def eval(self, n):
self.agent.eval()
start_time = time()
if self.config['env.standardize']:
eval_env = VecStandardize(
venv=self.eval_env,
use_obs=True,
use_reward=False, # do not process rewards, no training
clip_obs=self.runner.env.clip_obs,
clip_reward=self.runner.env.clip_reward,
gamma=self.runner.env.gamma,
eps=self.runner.env.eps,
constant_obs_mean=self.runner.env.obs_runningavg.mu,
constant_obs_std=self.runner.env.obs_runningavg.sigma)
eval_runner = EpisodeRunner(self.config, self.agent, eval_env)
T = eval_env.T
D = eval_runner(T)
eval_output = {}
eval_output['D'] = D
eval_output['n'] = n
eval_output['T'] = T
eval_output['num_sec'] = time() - start_time
return eval_output
def test_get_wrapper(env_id):
env = make_vec_env(SerialVecEnv, make_gym_env, env_id, 3, 0)
env = VecStandardize(env)
env = VecClipAction(env)
out = get_wrapper(env, 'VecClipAction')
assert out.__class__.__name__ == 'VecClipAction'
del out
out = get_wrapper(env, 'VecStandardize')
assert out.__class__.__name__ == 'VecStandardize'
del out
out = get_wrapper(env, 'SerialVecEnv')
assert out.__class__.__name__ == 'SerialVecEnv'
def _prepare(self, config):
self.env = make_vec_env(SerialVecEnv, make_gym_env, config['env.id'],
config['train.N'], 0)
self.env = VecClipAction(self.env)
if config['env.standardize']:
self.env = VecStandardize(self.env,
use_obs=True,
use_reward=False,
clip_obs=10.0,
clip_reward=10.0,
gamma=0.99,
eps=1e-08)
self.env_spec = EnvSpec(self.env)
self.device = torch.device('cpu')
self.agent = Agent(config, self.env_spec, self.device)
def algorithm(config, seed, device):
logdir = Path(config['log.dir']) / str(config['ID']) / str(seed)
seeder = Seeder(seed)
seeds = seeder(size=config['env.count'])
env_constructors = []
for seed in seeds:
env_constructors.append(partial(CraftingEnv, seed))
env = VecStandardize(SerialVecEnv(env_constructors),
clip_reward=100.0)
env_spec = EnvSpec(env)
agent = Agent(config, env_spec, device)
runner = RollingSegmentRunner(config, agent, env)
engine = Engine(agent, runner, env)
for i in range(config['train.iter']):
training_result = engine.train(i)
print(f'Training iteration {i} complete.')
if i % config['log.interval'] == 0:
logs = engine.log_train(training_result)
pickle_dump(obj=logs, f=logdir / f'iter_{i}_train_logs', ext='.pkl')
torch.save(engine.agent.policy.state_dict(),
logdir / 'trained_params')
from dial_control_rl import agent
from dial_control_rl.env import CraftingEnv
from lagom.utils import Seeder
from lagom.envs.vec_env import SerialVecEnv, VecStandardize
from lagom.envs import EnvSpec
from functools import partial
env = CraftingEnv()
seeder = Seeder(0)
seeds = seeder(size=1)
env_constructors = []
for seed in seeds:
env_constructors.append(partial(CraftingEnv, seed))
env = VecStandardize(SerialVecEnv(env_constructors), clip_reward=100.0)
env_spec = EnvSpec(env)
policy = agent.Policy({'algo.rl': 0}, env_spec, torch.device('cpu'))
policy.load_state_dict(params)
policy = policy.double()
def V(x):
out = policy(torch.tensor(x), ['V'])
return out['V'][0]
def Q(x):
out = policy(torch.tensor(x), ['action_dist'])
out = out['action_dist']
def __call__(self, config, seed, device):
set_global_seeds(seed)
logdir = Path(config['log.dir']) / str(config['ID']) / str(seed)
if config['env.time_aware_obs']:
kwargs = {'extra_wrapper': [TimeAwareObservation]}
else:
kwargs = {}
env = make_vec_env(SerialVecEnv,
make_gym_env,
config['env.id'],
config['train.N'],
seed,
monitor=True,
**kwargs)
if config['eval.independent']:
eval_env = make_vec_env(SerialVecEnv, make_gym_env,
config['env.id'], config['eval.N'], seed)
if config['env.clip_action']:
env = VecClipAction(env)
if config['eval.independent']:
eval_env = VecClipAction(eval_env)
if config[
'env.standardize']: # running averages of observation and reward
env = VecStandardize(
venv=env,
use_obs=True,
use_reward=False, # A2C specific
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
eps=1e-8)
env_spec = EnvSpec(env)
agent = Agent(config, env_spec, device)
runner = RollingSegmentRunner(config, agent, env)
if config['eval.independent']:
engine = Engine(agent, runner, config, eval_env=eval_env)
else:
engine = Engine(agent, runner, config)
train_logs = []
eval_logs = []
for i in count():
if 'train.iter' in config and i >= config[
'train.iter']: # enough iterations
break
elif 'train.timestep' in config and agent.total_T >= config[
'train.timestep']: # enough timesteps
break
train_output = engine.train(i)
if i == 0 or (i + 1) % config['log.interval'] == 0:
train_log = engine.log_train(train_output)
train_logs.append(train_log)
if config['eval.independent']:
with torch.no_grad(): # disable grad, save memory
eval_output = engine.eval(n=i)
eval_log = engine.log_eval(eval_output)
eval_logs.append(eval_log)
pickle_dump(obj=train_logs, f=logdir / 'train_logs', ext='.pkl')
pickle_dump(obj=eval_logs, f=logdir / 'eval_logs', ext='.pkl')
return None
def __call__(self, config, seed, device_str):
# Set random seeds
set_global_seeds(seed)
# Create device
device = torch.device(device_str)
# Use log dir for current job (run_experiment)
logdir = Path(config['log.dir']) / str(config['ID']) / str(seed)
# Make environment (VecEnv) for training and evaluating
env = make_vec_env(
vec_env_class=SerialVecEnv,
make_env=make_gym_env,
env_id=config['env.id'],
num_env=config['train.N'], # batch size for multiple environments
init_seed=seed)
eval_env = make_vec_env(vec_env_class=SerialVecEnv,
make_env=make_gym_env,
env_id=config['env.id'],
num_env=1,
init_seed=seed)
if config[
'env.standardize']: # wrap with VecStandardize for running averages of observation and rewards
env = VecStandardize(venv=env,
use_obs=True,
use_reward=True,
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
eps=1e-8)
eval_env = VecStandardize(
venv=
eval_env, # remember to synchronize running averages during evaluation !!!
use_obs=True,
use_reward=False, # do not process rewards, no training
clip_obs=env.clip_obs,
clip_reward=env.clip_reward,
gamma=env.gamma,
eps=env.eps,
constant_obs_mean=env.obs_runningavg.
mu, # use current running average as constant
constant_obs_std=env.obs_runningavg.sigma)
env_spec = EnvSpec(env)
# Create policy
network = Network(config=config, env_spec=env_spec)
if env_spec.control_type == 'Discrete':
policy = CategoricalPolicy(config=config,
network=network,
env_spec=env_spec,
learn_V=True)
elif env_spec.control_type == 'Continuous':
policy = GaussianPolicy(
config=config,
network=network,
env_spec=env_spec,
learn_V=True,
min_std=config['agent.min_std'],
std_style=config['agent.std_style'],
constant_std=config['agent.constant_std'],
std_state_dependent=config['agent.std_state_dependent'],
init_std=config['agent.init_std'])
network = network.to(device)
# Create optimizer and learning rate scheduler
optimizer = optim.Adam(policy.network.parameters(),
lr=config['algo.lr'])
if config['algo.use_lr_scheduler']:
if 'train.iter' in config: # iteration-based training
max_epoch = config['train.iter']
elif 'train.timestep' in config: # timestep-based training
max_epoch = config[
'train.timestep'] + 1 # +1 to avoid 0.0 lr in final iteration
lambda_f = lambda epoch: 1 - epoch / max_epoch # decay learning rate for each training epoch
lr_scheduler = optim.lr_scheduler.LambdaLR(optimizer,
lr_lambda=lambda_f)
# Create agent
kwargs = {'device': device}
if config['algo.use_lr_scheduler']:
kwargs['lr_scheduler'] = lr_scheduler
agent = A2CAgent(config=config,
policy=policy,
optimizer=optimizer,
**kwargs)
# Create runner
runner = SegmentRunner(agent=agent,
env=env,
gamma=config['algo.gamma'])
eval_runner = TrajectoryRunner(agent=agent, env=eval_env, gamma=1.0)
# Create engine
engine = Engine(agent=agent,
runner=runner,
config=config,
eval_runner=eval_runner)
# Training and evaluation
train_logs = []
eval_logs = []
for i in count(): # incremental iteration
if 'train.iter' in config and i >= config[
'train.iter']: # enough iterations
break
elif 'train.timestep' in config and agent.total_T >= config[
'train.timestep']: # enough timesteps
break
# train and evaluation
train_output = engine.train(n=i)
# logging
if i == 0 or (i + 1) % config['log.record_interval'] == 0 or (
i + 1) % config['log.print_interval'] == 0:
train_log = engine.log_train(train_output)
with torch.no_grad(): # disable grad, save memory
eval_output = engine.eval(n=i)
eval_log = engine.log_eval(eval_output)
if i == 0 or (i + 1) % config[
'log.record_interval'] == 0: # record loggings
train_logs.append(train_log)
eval_logs.append(eval_log)
# Save all loggings
pickle_dump(obj=train_logs, f=logdir / 'train_logs', ext='.pkl')
pickle_dump(obj=eval_logs, f=logdir / 'eval_logs', ext='.pkl')
return None
def __call__(self, config, seed, device_str):
set_global_seeds(seed)
device = torch.device(device_str)
logdir = Path(config['log.dir']) / str(config['ID']) / str(seed)
# Environment related
env = make_vec_env(vec_env_class=SerialVecEnv,
make_env=make_gym_env,
env_id=config['env.id'],
num_env=config['train.N'], # batched environment
init_seed=seed,
rolling=True)
eval_env = make_vec_env(vec_env_class=SerialVecEnv,
make_env=make_gym_env,
env_id=config['env.id'],
num_env=config['eval.N'],
init_seed=seed,
rolling=False)
if config['env.standardize']: # running averages of observation and reward
env = VecStandardize(venv=env,
use_obs=True,
use_reward=False, # A2C
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
eps=1e-8)
eval_env = VecStandardize(venv=eval_env, # remember to synchronize running averages during evaluation !!!
use_obs=True,
use_reward=False, # do not process rewards, no training
clip_obs=env.clip_obs,
clip_reward=env.clip_reward,
gamma=env.gamma,
eps=env.eps,
constant_obs_mean=env.obs_runningavg.mu, # use current running average as constant
constant_obs_std=env.obs_runningavg.sigma)
env_spec = EnvSpec(env)
# Network and policy
if config['network.recurrent']:
network = LSTM(config=config, device=device, env_spec=env_spec)
else:
network = Network(config=config, device=device, env_spec=env_spec)
if env_spec.control_type == 'Discrete':
policy = CategoricalPolicy(config=config,
network=network,
env_spec=env_spec,
device=device,
learn_V=True)
elif env_spec.control_type == 'Continuous':
policy = GaussianPolicy(config=config,
network=network,
env_spec=env_spec,
device=device,
learn_V=True,
min_std=config['agent.min_std'],
std_style=config['agent.std_style'],
constant_std=config['agent.constant_std'],
std_state_dependent=config['agent.std_state_dependent'],
init_std=config['agent.init_std'])
# Optimizer and learning rate scheduler
optimizer = optim.Adam(policy.network.parameters(), lr=config['algo.lr'])
if config['algo.use_lr_scheduler']:
if 'train.iter' in config: # iteration-based
max_epoch = config['train.iter']
elif 'train.timestep' in config: # timestep-based
max_epoch = config['train.timestep'] + 1 # avoid zero lr in final iteration
lambda_f = lambda epoch: 1 - epoch/max_epoch
lr_scheduler = optim.lr_scheduler.LambdaLR(optimizer, lr_lambda=lambda_f)
# Agent
kwargs = {'device': device}
if config['algo.use_lr_scheduler']:
kwargs['lr_scheduler'] = lr_scheduler
agent = A2CAgent(config=config,
policy=policy,
optimizer=optimizer,
**kwargs)
# Runner
runner = SegmentRunner(agent=agent,
env=env,
gamma=config['algo.gamma'])
eval_runner = TrajectoryRunner(agent=agent,
env=eval_env,
gamma=1.0)
# Engine
engine = Engine(agent=agent,
runner=runner,
config=config,
eval_runner=eval_runner)
# Training and evaluation
train_logs = []
eval_logs = []
if config['network.recurrent']:
rnn_states_buffer = agent.policy.rnn_states # for SegmentRunner
for i in count():
if 'train.iter' in config and i >= config['train.iter']: # enough iterations
break
elif 'train.timestep' in config and agent.total_T >= config['train.timestep']: # enough timesteps
break
if config['network.recurrent']:
if isinstance(rnn_states_buffer, list): # LSTM: [h, c]
rnn_states_buffer = [buf.detach() for buf in rnn_states_buffer]
else:
rnn_states_buffer = rnn_states_buffer.detach()
agent.policy.rnn_states = rnn_states_buffer
train_output = engine.train(n=i)
# Logging
if i == 0 or (i+1) % config['log.record_interval'] == 0 or (i+1) % config['log.print_interval'] == 0:
train_log = engine.log_train(train_output)
if config['network.recurrent']:
rnn_states_buffer = agent.policy.rnn_states # for SegmentRunner
with torch.no_grad(): # disable grad, save memory
eval_output = engine.eval(n=i)
eval_log = engine.log_eval(eval_output)
if i == 0 or (i+1) % config['log.record_interval'] == 0:
train_logs.append(train_log)
eval_logs.append(eval_log)
# Save all loggings
pickle_dump(obj=train_logs, f=logdir/'train_logs', ext='.pkl')
pickle_dump(obj=eval_logs, f=logdir/'eval_logs', ext='.pkl')
return None
def test_vec_standardize(self, vec_env_class):
venv = make_vec_env(vec_env_class, make_gym_env, 'CartPole-v1', 5, 1,
True)
venv = VecStandardize(venv,
use_obs=True,
use_reward=True,
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
eps=1e-8)
assert isinstance(venv, VecEnvWrapper) and isinstance(
venv, VecStandardize)
obs = venv.reset()
assert not np.allclose(venv.obs_runningavg.mu, 0.0)
assert not np.allclose(venv.obs_runningavg.sigma, 0.0)
a = [1] * 5
[venv.step(a) for _ in range(20)]
assert venv.obs_runningavg.N == 5 + 5 * 20
assert venv.reward_runningavg.N == 5 * 20
assert not np.allclose(venv.obs_runningavg.mu, 0.0)
assert not np.allclose(venv.obs_runningavg.sigma, 0.0)
running_avg = venv.running_averages
assert isinstance(running_avg, dict)
assert len(
running_avg
) == 2 and 'obs_avg' in running_avg and 'r_avg' in running_avg
assert 'mu' in running_avg['obs_avg'] and 'sigma' in running_avg[
'obs_avg']
assert not np.allclose(running_avg['obs_avg']['mu'], 0.0)
assert not np.allclose(running_avg['obs_avg']['sigma'], 0.0)
assert 'mu' not in running_avg['r_avg']
assert 'sigma' in running_avg['r_avg']
assert not np.allclose(running_avg['r_avg']['sigma'], 0.0)
del venv, obs, a
# other settings: clipping
venv = make_vec_env(vec_env_class, make_gym_env, 'CartPole-v1', 5, 1,
True)
venv = VecStandardize(venv,
use_obs=True,
use_reward=True,
clip_obs=0.01,
clip_reward=0.0001,
gamma=0.99,
eps=1e-8)
obs = venv.reset()
assert np.allclose(np.abs(np.asarray(obs)), 0.01)
running_avg = venv.running_averages
assert isinstance(running_avg, dict)
assert len(
running_avg
) == 2 and 'obs_avg' in running_avg and 'r_avg' in running_avg
assert 'mu' in running_avg['obs_avg'] and 'sigma' in running_avg[
'obs_avg']
assert not np.allclose(running_avg['obs_avg']['mu'], 0.0)
assert not np.allclose(running_avg['obs_avg']['sigma'], 0.0)
assert 'mu' not in running_avg['r_avg']
assert 'sigma' in running_avg['r_avg']
assert running_avg['r_avg']['sigma'] is None
a = [1] * 5
obs, rewards, _, _ = venv.step(a)
assert rewards.max() == 0.0001
del venv, obs, a
# other settings: turn off use_obs
venv = make_vec_env(vec_env_class, make_gym_env, 'CartPole-v1', 5, 1,
True)
venv = VecStandardize(venv,
use_obs=False,
use_reward=False,
clip_obs=0.001,
clip_reward=0.0001,
gamma=0.99,
eps=1e-8)
obs = venv.reset()
assert np.asarray(obs).max() > 0.001
a = [1] * 5
obs, rewards, _, _ = venv.step(a)
assert np.asarray(rewards).max() >= 0.0001
del venv, obs, a
# other settings: gamma
venv = make_vec_env(vec_env_class, make_gym_env, 'CartPole-v1', 5, 1,
True)
with pytest.raises(AssertionError):
venv = VecStandardize(
venv,
use_obs=False,
use_reward=False,
clip_obs=0.001,
clip_reward=0.0001,
gamma=1.0, # not allowed
eps=1e-8)
del venv
# other settings: constant value
venv = make_vec_env(vec_env_class, make_gym_env, 'CartPole-v1', 5, 1,
True)
venv = VecStandardize(venv,
use_obs=True,
use_reward=True,
clip_obs=10.,
clip_reward=10.,
gamma=0.99,
eps=1e-8,
constant_obs_mean=np.array([5.] * 4),
constant_obs_std=np.array([1.] * 4),
constant_reward_std=np.array(1000))
obs = venv.reset()
assert obs.min() < -4.0
a = [1] * 5
obs, rewards, _, _ = venv.step(a)
assert rewards.min() <= 0.01
