def sgd_baseline(lr=0.001):
from playground.maml.maml_torch.tasks import Sine
task = Sine()
model = StandardMLP(1, 1) if G.debug else FunctionalMLP(1, 1)
adam = t.optim.Adam([p for p in model.parameters()], lr=lr)
mse = t.nn.MSELoss()
for ep_ind in range(1000):
xs, labels = h.const(task.proper())
ys = model(xs.unsqueeze(-1))
loss = mse(ys, labels.unsqueeze(-1))
logger.log(ep_ind, loss=loss.item(), silent=ep_ind % 50)
adam.zero_grad()
loss.backward()
adam.step()
logger.flush()
def run_e_maml(_G=None):
import baselines.common.tf_util as U
if _G is not None:
config.G.update(_G)
for k, v in [
*vars(config.RUN).items(), *vars(config.G).items(),
*vars(config.Reporting).items(), *vars(config.DEBUG).items()
]:
comet_logger.log_parameter(k, v)
# todo: let's take the control of the log director away from the train script. It should all be set from outside.
logger.configure(log_directory=config.RUN.log_dir,
prefix=config.RUN.log_prefix)
logger.log_params(RUN=vars(config.RUN),
G=vars(config.G),
Reporting=vars(config.Reporting),
DEBUG=vars(config.DEBUG))
logger.log_file(__file__)
tasks = MetaRLTasks(env_name=config.G.env_name,
batch_size=config.G.n_parallel_envs,
start_seed=config.G.start_seed,
log_directory=(config.RUN.log_directory +
"/{seed}") if config.G.render else None,
max_steps=config.G.env_max_timesteps)
# sess_config = tf.ConfigProto(log_device_placement=config.Reporting.log_device_placement)
# with tf.Session(config=sess_config), tf.device('/gpu:0'), tasks:
graph = tf.Graph()
with graph.as_default(), U.make_session(num_cpu=config.G.n_cpu), tasks:
maml = E_MAML(ob_space=tasks.envs.observation_space,
act_space=tasks.envs.action_space)
comet_logger.set_model_graph(tf.get_default_graph())
# writer = tf.summary.FileWriter(logdir='/opt/project/debug-graph', graph=graph)
# writer.flush()
# exit()
trainer = Trainer()
U.initialize()
trainer.train(tasks=tasks, maml=maml)
logger.flush()
tf.reset_default_graph()
def thunk(*args, **kwargs):
import traceback
from ml_logger import logger
assert not (args and ARGS), \
f"can not use position argument at both thunk creation as well as run.\n" \
f"_args: {args}\n" \
f"ARGS: {ARGS}\n"
logger.configure(root_dir=RUN.server,
prefix=PREFIX,
register_experiment=False,
max_workers=10)
logger.log_params(host=dict(hostname=logger.hostname),
run=dict(status="running",
startTime=logger.now(),
job_id=logger.job_id))
import time
try:
_KWARGS = {**KWARGS}
_KWARGS.update(**kwargs)
results = fn(*(args or ARGS), **_KWARGS)
logger.log_line("========== execution is complete ==========")
logger.log_params(
run=dict(status="completed", completeTime=logger.now()))
logger.flush()
time.sleep(3)
except Exception as e:
tb = traceback.format_exc()
with logger.SyncContext(
): # Make sure uploaded finished before termination.
logger.print(tb, color="red")
logger.log_text(tb, filename="traceback.err")
logger.log_params(
run=dict(status="error", exitTime=logger.now()))
logger.flush()
time.sleep(3)
raise e
return results
def _(*args, **kwargs):
import traceback
from ml_logger import logger
assert not (args and ARGS), f"can not use position argument at both thunk creation as well as " \
f"run.\n_args: {args}\nARGS: {ARGS}"
logger.configure(log_directory=RUN.server,
prefix=PREFIX,
register_experiment=False,
max_workers=10)
logger.log_params(host=dict(hostname=logger.hostname),
run=dict(status="running", startTime=logger.now()))
try:
_KWARGS = KWARGS.copy()
_KWARGS.update(kwargs)
fn(*(args or ARGS), **_KWARGS)
logger.log_line("========= execution is complete ==========")
logger.log_params(
run=dict(status="completed", completeTime=logger.now()))
except Exception as e:
import time
time.sleep(1)
tb = traceback.format_exc()
with logger.SyncContext(
): # Make sure uploaded finished before termination.
logger.log_text(tb, filename="traceback.err")
logger.log_params(
run=dict(status="error", exitTime=logger.now()))
logger.log_line(tb)
logger.flush()
time.sleep(30)
raise e
import time
time.sleep(30)
def train_maml(*, n_tasks: int, tasks: MetaRLTasks, maml: E_MAML):
if not G.inner_alg.startswith("BC"):
path_gen = path_gen_fn(env=tasks.envs, policy=maml.runner.policy, start_reset=G.reset_on_start)
next(path_gen)
meta_path_gen = path_gen_fn(env=tasks.envs, policy=maml.meta_runner.policy, start_reset=G.reset_on_start)
next(meta_path_gen)
if G.load_from_checkpoint:
# todo: add variable to checkpoint
# todo: set the epoch_ind starting point here.
logger.load_variables(G.load_from_checkpoint)
if G.meta_sgd:
assert maml.alpha is not None, "Coding Mistake if meta_sgd is trueful but maml.alpha is None."
max_episode_length = tasks.spec.max_episode_steps
sess = tf.get_default_session()
epoch_ind, prefix = G.epoch_init - 1, ""
while epoch_ind < G.epoch_init + G.n_epochs:
logger.flush()
logger.split()
is_bc_test = (prefix != "test/" and G.eval_interval and epoch_ind % G.eval_interval == 0)
prefix = "test/" if is_bc_test else ""
epoch_ind += 0 if is_bc_test else 1
if G.meta_sgd:
alpha_lr = sess.run(maml.alpha) # only used in the runner.
logger.log(metrics={f"alpha_{i}/{stem(t.name, 2)}": a
for i, a_ in enumerate(alpha_lr)
for t, a in zip(maml.runner.trainables, a_)}, silent=True)
else:
alpha_lr = G.alpha.send(epoch_ind) if isinstance(G.alpha, Schedule) else np.array(G.alpha)
logger.log(alpha=metrify(alpha_lr), epoch=epoch_ind, silent=True)
beta_lr = G.beta.send(epoch_ind) if isinstance(G.beta, Schedule) else np.array(G.beta)
clip_range = G.clip_range.send(epoch_ind) if isinstance(G.clip_range, Schedule) else np.array(G.clip_range)
logger.log(beta=metrify(beta_lr), clip_range=metrify(clip_range), epoch=epoch_ind, silent=True)
batch_timesteps = G.batch_timesteps.send(epoch_ind) \
if isinstance(G.batch_timesteps, Schedule) else G.batch_timesteps
# Compute updates for each task in the batch
# 0. save value of variables
# 1. sample
# 2. gradient descent
# 3. repeat step 1., 2. until all gradient steps are exhausted.
batch_data = defaultdict(list)
maml.save_weight_cache()
load_ops = [] if DEBUG.no_weight_reset else [maml.cache.load]
if G.checkpoint_interval and epoch_ind % G.checkpoint_interval == 0 \
and not is_bc_test and epoch_ind >= G.start_checkpoint_after_epoch:
cp_path = f"checkpoints/variables_{epoch_ind:04d}.pkl"
logger.log_line(f'saving checkpoint {cp_path}')
# note: of course I don't know that are all of the trainables at the moment.
logger.save_variables(tf.trainable_variables(), path=cp_path)
feed_dict = {}
for task_ind in range(n_tasks if is_bc_test else G.n_tasks):
graph_branch = maml.graphs[0] if G.n_graphs == 1 else maml.graphs[task_ind]
if G.n_graphs == 1:
gradient_sum_op = maml.gradient_sum.set_op if task_ind == 0 else maml.gradient_sum.add_op
print(f"task_ind {task_ind}...")
if not DEBUG.no_task_resample:
if not is_bc_test:
print(f'L250: sampling task')
tasks.sample()
elif task_ind < n_tasks:
task_spec = dict(index=task_ind % n_tasks)
print(f'L254: sampling task {task_spec}')
tasks.sample(**task_spec)
else:
raise RuntimeError('should never hit here.')
for k in range(G.n_grad_steps + 1): # 0 - 10 <== last one being the maml policy.
_is_new = False
# for imitation inner loss, we still sample trajectory for evaluation purposes, but
# replace it with the demonstration data for learning
if k < G.n_grad_steps:
if G.inner_alg.startswith("BC"):
p = p if G.single_sampling and k > 0 else \
bc.sample_demonstration_data(tasks.task_spec, key=("eval" if is_bc_test else None))
else:
p, _is_new = path_gen.send(batch_timesteps), True
elif k == G.n_grad_steps:
if G.meta_alg.startswith("BC"):
# note: use meta bc samples.
p = bc.sample_demonstration_data(tasks.task_spec, key="meta")
else:
p, _is_new = meta_path_gen.send(batch_timesteps), True
else:
raise Exception('Implementation error. Should never reach this line.')
if k in G.eval_grad_steps:
_ = path_gen if k < G.n_grad_steps else meta_path_gen
p_eval = p if _is_new else _.send(G.eval_timesteps)
# reporting on new trajectory samples
avg_r = p_eval['ep_info']['reward'] if G.normalize_env else np.mean(p_eval['rewards'])
episode_r = avg_r * max_episode_length # default horizon for HalfCheetah
if episode_r < G.term_reward_threshold: # todo: make this batch-based instead of on single episode
logger.log_line("episode reward is too low: ", episode_r, "terminating training.", flush=True)
raise RuntimeError('AVERAGE REWARD TOO LOW. Terminating the experiment.')
batch_data[prefix + f"grad_{k}_step_reward"].append(avg_r if Reporting.report_mean else episode_r)
if k in G.eval_grad_steps:
logger.log_key_value(prefix + f"task_{task_ind}_grad_{k}_reward", episode_r, silent=True)
_p = {k: v for k, v in p.items() if k != "ep_info"}
if k < G.n_grad_steps:
# note: under meta-SGD mode, the runner needs the k^th learning rate.
_lr = alpha_lr[k] if G.meta_sgd else alpha_lr
# clip_range is not used in BC mode. but still passed in.
runner_feed_dict = \
path_to_feed_dict(inputs=maml.runner.inputs, paths=_p, lr=_lr,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
horizon=max_episode_length, clip_range=clip_range)
# todo: optimize `maml.meta_runner` if k >= G.n_grad_steps.
loss, *_, __ = maml.runner.optim.run_optimize(feed_dict=runner_feed_dict)
runner_feed_dict.clear()
for key, value in zip(maml.runner.model.reports.keys(), [loss, *_]):
batch_data[prefix + f"grad_{k}_step_{key}"].append(value)
logger.log_key_value(prefix + f"task_{task_ind}_grad_{k}_{key}", value, silent=True)
if loss > G.term_loss_threshold: # todo: make this batch-based instead of on single episode
logger.log_line(prefix + "episode loss blew up:", loss, "terminating training.", flush=True)
raise RuntimeError('loss is TOO HIGH. Terminating the experiment.')
# done: has bug when using fixed learning rate. Needs the learning rate as input.
feed_dict.update( # do NOT pass in the learning rate because the graph already includes those.
path_to_feed_dict(inputs=graph_branch.workers[k].inputs, paths=_p,
lr=None if G.meta_sgd else alpha_lr, # but do with fixed alpha
horizon=max_episode_length,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
clip_range=clip_range))
elif k == G.n_grad_steps:
yield_keys = dict(
movie=epoch_ind >= G.start_movie_after_epoch and epoch_ind % G.record_movie_interval == 0,
eval=is_bc_test
)
if np.fromiter(yield_keys.values(), bool).any():
yield yield_keys, epoch_ind, tasks.task_spec
if is_bc_test:
if load_ops: # we need to reset the weights. Otherwise the world would be on fire.
tf.get_default_session().run(load_ops)
continue # do NOT meta learn from test samples.
# we don't treat the meta_input the same way even though we could. This is more clear to read.
# note: feed in the learning rate only later.
feed_dict.update( # do NOT need learning rate
path_to_feed_dict(inputs=graph_branch.meta.inputs, paths=_p,
horizon=max_episode_length,
baseline=G.baseline, gamma=G.gamma, use_gae=G.use_gae, lam=G.lam,
clip_range=clip_range))
if G.n_graphs == 1:
# load from checkpoint before computing the meta gradient\nrun gradient sum operation
if load_ops:
tf.get_default_session().run(load_ops)
# note: meta reporting should be run here. Not supported for simplicity. (need to reduce across
# note: tasks, and can not be done outside individual task graphs.
if G.meta_sgd is None: # note: copied from train_supervised_maml, not tested
feed_dict[maml.alpha] = alpha_lr
tf.get_default_session().run(gradient_sum_op, feed_dict)
feed_dict.clear()
if load_ops:
tf.get_default_session().run(load_ops)
if is_bc_test:
continue # do NOT meta learn from test samples.
# note: copied from train_supervised_maml, not tested
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
if G.n_graphs == 1:
assert G.meta_n_grad_steps == 1, "ERROR: Can only run 1 meta gradient step with a single graph."
# note: remove meta reporting b/c meta report should be in each task in this case.
tf.get_default_session().run(maml.meta_update_ops[0], {maml.beta: beta_lr})
else:
assert feed_dict, "ERROR: It is likely that you jumped here from L:178."
feed_dict[maml.beta] = beta_lr
for i in range(G.meta_n_grad_steps):
update_op = maml.meta_update_ops[0 if G.reuse_meta_optimizer else i]
*reports, _ = tf.get_default_session().run(maml.meta_reporting + [update_op], feed_dict)
if i not in (0, G.meta_n_grad_steps - 1):
continue
for key, v in zip(maml.meta_reporting_keys, reports):
logger.log_key_value(prefix + f"grad_{G.n_grad_steps + i}_step_{key}", v, silent=True)
feed_dict.clear()
tf.get_default_session().run(maml.cache.save)
# Now compute the meta gradients.
# note: runner shares variables with the MAML graph. Reload from state_dict
# note: if max_grad_step is the same as n_grad_steps then no need here.
dt = logger.split()
logger.log_line('Timer Starts...' if dt is None else f'{dt:0.2f} sec/epoch')
logger.log(dt_epoch=dt or np.nan, epoch=epoch_ind)
for key, arr in batch_data.items():
reduced = np.array(arr).mean()
logger.log_key_value(key, reduced)
logger.flush()
def train_supervised_maml(*, k_tasks=1, maml: E_MAML):
# env used for evaluation purposes only.
if G.meta_sgd:
assert maml.alpha is not None, "Coding Mistake if meta_sgd is trueful but maml.alpha is None."
assert G.n_tasks >= k_tasks, f"Is this intended? You probably want to have " \
f"meta-batch({G.n_tasks}) >= k_tasks({k_tasks})."
sess = tf.get_default_session()
epoch_ind, pref = -1, ""
while epoch_ind < G.n_epochs:
# for epoch_ind in range(G.n_epochs + 1):
logger.flush()
logger.split()
is_bc_test = (pref != "test/" and G.eval_interval and epoch_ind % G.eval_interval == 0)
pref = "test/" if is_bc_test else ""
epoch_ind += 0 if is_bc_test else 1
if G.meta_sgd:
alpha_lr = sess.run(maml.alpha) # only used in the runner.
logger.log(metrics={f"alpha_{i}/{stem(t.name, 2)}": a
for i, a_ in enumerate(alpha_lr)
for t, a in zip(maml.runner.trainables, a_)}, silent=True)
else:
alpha_lr = G.alpha.send(epoch_ind) if isinstance(G.alpha, Schedule) else np.array(G.alpha)
logger.log(alpha=metrify(alpha_lr), epoch=epoch_ind, silent=True)
beta_lr = G.beta.send(epoch_ind) if isinstance(G.beta, Schedule) else np.array(G.beta)
logger.log(beta=metrify(beta_lr), epoch=epoch_ind, silent=True)
if G.checkpoint_interval and epoch_ind % G.checkpoint_interval == 0:
yield "pre-update-checkpoint", epoch_ind
# Compute updates for each task in the batch
# 0. save value of variables
# 1. sample
# 2. gradient descent
# 3. repeat step 1., 2. until all gradient steps are exhausted.
batch_data = defaultdict(list)
maml.save_weight_cache()
load_ops = [] if DEBUG.no_weight_reset else [maml.cache.load]
feed_dict = {}
for task_ind in range(k_tasks if is_bc_test else G.n_tasks):
graph_branch = maml.graphs[0] if G.n_graphs == 1 else maml.graphs[task_ind]
if G.n_graphs == 1:
gradient_sum_op = maml.gradient_sum.set_op if task_ind == 0 else maml.gradient_sum.add_op
"""
In BC mode, we don't have an environment. The sampling is handled here then fed to the sampler.
> task_spec = dict(index=0)
Here we make the testing more efficient.
"""
if not DEBUG.no_task_resample:
if not is_bc_test:
task_spec = dict(index=np.random.randint(0, k_tasks))
elif task_ind < k_tasks:
task_spec = dict(index=task_ind % k_tasks)
else:
raise RuntimeError('should never hit here.')
for k in range(G.n_grad_steps + 1): # 0 - 10 <== last one being the maml policy.
# for imitation inner loss, we still sample trajectory for evaluation purposes, but
# replace it with the demonstration data for learning
if k < G.n_grad_steps:
p = p if G.single_sampling and k > 0 else \
bc.sample_demonstration_data(task_spec, key=("eval" if is_bc_test else None))
elif k == G.n_grad_steps:
# note: use meta bc samples.
p = bc.sample_demonstration_data(task_spec, key="meta")
else:
raise Exception('Implementation error. Should never reach this line.')
_p = {k: v for k, v in p.items() if k != "ep_info"}
if k < G.n_grad_steps:
# note: under meta-SGD mode, the runner needs the k^th learning rate.
_lr = alpha_lr[k] if G.meta_sgd else alpha_lr
runner_feed_dict = \
path_to_feed_dict(inputs=maml.runner.inputs, paths=_p, lr=_lr)
# todo: optimize `maml.meta_runner` if k >= G.n_grad_steps.
loss, *_, __ = maml.runner.optim.run_optimize(feed_dict=runner_feed_dict)
runner_feed_dict.clear()
for key, value in zip(maml.runner.model.reports.keys(), [loss, *_]):
batch_data[pref + f"grad_{k}_step_{key}"].append(value)
logger.log_key_value(pref + f"task_{task_ind}_grad_{k}_{key}", value, silent=True)
if loss > G.term_loss_threshold: # todo: make this batch-based instead of on single episode
err = pref + "episode loss blew up:", loss, "terminating training."
logger.log_line(colored(err, "red"), flush=True)
raise RuntimeError('loss is TOO HIGH. Terminating the experiment.')
# fixit: has bug when using fixed learning rate. Still needs to get learning rate from placeholder
feed_dict.update(path_to_feed_dict(inputs=graph_branch.workers[k].inputs, paths=_p))
elif k == G.n_grad_steps:
yield_keys = dict(
movie=G.record_movie_interval and epoch_ind >= G.start_movie_after_epoch and
epoch_ind % G.record_movie_interval == 0,
eval=is_bc_test
)
if np.fromiter(yield_keys.values(), bool).any():
yield yield_keys, epoch_ind, task_spec
if is_bc_test:
if load_ops:
tf.get_default_session().run(load_ops)
continue # do NOT meta learn from test samples.
# we don't treat the meta_input the same way even though we could. This is more clear to read.
# note: feed in the learning rate only later.
feed_dict.update(path_to_feed_dict(inputs=graph_branch.meta.inputs, paths=_p))
if G.n_graphs == 1:
# load from checkpoint before computing the meta gradient\nrun gradient sum operation
if load_ops:
tf.get_default_session().run(load_ops)
# note: meta reporting should be run here. Not supported for simplicity. (need to reduce across
# note: tasks, and can not be done outside individual task graphs.
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
tf.get_default_session().run(gradient_sum_op, feed_dict)
feed_dict.clear()
if load_ops:
tf.get_default_session().run(load_ops)
if is_bc_test:
continue # do NOT meta learn from test samples.
if G.meta_sgd is None:
feed_dict[maml.alpha] = alpha_lr
if G.n_graphs == 1:
assert G.meta_n_grad_steps == 1, "ERROR: Can only run 1 meta gradient step with a single graph."
# note: remove meta reporting b/c meta report should be in each task in this case.
tf.get_default_session().run(maml.meta_update_ops[0], {maml.beta: beta_lr})
else:
assert feed_dict, "ERROR: It is likely that you jumped here from L:178."
feed_dict[maml.beta] = beta_lr
for i in range(G.meta_n_grad_steps):
update_op = maml.meta_update_ops[0 if G.reuse_meta_optimizer else i]
*reports, _ = tf.get_default_session().run(maml.meta_reporting + [update_op], feed_dict)
if i not in (0, G.meta_n_grad_steps - 1):
continue
for key, v in zip(maml.meta_reporting_keys, reports):
logger.log_key_value(pref + f"grad_{G.n_grad_steps + i}_step_{key}", v, silent=True)
feed_dict.clear()
tf.get_default_session().run(maml.cache.save)
# Now compute the meta gradients.
# note: runner shares variables with the MAML graph. Reload from state_dict
# note: if max_grad_step is the same as n_grad_steps then no need here.
dt = logger.split()
logger.log_line('Timer Starts...' if dt is None else f'{dt:0.2f} sec/epoch')
logger.log(dt_epoch=dt or np.nan, epoch=epoch_ind)
for key, arr in batch_data.items():
reduced = np.array(arr).mean()
logger.log_key_value(key, reduced)
def _run_single_task(self, i, task):
start_time = time.time()
try:
task_hash = _hash_task_dict(
task) # generate SHA256 hash of task dict as identifier
# skip task if it has already been completed
if task_hash in self.gof_single_res_collection.keys():
logger.log("Task {:<1} {:<63} {:<10} {:<1} {:<1} {:<1}".format(
i + 1, "has already been completed:", "Estimator:",
task['estimator_name'], " Simulator: ",
task["simulator_name"]))
return None
# run task when it has not been completed
else:
logger.log("Task {:<1} {:<63} {:<10} {:<1} {:<1} {:<1}".format(
i + 1, "running:", "Estimator:", task['estimator_name'],
" Simulator: ", task["simulator_name"]))
tf.reset_default_graph()
''' build simulator and estimator model given the specified configurations '''
simulator = globals()[task['simulator_name']](
**task['simulator_config'])
t = time.time()
estimator = globals()[task['estimator_name']](
task['task_name'], simulator.ndim_x, simulator.ndim_y,
**task['estimator_config'])
time_to_initialize = time.time() - t
# if desired hide gpu devices
if not self.use_gpu:
os.environ["CUDA_VISIBLE_DEVICES"] = "-1"
with tf.Session() as sess:
sess.run(tf.global_variables_initializer())
''' train the model '''
gof = GoodnessOfFit(estimator=estimator,
probabilistic_model=simulator,
X=task['X'],
Y=task['Y'],
n_observations=task['n_obs'],
n_mc_samples=task['n_mc_samples'],
x_cond=task['x_cond'],
task_name=task['task_name'],
tail_measures=self.tail_measures)
t = time.time()
gof.fit_estimator(print_fit_result=True)
time_to_fit = time.time() - t
if self.dump_models:
logger.dump_pkl(data=gof.estimator,
path="model_dumps/{}.pkl".format(
task['task_name']))
logger.dump_pkl(data=gof.probabilistic_model,
path="model_dumps/{}.pkl".format(
task['task_name'] + "_simulator"))
''' perform tests with the fitted model '''
t = time.time()
gof_results = gof.compute_results()
time_to_evaluate = time.time() - t
gof_results.task_name = task['task_name']
gof_results.hash = task_hash
logger.log_pkl(data=(task_hash, gof_results),
path=RESULTS_FILE)
logger.flush(file_name=RESULTS_FILE)
del gof_results
task_duration = time.time() - start_time
logger.log(
"Finished task {:<1} in {:<1.4f} {:<43} {:<10} {:<1} {:<1} {:<2} | {:<1} {:<1.2f} {:<1} {:<1.2f} {:<1} {:<1.2f}"
.format(i + 1, task_duration, "sec:", "Estimator:",
task['estimator_name'], " Simulator: ",
task["simulator_name"], "t_init:",
time_to_initialize, "t_fit:", time_to_fit,
"t_eval:", time_to_evaluate))
except Exception as e:
logger.log("error in task: ", str(i + 1))
logger.log(str(e))
traceback.print_exc()
def test_configuration(log_dir):
logger.configure(log_dir, prefix='main_test_script', color='green')
logger.log("This is a unittest")
logger.log("Some stats", reward=0.05, kl=0.001)
logger.flush()
### First configure the logger to log to a direction (or a server)
logger.configure('/tmp/ml-logger-debug')
# outputs ~>
# logging data to /tmp/ml-logger-debug
# We can log individual keys
for i in range(1):
logger.log(metrics={
'some_val/smooth': 10,
'status': f"step ({i})"
},
reward=20,
timestep=i)
### flush the data, otherwise the value would be overwritten with new values in the next iteration.
logger.flush()
# outputs ~>
# ╒════════════════════╤════════════════════════════╕
# │ reward │ 20 │
# ├────────────────────┼────────────────────────────┤
# │ timestep │ 0 │
# ├────────────────────┼────────────────────────────┤
# │ some val/smooth │ 10 │
# ├────────────────────┼────────────────────────────┤
# │ status │ step (0) │
# ├────────────────────┼────────────────────────────┤
# │ timestamp │'2018-11-04T11:37:03.324824'│
# ╘════════════════════╧════════════════════════════╛
for i in range(100):
logger.store_metrics(metrics={'some_val/smooth': 10}, some=20, timestep=i)
def maml(model=None, test_fn=None):
from playground.maml.maml_torch.tasks import Sine
model = model or (StandardMLP(1, 1) if G.debug else FunctionalMLP(1, 1))
meta_optimizer = t.optim.Adam(model.parameters(), lr=G.beta)
mse = t.nn.MSELoss()
M.tic('start')
M.tic('epoch')
for ep_ind in range(G.n_epochs):
dt = M.split('epoch', silent=True)
dt_ = M.toc('start', silent=True)
print(f"epoch {ep_ind} @ {dt:.4f}sec/ep, {dt_:.1f} sec from start")
original_ps = OrderedDict(model.named_parameters())
tasks = [Sine() for _ in range(G.task_batch_n)]
for task_ind, task in enumerate(tasks):
if task_ind != 0:
model.params.update(original_ps)
if G.test_mode:
_gradient = original_ps['bias_var'].grad
if task_ind == 0:
assert _gradient is None or _gradient.sum().item(
) == 0, f"{_gradient} is not zero or None, epoch {ep_ind}."
else:
assert _gradient.sum().item(
) != 0, f"{_gradient} should be non-zero"
assert (
original_ps['bias_var'] == model.params['bias_var']
).all().item() == 1, 'the two parameters should be the same'
xs, labels = t.DoubleTensor(task.samples(G.k_shot))
_silent = task_ind != 0
for grad_ind in range(G.n_gradient_steps):
if hasattr(model,
"is_autoregressive") and model.is_autoregressive:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0,
labels.view(G.k_shot, 1, 1))
ys = ys.squeeze(-1) # ys:Size[5, batch_n: 1, 1]
elif hasattr(model, "is_recurrent") and model.is_recurrent:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0)
ys = ys.squeeze(-1) # ys:Size[5, batch_n: 1, 1]
else:
ys = model(xs.unsqueeze(-1))
ht = None
loss = mse(ys, labels.unsqueeze(-1))
logger.log_keyvalue(ep_ind,
f"{task_ind}-grad-{grad_ind}-loss",
loss.item(),
silent=_silent)
if callable(test_fn) and \
ep_ind % G.test_interval == 0 and grad_ind in G.test_grad_steps:
test_fn(model,
task=task,
task_id=task_ind,
epoch=ep_ind,
grad_step=grad_ind,
silent=_silent,
h0=ht)
dps = t.autograd.grad(loss,
model.parameters(),
create_graph=True,
retain_graph=True)
# 1. update parameters, use updated theta'.
# 2. run forward, get direct gradient to update the network
for (name, p), dp in zip(model.named_parameters(), dps):
model.params[name] = p - G.alpha * dp
grad_ind = G.n_gradient_steps
# meta gradient
if hasattr(model, "is_autoregressive") and model.is_autoregressive:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0,
labels.view(G.k_shot, 1, 1))
ys = ys.squeeze(-1) # ys:Size[5, batch_n: 1, 1]
elif hasattr(model, "is_recurrent") and model.is_recurrent:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0)
ys = ys.squeeze(-1) # ys:Size[5, batch_n: 1, 1]
else:
ys = model(xs.unsqueeze(-1))
ht = None
loss = mse(ys, labels.unsqueeze(-1))
logger.log_keyvalue(ep_ind,
f"{task_ind}-grad-{grad_ind}-loss",
loss.item(),
silent=_silent)
if callable(test_fn) and \
ep_ind % G.test_interval == 0 and grad_ind in G.test_grad_steps:
test_fn(model,
task=task,
task_id=task_ind,
epoch=ep_ind,
grad_step=grad_ind,
silent=_silent,
h0=ht)
meta_dps = t.autograd.grad(loss, original_ps.values())
with t.no_grad():
for (name, p), meta_dp in zip(original_ps.items(), meta_dps):
p.grad = (0 if p.grad is None else p.grad) + meta_dp
# normalize the gradient.
with t.no_grad():
for (name, p) in original_ps.items():
p.grad /= G.task_batch_n
model.params.update(original_ps)
meta_optimizer.step()
meta_optimizer.zero_grad()
if G.save_interval and ep_ind % G.save_interval == 0:
logger.log_module(ep_ind, **{type(model).__name__: model})
logger.flush()
def reptile(model=None, test_fn=None):
from playground.maml.maml_torch.tasks import Sine
model = model or FunctionalMLP(1, 1)
meta_optimizer = t.optim.Adam(model.parameters(), lr=G.beta)
mse = t.nn.MSELoss()
M.tic('epoch')
for ep_ind in range(G.n_epochs):
M.split('epoch')
original_ps = OrderedDict(model.named_parameters())
tasks = [Sine() for _ in range(G.task_batch_n)]
for task_ind, task in enumerate(tasks):
if task_ind != 0:
model.params.update(original_ps)
xs, labels = t.DoubleTensor(task.samples(G.k_shot))
_silent = task_ind != 0
for grad_ind in range(G.n_gradient_steps):
if hasattr(model,
"is_autoregressive") and model.is_autoregressive:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0,
labels.view(G.k_shot, 1, 1))
ys = ys.squeeze(-1) # ys:Size(5, batch_n:1, 1).
elif hasattr(model, "is_recurrent") and model.is_recurrent:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0)
ys = ys.squeeze(-1) # ys:Size(5, batch_n:1, 1).
else:
ys = model(xs.unsqueeze(-1))
ht = None
loss = mse(ys, labels.unsqueeze(-1))
with t.no_grad():
logger.log_keyvalue(ep_ind,
f"{task_ind}-grad-{grad_ind}-loss",
loss.item(),
silent=_silent)
if callable(
test_fn
) and ep_ind % G.test_interval == 0 and grad_ind in G.test_grad_steps:
test_fn(model,
task,
task_id=task_ind,
epoch=ep_ind,
grad_step=grad_ind,
h0=ht,
silent=_silent)
dps = t.autograd.grad(loss, model.parameters())
with t.no_grad():
for (name, p), dp in zip(model.named_parameters(), dps):
model.params[name] = p - G.alpha * dp
model.params[name].requires_grad = True
grad_ind = G.n_gradient_steps
with t.no_grad():
# domain adaptation
if hasattr(model,
"is_autoregressive") and model.is_autoregressive:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0,
labels.view(G.k_shot, 1, 1))
ys = ys.squeeze(-1) # ys:Size(5, batch_n:1, 1).
elif hasattr(model, "is_recurrent") and model.is_recurrent:
h0 = model.h0_init()
ys, ht = model(xs.view(G.k_shot, 1, 1), h0)
ys = ys.squeeze(-1) # ys:Size(5, batch_n:1, 1).
else:
ys = model(xs.unsqueeze(-1))
ht = None
loss = mse(ys, labels.unsqueeze(-1))
logger.log_keyvalue(ep_ind,
f"{task_ind}-grad-{grad_ind}-loss",
loss.item(),
silent=_silent)
if callable(test_fn) and \
ep_ind % G.test_interval == 0 and grad_ind in G.test_grad_steps:
test_fn(model,
task,
task_id=task_ind,
epoch=ep_ind,
grad_step=grad_ind,
h0=ht,
silent=_silent)
# Compute REPTILE 1st-order gradient
with t.no_grad():
for name, p in original_ps.items():
# let's do the division at the end.
p.grad = (0 if p.grad is None else p.grad) + (
p - model.params[name]) # / G.task_batch_n
with t.no_grad():
for name, p in original_ps.items():
# let's do the division at the end.
p.grad /= G.task_batch_n
model.params.update(original_ps)
meta_optimizer.step()
meta_optimizer.zero_grad()
if G.save_interval and ep_ind % G.save_interval == 0:
logger.log_module(ep_ind, **{type(model).__name__: model})
logger.flush()