def worker(gpu, ngpus_per_node, args):
env_device, train_device = args_initialize(gpu, ngpus_per_node, args)
double_testing = False
# openai and cule testing
if double_testing == False:
train_env, test_env, observation = env_initialize(args, env_device)
else:
use_openai_test_env = args.use_openai_test_env
args.use_openai_test_env = False
train_env, test_env, observation = env_initialize(args, env_device)
args.use_openai_test_env = True
_, test_env_oai, _ = env_initialize(args, env_device)
args.use_openai_test_env = use_openai_test_env
train_csv_file, train_csv_writer, eval_csv_file, eval_csv_writer, summary_writer = log_initialize(
args, train_device)
model = ActorCritic(args.num_stack,
train_env.action_space,
normalize=args.normalize,
name=args.env_name)
model, optimizer = model_initialize(args, model, train_device)
if (args.num_ales % args.num_minibatches) != 0:
raise ValueError(
'Number of ales({}) size is not even divisible by the minibatch size({})'
.format(args.num_ales, args.num_minibatches))
if args.num_steps_per_update == -1:
args.num_steps_per_update = args.num_steps
minibatch_size = int(args.num_ales / args.num_minibatches)
step0 = args.num_steps - args.num_steps_per_update
n_minibatch = -1
# This is the number of frames GENERATED between two updates
num_frames_per_iter = args.num_ales * args.num_steps_per_update
total_steps = math.ceil(args.t_max /
(args.world_size * num_frames_per_iter))
shape = (args.num_steps + 1, args.num_ales, args.num_stack,
*train_env.observation_space.shape[-2:])
states = torch.zeros(shape, device=train_device, dtype=torch.float32)
states[step0, :, -1] = observation.to(device=train_device,
dtype=torch.float32)
shape = (args.num_steps + 1, args.num_ales)
values = torch.zeros(shape, device=train_device, dtype=torch.float32)
logits = torch.zeros(
(args.num_steps + 1, args.num_ales, train_env.action_space.n),
device=train_device,
dtype=torch.float32)
returns = torch.zeros(shape, device=train_device, dtype=torch.float32)
shape = (args.num_steps, args.num_ales)
rewards = torch.zeros(shape, device=train_device, dtype=torch.float32)
masks = torch.zeros(shape, device=train_device, dtype=torch.float32)
actions = torch.zeros(shape, device=train_device, dtype=torch.long)
mus = torch.ones(shape, device=train_device, dtype=torch.float32)
# pis = torch.zeros(shape, device=train_device, dtype=torch.float32)
rhos = torch.zeros((args.num_steps, minibatch_size),
device=train_device,
dtype=torch.float32)
# These variables are used to compute average rewards for all processes.
episode_rewards = torch.zeros(args.num_ales,
device=train_device,
dtype=torch.float32)
final_rewards = torch.zeros(args.num_ales,
device=train_device,
dtype=torch.float32)
episode_lengths = torch.zeros(args.num_ales,
device=train_device,
dtype=torch.float32)
final_lengths = torch.zeros(args.num_ales,
device=train_device,
dtype=torch.float32)
if args.use_gae:
raise ValueError('GAE is not compatible with VTRACE')
maybe_npy = lambda a: a.numpy() if args.use_openai else a
torch.cuda.synchronize()
iterator = range(total_steps)
if args.rank == 0:
iterator = tqdm(iterator)
total_time = 0
evaluation_offset = 0
for update in iterator:
T = args.world_size * update * num_frames_per_iter
if (args.rank == 0) and (T >= evaluation_offset):
evaluation_offset += args.evaluation_interval
if double_testing == False:
eval_lengths, eval_rewards = test(args, model, test_env)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(
lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(
rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[training time: {}] {}'.format(
format_time(total_time),
' --- '.join([length_data, reward_data])))
else:
args.use_openai_test_env = False
eval_lengths, eval_rewards = test(args, model, test_env)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(
lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(
rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[CuLE CPU] [training time: {}] {}'.format(
format_time(total_time),
' --- '.join([length_data, reward_data])))
args.use_openai_test_env = True
eval_lengths, eval_rewards = test(args, model, test_env_oai)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(
lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(
rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[OpAI CPU] [training time: {}] {}'.format(
format_time(total_time),
' --- '.join([length_data, reward_data])))
args.use_openai_test_env = use_openai_test_env
if eval_csv_writer and eval_csv_file:
eval_csv_writer.writerow([
T, total_time, rmean, rmedian, rmin, rmax, rstd, lmean,
lmedian, lmin, lmax, lstd
])
eval_csv_file.flush()
if args.plot:
summary_writer.add_scalar('eval/rewards_mean',
rmean,
T,
walltime=total_time)
summary_writer.add_scalar('eval/lengths_mean',
lmean,
T,
walltime=total_time)
start_time = time.time()
with torch.no_grad():
for step in range(args.num_steps_per_update):
nvtx.range_push('train:step')
value, logit = model(states[step0 + step])
# store values and logits
values[step0 + step] = value.squeeze(-1)
# convert actions to numpy and perform next step
probs = torch.clamp(F.softmax(logit, dim=1),
min=0.00001,
max=0.99999)
probs_action = probs.multinomial(1).to(env_device)
# Check if the multinomial threw an exception
# https://github.com/pytorch/pytorch/issues/7014
torch.cuda.current_stream().synchronize()
observation, reward, done, info = train_env.step(
maybe_npy(probs_action))
if args.use_openai:
# convert back to pytorch tensors
observation = torch.from_numpy(observation)
reward = torch.from_numpy(reward)
done = torch.from_numpy(done.astype(np.uint8))
else:
observation = observation.squeeze(-1).unsqueeze(1)
# move back to training memory
observation = observation.to(device=train_device)
reward = reward.to(device=train_device, dtype=torch.float32)
done = done.to(device=train_device, dtype=torch.bool)
probs_action = probs_action.to(device=train_device,
dtype=torch.long)
not_done = 1.0 - done.float()
# update rewards and actions
actions[step0 + step].copy_(probs_action.view(-1))
masks[step0 + step].copy_(not_done)
rewards[step0 + step].copy_(reward.sign())
#mus[step0 + step] = F.softmax(logit, dim=1).gather(1, actions[step0 + step].view(-1).unsqueeze(-1)).view(-1)
mus[step0 + step] = torch.clamp(F.softmax(logit, dim=1).gather(
1, actions[step0 + step].view(-1).unsqueeze(-1)).view(-1),
min=0.00001,
max=0.99999)
# update next observations
states[step0 + step + 1, :, :-1].copy_(states[step0 + step, :,
1:])
states[step0 + step + 1] *= not_done.view(
-1, *[1] * (observation.dim() - 1))
states[step0 + step + 1, :,
-1].copy_(observation.view(-1,
*states.size()[-2:]))
# update episodic reward counters
episode_rewards += reward
final_rewards[done] = episode_rewards[done]
episode_rewards *= not_done
episode_lengths += not_done
final_lengths[done] = episode_lengths[done]
episode_lengths *= not_done
nvtx.range_pop()
n_minibatch = (n_minibatch + 1) % args.num_minibatches
min_ale_index = int(n_minibatch * minibatch_size)
max_ale_index = min_ale_index + minibatch_size
# compute v-trace using the recursive method (remark 1 in IMPALA paper)
# value_next_step, logit = model(states[-1:, min_ale_index:max_ale_index, :, : ,:].contiguous().view(-1, *states.size()[-3:]))
# returns[-1, min_ale_index:max_ale_index] = value_next_step.squeeze()
# for step in reversed(range(args.num_steps)):
# value, logit = model(states[step, min_ale_index:max_ale_index, :, : ,:].contiguous().view(-1, *states.size()[-3:]))
# pis = F.softmax(logit, dim=1).gather(1, actions[step, min_ale_index:max_ale_index].view(-1).unsqueeze(-1)).view(-1)
# c = torch.clamp(pis / mus[step, min_ale_index:max_ale_index], max=c_)
# rhos[step, :] = torch.clamp(pis / mus[step, min_ale_index:max_ale_index], max=rho_)
# delta_value = rhos[step, :] * (rewards[step, min_ale_index:max_ale_index] + (args.gamma * value_next_step - value).squeeze())
# returns[step, min_ale_index:max_ale_index] = value.squeeze() + delta_value + args.gamma * c * \
# (returns[step + 1, min_ale_index:max_ale_index] - value_next_step.squeeze())
# value_next_step = value
nvtx.range_push('train:compute_values')
value, logit = model(
states[:, min_ale_index:max_ale_index, :, :, :].contiguous().view(
-1,
*states.size()[-3:]))
batch_value = value.detach().view((args.num_steps + 1, minibatch_size))
batch_probs = F.softmax(logit.detach()[:(args.num_steps *
minibatch_size), :],
dim=1)
batch_pis = batch_probs.gather(
1, actions[:, min_ale_index:max_ale_index].contiguous().view(
-1).unsqueeze(-1)).view((args.num_steps, minibatch_size))
returns[-1, min_ale_index:max_ale_index] = batch_value[-1]
with torch.no_grad():
for step in reversed(range(args.num_steps)):
c = torch.clamp(batch_pis[step, :] /
mus[step, min_ale_index:max_ale_index],
max=args.c_hat)
rhos[step, :] = torch.clamp(
batch_pis[step, :] /
mus[step, min_ale_index:max_ale_index],
max=args.rho_hat)
delta_value = rhos[step, :] * (
rewards[step, min_ale_index:max_ale_index] +
(args.gamma * batch_value[step + 1] -
batch_value[step]).squeeze())
returns[step, min_ale_index:max_ale_index] = \
batch_value[step, :].squeeze() + delta_value + args.gamma * c * \
(returns[step + 1, min_ale_index:max_ale_index] - batch_value[step + 1, :].squeeze())
value = value[:args.num_steps * minibatch_size, :]
logit = logit[:args.num_steps * minibatch_size, :]
log_probs = F.log_softmax(logit, dim=1)
probs = F.softmax(logit, dim=1)
action_log_probs = log_probs.gather(
1, actions[:, min_ale_index:max_ale_index].contiguous().view(
-1).unsqueeze(-1))
dist_entropy = -(log_probs * probs).sum(-1).mean()
advantages = returns[:-1, min_ale_index:max_ale_index].contiguous(
).view(-1).unsqueeze(-1) - value
value_loss = advantages.pow(2).mean()
policy_loss = -(action_log_probs * rhos.view(-1, 1).detach() * \
(rewards[:, min_ale_index:max_ale_index].contiguous().view(-1, 1) + args.gamma * \
returns[1:, min_ale_index:max_ale_index].contiguous().view(-1, 1) - value).detach()).mean()
nvtx.range_pop()
nvtx.range_push('train:backprop')
loss = value_loss * args.value_loss_coef + policy_loss - dist_entropy * args.entropy_coef
optimizer.zero_grad()
if args.cpu_train:
loss.backward()
master_params = model.parameters()
else:
with amp.scale_loss(loss, optimizer) as scaled_loss:
scaled_loss.backward()
master_params = amp.master_params(optimizer)
torch.nn.utils.clip_grad_norm_(master_params, args.max_grad_norm)
optimizer.step()
nvtx.range_pop()
nvtx.range_push('train:next_states')
for step in range(0, args.num_steps_per_update):
states[:-1, :, :, :, :] = states[1:, :, :, :, :]
rewards[:-1, :] = rewards[1:, :]
actions[:-1, :] = actions[1:, :]
masks[:-1, :] = masks[1:, :]
mus[:-1, :] = mus[1:, :]
nvtx.range_pop()
torch.cuda.synchronize()
if args.rank == 0:
iter_time = time.time() - start_time
total_time += iter_time
if args.plot:
summary_writer.add_scalar('train/rewards_mean',
final_rewards.mean().item(),
T,
walltime=total_time)
summary_writer.add_scalar('train/lengths_mean',
final_lengths.mean().item(),
T,
walltime=total_time)
summary_writer.add_scalar('train/value_loss',
value_loss,
T,
walltime=total_time)
summary_writer.add_scalar('train/policy_loss',
policy_loss,
T,
walltime=total_time)
summary_writer.add_scalar('train/entropy',
dist_entropy,
T,
walltime=total_time)
progress_data = callback(args, model, T, iter_time, final_rewards,
final_lengths, value_loss, policy_loss,
dist_entropy, train_csv_writer,
train_csv_file)
iterator.set_postfix_str(progress_data)
if args.plot and (args.rank == 0):
writer.close()
if args.use_openai:
train_env.close()
if args.use_openai_test_env:
test_env.close()
def worker(gpu, ngpus_per_node, args):
env_device, train_device = args_initialize(gpu, ngpus_per_node, args)
train_csv_file, train_csv_writer, eval_csv_file, eval_csv_writer, summary_writer = log_initialize(args, train_device)
train_env, test_env, observation = env_initialize(args, env_device)
model = ActorCritic(args.num_stack, train_env.action_space, normalize=args.normalize, name=args.env_name)
model, optimizer = model_initialize(args, model, train_device)
shape = (args.num_steps + 1, args.num_ales, args.num_stack, *train_env.observation_space.shape[-2:])
states = torch.zeros(shape, device=train_device, dtype=torch.float32)
states[0, :, -1] = observation.to(device=train_device, dtype=torch.float32)
shape = (args.num_steps + 1, args.num_ales)
values = torch.zeros(shape, device=train_device, dtype=torch.float32)
logits = torch.zeros((args.num_steps + 1, args.num_ales, train_env.action_space.n), device=train_device, dtype=torch.float32)
returns = torch.zeros(shape, device=train_device, dtype=torch.float32)
shape = (args.num_steps, args.num_ales)
rewards = torch.zeros(shape, device=train_device, dtype=torch.float32)
masks = torch.zeros(shape, device=train_device, dtype=torch.float32)
actions = torch.zeros(shape, device=train_device, dtype=torch.long)
# These variables are used to compute average rewards for all processes.
episode_rewards = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
final_rewards = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
episode_lengths = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
final_lengths = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
if args.use_gae:
gae = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
maybe_npy = lambda a: a.numpy() if args.use_openai else a
num_frames_per_iter = args.num_ales * args.num_steps
args.num_minibatches = num_frames_per_iter / args.batch_size
total_steps = math.ceil(args.t_max / (args.world_size * num_frames_per_iter))
decay = 1.0 / total_steps
scheduler = optim.lr_scheduler.StepLR(optimizer, step_size=args.ppo_epoch, gamma=1.0 - decay)
iterator = range(total_steps)
if args.rank == 0:
iterator = tqdm(iterator)
total_time = 0
evaluation_offset = 0
train_stream = torch.cuda.Stream()
torch.cuda.synchronize()
for update in iterator:
T = args.world_size * update * num_frames_per_iter
if (args.rank == 0) and (T >= evaluation_offset):
evaluation_offset += args.evaluation_interval
eval_lengths, eval_rewards = test(args, model, test_env)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[training time: {}] {}'.format(format_time(total_time), ' --- '.join([length_data, reward_data])))
if eval_csv_writer and eval_csv_file:
eval_csv_writer.writerow([T, total_time, rmean, rmedian, rmin, rmax, rstd, lmean, lmedian, lmin, lmax, lstd])
eval_csv_file.flush()
if args.plot:
summary_writer.add_scalar('eval/rewards_mean', rmean, T, walltime=total_time)
summary_writer.add_scalar('eval/lengths_mean', lmean, T, walltime=total_time)
start_time = time.time()
with torch.no_grad():
for step in range(args.num_steps):
nvtx.range_push('train:step')
value, logit = model(states[step])
# store values and logits
values[step], logits[step] = value.squeeze(-1), logit.squeeze(-1)
# convert actions to numpy and perform next step
probs = torch.clamp(F.softmax(logit, dim=1), min = 0.00001, max = 0.99999)
probs_action = probs.multinomial(1).to(env_device)
observation, reward, done, info = train_env.step(maybe_npy(probs_action))
if args.use_openai:
# convert back to pytorch tensors
observation = torch.from_numpy(observation)
reward = torch.from_numpy(reward)
done = torch.from_numpy(done.astype(np.uint8))
else:
observation = observation.squeeze(-1).unsqueeze(1)
# move back to training memory
observation = observation.to(device=train_device)
reward = reward.to(device=train_device, dtype=torch.float32)
done = done.to(device=train_device, dtype=torch.bool)
probs_action = probs_action.to(device=train_device, dtype=torch.long)
not_done = 1.0 - done.float()
# update rewards and actions
actions[step].copy_(probs_action.view(-1))
masks[step].copy_(not_done)
rewards[step].copy_(reward.sign())
# update next observations
states[step + 1, :, :-1].copy_(states[step, :, 1:])
states[step + 1] *= not_done.view(-1, *[1] * (observation.dim() - 1))
states[step + 1, :, -1].copy_(observation.view(-1, *states.size()[-2:]))
# update episodic reward counters
episode_rewards += reward
final_rewards[done] = episode_rewards[done]
episode_rewards *= not_done
episode_lengths += not_done
final_lengths[done] = episode_lengths[done]
episode_lengths *= not_done
nvtx.range_pop()
returns[-1] = values[-1] = model(states[-1])[0].data.squeeze(-1)
if args.use_gae:
gae.zero_()
for step in reversed(range(args.num_steps)):
delta = rewards[step] + (args.gamma * values[step + 1] * masks[step]) - values[step]
gae = delta + (args.gamma * args.tau * masks[step] * gae)
returns[step] = gae + values[step]
else:
for step in reversed(range(args.num_steps)):
returns[step] = rewards[step] + (args.gamma * returns[step + 1] * masks[step])
log_probs = F.log_softmax(logits[:-1].view(-1, train_env.action_space.n), dim=1)
action_log_probs = log_probs.gather(1, actions.view(-1).unsqueeze(-1))
advantages = returns[:-1].view(-1).unsqueeze(-1) - values[:-1].view(-1).unsqueeze(-1)
advantages = (advantages - advantages.mean()) / (advantages.std() + float(np.finfo(np.float32).eps))
total_value_loss = 0.0
total_policy_loss = 0.0
total_dist_entropy = 0.0
nvtx.range_push('train:loader')
states_view = states[:-1].view(-1, *states.size()[-3:])
actions_view = actions.view(-1)
returns_view = returns[:-1].view(-1)
train_dataset = torch.utils.data.TensorDataset(states_view, actions_view, action_log_probs, returns_view, advantages)
train_sampler = None
if args.distributed:
train_sampler = torch.utils.data.distributed.DistributedSampler(train_dataset)
train_loader = torch.utils.data.DataLoader(train_dataset, batch_size=args.batch_size, shuffle=(train_sampler is None),
num_workers=0, pin_memory=False, sampler=train_sampler)
nvtx.range_pop()
with torch.cuda.stream(train_stream):
for epoch in range(args.ppo_epoch):
nvtx.range_push('train:epoch_step')
if args.distributed:
train_sampler.set_epoch(epoch)
prefetcher = data_prefetcher(train_loader)
local_states, local_actions, local_action_log_probs, local_returns, local_advantages = prefetcher.next()
while local_states is not None:
batch_values, batch_logits = model(local_states)
batch_log_probs = F.log_softmax(batch_logits, dim=1)
batch_action_log_probs = batch_log_probs.gather(1, local_actions.unsqueeze(-1))
batch_probs = F.softmax(batch_logits, dim=1)
batch_dist_entropy = -(batch_log_probs * batch_probs).sum(-1).mean()
ratio = torch.exp(batch_action_log_probs - local_action_log_probs)
surrogate1 = ratio * local_advantages
surrogate2 = torch.clamp(ratio, 1.0 - args.clip_epsilon, 1.0 + args.clip_epsilon) * local_advantages
batch_policy_loss = -torch.min(surrogate1, surrogate2).mean()
batch_value_loss = F.mse_loss(local_returns.unsqueeze(-1), batch_values) / 2.0
loss = batch_value_loss * args.value_loss_coef + batch_policy_loss - batch_dist_entropy * args.entropy_coef
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(model.parameters(), args.max_grad_norm)
optimizer.step()
total_value_loss += batch_value_loss.item()
total_policy_loss += batch_policy_loss.item()
total_dist_entropy += batch_dist_entropy.item()
local_states, local_actions, local_action_log_probs, local_returns, local_advantages = prefetcher.next()
scheduler.step()
nvtx.range_pop()
torch.cuda.synchronize()
states[0].copy_(states[-1])
if args.rank == 0:
iter_time = time.time() - start_time
total_time += iter_time
value_loss = total_value_loss / (args.ppo_epoch * args.num_minibatches)
policy_loss = total_policy_loss / (args.ppo_epoch * args.num_minibatches)
dist_entropy = total_dist_entropy / (args.ppo_epoch * args.num_minibatches)
if args.plot:
writer.add_scalar('train/rewards_mean', final_rewards.mean().item(), T, walltime=total_time)
writer.add_scalar('train/lengths_mean', final_lengths.mean().item(), T, walltime=total_time)
writer.add_scalar('train/learning_rate', scheduler.get_lr()[0], T, walltime=total_time)
writer.add_scalar('train/value_loss', value_loss, T, walltime=total_time)
writer.add_scalar('train/policy_loss', policy_loss, T, walltime=total_time)
writer.add_scalar('train/entropy', dist_entropy, T, walltime=total_time)
progress_data = callback(args, model, T, iter_time, final_rewards, final_lengths,
value_loss, policy_loss, dist_entropy, train_csv_writer, train_csv_file)
iterator.set_postfix_str(progress_data)
if args.plot and (args.rank == 0):
writer.close()
if args.use_openai:
train_env.close()
if args.use_openai_test_env:
test_env.close()
def worker(gpu, ngpus_per_node, args):
env_device, train_device = args_initialize(gpu, ngpus_per_node, args)
# benchmark?
if args.benchmark:
device_name = torch.cuda.get_device_name(args.gpu).lower().replace(' ', '_')
backend_name = 'cule_cpu'
if args.use_openai:
backend_name = 'openai'
if args.use_cuda_env:
backend_name = 'cule_gpu'
if args.use_cuda_env and args.multiprocessing_distributed:
backend_name = 'cule_multiples_gpus'
filename = 'rom_perf_' + device_name + '_' + backend_name + '_' + args.env_name + '_' + str(args.num_ales) + '.csv'
csv_file = open(filename, 'w', newline='')
csv_writer = csv.writer(csv_file, delimiter=',')
csv_writer.writerow(['env_name', 'num_ales', 'step_time', 'step_rate', 'device', 'mode'])
args.evaluation_interval = args.t_max # no eval while benchmarking!
benchmark_steps = 100
double_testing = True
# openai and cule testing
if double_testing == False:
train_csv_file, train_csv_writer, eval_csv_file, eval_csv_writer, summary_writer = log_initialize(args, train_device)
train_env, test_env, observation = env_initialize(args, env_device)
else:
use_openai_test_env = args.use_openai_test_env
output_filename = args.output_filename
if args.output_filename is None:
args.output_filename = 'test.csv'
args.use_openai_test_env = False
args.output_filename = args.output_filename[:-4] + '_cule.csv'
train_csv_file, train_csv_writer, eval_csv_file, eval_csv_writer, summary_writer = log_initialize(args, train_device)
train_env, test_env, observation = env_initialize(args, env_device)
args.use_openai_test_env = True
args.output_filename = args.output_filename[:-4] + '_openai.csv'
_, test_env_oai, _ = env_initialize(args, env_device)
train_csv_file_oai, train_csv_writer_oai, eval_csv_file_oai, eval_csv_writer_oai, summary_writer_oai = log_initialize(args, train_device)
args.use_openai_test_env = use_openai_test_env
args.output_filename = output_filename
model = ActorCritic(args.num_stack, train_env.action_space, normalize=args.normalize, name=args.env_name)
model, optimizer = model_initialize(args, model, train_device)
if (args.num_ales % args.num_minibatches) != 0:
raise ValueError('Number of ales({}) size is not even divisible by the minibatch size({})'.format(
args.num_ales, args.num_minibatches))
if args.num_steps_per_update == -1:
args.num_steps_per_update = args.num_steps
minibatch_size = int(args.num_ales / args.num_minibatches)
step0 = args.num_steps - args.num_steps_per_update
n_minibatch = -1
# This is the number of frames GENERATED between two updates
num_frames_per_iter = args.num_ales * args.num_steps_per_update
total_steps = math.ceil(args.t_max / (args.world_size * num_frames_per_iter))
shape = (args.num_steps + 1, args.num_ales, args.num_stack, *train_env.observation_space.shape[-2:])
states = torch.zeros(shape, device=train_device, dtype=torch.float32)
states[step0, :, -1] = observation.to(device=train_device, dtype=torch.float32)
shape = (args.num_steps + 1, args.num_ales)
values = torch.zeros(shape, device=train_device, dtype=torch.float32)
logits = torch.zeros((args.num_steps + 1, args.num_ales, train_env.action_space.n), device=train_device, dtype=torch.float32)
returns = torch.zeros(shape, device=train_device, dtype=torch.float32)
shape = (args.num_steps, args.num_ales)
rewards = torch.zeros(shape, device=train_device, dtype=torch.float32)
masks = torch.zeros(shape, device=train_device, dtype=torch.float32)
actions = torch.zeros(shape, device=train_device, dtype=torch.long)
mus = torch.ones(shape, device=train_device, dtype=torch.float32)
# pis = torch.zeros(shape, device=train_device, dtype=torch.float32)
rhos = torch.zeros((args.num_steps, minibatch_size), device=train_device, dtype=torch.float32)
# These variables are used to compute average rewards for all processes.
episode_rewards = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
final_rewards = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
episode_lengths = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
final_lengths = torch.zeros(args.num_ales, device=train_device, dtype=torch.float32)
if args.use_gae:
raise ValueError('GAE is not compatible with VTRACE')
maybe_npy = lambda a: a.numpy() if args.use_openai else a
torch.cuda.synchronize()
iterator = range(total_steps)
if args.rank == 0:
iterator = tqdm(iterator)
total_time = 0
evaluation_offset = 0
# benchmark - random
if args.benchmark:
# warmup (measure anyway for debug!)
torch.cuda.current_stream().synchronize()
benchmark_start_time = time.time()
for step in range(0, 10):
if args.use_openai:
random_actions = np.random.randint(train_env.action_space.n, size=args.num_ales)
observation, reward, done, info = train_env.step(random_actions)
else:
random_actions = train_env.sample_random_actions()
observation, reward, done, info = train_env.step(maybe_npy(random_actions))
torch.cuda.current_stream().synchronize()
elapsed_time = time.time() - benchmark_start_time
fps = 10 * args.num_ales / elapsed_time
print('Warmup - random: ' + str(round(fps)) + 'FPS')
# benchmark
benchmark_start_time = time.time()
for step in range(0, benchmark_steps):
if args.use_openai:
random_actions = np.random.randint(train_env.action_space.n, size=args.num_ales)
observation, reward, done, info = train_env.step(random_actions)
else:
random_actions = train_env.sample_random_actions()
observation, reward, done, info = train_env.step(maybe_npy(random_actions))
torch.cuda.current_stream().synchronize()
elapsed_time = time.time() - benchmark_start_time
fps = benchmark_steps * args.num_ales / elapsed_time
csv_writer.writerow([args.env_name, args.num_ales, elapsed_time / benchmark_steps, fps, backend_name, 'random'])
print('Benchmark - random: ' + str(round(fps)) + ' PFS')
benchmark_start_time = time.time()
for update in iterator:
if not args.benchmark:
T = args.world_size * update * num_frames_per_iter
if (args.rank == 0) and (T >= evaluation_offset):
evaluation_offset += args.evaluation_interval
if double_testing == False:
eval_lengths, eval_rewards = test(args, model, test_env)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[training time: {}] {}'.format(format_time(total_time), ' --- '.join([length_data, reward_data])))
if eval_csv_writer and eval_csv_file:
eval_csv_writer.writerow([T, total_time, rmean, rmedian, rmin, rmax, rstd, lmean, lmedian, lmin, lmax, lstd])
eval_csv_file.flush()
if args.plot:
summary_writer.add_scalar('eval/rewards_mean', rmean, T, walltime=total_time)
summary_writer.add_scalar('eval/lengths_mean', lmean, T, walltime=total_time)
else:
args.use_openai_test_env = False
eval_lengths, eval_rewards = test(args, model, test_env)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[CuLE CPU] [training time: {}] {}'.format(format_time(total_time), ' --- '.join([length_data, reward_data])))
if eval_csv_writer and eval_csv_file:
eval_csv_writer.writerow([T, total_time, rmean, rmedian, rmin, rmax, rstd, lmean, lmedian, lmin, lmax, lstd])
eval_csv_file.flush()
if args.plot:
summary_writer.add_scalar('eval/rewards_mean', rmean, T, walltime=total_time)
summary_writer.add_scalar('eval/lengths_mean', lmean, T, walltime=total_time)
args.use_openai_test_env = True
eval_lengths, eval_rewards = test(args, model, test_env_oai)
lmean, lmedian, lmin, lmax, lstd = gen_data(eval_lengths)
rmean, rmedian, rmin, rmax, rstd = gen_data(eval_rewards)
length_data = '(length) min/max/mean/median: {lmin:4.1f}/{lmax:4.1f}/{lmean:4.1f}/{lmedian:4.1f}'.format(lmin=lmin, lmax=lmax, lmean=lmean, lmedian=lmedian)
reward_data = '(reward) min/max/mean/median: {rmin:4.1f}/{rmax:4.1f}/{rmean:4.1f}/{rmedian:4.1f}'.format(rmin=rmin, rmax=rmax, rmean=rmean, rmedian=rmedian)
print('[OpAI CPU] [training time: {}] {}'.format(format_time(total_time), ' --- '.join([length_data, reward_data])))
if eval_csv_writer_oai and eval_csv_file_oai:
eval_csv_writer_oai.writerow([T, total_time, rmean, rmedian, rmin, rmax, rstd, lmean, lmedian, lmin, lmax, lstd])
eval_csv_file_oai.flush()
if args.plot:
summary_writer_oai.add_scalar('eval/rewards_mean', rmean, T, walltime=total_time)
summary_writer_oai.add_scalar('eval/lengths_mean', lmean, T, walltime=total_time)
args.use_openai_test_env = use_openai_test_env
start_time = time.time()
with torch.no_grad():
for step in range(args.num_steps_per_update):
nvtx.range_push('train:step')
# step
value, logit = model(states[step0 + step])
# store values and logits
values[step0 + step] = value.squeeze(-1)
# convert actions to numpy and perform next step
probs = torch.clamp(F.softmax(logit, dim=1), min = 0.00001, max = 0.99999)
probs_action = probs.multinomial(1).to(env_device)
# Check if the multinomial threw an exception
# https://github.com/pytorch/pytorch/issues/7014
torch.cuda.current_stream().synchronize()
observation, reward, done, info = train_env.step(maybe_npy(probs_action))
if args.use_openai:
# convert back to pytorch tensors
observation = torch.from_numpy(observation)
reward = torch.from_numpy(reward)
done = torch.from_numpy(done.astype(np.uint8))
else:
observation = observation.squeeze(-1).unsqueeze(1)
# move back to training memory
observation = observation.to(device=train_device)
reward = reward.to(device=train_device, dtype=torch.float32)
done = done.to(device=train_device, dtype=torch.bool)
probs_action = probs_action.to(device=train_device, dtype=torch.long)
not_done = 1.0 - done.float()
# update rewards and actions
actions[step0 + step].copy_(probs_action.view(-1))
masks[step0 + step].copy_(not_done)
rewards[step0 + step].copy_(reward.sign())
#mus[step0 + step] = F.softmax(logit, dim=1).gather(1, actions[step0 + step].view(-1).unsqueeze(-1)).view(-1)
mus[step0 + step] = torch.clamp(F.softmax(logit, dim=1).gather(1, actions[step0 + step].view(-1).unsqueeze(-1)).view(-1), min = 0.00001, max=0.99999)
# update next observations
states[step0 + step + 1, :, :-1].copy_(states[step0 + step, :, 1:])
states[step0 + step + 1] *= not_done.view(-1, *[1] * (observation.dim() - 1))
states[step0 + step + 1, :, -1].copy_(observation.view(-1, *states.size()[-2:]))
# update episodic reward counters
episode_rewards += reward
final_rewards[done] = episode_rewards[done]
episode_rewards *= not_done
episode_lengths += not_done
final_lengths[done] = episode_lengths[done]
episode_lengths *= not_done
nvtx.range_pop()
# benchmark - inference
if args.benchmark:
if update < (benchmark_steps - 1):
for step in range(0, args.num_steps_per_update):
states[:-1, :, :, :, :] = states[1:, :, :, : ,:]
rewards[:-1, :] = rewards[1:, :]
actions[:-1, :] = actions[1:, :]
masks[:-1, :] = masks[1:, :]
mus[:-1, :] = mus[1:, :]
continue
if update == (benchmark_steps - 1):
torch.cuda.current_stream().synchronize()
elapsed_time = time.time() - benchmark_start_time
fps = benchmark_steps * args.num_ales * args.num_steps_per_update / elapsed_time
csv_writer.writerow([args.env_name, args.num_ales, elapsed_time / benchmark_steps, fps, backend_name, 'inference'])
print('Benchmark - inference: ' + str(round(fps)) + ' PFS')
n_minibatch = (n_minibatch + 1) % args.num_minibatches
min_ale_index = int(n_minibatch * minibatch_size)
max_ale_index = min_ale_index + minibatch_size
nvtx.range_push('train:compute_values')
value, logit = model(states[:, min_ale_index:max_ale_index, :, :, :].contiguous().view(-1, *states.size()[-3:]))
batch_value = value.detach().view((args.num_steps + 1, minibatch_size))
batch_probs = F.softmax(logit.detach()[:(args.num_steps * minibatch_size), :], dim=1)
batch_pis = batch_probs.gather(1, actions[:, min_ale_index:max_ale_index].contiguous().view(-1).unsqueeze(-1)).view((args.num_steps, minibatch_size))
returns[-1, min_ale_index:max_ale_index] = batch_value[-1]
with torch.no_grad():
for step in reversed(range(args.num_steps)):
c = torch.clamp(batch_pis[step, :] / mus[step, min_ale_index:max_ale_index], max=args.c_hat)
rhos[step, :] = torch.clamp(batch_pis[step, :] / mus[step, min_ale_index:max_ale_index], max=args.rho_hat)
delta_value = rhos[step, :] * (rewards[step, min_ale_index:max_ale_index] + (args.gamma * batch_value[step + 1] - batch_value[step]).squeeze())
returns[step, min_ale_index:max_ale_index] = \
batch_value[step, :].squeeze() + delta_value + args.gamma * c * \
(returns[step + 1, min_ale_index:max_ale_index] - batch_value[step + 1, :].squeeze())
value = value[:args.num_steps * minibatch_size, :]
logit = logit[:args.num_steps * minibatch_size, :]
log_probs = F.log_softmax(logit, dim=1)
probs = F.softmax(logit, dim=1)
action_log_probs = log_probs.gather(1, actions[:, min_ale_index:max_ale_index].contiguous().view(-1).unsqueeze(-1))
dist_entropy = -(log_probs * probs).sum(-1).mean()
advantages = returns[:-1, min_ale_index:max_ale_index].contiguous().view(-1).unsqueeze(-1) - value
value_loss = advantages.pow(2).mean()
policy_loss = -(action_log_probs * rhos.view(-1, 1).detach() * \
(rewards[:, min_ale_index:max_ale_index].contiguous().view(-1, 1) + args.gamma * \
returns[1:, min_ale_index:max_ale_index].contiguous().view(-1, 1) - value).detach()).mean()
nvtx.range_pop()
nvtx.range_push('train:backprop')
loss = value_loss * args.value_loss_coef + policy_loss - dist_entropy * args.entropy_coef
optimizer.zero_grad()
loss.backward()
torch.nn.utils.clip_grad_norm_(model.parameters(), args.max_grad_norm)
optimizer.step()
nvtx.range_pop()
nvtx.range_push('train:next_states')
for step in range(0, args.num_steps_per_update):
states[:-1] = states[1:].clone()
rewards[:-1] = rewards[1:]
actions[:-1] = actions[1:]
masks[:-1] = masks[1:]
mus[:-1] = mus[1:]
nvtx.range_pop()
torch.cuda.synchronize()
if not args.benchmark:
if args.rank == 0:
iter_time = time.time() - start_time
total_time += iter_time
if args.plot:
summary_writer.add_scalar('train/rewards_mean', final_rewards.mean().item(), T, walltime=total_time)
summary_writer.add_scalar('train/lengths_mean', final_lengths.mean().item(), T, walltime=total_time)
summary_writer.add_scalar('train/value_loss', value_loss, T, walltime=total_time)
summary_writer.add_scalar('train/policy_loss', policy_loss, T, walltime=total_time)
summary_writer.add_scalar('train/entropy', dist_entropy, T, walltime=total_time)
progress_data = callback(args, model, T, iter_time, final_rewards, final_lengths,
value_loss, policy_loss, dist_entropy, train_csv_writer, train_csv_file)
iterator.set_postfix_str(progress_data)
# benchmark - training
if args.benchmark:
if update == benchmark_steps:
benchmark_start_time = time.time()
if update == 2 * benchmark_steps:
elapsed_time = time.time() - benchmark_start_time
fps = benchmark_steps * args.num_ales * args.num_steps_per_update / elapsed_time
csv_writer.writerow([args.env_name, args.num_ales, elapsed_time / benchmark_steps, fps, backend_name, 'training'])
print('Benchmark - training: ' + str(round(fps)) + ' PFS')
csv_file.close()
break
if args.plot and (args.rank == 0):
writer.close()
if args.use_openai:
train_env.close()
if args.use_openai_test_env:
test_env.close()