class Trainer():
def __init__(self, params, experience_replay_buffer,metrics,results_dir,env):
self.parms = params
self.D = experience_replay_buffer
self.metrics = metrics
self.env = env
self.tested_episodes = 0
self.statistics_path = results_dir+'/statistics'
self.model_path = results_dir+'/model'
self.video_path = results_dir+'/video'
self.rew_vs_pred_rew_path = results_dir+'/rew_vs_pred_rew'
self.dump_plan_path = results_dir+'/dump_plan'
#if folder do not exists, create it
os.makedirs(self.statistics_path, exist_ok=True)
os.makedirs(self.model_path, exist_ok=True)
os.makedirs(self.video_path, exist_ok=True)
os.makedirs(self.rew_vs_pred_rew_path, exist_ok=True)
os.makedirs(self.dump_plan_path, exist_ok=True)
# Create models
self.transition_model = TransitionModel(self.parms.belief_size, self.parms.state_size, self.env.action_size, self.parms.hidden_size, self.parms.embedding_size, self.parms.activation_function).to(device=self.parms.device)
self.observation_model = ObservationModel(self.parms.belief_size, self.parms.state_size, self.parms.embedding_size, self.parms.activation_function).to(device=self.parms.device)
self.reward_model = RewardModel(self.parms.belief_size, self.parms.state_size, self.parms.hidden_size, self.parms.activation_function).to(device=self.parms.device)
self.encoder = Encoder(self.parms.embedding_size,self.parms.activation_function).to(device=self.parms.device)
self.param_list = list(self.transition_model.parameters()) + list(self.observation_model.parameters()) + list(self.reward_model.parameters()) + list(self.encoder.parameters())
self.optimiser = optim.Adam(self.param_list, lr=0 if self.parms.learning_rate_schedule != 0 else self.parms.learning_rate, eps=self.parms.adam_epsilon)
self.planner = MPCPlanner(self.env.action_size, self.parms.planning_horizon, self.parms.optimisation_iters, self.parms.candidates, self.parms.top_candidates, self.transition_model, self.reward_model,self.env.action_range[0], self.env.action_range[1])
global_prior = Normal(torch.zeros(self.parms.batch_size, self.parms.state_size, device=self.parms.device), torch.ones(self.parms.batch_size, self.parms.state_size, device=self.parms.device)) # Global prior N(0, I)
self.free_nats = torch.full((1, ), self.parms.free_nats, dtype=torch.float32, device=self.parms.device) # Allowed deviation in KL divergence
def load_checkpoints(self):
self.metrics = torch.load(self.model_path+'/metrics.pth')
model_path = self.model_path+'/best_model'
os.makedirs(model_path, exist_ok=True)
files = os.listdir(model_path)
if files:
checkpoint = [f for f in files if os.path.isfile(os.path.join(model_path, f))]
model_dicts = torch.load(os.path.join(model_path, checkpoint[0]),map_location=self.parms.device)
self.transition_model.load_state_dict(model_dicts['transition_model'])
self.observation_model.load_state_dict(model_dicts['observation_model'])
self.reward_model.load_state_dict(model_dicts['reward_model'])
self.encoder.load_state_dict(model_dicts['encoder'])
self.optimiser.load_state_dict(model_dicts['optimiser'])
print("Loading models checkpoints!")
else:
print("Checkpoints not found!")
def update_belief_and_act(self, env, belief, posterior_state, action, observation, reward, min_action=-inf, max_action=inf,explore=False):
# Infer belief over current state q(s_t|o≤t,a<t) from the history
encoded_obs = self.encoder(observation).unsqueeze(dim=0).to(device=self.parms.device)
belief, _, _, _, posterior_state, _, _ = self.transition_model(posterior_state, action.unsqueeze(dim=0), belief, encoded_obs) # Action and observation need extra time dimension
belief, posterior_state = belief.squeeze(dim=0), posterior_state.squeeze(dim=0) # Remove time dimension from belief/state
action,pred_next_rew,_,_,_ = self.planner(belief, posterior_state,explore) # Get action from planner(q(s_t|o≤t,a<t), p)
if explore:
action = action + self.parms.action_noise * torch.randn_like(action) # Add exploration noise ε ~ p(ε) to the action
action.clamp_(min=min_action, max=max_action) # Clip action range
next_observation, reward, done = env.step(action.cpu() if isinstance(env, EnvBatcher) else action[0].cpu()) # If single env is istanceted perform single action (get item from list), else perform all actions
return belief, posterior_state, action, next_observation, reward, done,pred_next_rew
def fit_buffer(self,episode):
####
# Fit data taken from buffer
######
# Model fitting
losses = []
tqdm.write("Fitting buffer")
for s in tqdm(range(self.parms.collect_interval)):
# Draw sequence chunks {(o_t, a_t, r_t+1, terminal_t+1)} ~ D uniformly at random from the dataset (including terminal flags)
observations, actions, rewards, nonterminals = self.D.sample(self.parms.batch_size, self.parms.chunk_size) # Transitions start at time t = 0
# Create initial belief and state for time t = 0
init_belief, init_state = torch.zeros(self.parms.batch_size, self.parms.belief_size, device=self.parms.device), torch.zeros(self.parms.batch_size, self.parms.state_size, device=self.parms.device)
encoded_obs = bottle(self.encoder, (observations[1:], ))
# Update belief/state using posterior from previous belief/state, previous action and current observation (over entire sequence at once)
beliefs, prior_states, prior_means, prior_std_devs, posterior_states, posterior_means, posterior_std_devs = self.transition_model(init_state, actions[:-1], init_belief, encoded_obs, nonterminals[:-1])
# Calculate observation likelihood, reward likelihood and KL losses (for t = 0 only for latent overshooting); sum over final dims, average over batch and time (original implementation, though paper seems to miss 1/T scaling?)
# LOSS
observation_loss = F.mse_loss(bottle(self.observation_model, (beliefs, posterior_states)), observations[1:], reduction='none').sum((2, 3, 4)).mean(dim=(0, 1))
kl_loss = torch.max(kl_divergence(Normal(posterior_means, posterior_std_devs), Normal(prior_means, prior_std_devs)).sum(dim=2), self.free_nats).mean(dim=(0, 1))
reward_loss = F.mse_loss(bottle(self.reward_model, (beliefs, posterior_states)), rewards[:-1], reduction='none').mean(dim=(0, 1))
# Update model parameters
self.optimiser.zero_grad()
(observation_loss + reward_loss + kl_loss).backward() # BACKPROPAGATION
nn.utils.clip_grad_norm_(self.param_list, self.parms.grad_clip_norm, norm_type=2)
self.optimiser.step()
# Store (0) observation loss (1) reward loss (2) KL loss
losses.append([observation_loss.item(), reward_loss.item(), kl_loss.item()])#, regularizer_loss.item()])
#save statistics and plot them
losses = tuple(zip(*losses))
self.metrics['observation_loss'].append(losses[0])
self.metrics['reward_loss'].append(losses[1])
self.metrics['kl_loss'].append(losses[2])
lineplot(self.metrics['episodes'][-len(self.metrics['observation_loss']):], self.metrics['observation_loss'], 'observation_loss', self.statistics_path)
lineplot(self.metrics['episodes'][-len(self.metrics['reward_loss']):], self.metrics['reward_loss'], 'reward_loss', self.statistics_path)
lineplot(self.metrics['episodes'][-len(self.metrics['kl_loss']):], self.metrics['kl_loss'], 'kl_loss', self.statistics_path)
def explore_and_collect(self,episode):
tqdm.write("Collect new data:")
reward = 0
# Data collection
with torch.no_grad():
done = False
observation, total_reward = self.env.reset(), 0
belief, posterior_state, action = torch.zeros(1, self.parms.belief_size, device=self.parms.device), torch.zeros(1, self.parms.state_size, device=self.parms.device), torch.zeros(1, self.env.action_size, device=self.parms.device)
t = 0
real_rew = []
predicted_rew = []
total_steps = self.parms.max_episode_length // self.env.action_repeat
explore = True
for t in tqdm(range(total_steps)):
# Here we need to explore
belief, posterior_state, action, next_observation, reward, done, pred_next_rew = self.update_belief_and_act(self.env, belief, posterior_state, action, observation.to(device=self.parms.device), [reward], self.env.action_range[0], self.env.action_range[1], explore=explore)
self.D.append(observation, action.cpu(), reward, done)
real_rew.append(reward)
predicted_rew.append(pred_next_rew.to(device=self.parms.device).item())
total_reward += reward
observation = next_observation
if self.parms.flag_render:
env.render()
if done:
break
# Update and plot train reward metrics
self.metrics['steps'].append( (t * self.env.action_repeat) + self.metrics['steps'][-1])
self.metrics['episodes'].append(episode)
self.metrics['train_rewards'].append(total_reward)
self.metrics['predicted_rewards'].append(np.array(predicted_rew).sum())
lineplot(self.metrics['episodes'][-len(self.metrics['train_rewards']):], self.metrics['train_rewards'], 'train_rewards', self.statistics_path)
double_lineplot(self.metrics['episodes'], self.metrics['train_rewards'], self.metrics['predicted_rewards'], "train_r_vs_pr", self.statistics_path)
def train_models(self):
# from (init_episodes) to (training_episodes + init_episodes)
tqdm.write("Start training.")
for episode in tqdm(range(self.parms.num_init_episodes +1, self.parms.training_episodes) ):
self.fit_buffer(episode)
self.explore_and_collect(episode)
if episode % self.parms.test_interval == 0:
self.test_model(episode)
torch.save(self.metrics, os.path.join(self.model_path, 'metrics.pth'))
torch.save({'transition_model': self.transition_model.state_dict(), 'observation_model': self.observation_model.state_dict(), 'reward_model': self.reward_model.state_dict(), 'encoder': self.encoder.state_dict(), 'optimiser': self.optimiser.state_dict()}, os.path.join(self.model_path, 'models_%d.pth' % episode))
if episode % self.parms.storing_dataset_interval == 0:
self.D.store_dataset(self.parms.dataset_path+'dump_dataset')
return self.metrics
def test_model(self, episode=None): #no explore here
if episode is None:
episode = self.tested_episodes
# Set models to eval mode
self.transition_model.eval()
self.observation_model.eval()
self.reward_model.eval()
self.encoder.eval()
# Initialise parallelised test environments
test_envs = EnvBatcher(ControlSuiteEnv, (self.parms.env_name, self.parms.seed, self.parms.max_episode_length, self.parms.bit_depth), {}, self.parms.test_episodes)
total_steps = self.parms.max_episode_length // test_envs.action_repeat
rewards = np.zeros(self.parms.test_episodes)
real_rew = torch.zeros([total_steps,self.parms.test_episodes])
predicted_rew = torch.zeros([total_steps,self.parms.test_episodes])
with torch.no_grad():
observation, total_rewards, video_frames = test_envs.reset(), np.zeros((self.parms.test_episodes, )), []
belief, posterior_state, action = torch.zeros(self.parms.test_episodes, self.parms.belief_size, device=self.parms.device), torch.zeros(self.parms.test_episodes, self.parms.state_size, device=self.parms.device), torch.zeros(self.parms.test_episodes, self.env.action_size, device=self.parms.device)
tqdm.write("Testing model.")
for t in range(total_steps):
belief, posterior_state, action, next_observation, rewards, done, pred_next_rew = self.update_belief_and_act(test_envs, belief, posterior_state, action, observation.to(device=self.parms.device), list(rewards), self.env.action_range[0], self.env.action_range[1])
total_rewards += rewards.numpy()
real_rew[t] = rewards
predicted_rew[t] = pred_next_rew
observation = self.env.get_original_frame().unsqueeze(dim=0)
video_frames.append(make_grid(torch.cat([observation, self.observation_model(belief, posterior_state).cpu()], dim=3) + 0.5, nrow=5).numpy()) # Decentre
observation = next_observation
if done.sum().item() == self.parms.test_episodes:
break
real_rew = torch.transpose(real_rew, 0, 1)
predicted_rew = torch.transpose(predicted_rew, 0, 1)
#save and plot metrics
self.tested_episodes += 1
self.metrics['test_episodes'].append(episode)
self.metrics['test_rewards'].append(total_rewards.tolist())
lineplot(self.metrics['test_episodes'], self.metrics['test_rewards'], 'test_rewards', self.statistics_path)
write_video(video_frames, 'test_episode_%s' % str(episode), self.video_path) # Lossy compression
# Set models to train mode
self.transition_model.train()
self.observation_model.train()
self.reward_model.train()
self.encoder.train()
# Close test environments
test_envs.close()
return self.metrics
def dump_plan_video(self, step_before_plan=120):
#number of steps before to start to collect frames to dump
step_before_plan = min(step_before_plan, (self.parms.max_episode_length // self.env.action_repeat))
# Set models to eval mode
self.transition_model.eval()
self.observation_model.eval()
self.reward_model.eval()
self.encoder.eval()
video_frames = []
reward = 0
with torch.no_grad():
observation = self.env.reset()
belief, posterior_state, action = torch.zeros(1, self.parms.belief_size, device=self.parms.device), torch.zeros(1, self.parms.state_size, device=self.parms.device), torch.zeros(1, self.env.action_size, device=self.parms.device)
tqdm.write("Executing episode.")
for t in range(step_before_plan): #floor division
belief, posterior_state, action, next_observation, reward, done, _ = self.update_belief_and_act(self.env, belief, posterior_state, action, observation.to(device=self.parms.device), [reward], self.env.action_range[0], self.env.action_range[1])
observation = next_observation
video_frames.append(make_grid(torch.cat([observation.cpu(), self.observation_model(belief, posterior_state).to(device=self.parms.device).cpu()], dim=3) + 0.5, nrow=5).numpy()) # Decentre
if done:
break
self.create_and_dump_plan(self.env, belief, posterior_state, action, observation.to(device=self.parms.device), [reward], self.env.action_range[0], self.env.action_range[1])
# Set models to train mode
self.transition_model.train()
self.observation_model.train()
self.reward_model.train()
self.encoder.train()
# Close test environments
self.env.close()
def create_and_dump_plan(self, env, belief, posterior_state, action, observation, reward, min_action=-inf, max_action=inf):
tqdm.write("Dumping plan")
video_frames = []
encoded_obs = self.encoder(observation).unsqueeze(dim=0)
belief, _, _, _, posterior_state, _, _ = self.transition_model(posterior_state, action.unsqueeze(dim=0), belief, encoded_obs)
belief, posterior_state = belief.squeeze(dim=0), posterior_state.squeeze(dim=0) # Remove time dimension from belief/state
next_action,_, beliefs, states, plan = self.planner(belief, posterior_state,False) # Get action from planner(q(s_t|o≤t,a<t), p)
predicted_frames = self.observation_model(beliefs, states).to(device=self.parms.device)
for i in range(self.parms.planning_horizon):
plan[i].clamp_(min=env.action_range[0], max=self.env.action_range[1]) # Clip action range
next_observation, reward, done = env.step(plan[i].cpu())
next_observation = next_observation.squeeze(dim=0)
video_frames.append(make_grid(torch.cat([next_observation, predicted_frames[i]], dim=1) + 0.5, nrow=2).numpy()) # Decentre
write_video(video_frames, 'dump_plan', self.dump_plan_path, dump_frame=True)
break
transition_model.rnn.memory = None
# Update and plot train reward metrics
metrics['steps'].append(t + metrics['steps'][-1])
metrics['episodes'].append(episode)
metrics['train_rewards'].append(total_reward)
lineplot(metrics['episodes'][-len(metrics['train_rewards']):],
metrics['train_rewards'], 'train_rewards', results_dir)
print("Testing!")
# Test model
if episode % args.test_interval == 0:
# Set models to eval mode
transition_model.eval()
observation_model.eval()
reward_model.eval()
encoder.eval()
# Initialise parallelised test environments
test_envs = EnvBatcher(
Env, (args.env, args.symbolic_env, args.seed,
args.max_episode_length, args.action_repeat, args.bit_depth),
{}, args.test_episodes)
with torch.no_grad():
observation, total_rewards, video_frames = test_envs.reset(
), np.zeros((args.test_episodes, )), []
belief, posterior_state, action = torch.zeros(
args.test_episodes, args.belief_size,
device=args.device), torch.zeros(
args.test_episodes, args.state_size,
class Plan(object):
def __init__(self):
self.results_dir = os.path.join(
'results',
'{}_seed_{}_{}_action_scale_{}_no_explore_{}_pool_len_{}_optimisation_iters_{}_top_planning-horizon'
.format(args.env, args.seed, args.algo, args.action_scale,
args.pool_len, args.optimisation_iters,
args.top_planning_horizon))
args.results_dir = self.results_dir
args.MultiGPU = True if torch.cuda.device_count(
) > 1 and args.MultiGPU else False
self.__basic_setting()
self.__init_sample() # Sampleing The Init Data
# Initialise model parameters randomly
self.transition_model = TransitionModel(
args.belief_size, args.state_size, self.env.action_size,
args.hidden_size, args.embedding_size,
args.dense_activation_function).to(device=args.device)
self.observation_model = ObservationModel(
args.symbolic_env, self.env.observation_size, args.belief_size,
args.state_size, args.embedding_size,
args.cnn_activation_function).to(device=args.device)
self.reward_model = RewardModel(
args.belief_size, args.state_size, args.hidden_size,
args.dense_activation_function).to(device=args.device)
self.encoder = Encoder(
args.symbolic_env, self.env.observation_size, args.embedding_size,
args.cnn_activation_function).to(device=args.device)
print("We Have {} GPUS".format(torch.cuda.device_count())
) if args.MultiGPU else print("We use CPU")
self.transition_model = nn.DataParallel(
self.transition_model.to(device=args.device)
) if args.MultiGPU else self.transition_model
self.observation_model = nn.DataParallel(
self.observation_model.to(device=args.device)
) if args.MultiGPU else self.observation_model
self.reward_model = nn.DataParallel(
self.reward_model.to(
device=args.device)) if args.MultiGPU else self.reward_model
# encoder = nn.DataParallel(encoder.cuda())
# actor_model = nn.DataParallel(actor_model.cuda())
# value_model = nn.DataParallel(value_model.cuda())
# share the global parameters in multiprocessing
self.encoder.share_memory()
self.observation_model.share_memory()
self.reward_model.share_memory()
# Set all_model/global_actor_optimizer/global_value_optimizer
self.param_list = list(self.transition_model.parameters()) + list(
self.observation_model.parameters()) + list(
self.reward_model.parameters()) + list(
self.encoder.parameters())
self.model_optimizer = optim.Adam(
self.param_list,
lr=0
if args.learning_rate_schedule != 0 else args.model_learning_rate,
eps=args.adam_epsilon)
def update_belief_and_act(self,
args,
env,
belief,
posterior_state,
action,
observation,
explore=False):
# Infer belief over current state q(s_t|o≤t,a<t) from the history
# print("action size: ",action.size()) torch.Size([1, 6])
belief, _, _, _, posterior_state, _, _ = self.upper_transition_model(
posterior_state, action.unsqueeze(dim=0), belief,
self.encoder(observation).unsqueeze(dim=0), None)
if hasattr(env, "envs"):
belief, posterior_state = list(
map(lambda x: x.view(-1, args.test_episodes, x.shape[2]),
[x for x in [belief, posterior_state]]))
belief, posterior_state = belief.squeeze(
dim=0), posterior_state.squeeze(
dim=0) # Remove time dimension from belief/state
action = self.algorithms.get_action(belief, posterior_state, explore)
if explore:
action = torch.clamp(
Normal(action, args.action_noise).rsample(), -1, 1
) # Add gaussian exploration noise on top of the sampled action
# action = action + args.action_noise * torch.randn_like(action) # Add exploration noise ε ~ p(ε) to the action
next_observation, reward, done = env.step(
action.cpu() if isinstance(env, EnvBatcher) else action[0].cpu(
)) # Perform environment step (action repeats handled internally)
return belief, posterior_state, action, next_observation, reward, done
def run(self):
if args.algo == "dreamer":
print("DREAMER")
from algorithms.dreamer import Algorithms
self.algorithms = Algorithms(self.env.action_size,
self.transition_model, self.encoder,
self.reward_model,
self.observation_model)
elif args.algo == "p2p":
print("planing to plan")
from algorithms.plan_to_plan import Algorithms
self.algorithms = Algorithms(self.env.action_size,
self.transition_model, self.encoder,
self.reward_model,
self.observation_model)
elif args.algo == "actor_pool_1":
print("async sub actor")
from algorithms.actor_pool_1 import Algorithms_actor
self.algorithms = Algorithms_actor(self.env.action_size,
self.transition_model,
self.encoder, self.reward_model,
self.observation_model)
elif args.algo == "aap":
from algorithms.asynchronous_actor_planet import Algorithms
self.algorithms = Algorithms(self.env.action_size,
self.transition_model, self.encoder,
self.reward_model,
self.observation_model)
else:
print("planet")
from algorithms.planet import Algorithms
# args.MultiGPU = False
self.algorithms = Algorithms(self.env.action_size,
self.transition_model,
self.reward_model)
if args.test: self.test_only()
self.global_prior = Normal(
torch.zeros(args.batch_size, args.state_size, device=args.device),
torch.ones(args.batch_size, args.state_size,
device=args.device)) # Global prior N(0, I)
self.free_nats = torch.full(
(1, ), args.free_nats,
device=args.device) # Allowed deviation in KL divergence
# Training (and testing)
# args.episodes = 1
for episode in tqdm(range(self.metrics['episodes'][-1] + 1,
args.episodes + 1),
total=args.episodes,
initial=self.metrics['episodes'][-1] + 1):
losses = self.train()
# self.algorithms.save_loss_data(self.metrics['episodes']) # Update and plot loss metrics
self.save_loss_data(tuple(
zip(*losses))) # Update and plot loss metrics
self.data_collection(episode=episode) # Data collection
# args.test_interval = 1
if episode % args.test_interval == 0:
self.test(episode=episode) # Test model
self.save_model_data(episode=episode) # save model
self.env.close() # Close training environment
def train_env_model(self, beliefs, prior_states, prior_means,
prior_std_devs, posterior_states, posterior_means,
posterior_std_devs, observations, actions, rewards,
nonterminals):
# Calculate observation likelihood, reward likelihood and KL losses (for t = 0 only for latent overshooting); sum over final dims, average over batch and time (original implementation, though paper seems to miss 1/T scaling?)
if args.worldmodel_LogProbLoss:
observation_dist = Normal(
bottle(self.observation_model, (beliefs, posterior_states)), 1)
observation_loss = -observation_dist.log_prob(
observations[1:]).sum(
dim=2 if args.symbolic_env else (2, 3, 4)).mean(dim=(0, 1))
else:
observation_loss = F.mse_loss(
bottle(self.observation_model, (beliefs, posterior_states)),
observations[1:],
reduction='none').sum(
dim=2 if args.symbolic_env else (2, 3, 4)).mean(dim=(0, 1))
if args.worldmodel_LogProbLoss:
reward_dist = Normal(
bottle(self.reward_model, (beliefs, posterior_states)), 1)
reward_loss = -reward_dist.log_prob(rewards[:-1]).mean(dim=(0, 1))
else:
reward_loss = F.mse_loss(bottle(self.reward_model,
(beliefs, posterior_states)),
rewards[:-1],
reduction='none').mean(dim=(0, 1))
# transition loss
div = kl_divergence(Normal(posterior_means, posterior_std_devs),
Normal(prior_means, prior_std_devs)).sum(dim=2)
kl_loss = torch.max(div, self.free_nats).mean(
dim=(0, 1)
) # Note that normalisation by overshooting distance and weighting by overshooting distance cancel out
if args.global_kl_beta != 0:
kl_loss += args.global_kl_beta * kl_divergence(
Normal(posterior_means, posterior_std_devs),
self.global_prior).sum(dim=2).mean(dim=(0, 1))
# Calculate latent overshooting objective for t > 0
if args.overshooting_kl_beta != 0:
overshooting_vars = [
] # Collect variables for overshooting to process in batch
for t in range(1, args.chunk_size - 1):
d = min(t + args.overshooting_distance,
args.chunk_size - 1) # Overshooting distance
t_, d_ = t - 1, d - 1 # Use t_ and d_ to deal with different time indexing for latent states
seq_pad = (
0, 0, 0, 0, 0, t - d + args.overshooting_distance
) # Calculate sequence padding so overshooting terms can be calculated in one batch
# Store (0) actions, (1) nonterminals, (2) rewards, (3) beliefs, (4) prior states, (5) posterior means, (6) posterior standard deviations and (7) sequence masks
overshooting_vars.append(
(F.pad(actions[t:d],
seq_pad), F.pad(nonterminals[t:d], seq_pad),
F.pad(rewards[t:d],
seq_pad[2:]), beliefs[t_], prior_states[t_],
F.pad(posterior_means[t_ + 1:d_ + 1].detach(), seq_pad),
F.pad(posterior_std_devs[t_ + 1:d_ + 1].detach(),
seq_pad,
value=1),
F.pad(
torch.ones(d - t,
args.batch_size,
args.state_size,
device=args.device), seq_pad))
) # Posterior standard deviations must be padded with > 0 to prevent infinite KL divergences
overshooting_vars = tuple(zip(*overshooting_vars))
# Update belief/state using prior from previous belief/state and previous action (over entire sequence at once)
beliefs, prior_states, prior_means, prior_std_devs = self.upper_transition_model(
torch.cat(overshooting_vars[4], dim=0),
torch.cat(overshooting_vars[0], dim=1),
torch.cat(overshooting_vars[3], dim=0), None,
torch.cat(overshooting_vars[1], dim=1))
seq_mask = torch.cat(overshooting_vars[7], dim=1)
# Calculate overshooting KL loss with sequence mask
kl_loss += (
1 / args.overshooting_distance
) * args.overshooting_kl_beta * torch.max((kl_divergence(
Normal(torch.cat(overshooting_vars[5], dim=1),
torch.cat(overshooting_vars[6], dim=1)),
Normal(prior_means, prior_std_devs)
) * seq_mask).sum(dim=2), self.free_nats).mean(dim=(0, 1)) * (
args.chunk_size
- 1
) # Update KL loss (compensating for extra average over each overshooting/open loop sequence)
# Calculate overshooting reward prediction loss with sequence mask
if args.overshooting_reward_scale != 0:
reward_loss += (
1 / args.overshooting_distance
) * args.overshooting_reward_scale * F.mse_loss(
bottle(self.reward_model,
(beliefs, prior_states)) * seq_mask[:, :, 0],
torch.cat(overshooting_vars[2], dim=1),
reduction='none'
).mean(dim=(0, 1)) * (
args.chunk_size - 1
) # Update reward loss (compensating for extra average over each overshooting/open loop sequence)
# Apply linearly ramping learning rate schedule
if args.learning_rate_schedule != 0:
for group in self.model_optimizer.param_groups:
group['lr'] = min(
group['lr'] + args.model_learning_rate /
args.model_learning_rate_schedule,
args.model_learning_rate)
model_loss = observation_loss + reward_loss + kl_loss
# Update model parameters
self.model_optimizer.zero_grad()
model_loss.backward()
nn.utils.clip_grad_norm_(self.param_list,
args.grad_clip_norm,
norm_type=2)
self.model_optimizer.step()
return observation_loss, reward_loss, kl_loss
def train(self):
# Model fitting
losses = []
print("training loop")
# args.collect_interval = 1
for s in tqdm(range(args.collect_interval)):
# Draw sequence chunks {(o_t, a_t, r_t+1, terminal_t+1)} ~ D uniformly at random from the dataset (including terminal flags)
observations, actions, rewards, nonterminals = self.D.sample(
args.batch_size,
args.chunk_size) # Transitions start at time t = 0
# Create initial belief and state for time t = 0
init_belief, init_state = torch.zeros(
args.batch_size, args.belief_size,
device=args.device), torch.zeros(args.batch_size,
args.state_size,
device=args.device)
# Update belief/state using posterior from previous belief/state, previous action and current observation (over entire sequence at once)
obs = bottle(self.encoder, (observations[1:], ))
beliefs, prior_states, prior_means, prior_std_devs, posterior_states, posterior_means, posterior_std_devs = self.upper_transition_model(
prev_state=init_state,
actions=actions[:-1],
prev_belief=init_belief,
obs=obs,
nonterminals=nonterminals[:-1])
# Calculate observation likelihood, reward likelihood and KL losses (for t = 0 only for latent overshooting); sum over final dims, average over batch and time (original implementation, though paper seems to miss 1/T scaling?)
observation_loss, reward_loss, kl_loss = self.train_env_model(
beliefs, prior_states, prior_means, prior_std_devs,
posterior_states, posterior_means, posterior_std_devs,
observations, actions, rewards, nonterminals)
# Dreamer implementation: actor loss calculation and optimization
with torch.no_grad():
actor_states = posterior_states.detach().to(
device=args.device).share_memory_()
actor_beliefs = beliefs.detach().to(
device=args.device).share_memory_()
# if not os.path.exists(os.path.join(os.getcwd(), 'tensor_data/' + args.results_dir)): os.mkdir(os.path.join(os.getcwd(), 'tensor_data/' + args.results_dir))
torch.save(
actor_states,
os.path.join(os.getcwd(),
args.results_dir + '/actor_states.pt'))
torch.save(
actor_beliefs,
os.path.join(os.getcwd(),
args.results_dir + '/actor_beliefs.pt'))
# [self.actor_pipes[i][0].send(1) for i, w in enumerate(self.workers_actor)] # Parent_pipe send data using i'th pipes
# [self.actor_pipes[i][0].recv() for i, _ in enumerate(self.actor_pool)] # waitting the children finish
self.algorithms.train_algorithm(actor_states, actor_beliefs)
losses.append(
[observation_loss.item(),
reward_loss.item(),
kl_loss.item()])
# if self.algorithms.train_algorithm(actor_states, actor_beliefs) is not None:
# merge_actor_loss, merge_value_loss = self.algorithms.train_algorithm(actor_states, actor_beliefs)
# losses.append([observation_loss.item(), reward_loss.item(), kl_loss.item(), merge_actor_loss.item(), merge_value_loss.item()])
# else:
# losses.append([observation_loss.item(), reward_loss.item(), kl_loss.item()])
return losses
def data_collection(self, episode):
print("Data collection")
with torch.no_grad():
observation, total_reward = self.env.reset(), 0
belief, posterior_state, action = torch.zeros(
1, args.belief_size, device=args.device), torch.zeros(
1, args.state_size,
device=args.device), torch.zeros(1,
self.env.action_size,
device=args.device)
pbar = tqdm(range(args.max_episode_length // args.action_repeat))
for t in pbar:
# print("step",t)
belief, posterior_state, action, next_observation, reward, done = self.update_belief_and_act(
args, self.env, belief, posterior_state, action,
observation.to(device=args.device))
self.D.append(observation, action.cpu(), reward, done)
total_reward += reward
observation = next_observation
if args.render: self.env.render()
if done:
pbar.close()
break
# Update and plot train reward metrics
self.metrics['steps'].append(t + self.metrics['steps'][-1])
self.metrics['episodes'].append(episode)
self.metrics['train_rewards'].append(total_reward)
Save_Txt(self.metrics['episodes'][-1],
self.metrics['train_rewards'][-1], 'train_rewards',
args.results_dir)
# lineplot(metrics['episodes'][-len(metrics['train_rewards']):], metrics['train_rewards'], 'train_rewards', results_dir)
def test(self, episode):
print("Test model")
# Set models to eval mode
self.transition_model.eval()
self.observation_model.eval()
self.reward_model.eval()
self.encoder.eval()
self.algorithms.train_to_eval()
# self.actor_model_g.eval()
# self.value_model_g.eval()
# Initialise parallelised test environments
test_envs = EnvBatcher(
Env, (args.env, args.symbolic_env, args.seed,
args.max_episode_length, args.action_repeat, args.bit_depth),
{}, args.test_episodes)
with torch.no_grad():
observation, total_rewards, video_frames = test_envs.reset(
), np.zeros((args.test_episodes, )), []
belief, posterior_state, action = torch.zeros(
args.test_episodes, args.belief_size,
device=args.device), torch.zeros(
args.test_episodes, args.state_size,
device=args.device), torch.zeros(args.test_episodes,
self.env.action_size,
device=args.device)
pbar = tqdm(range(args.max_episode_length // args.action_repeat))
for t in pbar:
belief, posterior_state, action, next_observation, reward, done = self.update_belief_and_act(
args, test_envs, belief, posterior_state, action,
observation.to(device=args.device))
total_rewards += reward.numpy()
if not args.symbolic_env: # Collect real vs. predicted frames for video
video_frames.append(
make_grid(torch.cat([
observation,
self.observation_model(belief,
posterior_state).cpu()
],
dim=3) + 0.5,
nrow=5).numpy()) # Decentre
observation = next_observation
if done.sum().item() == args.test_episodes:
pbar.close()
break
# Update and plot reward metrics (and write video if applicable) and save metrics
self.metrics['test_episodes'].append(episode)
self.metrics['test_rewards'].append(total_rewards.tolist())
Save_Txt(self.metrics['test_episodes'][-1],
self.metrics['test_rewards'][-1], 'test_rewards',
args.results_dir)
# Save_Txt(np.asarray(metrics['steps'])[np.asarray(metrics['test_episodes']) - 1], metrics['test_rewards'],'test_rewards_steps', results_dir, xaxis='step')
# lineplot(metrics['test_episodes'], metrics['test_rewards'], 'test_rewards', results_dir)
# lineplot(np.asarray(metrics['steps'])[np.asarray(metrics['test_episodes']) - 1], metrics['test_rewards'], 'test_rewards_steps', results_dir, xaxis='step')
if not args.symbolic_env:
episode_str = str(episode).zfill(len(str(args.episodes)))
write_video(video_frames, 'test_episode_%s' % episode_str,
args.results_dir) # Lossy compression
save_image(
torch.as_tensor(video_frames[-1]),
os.path.join(args.results_dir,
'test_episode_%s.png' % episode_str))
torch.save(self.metrics, os.path.join(args.results_dir, 'metrics.pth'))
# Set models to train mode
self.transition_model.train()
self.observation_model.train()
self.reward_model.train()
self.encoder.train()
# self.actor_model_g.train()
# self.value_model_g.train()
self.algorithms.eval_to_train()
# Close test environments
test_envs.close()
def test_only(self):
# Set models to eval mode
self.transition_model.eval()
self.reward_model.eval()
self.encoder.eval()
with torch.no_grad():
total_reward = 0
for _ in tqdm(range(args.test_episodes)):
observation = self.env.reset()
belief, posterior_state, action = torch.zeros(
1, args.belief_size, device=args.device), torch.zeros(
1, args.state_size,
device=args.device), torch.zeros(1,
self.env.action_size,
device=args.device)
pbar = tqdm(
range(args.max_episode_length // args.action_repeat))
for t in pbar:
belief, posterior_state, action, observation, reward, done = self.update_belief_and_act(
args, self.env, belief, posterior_state, action,
observation.to(evice=args.device))
total_reward += reward
if args.render: self.env.render()
if done:
pbar.close()
break
print('Average Reward:', total_reward / args.test_episodes)
self.env.close()
quit()
def __basic_setting(self):
args.overshooting_distance = min(
args.chunk_size, args.overshooting_distance
) # Overshooting distance cannot be greater than chunk size
print(' ' * 26 + 'Options')
for k, v in vars(args).items():
print(' ' * 26 + k + ': ' + str(v))
print("torch.cuda.device_count() {}".format(torch.cuda.device_count()))
os.makedirs(args.results_dir, exist_ok=True)
np.random.seed(args.seed)
torch.manual_seed(args.seed)
# Set Cuda
if torch.cuda.is_available() and not args.disable_cuda:
print("using CUDA")
args.device = torch.device('cuda')
torch.cuda.manual_seed(args.seed)
else:
print("using CPU")
args.device = torch.device('cpu')
self.summary_name = args.results_dir + "/{}_{}_log"
self.writer = SummaryWriter(self.summary_name.format(
args.env, args.id))
self.env = Env(args.env, args.symbolic_env, args.seed,
args.max_episode_length, args.action_repeat,
args.bit_depth)
self.metrics = {
'steps': [],
'episodes': [],
'train_rewards': [],
'test_episodes': [],
'test_rewards': [],
'observation_loss': [],
'reward_loss': [],
'kl_loss': [],
'merge_actor_loss': [],
'merge_value_loss': []
}
def __init_sample(self):
if args.experience_replay is not '' and os.path.exists(
args.experience_replay):
self.D = torch.load(args.experience_replay)
self.metrics['steps'], self.metrics['episodes'] = [
self.D.steps
] * self.D.episodes, list(range(1, self.D.episodes + 1))
elif not args.test:
self.D = ExperienceReplay(args.experience_size, args.symbolic_env,
self.env.observation_size,
self.env.action_size, args.bit_depth,
args.device)
# Initialise dataset D with S random seed episodes
print(
"Start Multi Sample Processing -------------------------------"
)
start_time = time.time()
data_lists = [
Manager().list() for i in range(1, args.seed_episodes + 1)
] # Set Global Lists
pipes = [Pipe() for i in range(1, args.seed_episodes + 1)
] # Set Multi Pipe
workers_init_sample = [
Worker_init_Sample(child_conn=child, id=i + 1)
for i, [parent, child] in enumerate(pipes)
]
for i, w in enumerate(workers_init_sample):
w.start() # Start Single Process
pipes[i][0].send(
data_lists[i]) # Parent_pipe send data using i'th pipes
[w.join() for w in workers_init_sample] # wait sub_process done
for i, [parent, child] in enumerate(pipes):
# datas = parent.recv()
for data in list(parent.recv()):
if isinstance(data, tuple):
assert len(data) == 4
self.D.append(data[0], data[1], data[2], data[3])
elif isinstance(data, int):
t = data
self.metrics['steps'].append(t * args.action_repeat + (
0 if len(self.metrics['steps']) ==
0 else self.metrics['steps'][-1]))
self.metrics['episodes'].append(i + 1)
else:
print(
"The Recvive Data Have Some Problems, Need To Fix")
end_time = time.time()
print("the process times {} s".format(end_time - start_time))
print(
"End Multi Sample Processing -------------------------------")
def upper_transition_model(self, prev_state, actions, prev_belief, obs,
nonterminals):
actions = torch.transpose(actions, 0, 1) if args.MultiGPU else actions
nonterminals = torch.transpose(nonterminals, 0, 1).to(
device=args.device
) if args.MultiGPU and nonterminals is not None else nonterminals
obs = torch.transpose(obs, 0, 1).to(
device=args.device) if args.MultiGPU and obs is not None else obs
temp_val = self.transition_model(prev_state.to(device=args.device),
actions.to(device=args.device),
prev_belief.to(device=args.device),
obs, nonterminals)
return list(
map(
lambda x: torch.cat(x.chunk(torch.cuda.device_count(), 0), 1)
if x.shape[1] != prev_state.shape[0] else x,
[x for x in temp_val]))
def save_loss_data(self, losses):
self.metrics['observation_loss'].append(losses[0])
self.metrics['reward_loss'].append(losses[1])
self.metrics['kl_loss'].append(losses[2])
self.metrics['merge_actor_loss'].append(
losses[3]) if losses.__len__() > 3 else None
self.metrics['merge_value_loss'].append(
losses[4]) if losses.__len__() > 3 else None
Save_Txt(self.metrics['episodes'][-1],
self.metrics['observation_loss'][-1], 'observation_loss',
args.results_dir)
Save_Txt(self.metrics['episodes'][-1], self.metrics['reward_loss'][-1],
'reward_loss', args.results_dir)
Save_Txt(self.metrics['episodes'][-1], self.metrics['kl_loss'][-1],
'kl_loss', args.results_dir)
Save_Txt(self.metrics['episodes'][-1],
self.metrics['merge_actor_loss'][-1], 'merge_actor_loss',
args.results_dir) if losses.__len__() > 3 else None
Save_Txt(self.metrics['episodes'][-1],
self.metrics['merge_value_loss'][-1], 'merge_value_loss',
args.results_dir) if losses.__len__() > 3 else None
# lineplot(metrics['episodes'][-len(metrics['observation_loss']):], metrics['observation_loss'], 'observation_loss', results_dir)
# lineplot(metrics['episodes'][-len(metrics['reward_loss']):], metrics['reward_loss'], 'reward_loss', results_dir)
# lineplot(metrics['episodes'][-len(metrics['kl_loss']):], metrics['kl_loss'], 'kl_loss', results_dir)
# lineplot(metrics['episodes'][-len(metrics['actor_loss']):], metrics['actor_loss'], 'actor_loss', results_dir)
# lineplot(metrics['episodes'][-len(metrics['value_loss']):], metrics['value_loss'], 'value_loss', results_dir)
def save_model_data(self, episode):
# writer.add_scalar("train_reward", metrics['train_rewards'][-1], metrics['steps'][-1])
# writer.add_scalar("train/episode_reward", metrics['train_rewards'][-1], metrics['steps'][-1]*args.action_repeat)
# writer.add_scalar("observation_loss", metrics['observation_loss'][0][-1], metrics['steps'][-1])
# writer.add_scalar("reward_loss", metrics['reward_loss'][0][-1], metrics['steps'][-1])
# writer.add_scalar("kl_loss", metrics['kl_loss'][0][-1], metrics['steps'][-1])
# writer.add_scalar("actor_loss", metrics['actor_loss'][0][-1], metrics['steps'][-1])
# writer.add_scalar("value_loss", metrics['value_loss'][0][-1], metrics['steps'][-1])
# print("episodes: {}, total_steps: {}, train_reward: {} ".format(metrics['episodes'][-1], metrics['steps'][-1], metrics['train_rewards'][-1]))
# Checkpoint models
if episode % args.checkpoint_interval == 0:
# torch.save({'transition_model': transition_model.state_dict(),
# 'observation_model': observation_model.state_dict(),
# 'reward_model': reward_model.state_dict(),
# 'encoder': encoder.state_dict(),
# 'actor_model': actor_model_g.state_dict(),
# 'value_model': value_model_g.state_dict(),
# 'model_optimizer': model_optimizer.state_dict(),
# 'actor_optimizer': actor_optimizer_g.state_dict(),
# 'value_optimizer': value_optimizer_g.state_dict()
# }, os.path.join(results_dir, 'models_%d.pth' % episode))
if args.checkpoint_experience:
torch.save(
self.D, os.path.join(args.results_dir, 'experience.pth')
) # Warning: will fail with MemoryError with large memory sizes
