
critic_input_tensor_spec,
observation_fc_layer_params=TrainingParameters.
CRITIC_OBSERVATION_LAYERS,
action_fc_layer_params=TrainingParameters.CRITIC_ACTION_LAYERS,
joint_fc_layer_params=TrainingParameters.CRITIC_JOINT_LAYERS,
)
tf_agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.keras.optimizers.Adam(
learning_rate=TrainingParameters.ACTOR_LEARNING_RATE),
critic_optimizer=tf.keras.optimizers.Adam(
learning_rate=TrainingParameters.CRITIC_LEARNING_RATE),
train_step_counter=global_step,
gamma=TrainingParameters.DISCOUNT_RATE,
td_errors_loss_fn=TrainingParameters.TD_ERROR_LOSS_FN,
target_update_tau=TrainingParameters.TAU,
target_update_period=TrainingParameters.TARGET_UPDATE_PERIOD)
else:
raise ValueError('Received Wrong ALGO in params.py')
tf_agent.initialize()
# ======================================================================
# Setup Replay Buffer, Trajectory Collector, and Training Operator
# ======================================================================
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(
batch_size=TrainingParameters.NUM_AGENTS),
tf_metrics.AverageEpisodeLengthMetric(
batch_size=TrainingParameters.NUM_AGENTS),
]
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=TrainingParameters.REPLAY_MEM_SIZE)
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch],
num_steps=TrainingParameters.INITIAL_REPLAY_MEM_SIZE)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=TrainingParameters.NUM_DATA_COLLECT)
# Dataset generates trajectories with shape [B x (N_STEP_RETURN+1) x...]
dataset = replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=TrainingParameters.BATCH_SIZE,
num_steps=TrainingParameters.N_STEP_RETURN + 1).prefetch(
tf.data.experimental.AUTOTUNE)
dataset_iterator = iter(dataset)
def train_step():
experience, _ = next(dataset_iterator)
return tf_agent.train(experience)
if TrainingParameters.USE_TF_FUNCTION:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
train_step = common.function(train_step)
# ======================================================================
# Collecting Data
# ======================================================================
initial_collect_driver.run()
stop_threading_event = threading.Event()
threads = []
threads.append(
threading.Thread(target=run_background,
args=(collect_driver.run, stop_threading_event)))
for thread in threads:
thread.start()
# ======================================================================
# Initial Policy Evaluation
# ======================================================================
eval_policy = tf_agent.policy
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=EvaluationParameters.NUM_EVAL_EPISODE,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
# ======================================================================
# Train the Agent
# ======================================================================
timed_at_step = global_step.numpy()
time_acc = 0
for _ in range(TrainingParameters.NUM_ITERATION):
start_time = time.time()
for _ in range(TrainingParameters.NUM_STEP_PER_ITERATION):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % TrainingParameters.LOG_INTERVAL == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % EvaluationParameters.EVAL_INTERVAL == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=EvaluationParameters.NUM_EVAL_EPISODE,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
policy_saver.PolicySaver(eval_policy).save(log_dir +
'/eval/policy_%d' %
global_step)
stop_threading_event.set()
def train_eval(
root_dir,
gpu=0,
env_load_fn=None,
model_ids=None,
eval_env_mode='headless',
num_iterations=1000000,
conv_layer_params=None,
encoder_fc_layers=[256],
actor_fc_layers=[400, 300],
critic_obs_fc_layers=[400],
critic_action_fc_layers=None,
critic_joint_fc_layers=[300],
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
num_parallel_environments=1,
replay_buffer_capacity=100000,
ou_stddev=0.2,
ou_damping=0.15,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=64,
actor_learning_rate=1e-4,
critic_learning_rate=1e-3,
dqda_clipping=None,
td_errors_loss_fn=tf.compat.v1.losses.huber_loss,
gamma=0.995,
reward_scale_factor=1.0,
gradient_clipping=None,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
eval_only=False,
eval_deterministic=False,
num_parallel_environments_eval=1,
model_ids_eval=None,
# Params for checkpoints, summaries, and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=10000,
rb_checkpoint_interval=50000,
log_interval=100,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for DDPG."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
batched_py_metric.BatchedPyMetric(
py_metrics.AverageReturnMetric,
metric_args={'buffer_size': num_eval_episodes},
batch_size=num_parallel_environments_eval),
batched_py_metric.BatchedPyMetric(
py_metrics.AverageEpisodeLengthMetric,
metric_args={'buffer_size': num_eval_episodes},
batch_size=num_parallel_environments_eval),
]
eval_summary_flush_op = eval_summary_writer.flush()
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if model_ids is None:
model_ids = [None] * num_parallel_environments
else:
assert len(model_ids) == num_parallel_environments, \
'model ids provided, but length not equal to num_parallel_environments'
if model_ids_eval is None:
model_ids_eval = [None] * num_parallel_environments_eval
else:
assert len(model_ids_eval) == num_parallel_environments_eval,\
'model ids eval provided, but length not equal to num_parallel_environments_eval'
tf_py_env = [
lambda model_id=model_ids[i]: env_load_fn(model_id, 'headless', gpu
)
for i in range(num_parallel_environments)
]
tf_env = tf_py_environment.TFPyEnvironment(
parallel_py_environment.ParallelPyEnvironment(tf_py_env))
if eval_env_mode == 'gui':
assert num_parallel_environments_eval == 1, 'only one GUI env is allowed'
eval_py_env = [
lambda model_id=model_ids_eval[i]: env_load_fn(
model_id, eval_env_mode, gpu)
for i in range(num_parallel_environments_eval)
]
eval_py_env = parallel_py_environment.ParallelPyEnvironment(
eval_py_env)
# Get the data specs from the environment
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
print('observation_spec', observation_spec)
print('action_spec', action_spec)
glorot_uniform_initializer = tf.compat.v1.keras.initializers.glorot_uniform(
)
preprocessing_layers = {
'depth_seg':
tf.keras.Sequential(
mlp_layers(
conv_layer_params=conv_layer_params,
fc_layer_params=encoder_fc_layers,
kernel_initializer=glorot_uniform_initializer,
)),
'sensor':
tf.keras.Sequential(
mlp_layers(
conv_layer_params=None,
fc_layer_params=encoder_fc_layers,
kernel_initializer=glorot_uniform_initializer,
)),
}
preprocessing_combiner = tf.keras.layers.Concatenate(axis=-1)
actor_net = actor_network.ActorNetwork(
observation_spec,
action_spec,
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
fc_layer_params=actor_fc_layers,
kernel_initializer=glorot_uniform_initializer,
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer=glorot_uniform_initializer,
)
tf_agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
config = tf.compat.v1.ConfigProto()
config.gpu_options.allow_growth = True
sess = tf.compat.v1.Session(config=config)
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
if eval_deterministic:
eval_py_policy = py_tf_policy.PyTFPolicy(
greedy_policy.GreedyPolicy(tf_agent.policy))
else:
eval_py_policy = py_tf_policy.PyTFPolicy(tf_agent.policy)
step_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
]
train_metrics = step_metrics + [
tf_metrics.AverageReturnMetric(
buffer_size=100, batch_size=num_parallel_environments),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=100, batch_size=num_parallel_environments),
]
collect_policy = tf_agent.collect_policy
initial_collect_policy = random_tf_policy.RandomTFPolicy(
time_step_spec, action_spec)
initial_collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=initial_collect_steps * num_parallel_environments).run()
collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration *
num_parallel_environments).run()
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(
num_parallel_calls=5,
sample_batch_size=5 * batch_size,
num_steps=2).apply(tf.data.experimental.unbatch()).filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
dataset_iterator = tf.compat.v1.data.make_initializable_iterator(
dataset)
trajectories, unused_info = dataset_iterator.get_next()
train_op = tf_agent.train(trajectories)
summary_ops = []
for train_metric in train_metrics:
summary_ops.append(
train_metric.tf_summaries(train_step=global_step,
step_metrics=step_metrics))
with eval_summary_writer.as_default(), tf.compat.v2.summary.record_if(
True):
for eval_metric in eval_metrics:
eval_metric.tf_summaries(train_step=global_step,
step_metrics=step_metrics)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=tf_agent.policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
init_agent_op = tf_agent.initialize()
with sess.as_default():
# Initialize the graph.
train_checkpointer.initialize_or_restore(sess)
if eval_only:
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=0,
callback=eval_metrics_callback,
tf_summaries=False,
log=True,
)
episodes = eval_py_env.get_stored_episodes()
episodes = [
episode for sublist in episodes for episode in sublist
][:num_eval_episodes]
metrics = episode_utils.get_metrics(episodes)
for key in sorted(metrics.keys()):
print(key, ':', metrics[key])
save_path = os.path.join(eval_dir, 'episodes_vis.pkl')
episode_utils.save(episodes, save_path)
print('EVAL DONE')
return
# Initialize training.
rb_checkpointer.initialize_or_restore(sess)
sess.run(dataset_iterator.initializer)
common.initialize_uninitialized_variables(sess)
sess.run(init_agent_op)
sess.run(train_summary_writer.init())
sess.run(eval_summary_writer.init())
global_step_val = sess.run(global_step)
if global_step_val == 0:
# Initial eval of randomly initialized policy
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=0,
callback=eval_metrics_callback,
tf_summaries=True,
log=True,
)
# Run initial collect.
logging.info('Global step %d: Running initial collect op.',
global_step_val)
sess.run(initial_collect_op)
# Checkpoint the initial replay buffer contents.
rb_checkpointer.save(global_step=global_step_val)
logging.info('Finished initial collect.')
else:
logging.info('Global step %d: Skipping initial collect op.',
global_step_val)
collect_call = sess.make_callable(collect_op)
train_step_call = sess.make_callable([train_op, summary_ops])
global_step_call = sess.make_callable(global_step)
timed_at_step = sess.run(global_step)
time_acc = 0
steps_per_second_ph = tf.compat.v1.placeholder(
tf.float32, shape=(), name='steps_per_sec_ph')
steps_per_second_summary = tf.compat.v2.summary.scalar(
name='global_steps_per_sec',
data=steps_per_second_ph,
step=global_step)
for _ in range(num_iterations):
start_time = time.time()
collect_call()
# print('collect:', time.time() - start_time)
# train_start_time = time.time()
for _ in range(train_steps_per_iteration):
loss_info_value, _ = train_step_call()
# print('train:', time.time() - train_start_time)
time_acc += time.time() - start_time
global_step_val = global_step_call()
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val,
loss_info_value.loss)
steps_per_sec = (global_step_val -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
sess.run(steps_per_second_summary,
feed_dict={steps_per_second_ph: steps_per_sec})
timed_at_step = global_step_val
time_acc = 0
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
if global_step_val % eval_interval == 0:
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=0,
callback=eval_metrics_callback,
tf_summaries=True,
log=True,
)
with eval_summary_writer.as_default(
), tf.compat.v2.summary.record_if(True):
with tf.name_scope('Metrics/'):
episodes = eval_py_env.get_stored_episodes()
episodes = [
episode for sublist in episodes
for episode in sublist
][:num_eval_episodes]
metrics = episode_utils.get_metrics(episodes)
for key in sorted(metrics.keys()):
print(key, ':', metrics[key])
metric_op = tf.compat.v2.summary.scalar(
name=key,
data=metrics[key],
step=global_step_val)
sess.run(metric_op)
sess.run(eval_summary_flush_op)
sess.close()
target_update_tau = 0.001
target_update_period = 5
actor_learning_rate = 0.0002 # @param {type:"number"}
critic_learning_rate = 0.002
elif env_name == 'BipedalWalker-v2':
num_iterations = 700000
fc_layer_params = (400, 300)
critic_fc_layer_params = (400, 300)
critic_obs_layer_params = None
target_update_tau = 0.001
target_update_period = 5
actor_learning_rate = 0.000025 # @param {type:"number"}
critic_learning_rate = 0.00025
actor_net = actor_network.ActorNetwork(train_env.observation_spec(),
train_env.action_spec(),
fc_layer_params=fc_layer_params)
critic_net_input_specs = (train_env.observation_spec(),
train_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_layer_params,
action_fc_layer_params=None,
joint_fc_layer_params=critic_fc_layer_params,
)
global_step = tf.compat.v1.train.get_or_create_global_step()
tf_agent = ddpg_agent.DdpgAgent(
train_env.time_step_spec(),
def train_eval():
"""A simple train and eval for DDPG."""
logdir = FLAGS.logdir
train_dir = os.path.join(logdir, 'train')
eval_dir = os.path.join(logdir, 'eval')
summary_flush_millis = 10 * 1000
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summary_flush_millis)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summary_flush_millis)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=FLAGS.num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=FLAGS.num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % 1000, 0)):
env = FLAGS.environment
tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env))
eval_tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env))
if FLAGS.use_rnn:
actor_net = actor_rnn_network.ActorRnnNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
input_fc_layer_params=parse_str_flag(FLAGS.actor_fc_layers),
lstm_size=parse_str_flag(FLAGS.actor_lstm_sizes),
output_fc_layer_params=FLAGS.actor_output_fc_layers)
critic_net = critic_rnn_network.CriticRnnNetwork(
input_tensor_spec=(tf_env.time_step_spec().observation,
tf_env.action_spec()),
observation_fc_layer_params=parse_str_flag(
FLAGS.critic_obs_fc_layers),
action_fc_layer_params=parse_str_flag(
FLAGS.critic_action_fc_layers),
joint_fc_layer_params=parse_str_flag(
FLAGS.critic_joint_fc_layers),
lstm_size=parse_str_flag(FLAGS.critic_lstm_sizes),
output_fc_layer_params=parse_str_flag(
FLAGS.critic_output_fc_layers))
else:
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=parse_str_flag(FLAGS.actor_fc_layers))
critic_net = critic_network.CriticNetwork(
input_tensor_spec=(tf_env.time_step_spec().observation,
tf_env.action_spec()),
observation_fc_layer_params=parse_str_flag(
FLAGS.critic_obs_fc_layers),
action_fc_layer_params=parse_str_flag(
FLAGS.critic_action_fc_layers),
joint_fc_layer_params=parse_str_flag(
FLAGS.critic_joint_fc_layers))
tf_agent = td3_agent.Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.train.AdamOptimizer(
learning_rate=FLAGS.actor_learning_rate),
critic_optimizer=tf.train.AdamOptimizer(
learning_rate=FLAGS.critic_learning_rate),
exploration_noise_std=FLAGS.exploration_noise_std,
target_update_tau=FLAGS.target_update_tau,
target_update_period=FLAGS.target_update_period,
td_errors_loss_fn=None, #tf.compat.v1.losses.huber_loss,
gamma=FLAGS.gamma,
train_step_counter=global_step)
tf_agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=FLAGS.replay_buffer_size)
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch],
num_steps=FLAGS.initial_collect_steps)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=FLAGS.collect_steps_per_iteration)
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
initial_collect_driver.run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=FLAGS.num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset to generate trajectories.
dataset = replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=FLAGS.batch_size,
num_steps=(FLAGS.train_sequence_length + 1)).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
train_step = common.function(train_step)
for _ in range(FLAGS.num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(FLAGS.train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % 1000 == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % 10000 == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=FLAGS.num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
return train_loss
def train_eval(
root_dir,
offline_dir=None,
random_seed=None,
env_name='sawyer_push',
eval_env_name=None,
env_load_fn=get_env,
max_episode_steps=1000,
eval_episode_steps=1000,
# The SAC paper reported:
# Hopper and Cartpole results up to 1000000 iters,
# Humanoid results up to 10000000 iters,
# Other mujoco tasks up to 3000000 iters.
num_iterations=3000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Params for collect
# Follow https://github.com/haarnoja/sac/blob/master/examples/variants.py
# HalfCheetah and Ant take 10000 initial collection steps.
# Other mujoco tasks take 1000.
# Different choices roughly keep the initial episodes about the same.
initial_collect_steps=10000,
collect_steps_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
reset_goal_frequency=1000, # virtual episode size for reset-free training
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
# reset-free parameters
use_minimum=True,
reset_lagrange_learning_rate=3e-4,
value_threshold=None,
td_errors_loss_fn=tf.math.squared_difference,
gamma=0.99,
reward_scale_factor=0.1,
# Td3 parameters
actor_update_period=1,
exploration_noise_std=0.1,
target_policy_noise=0.1,
target_policy_noise_clip=0.1,
dqda_clipping=None,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
# video recording for the environment
video_record_interval=10000,
num_videos=0,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
start_time = time.time()
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
video_dir = os.path.join(eval_dir, 'videos')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if random_seed is not None:
tf.compat.v1.set_random_seed(random_seed)
if FLAGS.use_reset_goals in [-1]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.GoalTerminalResetWrapper,
num_success_states=FLAGS.num_success_states,
full_reset_frequency=max_episode_steps), )
elif FLAGS.use_reset_goals in [0, 1]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.ResetFreeWrapper,
reset_goal_frequency=reset_goal_frequency,
variable_horizon_for_reset=FLAGS.variable_reset_horizon,
num_success_states=FLAGS.num_success_states,
full_reset_frequency=max_episode_steps), )
elif FLAGS.use_reset_goals in [2]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.CustomOracleResetWrapper,
partial_reset_frequency=reset_goal_frequency,
episodes_before_full_reset=max_episode_steps //
reset_goal_frequency), )
elif FLAGS.use_reset_goals in [3, 4]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.GoalTerminalResetFreeWrapper,
reset_goal_frequency=reset_goal_frequency,
num_success_states=FLAGS.num_success_states,
full_reset_frequency=max_episode_steps), )
elif FLAGS.use_reset_goals in [5, 7]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.CustomOracleResetGoalTerminalWrapper,
partial_reset_frequency=reset_goal_frequency,
episodes_before_full_reset=max_episode_steps //
reset_goal_frequency), )
elif FLAGS.use_reset_goals in [6]:
gym_env_wrappers = (functools.partial(
reset_free_wrapper.VariableGoalTerminalResetWrapper,
full_reset_frequency=max_episode_steps), )
if env_name == 'playpen_reduced':
train_env_load_fn = functools.partial(
env_load_fn, reset_at_goal=FLAGS.reset_at_goal)
else:
train_env_load_fn = env_load_fn
env, env_train_metrics, env_eval_metrics, aux_info = train_env_load_fn(
name=env_name,
max_episode_steps=None,
gym_env_wrappers=gym_env_wrappers)
tf_env = tf_py_environment.TFPyEnvironment(env)
eval_env_name = eval_env_name or env_name
eval_tf_env = tf_py_environment.TFPyEnvironment(
env_load_fn(name=eval_env_name,
max_episode_steps=eval_episode_steps)[0])
eval_metrics += env_eval_metrics
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
if FLAGS.agent_type == 'sac':
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=std_clip_transform))
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
)
critic_net_no_entropy = None
critic_no_entropy_optimizer = None
if FLAGS.use_no_entropy_q:
critic_net_no_entropy = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
name='CriticNetworkNoEntropy1')
critic_no_entropy_optimizer = tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate)
tf_agent = SacAgent(
time_step_spec,
action_spec,
num_action_samples=FLAGS.num_action_samples,
actor_network=actor_net,
critic_network=critic_net,
critic_network_no_entropy=critic_net_no_entropy,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
critic_no_entropy_optimizer=critic_no_entropy_optimizer,
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
elif FLAGS.agent_type == 'td3':
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
tf_agent = Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
target_policy_noise=target_policy_noise,
target_policy_noise_clip=target_policy_noise_clip,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
tf_agent.initialize()
if FLAGS.use_reset_goals > 0:
if FLAGS.use_reset_goals in [4, 5, 6]:
reset_goal_generator = ScheduledResetGoal(
goal_dim=aux_info['reset_state_shape'][0],
num_success_for_switch=FLAGS.num_success_for_switch,
num_chunks=FLAGS.num_chunks,
name='ScheduledResetGoalGenerator')
else:
# distance to initial state distribution
initial_state_distance = state_distribution_distance.L2Distance(
initial_state_shape=aux_info['reset_state_shape'])
initial_state_distance.update(tf.constant(
aux_info['reset_states'], dtype=tf.float32),
update_type='complete')
if use_tf_functions:
initial_state_distance.distance = common.function(
initial_state_distance.distance)
tf_agent.compute_value = common.function(
tf_agent.compute_value)
# initialize reset / practice goal proposer
if reset_lagrange_learning_rate > 0:
reset_goal_generator = ResetGoalGenerator(
goal_dim=aux_info['reset_state_shape'][0],
compute_value_fn=tf_agent.compute_value,
distance_fn=initial_state_distance,
use_minimum=use_minimum,
value_threshold=value_threshold,
lagrange_variable_max=FLAGS.lagrange_max,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=reset_lagrange_learning_rate),
name='reset_goal_generator')
else:
reset_goal_generator = FixedResetGoal(
distance_fn=initial_state_distance)
# if use_tf_functions:
# reset_goal_generator.get_reset_goal = common.function(
# reset_goal_generator.get_reset_goal)
# modify the reset-free wrapper to use the reset goal generator
tf_env.pyenv.envs[0].set_reset_goal_fn(
reset_goal_generator.get_reset_goal)
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
if FLAGS.relabel_goals:
cur_episode_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
scope='CurEpisodeReplayBuffer',
max_length=int(2 *
min(reset_goal_frequency, max_episode_steps)))
# NOTE: the buffer is replaced because cannot have two buffers.add_batch
replay_observer = [cur_episode_buffer.add_batch]
# initialize metrics and observers
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
]
train_metrics += env_train_metrics
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
eval_py_policy = py_tf_eager_policy.PyTFEagerPolicy(
tf_agent.policy, use_tf_function=True)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
if offline_dir is not None:
offline_data = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=int(1e5)) # this has to be 100_000
offline_checkpointer = common.Checkpointer(
ckpt_dir=offline_dir,
max_to_keep=1,
replay_buffer=offline_data)
offline_checkpointer.initialize_or_restore()
# set the reset candidates to be all the data in offline buffer
if (FLAGS.use_reset_goals > 0 and reset_lagrange_learning_rate > 0
) or FLAGS.use_reset_goals in [4, 5, 6, 7]:
tf_env.pyenv.envs[0].set_reset_candidates(
nest_utils.unbatch_nested_tensors(
offline_data.gather_all()))
if replay_buffer.num_frames() == 0:
if offline_dir is not None:
copy_replay_buffer(offline_data, replay_buffer)
print(replay_buffer.num_frames())
# multiply offline data
if FLAGS.relabel_offline_data:
data_multiplier(replay_buffer,
tf_env.pyenv.envs[0].env.compute_reward)
print('after data multiplication:',
replay_buffer.num_frames())
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=1)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
for iter_idx in range(initial_collect_steps):
time_step, policy_state = initial_collect_driver.run(
time_step=time_step, policy_state=policy_state)
if time_step.is_last() and FLAGS.relabel_goals:
reward_fn = tf_env.pyenv.envs[0].env.compute_reward
relabel_function(cur_episode_buffer, time_step, reward_fn,
replay_buffer)
cur_episode_buffer.clear()
if FLAGS.use_reset_goals > 0 and time_step.is_last(
) and FLAGS.num_reset_candidates > 0:
tf_env.pyenv.envs[0].set_reset_candidates(
replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates)[0])
else:
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
timed_at_step = global_step.numpy()
time_acc = 0
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = replay_buffer.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
# manual data save for plotting utils
np_custom_save(os.path.join(eval_dir, 'eval_interval.npy'),
eval_interval)
try:
average_eval_return = np_custom_load(
os.path.join(eval_dir, 'average_eval_return.npy')).tolist()
average_eval_success = np_custom_load(
os.path.join(eval_dir, 'average_eval_success.npy')).tolist()
average_eval_final_success = np_custom_load(
os.path.join(eval_dir,
'average_eval_final_success.npy')).tolist()
except: # pylint: disable=bare-except
average_eval_return = []
average_eval_success = []
average_eval_final_success = []
print('initialization_time:', time.time() - start_time)
for iter_idx in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
if time_step.is_last() and FLAGS.relabel_goals:
reward_fn = tf_env.pyenv.envs[0].env.compute_reward
relabel_function(cur_episode_buffer, time_step, reward_fn,
replay_buffer)
cur_episode_buffer.clear()
# reset goal generator updates
if FLAGS.use_reset_goals > 0 and iter_idx % (
FLAGS.reset_goal_frequency *
collect_steps_per_iteration) == 0:
if FLAGS.num_reset_candidates > 0:
tf_env.pyenv.envs[0].set_reset_candidates(
replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates)[0])
if reset_lagrange_learning_rate > 0:
reset_goal_generator.update_lagrange_multipliers()
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
global_step_val = global_step.numpy()
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val,
train_loss.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step_val
time_acc = 0
for train_metric in train_metrics:
if 'Heatmap' in train_metric.name:
if global_step_val % summary_interval == 0:
train_metric.tf_summaries(
train_step=global_step,
step_metrics=train_metrics[:2])
else:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step_val % summary_interval == 0 and FLAGS.use_reset_goals > 0 and reset_lagrange_learning_rate > 0:
reset_states, values, initial_state_distance_vals, lagrangian = reset_goal_generator.update_summaries(
step_counter=global_step)
for vf_viz_metric in aux_info['value_fn_viz_metrics']:
vf_viz_metric.tf_summaries(reset_states,
values,
train_step=global_step,
step_metrics=train_metrics[:2])
if FLAGS.debug_value_fn_for_reset:
num_test_lagrange = 20
hyp_lagranges = [
1.0 * increment / num_test_lagrange
for increment in range(num_test_lagrange + 1)
]
door_pos = reset_states[
np.argmin(initial_state_distance_vals.numpy() -
lagrangian.numpy() * values.numpy())][3:5]
print('cur lagrange: %.2f, cur reset goal: (%.2f, %.2f)' %
(lagrangian.numpy(), door_pos[0], door_pos[1]))
for lagrange in hyp_lagranges:
door_pos = reset_states[
np.argmin(initial_state_distance_vals.numpy() -
lagrange * values.numpy())][3:5]
print(
'test lagrange: %.2f, cur reset goal: (%.2f, %.2f)'
% (lagrange, door_pos[0], door_pos[1]))
print('\n')
if global_step_val % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step_val)
metric_utils.log_metrics(eval_metrics)
# numpy saves for plotting
if 'AverageReturn' in results.keys():
average_eval_return.append(
results['AverageReturn'].numpy())
if 'EvalSuccessfulAtAnyStep' in results.keys():
average_eval_success.append(
results['EvalSuccessfulAtAnyStep'].numpy())
if 'EvalSuccessfulEpisodes' in results.keys():
average_eval_final_success.append(
results['EvalSuccessfulEpisodes'].numpy())
elif 'EvalSuccessfulAtLastStep' in results.keys():
average_eval_final_success.append(
results['EvalSuccessfulAtLastStep'].numpy())
if average_eval_return:
np_custom_save(
os.path.join(eval_dir, 'average_eval_return.npy'),
average_eval_return)
if average_eval_success:
np_custom_save(
os.path.join(eval_dir, 'average_eval_success.npy'),
average_eval_success)
if average_eval_final_success:
np_custom_save(
os.path.join(eval_dir,
'average_eval_final_success.npy'),
average_eval_final_success)
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
if global_step_val % video_record_interval == 0:
for video_idx in range(num_videos):
video_name = os.path.join(
video_dir, str(global_step_val),
'video_' + str(video_idx) + '.mp4')
record_video(
lambda: env_load_fn( # pylint: disable=g-long-lambda
name=env_name,
max_episode_steps=max_episode_steps)[0],
video_name,
eval_py_policy,
max_episode_length=eval_episode_steps)
return train_loss
env = PulseResponseEnv.PulseResponseEnv(Utarget, rho0s)
if num_parallel_environments == 1:
py_env = env
else:
py_env = parallel_py_environment.ParallelPyEnvironment(
[lambda: env] * num_parallel_environments)
tf_env = tf_py_environment.TFPyEnvironment(py_env)
with strategy.scope():
target_update_tau = 0.05
target_update_period = 5
ou_stddev = 0.2
ou_damping = 0.15
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=[128],
)
critic_net_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=[128],
action_fc_layer_params=[128],
joint_fc_layer_params=[128],
)
agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
def train_eval(
root_dir,
num_iterations=100000,
seed=142,
actor_fc_layers=(100, 100),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(100, 100),
n_step_update=5,
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
replay_buffer_capacity=100000,
sigma=0.1,
# Params for target update
target_update_tau=0.01,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=1024,
actor_learning_rate=0.5e-4,
critic_learning_rate=0.5e-4,
dqda_clipping=None,
td_errors_loss_fn=common.element_wise_squared_loss,
gamma=0.99,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
prioritized_replay=False,
rank_based=False,
remove_boundaries=True,
# Params for eval
num_eval_episodes=10,
eval_interval=1000,
# Params for checkpoints, summaries, and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=True,
eval_metrics_callback=None,
dir_suffix="-ddpg-5"):
"""A simple train and eval for DDPG."""
tf.random.set_seed(seed)
np.random.seed(seed + 1)
seed_for_env = seed + 2
root_dir = os.path.expanduser(root_dir)
train_dir = root_dir + '/train' + dir_suffix
eval_dir = root_dir + '/eval' + dir_suffix
global_step = tf.Variable(0, name="global_step", dtype=tf.int64, trainable=False)
# Need to set the seed in the enviroment, otherwise it uses a non-deterministic generator
env_set_seed = GymEnvSeedWrapper(seed_for_env)
tf_env = tf_py_environment.TFPyEnvironment(
create_env(gym_env_wrappers=(env_set_seed,)))
eval_tf_env = tf_py_environment.TFPyEnvironment(
create_env(gym_env_wrappers=(env_set_seed,)))
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers)
critic_net = critic_network.CriticNetwork(
(tf_env.time_step_spec().observation, tf_env.action_spec()),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
output_activation_fn=None)
tf_agent = ddpg_agent_ex.DdpgAgentEx(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.keras.optimizers.Adam(
learning_rate=actor_learning_rate),
critic_optimizer=tf.keras.optimizers.Adam(
learning_rate=critic_learning_rate),
n_step_update=n_step_update,
sigma=sigma,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
trainer = rllib_trainer.Trainer(
train_dir,
eval_dir,
tf_agent,
tf_env,
eval_tf_env,
global_step,
batch_size=batch_size,
initial_collect_steps=initial_collect_steps,
collect_steps_per_iteration=collect_steps_per_iteration,
train_steps_per_iteration=train_steps_per_iteration,
remove_boundaries=remove_boundaries,
replay_buffer_capacity=replay_buffer_capacity,
prioritized_replay=prioritized_replay,
rank_based=rank_based,
summaries_flush_secs=summaries_flush_secs,
summary_interval=summary_interval,
eval_interval=eval_interval,
log_interval=log_interval,
num_eval_episodes=num_eval_episodes,
use_tf_functions=use_tf_functions)
result = trainer.train(num_iterations)
return result
spec_utils.get_tensor_specs(train_env))
#######Networks#####
#conv_layer_params = [(32,3,3),(32,3,3),(32,3,3)]
conv_layer_params = None
fc_layer_params = (400, 300)
kernel_initializer = tf.keras.initializers.VarianceScaling(
scale=1. / 3., mode='fan_in', distribution='uniform')
final_layer_initializer = tf.keras.initializers.RandomUniform(minval=-0.0003,
maxval=0.0003)
actor_net = actor_network.ActorNetwork(
observation_spec,
action_spec,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params,
dropout_layer_params=None,
activation_fn=tf.keras.activations.relu,
kernel_initializer=kernel_initializer,
last_kernel_initializer=final_layer_initializer,
name='ActorNetwork')
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_conv_layer_params=conv_layer_params,
observation_fc_layer_params=(400, ),
action_fc_layer_params=None,
joint_fc_layer_params=(300, ),
kernel_initializer=kernel_initializer,
last_kernel_initializer=final_layer_initializer)
#target_actor_net = ActorNetwork(observation_spec,
def train_eval(
root_dir,
random_seed=None,
env_name='sawyer_push',
eval_env_name=None,
env_load_fn=get_env,
max_episode_steps=1000,
eval_episode_steps=1000,
# The SAC paper reported:
# Hopper and Cartpole results up to 1000000 iters,
# Humanoid results up to 10000000 iters,
# Other mujoco tasks up to 3000000 iters.
num_iterations=3000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Params for collect
# Follow https://github.com/haarnoja/sac/blob/master/examples/variants.py
# HalfCheetah and Ant take 10000 initial collection steps.
# Other mujoco tasks take 1000.
# Different choices roughly keep the initial episodes about the same.
initial_collect_steps=10000,
collect_steps_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
reset_goal_frequency=1000, # virtual episode size for reset-free training
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
# reset-free parameters
use_minimum=True,
reset_lagrange_learning_rate=3e-4,
value_threshold=None,
td_errors_loss_fn=tf.math.squared_difference,
gamma=0.99,
reward_scale_factor=0.1,
# Td3 parameters
actor_update_period=1,
exploration_noise_std=0.1,
target_policy_noise=0.1,
target_policy_noise_clip=0.1,
dqda_clipping=None,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
# video recording for the environment
video_record_interval=10000,
num_videos=0,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
start_time = time.time()
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
video_dir = os.path.join(eval_dir, 'videos')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if random_seed is not None:
tf.compat.v1.set_random_seed(random_seed)
env, env_train_metrics, env_eval_metrics, aux_info = env_load_fn(
name=env_name,
max_episode_steps=None,
gym_env_wrappers=(functools.partial(
reset_free_wrapper.ResetFreeWrapper,
reset_goal_frequency=reset_goal_frequency,
full_reset_frequency=max_episode_steps),))
tf_env = tf_py_environment.TFPyEnvironment(env)
eval_env_name = eval_env_name or env_name
eval_tf_env = tf_py_environment.TFPyEnvironment(
env_load_fn(name=eval_env_name,
max_episode_steps=eval_episode_steps)[0])
eval_metrics += env_eval_metrics
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
if FLAGS.agent_type == 'sac':
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=std_clip_transform),
name='forward_actor')
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
name='forward_critic')
tf_agent = SacAgent(
time_step_spec,
action_spec,
num_action_samples=FLAGS.num_action_samples,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
name='forward_agent')
actor_net_rev = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=std_clip_transform),
name='reverse_actor')
critic_net_rev = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
name='reverse_critic')
tf_agent_rev = SacAgent(
time_step_spec,
action_spec,
num_action_samples=FLAGS.num_action_samples,
actor_network=actor_net_rev,
critic_network=critic_net_rev,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
name='reverse_agent')
elif FLAGS.agent_type == 'td3':
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
tf_agent = Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
target_policy_noise=target_policy_noise,
target_policy_noise_clip=target_policy_noise_clip,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
tf_agent.initialize()
tf_agent_rev.initialize()
if FLAGS.use_reset_goals:
# distance to initial state distribution
initial_state_distance = state_distribution_distance.L2Distance(
initial_state_shape=aux_info['reset_state_shape'])
initial_state_distance.update(
tf.constant(aux_info['reset_states'], dtype=tf.float32),
update_type='complete')
if use_tf_functions:
initial_state_distance.distance = common.function(
initial_state_distance.distance)
tf_agent.compute_value = common.function(tf_agent.compute_value)
# initialize reset / practice goal proposer
if reset_lagrange_learning_rate > 0:
reset_goal_generator = ResetGoalGenerator(
goal_dim=aux_info['reset_state_shape'][0],
num_reset_candidates=FLAGS.num_reset_candidates,
compute_value_fn=tf_agent.compute_value,
distance_fn=initial_state_distance,
use_minimum=use_minimum,
value_threshold=value_threshold,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=reset_lagrange_learning_rate),
name='reset_goal_generator')
else:
reset_goal_generator = FixedResetGoal(
distance_fn=initial_state_distance)
# if use_tf_functions:
# reset_goal_generator.get_reset_goal = common.function(
# reset_goal_generator.get_reset_goal)
# modify the reset-free wrapper to use the reset goal generator
tf_env.pyenv.envs[0].set_reset_goal_fn(
reset_goal_generator.get_reset_goal)
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
replay_buffer_rev = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent_rev.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer_rev = [replay_buffer_rev.add_batch]
# initialize metrics and observers
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
]
train_metrics += env_train_metrics
train_metrics_rev = [
tf_metrics.NumberOfEpisodes(name='NumberOfEpisodesRev'),
tf_metrics.EnvironmentSteps(name='EnvironmentStepsRev'),
tf_metrics.AverageReturnMetric(
name='AverageReturnRev',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
name='AverageEpisodeLengthRev',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
]
train_metrics_rev += aux_info['train_metrics_rev']
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
eval_py_policy = py_tf_eager_policy.PyTFEagerPolicy(
tf_agent.policy, use_tf_function=True)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
initial_collect_policy_rev = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
collect_policy_rev = tf_agent_rev.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'forward'),
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'forward', 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
# reverse policy savers
train_checkpointer_rev = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'reverse'),
agent=tf_agent_rev,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics_rev,
'train_metrics_rev'))
rb_checkpointer_rev = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer_rev'),
max_to_keep=1,
replay_buffer=replay_buffer_rev)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
train_checkpointer_rev.initialize_or_restore()
rb_checkpointer_rev.initialize_or_restore()
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
collect_driver_rev = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy_rev,
observers=replay_observer_rev + train_metrics_rev,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
collect_driver.run = common.function(collect_driver.run)
collect_driver_rev.run = common.function(collect_driver_rev.run)
tf_agent.train = common.function(tf_agent.train)
tf_agent_rev.train = common.function(tf_agent_rev.train)
if replay_buffer.num_frames() == 0:
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=1)
initial_collect_driver_rev = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy_rev,
observers=replay_observer_rev + train_metrics_rev,
num_steps=1)
# does not work for some reason
if use_tf_functions:
initial_collect_driver.run = common.function(initial_collect_driver.run)
initial_collect_driver_rev.run = common.function(
initial_collect_driver_rev.run)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
for iter_idx_initial in range(initial_collect_steps):
if tf_env.pyenv.envs[0]._forward_or_reset_goal:
initial_collect_driver.run()
else:
initial_collect_driver_rev.run()
if FLAGS.use_reset_goals and iter_idx_initial % FLAGS.reset_goal_frequency == 0:
if replay_buffer_rev.num_frames():
reset_candidates_from_forward_buffer = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
reset_candidates_from_reverse_buffer = replay_buffer_rev.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
flat_forward_tensors = tf.nest.flatten(
reset_candidates_from_forward_buffer)
flat_reverse_tensors = tf.nest.flatten(
reset_candidates_from_reverse_buffer)
concatenated_tensors = [
tf.concat([x, y], axis=0)
for x, y in zip(flat_forward_tensors, flat_reverse_tensors)
]
reset_candidates = tf.nest.pack_sequence_as(
reset_candidates_from_forward_buffer, concatenated_tensors)
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
else:
reset_candidates = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates)[0]
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = replay_buffer.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
dataset_rev = replay_buffer_rev.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator_rev = iter(dataset_rev)
def train_step_rev():
experience_rev, _ = next(iterator_rev)
return tf_agent_rev.train(experience_rev)
if use_tf_functions:
train_step = common.function(train_step)
train_step_rev = common.function(train_step_rev)
# manual data save for plotting utils
np_on_cns_save(os.path.join(eval_dir, 'eval_interval.npy'), eval_interval)
try:
average_eval_return = np_on_cns_load(
os.path.join(eval_dir, 'average_eval_return.npy')).tolist()
average_eval_success = np_on_cns_load(
os.path.join(eval_dir, 'average_eval_success.npy')).tolist()
except:
average_eval_return = []
average_eval_success = []
print('initialization_time:', time.time() - start_time)
for iter_idx in range(num_iterations):
start_time = time.time()
if tf_env.pyenv.envs[0]._forward_or_reset_goal:
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
else:
time_step, policy_state = collect_driver_rev.run(
time_step=time_step,
policy_state=policy_state,
)
# reset goal generator updates
if FLAGS.use_reset_goals and iter_idx % (
FLAGS.reset_goal_frequency * collect_steps_per_iteration) == 0:
reset_candidates_from_forward_buffer = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
reset_candidates_from_reverse_buffer = replay_buffer_rev.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
flat_forward_tensors = tf.nest.flatten(
reset_candidates_from_forward_buffer)
flat_reverse_tensors = tf.nest.flatten(
reset_candidates_from_reverse_buffer)
concatenated_tensors = [
tf.concat([x, y], axis=0)
for x, y in zip(flat_forward_tensors, flat_reverse_tensors)
]
reset_candidates = tf.nest.pack_sequence_as(
reset_candidates_from_forward_buffer, concatenated_tensors)
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
if reset_lagrange_learning_rate > 0:
reset_goal_generator.update_lagrange_multipliers()
for _ in range(train_steps_per_iteration):
train_loss_rev = train_step_rev()
train_loss = train_step()
time_acc += time.time() - start_time
global_step_val = global_step.numpy()
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val, train_loss.loss)
logging.info('step = %d, loss_rev = %f', global_step_val,
train_loss_rev.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(
name='global_steps_per_sec', data=steps_per_sec, step=global_step)
timed_at_step = global_step_val
time_acc = 0
for train_metric in train_metrics:
if 'Heatmap' in train_metric.name:
if global_step_val % summary_interval == 0:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
else:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
for train_metric in train_metrics_rev:
if 'Heatmap' in train_metric.name:
if global_step_val % summary_interval == 0:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics_rev[:2])
else:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics_rev[:2])
if global_step_val % summary_interval == 0 and FLAGS.use_reset_goals:
reset_goal_generator.update_summaries(step_counter=global_step)
if global_step_val % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step_val)
metric_utils.log_metrics(eval_metrics)
# numpy saves for plotting
average_eval_return.append(results['AverageReturn'].numpy())
average_eval_success.append(results['EvalSuccessfulEpisodes'].numpy())
np_on_cns_save(
os.path.join(eval_dir, 'average_eval_return.npy'),
average_eval_return)
np_on_cns_save(
os.path.join(eval_dir, 'average_eval_success.npy'),
average_eval_success)
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
train_checkpointer_rev.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
rb_checkpointer_rev.save(global_step=global_step_val)
if global_step_val % video_record_interval == 0:
for video_idx in range(num_videos):
video_name = os.path.join(video_dir, str(global_step_val),
'video_' + str(video_idx) + '.mp4')
record_video(
lambda: env_load_fn( # pylint: disable=g-long-lambda
name=env_name,
max_episode_steps=max_episode_steps)[0],
video_name,
eval_py_policy,
max_episode_length=eval_episode_steps)
return train_loss
def train_eval(
root_dir,
env_name='HalfCheetah-v1',
env_load_fn=suite_mujoco.load,
num_iterations=2000000,
actor_fc_layers=(400, 300),
critic_obs_fc_layers=(400,),
critic_action_fc_layers=None,
critic_joint_fc_layers=(300,),
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
num_parallel_environments=1,
replay_buffer_capacity=100000,
ou_stddev=0.2,
ou_damping=0.15,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=64,
actor_learning_rate=1e-4,
critic_learning_rate=1e-3,
dqda_clipping=None,
td_errors_loss_fn=tf.losses.huber_loss,
gamma=0.995,
reward_scale_factor=1.0,
gradient_clipping=None,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for checkpoints, summaries, and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=20000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for DDPG."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.contrib.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.contrib.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
py_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
py_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
# TODO(kbanoop): Figure out if it is possible to avoid the with block.
with tf.contrib.summary.record_summaries_every_n_global_steps(
summary_interval):
if num_parallel_environments > 1:
tf_env = tf_py_environment.TFPyEnvironment(
parallel_py_environment.ParallelPyEnvironment(
[lambda: env_load_fn(env_name)] * num_parallel_environments))
else:
tf_env = tf_py_environment.TFPyEnvironment(env_load_fn(env_name))
eval_py_env = env_load_fn(env_name)
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
)
tf_agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars)
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec(),
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
eval_py_policy = py_tf_policy.PyTFPolicy(tf_agent.policy())
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
global_step = tf.train.get_or_create_global_step()
collect_policy = tf_agent.collect_policy()
initial_collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch],
num_steps=initial_collect_steps).run()
collect_op = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration).run()
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = dataset.make_initializable_iterator()
trajectories, unused_info = iterator.get_next()
train_op = tf_agent.train(
experience=trajectories, train_step_counter=global_step)
train_checkpointer = common_utils.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=tf.contrib.checkpoint.List(train_metrics))
policy_checkpointer = common_utils.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'policy'),
policy=tf_agent.policy(),
global_step=global_step)
rb_checkpointer = common_utils.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
for train_metric in train_metrics:
train_metric.tf_summaries(step_metrics=train_metrics[:2])
summary_op = tf.contrib.summary.all_summary_ops()
with eval_summary_writer.as_default(), \
tf.contrib.summary.always_record_summaries():
for eval_metric in eval_metrics:
eval_metric.tf_summaries()
init_agent_op = tf_agent.initialize()
with tf.Session() as sess:
# Initialize the graph.
train_checkpointer.initialize_or_restore(sess)
rb_checkpointer.initialize_or_restore(sess)
sess.run(iterator.initializer)
# TODO(sguada) Remove once Periodically can be saved.
common_utils.initialize_uninitialized_variables(sess)
sess.run(init_agent_op)
tf.contrib.summary.initialize(session=sess)
sess.run(initial_collect_op)
global_step_val = sess.run(global_step)
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=global_step_val,
callback=eval_metrics_callback,
)
collect_call = sess.make_callable(collect_op)
train_step_call = sess.make_callable([train_op, summary_op, global_step])
timed_at_step = sess.run(global_step)
time_acc = 0
steps_per_second_ph = tf.placeholder(
tf.float32, shape=(), name='steps_per_sec_ph')
steps_per_second_summary = tf.contrib.summary.scalar(
name='global_steps/sec', tensor=steps_per_second_ph)
for _ in range(num_iterations):
start_time = time.time()
collect_call()
for _ in range(train_steps_per_iteration):
loss_info_value, _, global_step_val = train_step_call()
time_acc += time.time() - start_time
if global_step_val % log_interval == 0:
tf.logging.info('step = %d, loss = %f', global_step_val,
loss_info_value.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
tf.logging.info('%.3f steps/sec' % steps_per_sec)
sess.run(
steps_per_second_summary,
feed_dict={steps_per_second_ph: steps_per_sec})
timed_at_step = global_step_val
time_acc = 0
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
if global_step_val % eval_interval == 0:
metric_utils.compute_summaries(
eval_metrics,
eval_py_env,
eval_py_policy,
num_episodes=num_eval_episodes,
global_step=global_step_val,
callback=eval_metrics_callback,
)
dqda_clipping = config.dqda_clipping
td_errors_loss_fn = config.td_errors_loss_fn
gamma = config.gamma
reward_scale_factor = config.reward_scale_factor
gradient_clipping = config.gradient_clipping
actor_learning_rate = config.actor_learning_rate
critic_learning_rate = config.critic_learning_rate
debug_summaries = config.debug_summaries
summarize_grads_and_vars = config.summarize_grads_and_vars
global_step = tf.compat.v1.train.get_or_create_global_step()
actor_net = actor_network.ActorNetwork(
train_env.time_step_spec().observation,
train_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net_input_specs = (train_env.time_step_spec().observation,
train_env.action_spec())
critic_net = critic_network.CriticNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
)
tf_agent = ddpg_agent.DdpgAgent(
train_env.time_step_spec(),
