def __init__(self, args, config):
DefaultCallbacks.__init__(self)
self.args = args
self.config = config
self.outdir = args.writer_dir
self.model = args.model_name
self.framework = config['framework']
self.no_frame = args.no_frame
# self.epochs_trained = self._extract_train_epochs()
self.epochs_trained = args.epochs_trained if args.epochs_trained is not None else None
self.use_hickle = args.use_hickle
self.write_compressed = _write_hkl if self.use_hickle else _write_pkl
self.read_compressed = _read_hkl if self.use_hickle else _write_pkl
self.ext = "hkl" if self.use_hickle else "pkl"
# This needs to be -1 because of weird issues with
# the parallel processing of rollouts
self.episode_num = -1
self.step_num = 0
self.reward_total = 0
self.last_done = False
self.episode = {}
def generate_fake_multiagent_batch(env, policies):
multi_agent_batch_builder = MultiAgentSampleBatchBuilder(
policy_map={
player: policy for player, policy in zip(env.players_ids, policies)
},
clip_rewards=False,
callbacks=DefaultCallbacks(),
)
fake_actions = generate_fake_discrete_actions(env)
env.reset()
observations, rewards, done, info = env.step(fake_actions)
for player_id in env.players_ids:
step_player_values = {
"eps_id": 0,
"obs": observations[player_id],
"new_obs": observations[player_id],
"actions": fake_actions[player_id],
"prev_actions": fake_actions[player_id],
"rewards": rewards[player_id],
"prev_rewards": rewards[player_id],
"dones": True,
}
multi_agent_batch_builder.add_values(
agent_id=player_id, policy_id=player_id, **step_player_values
)
multiagent_batch = multi_agent_batch_builder.build_and_reset()
return multiagent_batch
def get_fake_training_batch_for_ppo_in_ipd(policy):
policy_id = "fake_player"
players = {policy_id: policy}
multi_agent_batch_builder = MultiAgentSampleBatchBuilder(
policy_map={
player_id: player
for player_id, player in players.items()
},
clip_rewards=False,
callbacks=DefaultCallbacks(),
)
n_steps_in_epi = 20
for step_n in range(n_steps_in_epi):
step_player_values = {
SampleBatch.EPS_ID: 0,
SampleBatch.OBS: 0,
SampleBatch.NEXT_OBS: 0,
SampleBatch.ACTIONS: 0,
SampleBatch.REWARDS: random.randint(0, 10),
SampleBatch.PREV_REWARDS: random.randint(0, 10),
SampleBatch.VF_PREDS: random.randint(0, 10),
SampleBatch.DONES: step_n == n_steps_in_epi - 1,
SampleBatch.ACTION_DIST_INPUTS: [random.random(),
random.random()],
SampleBatch.ACTION_LOGP: random.random(),
}
multi_agent_batch_builder.add_values(agent_id=policy_id,
policy_id=policy_id,
**step_player_values)
multiagent_batch = multi_agent_batch_builder.build_and_reset()
return multiagent_batch.policy_batches[policy_id]
def __init__(
self,
observation_space: gym.Space,
action_space: gym.Space,
config: TrainerConfigDict,
):
"""Initializes a Policy instance.
Args:
observation_space: Observation space of the policy.
action_space: Action space of the policy.
config: A complete Trainer/Policy config dict. For the default
config keys and values, see rllib/trainer/trainer.py.
"""
self.observation_space: gym.Space = observation_space
self.action_space: gym.Space = action_space
# The base struct of the observation/action spaces.
# E.g. action-space = gym.spaces.Dict({"a": Discrete(2)}) ->
# action_space_struct = {"a": Discrete(2)}
self.observation_space_struct = get_base_struct_from_space(
observation_space)
self.action_space_struct = get_base_struct_from_space(action_space)
self.config: TrainerConfigDict = config
self.framework = self.config.get("framework")
# Create the callbacks object to use for handling custom callbacks.
if self.config.get("callbacks"):
self.callbacks: "DefaultCallbacks" = self.config.get("callbacks")()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks: "DefaultCallbacks" = DefaultCallbacks()
# The global timestep, broadcast down from time to time from the
# local worker to all remote workers.
self.global_timestep: int = 0
# The action distribution class to use for action sampling, if any.
# Child classes may set this.
self.dist_class: Optional[Type] = None
# Maximal view requirements dict for `learn_on_batch()` and
# `compute_actions` calls.
# View requirements will be automatically filtered out later based
# on the postprocessing and loss functions to ensure optimal data
# collection and transfer performance.
view_reqs = self._get_default_view_requirements()
if not hasattr(self, "view_requirements"):
self.view_requirements = view_reqs
else:
for k, v in view_reqs.items():
if k not in self.view_requirements:
self.view_requirements[k] = v
# Whether the Model's initial state (method) has been added
# automatically based on the given view requirements of the model.
self._model_init_state_automatically_added = False
def __init__(
self,
observation_space: gym.Space,
action_space: gym.Space,
config: TrainerConfigDict,
):
"""Initializes a Policy instance.
Args:
observation_space: Observation space of the policy.
action_space: Action space of the policy.
config: A complete Trainer/Policy config dict. For the default
config keys and values, see rllib/trainer/trainer.py.
"""
self.observation_space: gym.Space = observation_space
self.action_space: gym.Space = action_space
# The base struct of the observation/action spaces.
# E.g. action-space = gym.spaces.Dict({"a": Discrete(2)}) ->
# action_space_struct = {"a": Discrete(2)}
self.observation_space_struct = get_base_struct_from_space(
observation_space)
self.action_space_struct = get_base_struct_from_space(action_space)
self.config: TrainerConfigDict = config
self.framework = self.config.get("framework")
# Create the callbacks object to use for handling custom callbacks.
if self.config.get("callbacks"):
self.callbacks: "DefaultCallbacks" = self.config.get("callbacks")()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks: "DefaultCallbacks" = DefaultCallbacks()
# The global timestep, broadcast down from time to time from the
# local worker to all remote workers.
self.global_timestep: int = 0
# The action distribution class to use for action sampling, if any.
# Child classes may set this.
self.dist_class: Optional[Type] = None
# Initialize view requirements.
self.init_view_requirements()
# Whether the Model's initial state (method) has been added
# automatically based on the given view requirements of the model.
self._model_init_state_automatically_added = False
def __init__(self, observation_space: gym.spaces.Space,
action_space: gym.spaces.Space, config: TrainerConfigDict):
"""Initialize the graph.
This is the standard constructor for policies. The policy
class you pass into RolloutWorker will be constructed with
these arguments.
Args:
observation_space (gym.spaces.Space): Observation space of the
policy.
action_space (gym.spaces.Space): Action space of the policy.
config (TrainerConfigDict): Policy-specific configuration data.
"""
self.observation_space = observation_space
self.action_space = action_space
self.action_space_struct = get_base_struct_from_space(action_space)
self.config = config
if self.config.get("callbacks"):
self.callbacks: "DefaultCallbacks" = self.config.get("callbacks")()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks: "DefaultCallbacks" = DefaultCallbacks()
# The global timestep, broadcast down from time to time from the
# driver.
self.global_timestep = 0
# The action distribution class to use for action sampling, if any.
# Child classes may set this.
self.dist_class = None
# Maximal view requirements dict for `learn_on_batch()` and
# `compute_actions` calls.
# View requirements will be automatically filtered out later based
# on the postprocessing and loss functions to ensure optimal data
# collection and transfer performance.
view_reqs = self._get_default_view_requirements()
if not hasattr(self, "view_requirements"):
self.view_requirements = view_reqs
else:
for k, v in view_reqs.items():
if k not in self.view_requirements:
self.view_requirements[k] = v
self._model_init_state_automatically_added = False
class RolloutWorker(EvaluatorInterface, ParallelIteratorWorker):
"""Common experience collection class.
This class wraps a policy instance and an environment class to
collect experiences from the environment. You can create many replicas of
this class as Ray actors to scale RL training.
This class supports vectorized and multi-agent policy evaluation (e.g.,
VectorEnv, MultiAgentEnv, etc.)
Examples:
>>> # Create a rollout worker and using it to collect experiences.
>>> worker = RolloutWorker(
... env_creator=lambda _: gym.make("CartPole-v0"),
... policy=PGTFPolicy)
>>> print(worker.sample())
SampleBatch({
"obs": [[...]], "actions": [[...]], "rewards": [[...]],
"dones": [[...]], "new_obs": [[...]]})
>>> # Creating a multi-agent rollout worker
>>> worker = RolloutWorker(
... env_creator=lambda _: MultiAgentTrafficGrid(num_cars=25),
... policies={
... # Use an ensemble of two policies for car agents
... "car_policy1":
... (PGTFPolicy, Box(...), Discrete(...), {"gamma": 0.99}),
... "car_policy2":
... (PGTFPolicy, Box(...), Discrete(...), {"gamma": 0.95}),
... # Use a single shared policy for all traffic lights
... "traffic_light_policy":
... (PGTFPolicy, Box(...), Discrete(...), {}),
... },
... policy_mapping_fn=lambda agent_id:
... random.choice(["car_policy1", "car_policy2"])
... if agent_id.startswith("car_") else "traffic_light_policy")
>>> print(worker.sample())
MultiAgentBatch({
"car_policy1": SampleBatch(...),
"car_policy2": SampleBatch(...),
"traffic_light_policy": SampleBatch(...)})
"""
@DeveloperAPI
@classmethod
def as_remote(cls,
num_cpus=None,
num_gpus=None,
memory=None,
object_store_memory=None,
resources=None):
return ray.remote(
num_cpus=num_cpus,
num_gpus=num_gpus,
memory=memory,
object_store_memory=object_store_memory,
resources=resources)(cls)
@DeveloperAPI
def __init__(self,
env_creator,
policy,
policy_mapping_fn=None,
policies_to_train=None,
tf_session_creator=None,
rollout_fragment_length=100,
batch_mode="truncate_episodes",
episode_horizon=None,
preprocessor_pref="deepmind",
sample_async=False,
compress_observations=False,
num_envs=1,
observation_fn=None,
observation_filter="NoFilter",
clip_rewards=None,
clip_actions=True,
env_config=None,
model_config=None,
policy_config=None,
worker_index=0,
num_workers=0,
monitor_path=None,
log_dir=None,
log_level=None,
callbacks=None,
input_creator=lambda ioctx: ioctx.default_sampler_input(),
input_evaluation=frozenset([]),
output_creator=lambda ioctx: NoopOutput(),
remote_worker_envs=False,
remote_env_batch_wait_ms=0,
soft_horizon=False,
no_done_at_end=False,
seed=None,
extra_python_environs=None,
fake_sampler=False):
"""Initialize a rollout worker.
Arguments:
env_creator (func): Function that returns a gym.Env given an
EnvContext wrapped configuration.
policy (class|dict): Either a class implementing
Policy, or a dictionary of policy id strings to
(Policy, obs_space, action_space, config) tuples. If a
dict is specified, then we are in multi-agent mode and a
policy_mapping_fn should also be set.
policy_mapping_fn (func): A function that maps agent ids to
policy ids in multi-agent mode. This function will be called
each time a new agent appears in an episode, to bind that agent
to a policy for the duration of the episode.
policies_to_train (list): Optional whitelist of policies to train,
or None for all policies.
tf_session_creator (func): A function that returns a TF session.
This is optional and only useful with TFPolicy.
rollout_fragment_length (int): The target number of env transitions
to include in each sample batch returned from this worker.
batch_mode (str): One of the following batch modes:
"truncate_episodes": Each call to sample() will return a batch
of at most `rollout_fragment_length * num_envs` in size.
The batch will be exactly
`rollout_fragment_length * num_envs` in size if
postprocessing does not change batch sizes. Episodes may be
truncated in order to meet this size requirement.
"complete_episodes": Each call to sample() will return a batch
of at least `rollout_fragment_length * num_envs` in size.
Episodes will not be truncated, but multiple episodes may
be packed within one batch to meet the batch size. Note
that when `num_envs > 1`, episode steps will be buffered
until the episode completes, and hence batches may contain
significant amounts of off-policy data.
episode_horizon (int): Whether to stop episodes at this horizon.
preprocessor_pref (str): Whether to prefer RLlib preprocessors
("rllib") or deepmind ("deepmind") when applicable.
sample_async (bool): Whether to compute samples asynchronously in
the background, which improves throughput but can cause samples
to be slightly off-policy.
compress_observations (bool): If true, compress the observations.
They can be decompressed with rllib/utils/compression.
num_envs (int): If more than one, will create multiple envs
and vectorize the computation of actions. This has no effect if
if the env already implements VectorEnv.
observation_fn (ObservationFunction): Optional multi-agent
observation function.
observation_filter (str): Name of observation filter to use.
clip_rewards (bool): Whether to clip rewards to [-1, 1] prior to
experience postprocessing. Setting to None means clip for Atari
only.
clip_actions (bool): Whether to clip action values to the range
specified by the policy action space.
env_config (dict): Config to pass to the env creator.
model_config (dict): Config to use when creating the policy model.
policy_config (dict): Config to pass to the policy. In the
multi-agent case, this config will be merged with the
per-policy configs specified by `policy`.
worker_index (int): For remote workers, this should be set to a
non-zero and unique value. This index is passed to created envs
through EnvContext so that envs can be configured per worker.
num_workers (int): For remote workers, how many workers altogether
have been created?
monitor_path (str): Write out episode stats and videos to this
directory if specified.
log_dir (str): Directory where logs can be placed.
log_level (str): Set the root log level on creation.
callbacks (DefaultCallbacks): Custom training callbacks.
input_creator (func): Function that returns an InputReader object
for loading previous generated experiences.
input_evaluation (list): How to evaluate the policy performance.
This only makes sense to set when the input is reading offline
data. The possible values include:
- "is": the step-wise importance sampling estimator.
- "wis": the weighted step-wise is estimator.
- "simulation": run the environment in the background, but
use this data for evaluation only and never for learning.
output_creator (func): Function that returns an OutputWriter object
for saving generated experiences.
remote_worker_envs (bool): If using num_envs > 1, whether to create
those new envs in remote processes instead of in the current
process. This adds overheads, but can make sense if your envs
remote_env_batch_wait_ms (float): Timeout that remote workers
are waiting when polling environments. 0 (continue when at
least one env is ready) is a reasonable default, but optimal
value could be obtained by measuring your environment
step / reset and model inference perf.
soft_horizon (bool): Calculate rewards but don't reset the
environment when the horizon is hit.
no_done_at_end (bool): Ignore the done=True at the end of the
episode and instead record done=False.
seed (int): Set the seed of both np and tf to this value to
to ensure each remote worker has unique exploration behavior.
extra_python_environs (dict): Extra python environments need to
be set.
fake_sampler (bool): Use a fake (inf speed) sampler for testing.
"""
self._original_kwargs = locals().copy()
del self._original_kwargs["self"]
global _global_worker
_global_worker = self
# set extra environs first
if extra_python_environs:
for key, value in extra_python_environs.items():
os.environ[key] = str(value)
def gen_rollouts():
while True:
yield self.sample()
ParallelIteratorWorker.__init__(self, gen_rollouts, False)
policy_config = policy_config or {}
if (tf and policy_config.get("eager")
and not policy_config.get("no_eager_on_workers")
# This eager check is necessary for certain all-framework tests
# that use tf's eager_mode() context generator.
and not tf.executing_eagerly()):
tf.enable_eager_execution()
if log_level:
logging.getLogger("ray.rllib").setLevel(log_level)
if worker_index > 1:
disable_log_once_globally() # only need 1 worker to log
elif log_level == "DEBUG":
enable_periodic_logging()
env_context = EnvContext(env_config or {}, worker_index)
self.policy_config = policy_config
if callbacks:
self.callbacks = callbacks()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks = DefaultCallbacks()
self.worker_index = worker_index
self.num_workers = num_workers
model_config = model_config or {}
policy_mapping_fn = (policy_mapping_fn
or (lambda agent_id: DEFAULT_POLICY_ID))
if not callable(policy_mapping_fn):
raise ValueError("Policy mapping function not callable?")
self.env_creator = env_creator
self.rollout_fragment_length = rollout_fragment_length * num_envs
self.batch_mode = batch_mode
self.compress_observations = compress_observations
self.preprocessing_enabled = True
self.last_batch = None
self.global_vars = None
self.fake_sampler = fake_sampler
self.env = _validate_env(env_creator(env_context))
if isinstance(self.env, MultiAgentEnv) or \
isinstance(self.env, BaseEnv):
def wrap(env):
return env # we can't auto-wrap these env types
elif is_atari(self.env) and \
not model_config.get("custom_preprocessor") and \
preprocessor_pref == "deepmind":
# Deepmind wrappers already handle all preprocessing
self.preprocessing_enabled = False
if clip_rewards is None:
clip_rewards = True
def wrap(env):
env = wrap_deepmind(
env,
dim=model_config.get("dim"),
framestack=model_config.get("framestack"))
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
else:
def wrap(env):
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
self.env = wrap(self.env)
def make_env(vector_index):
return wrap(
env_creator(
env_context.copy_with_overrides(
vector_index=vector_index, remote=remote_worker_envs)))
self.tf_sess = None
policy_dict = _validate_and_canonicalize(policy, self.env)
self.policies_to_train = policies_to_train or list(policy_dict.keys())
# set numpy and python seed
if seed is not None:
np.random.seed(seed)
random.seed(seed)
if not hasattr(self.env, "seed"):
raise ValueError("Env doesn't support env.seed(): {}".format(
self.env))
self.env.seed(seed)
try:
assert torch is not None
torch.manual_seed(seed)
except AssertionError:
logger.info("Could not seed torch")
if _has_tensorflow_graph(policy_dict) and not (tf and
tf.executing_eagerly()):
if not tf:
raise ImportError("Could not import tensorflow")
with tf.Graph().as_default():
if tf_session_creator:
self.tf_sess = tf_session_creator()
else:
self.tf_sess = tf.Session(
config=tf.ConfigProto(
gpu_options=tf.GPUOptions(allow_growth=True)))
with self.tf_sess.as_default():
# set graph-level seed
if seed is not None:
tf.set_random_seed(seed)
self.policy_map, self.preprocessors = \
self._build_policy_map(policy_dict, policy_config)
if (ray.is_initialized()
and ray.worker._mode() != ray.worker.LOCAL_MODE):
if not ray.get_gpu_ids():
logger.debug(
"Creating policy evaluation worker {}".format(
worker_index) +
" on CPU (please ignore any CUDA init errors)")
elif not tf.test.is_gpu_available():
raise RuntimeError(
"GPUs were assigned to this worker by Ray, but "
"TensorFlow reports GPU acceleration is disabled. "
"This could be due to a bad CUDA or TF installation.")
else:
self.policy_map, self.preprocessors = self._build_policy_map(
policy_dict, policy_config)
self.multiagent = set(self.policy_map.keys()) != {DEFAULT_POLICY_ID}
if self.multiagent:
if not ((isinstance(self.env, MultiAgentEnv)
or isinstance(self.env, ExternalMultiAgentEnv))
or isinstance(self.env, BaseEnv)):
raise ValueError(
"Have multiple policies {}, but the env ".format(
self.policy_map) +
"{} is not a subclass of BaseEnv, MultiAgentEnv or "
"ExternalMultiAgentEnv?".format(self.env))
self.filters = {
policy_id: get_filter(observation_filter,
policy.observation_space.shape)
for (policy_id, policy) in self.policy_map.items()
}
if self.worker_index == 0:
logger.info("Built filter map: {}".format(self.filters))
# Always use vector env for consistency even if num_envs = 1
self.async_env = BaseEnv.to_base_env(
self.env,
make_env=make_env,
num_envs=num_envs,
remote_envs=remote_worker_envs,
remote_env_batch_wait_ms=remote_env_batch_wait_ms)
self.num_envs = num_envs
if self.batch_mode == "truncate_episodes":
pack_episodes = True
elif self.batch_mode == "complete_episodes":
rollout_fragment_length = float("inf") # never cut episodes
pack_episodes = False # sampler will return 1 episode per poll
else:
raise ValueError("Unsupported batch mode: {}".format(
self.batch_mode))
self.io_context = IOContext(log_dir, policy_config, worker_index, self)
self.reward_estimators = []
for method in input_evaluation:
if method == "simulation":
logger.warning(
"Requested 'simulation' input evaluation method: "
"will discard all sampler outputs and keep only metrics.")
sample_async = True
elif method == "is":
ise = ImportanceSamplingEstimator.create(self.io_context)
self.reward_estimators.append(ise)
elif method == "wis":
wise = WeightedImportanceSamplingEstimator.create(
self.io_context)
self.reward_estimators.append(wise)
else:
raise ValueError(
"Unknown evaluation method: {}".format(method))
if sample_async:
self.sampler = AsyncSampler(
self,
self.async_env,
self.policy_map,
policy_mapping_fn,
self.preprocessors,
self.filters,
clip_rewards,
rollout_fragment_length,
self.callbacks,
horizon=episode_horizon,
pack=pack_episodes,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
blackhole_outputs="simulation" in input_evaluation,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn)
self.sampler.start()
else:
self.sampler = SyncSampler(
self,
self.async_env,
self.policy_map,
policy_mapping_fn,
self.preprocessors,
self.filters,
clip_rewards,
rollout_fragment_length,
self.callbacks,
horizon=episode_horizon,
pack=pack_episodes,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn)
self.input_reader = input_creator(self.io_context)
assert isinstance(self.input_reader, InputReader), self.input_reader
self.output_writer = output_creator(self.io_context)
assert isinstance(self.output_writer, OutputWriter), self.output_writer
logger.debug(
"Created rollout worker with env {} ({}), policies {}".format(
self.async_env, self.env, self.policy_map))
@override(EvaluatorInterface)
def sample(self):
"""Evaluate the current policies and return a batch of experiences.
Return:
SampleBatch|MultiAgentBatch from evaluating the current policies.
"""
if self.fake_sampler and self.last_batch is not None:
return self.last_batch
if log_once("sample_start"):
logger.info("Generating sample batch of size {}".format(
self.rollout_fragment_length))
batches = [self.input_reader.next()]
steps_so_far = batches[0].count
# In truncate_episodes mode, never pull more than 1 batch per env.
# This avoids over-running the target batch size.
if self.batch_mode == "truncate_episodes":
max_batches = self.num_envs
else:
max_batches = float("inf")
while (steps_so_far < self.rollout_fragment_length
and len(batches) < max_batches):
batch = self.input_reader.next()
steps_so_far += batch.count
batches.append(batch)
batch = batches[0].concat_samples(batches)
self.callbacks.on_sample_end(worker=self, samples=batch)
# Always do writes prior to compression for consistency and to allow
# for better compression inside the writer.
self.output_writer.write(batch)
# Do off-policy estimation if needed
if self.reward_estimators:
for sub_batch in batch.split_by_episode():
for estimator in self.reward_estimators:
estimator.process(sub_batch)
if log_once("sample_end"):
logger.info("Completed sample batch:\n\n{}\n".format(
summarize(batch)))
if self.compress_observations == "bulk":
batch.compress(bulk=True)
elif self.compress_observations:
batch.compress()
if self.fake_sampler:
self.last_batch = batch
return batch
@DeveloperAPI
@ray.method(num_return_vals=2)
def sample_with_count(self):
"""Same as sample() but returns the count as a separate future."""
batch = self.sample()
return batch, batch.count
@override(EvaluatorInterface)
def get_weights(self, policies=None):
if policies is None:
policies = self.policy_map.keys()
return {
pid: policy.get_weights()
for pid, policy in self.policy_map.items() if pid in policies
}
@override(EvaluatorInterface)
def set_weights(self, weights, global_vars=None):
for pid, w in weights.items():
self.policy_map[pid].set_weights(w)
if global_vars:
self.set_global_vars(global_vars)
@override(EvaluatorInterface)
def compute_gradients(self, samples):
if log_once("compute_gradients"):
logger.info("Compute gradients on:\n\n{}\n".format(
summarize(samples)))
if isinstance(samples, MultiAgentBatch):
grad_out, info_out = {}, {}
if self.tf_sess is not None:
builder = TFRunBuilder(self.tf_sess, "compute_gradients")
for pid, batch in samples.policy_batches.items():
if pid not in self.policies_to_train:
continue
grad_out[pid], info_out[pid] = (
self.policy_map[pid]._build_compute_gradients(
builder, batch))
grad_out = {k: builder.get(v) for k, v in grad_out.items()}
info_out = {k: builder.get(v) for k, v in info_out.items()}
else:
for pid, batch in samples.policy_batches.items():
if pid not in self.policies_to_train:
continue
grad_out[pid], info_out[pid] = (
self.policy_map[pid].compute_gradients(batch))
else:
grad_out, info_out = (
self.policy_map[DEFAULT_POLICY_ID].compute_gradients(samples))
info_out["batch_count"] = samples.count
if log_once("grad_out"):
logger.info("Compute grad info:\n\n{}\n".format(
summarize(info_out)))
return grad_out, info_out
@override(EvaluatorInterface)
def apply_gradients(self, grads):
if log_once("apply_gradients"):
logger.info("Apply gradients:\n\n{}\n".format(summarize(grads)))
if isinstance(grads, dict):
if self.tf_sess is not None:
builder = TFRunBuilder(self.tf_sess, "apply_gradients")
outputs = {
pid: self.policy_map[pid]._build_apply_gradients(
builder, grad)
for pid, grad in grads.items()
}
return {k: builder.get(v) for k, v in outputs.items()}
else:
return {
pid: self.policy_map[pid].apply_gradients(g)
for pid, g in grads.items()
}
else:
return self.policy_map[DEFAULT_POLICY_ID].apply_gradients(grads)
@override(EvaluatorInterface)
def learn_on_batch(self, samples):
if log_once("learn_on_batch"):
logger.info(
"Training on concatenated sample batches:\n\n{}\n".format(
summarize(samples)))
if isinstance(samples, MultiAgentBatch):
info_out = {}
to_fetch = {}
if self.tf_sess is not None:
builder = TFRunBuilder(self.tf_sess, "learn_on_batch")
else:
builder = None
for pid, batch in samples.policy_batches.items():
if pid not in self.policies_to_train:
continue
policy = self.policy_map[pid]
if builder and hasattr(policy, "_build_learn_on_batch"):
to_fetch[pid] = policy._build_learn_on_batch(
builder, batch)
else:
info_out[pid] = policy.learn_on_batch(batch)
info_out.update({k: builder.get(v) for k, v in to_fetch.items()})
else:
info_out = self.policy_map[DEFAULT_POLICY_ID].learn_on_batch(
samples)
if log_once("learn_out"):
logger.debug("Training out:\n\n{}\n".format(summarize(info_out)))
return info_out
def sample_and_learn(self, expected_batch_size, num_sgd_iter,
sgd_minibatch_size, standardize_fields):
"""Sample and batch and learn on it.
This is typically used in combination with distributed allreduce.
Arguments:
expected_batch_size (int): Expected number of samples to learn on.
num_sgd_iter (int): Number of SGD iterations.
sgd_minibatch_size (int): SGD minibatch size.
standardize_fields (list): List of sample fields to normalize.
Returns:
info: dictionary of extra metadata from learn_on_batch().
count: number of samples learned on.
"""
batch = self.sample()
assert batch.count == expected_batch_size, \
("Batch size possibly out of sync between workers, expected:",
expected_batch_size, "got:", batch.count)
logger.info("Executing distributed minibatch SGD "
"with epoch size {}, minibatch size {}".format(
batch.count, sgd_minibatch_size))
info = do_minibatch_sgd(batch, self.policy_map, self, num_sgd_iter,
sgd_minibatch_size, standardize_fields)
return info, batch.count
@DeveloperAPI
def get_metrics(self):
"""Returns a list of new RolloutMetric objects from evaluation."""
out = self.sampler.get_metrics()
for m in self.reward_estimators:
out.extend(m.get_metrics())
return out
@DeveloperAPI
def foreach_env(self, func):
"""Apply the given function to each underlying env instance."""
envs = self.async_env.get_unwrapped()
if not envs:
return [func(self.async_env)]
else:
return [func(e) for e in envs]
@DeveloperAPI
def get_policy(self, policy_id=DEFAULT_POLICY_ID):
"""Return policy for the specified id, or None.
Arguments:
policy_id (str): id of policy to return.
"""
return self.policy_map.get(policy_id)
@DeveloperAPI
def for_policy(self, func, policy_id=DEFAULT_POLICY_ID):
"""Apply the given function to the specified policy."""
return func(self.policy_map[policy_id])
@DeveloperAPI
def foreach_policy(self, func):
"""Apply the given function to each (policy, policy_id) tuple."""
return [func(policy, pid) for pid, policy in self.policy_map.items()]
@DeveloperAPI
def foreach_trainable_policy(self, func):
"""
Applies the given function to each (policy, policy_id) tuple, which
can be found in `self.policies_to_train`.
Args:
func (callable): A function - taking a Policy and its ID - that is
called on all Policies within `self.policies_to_train`.
Returns:
List[any]: The list of n return values of all
`func([policy], [ID])`-calls.
"""
return [
func(policy, pid) for pid, policy in self.policy_map.items()
if pid in self.policies_to_train
]
@DeveloperAPI
def sync_filters(self, new_filters):
"""Changes self's filter to given and rebases any accumulated delta.
Args:
new_filters (dict): Filters with new state to update local copy.
"""
assert all(k in new_filters for k in self.filters)
for k in self.filters:
self.filters[k].sync(new_filters[k])
@DeveloperAPI
def get_filters(self, flush_after=False):
"""Returns a snapshot of filters.
Args:
flush_after (bool): Clears the filter buffer state.
Returns:
return_filters (dict): Dict for serializable filters
"""
return_filters = {}
for k, f in self.filters.items():
return_filters[k] = f.as_serializable()
if flush_after:
f.clear_buffer()
return return_filters
@DeveloperAPI
def save(self):
filters = self.get_filters(flush_after=True)
state = {
pid: self.policy_map[pid].get_state()
for pid in self.policy_map
}
return pickle.dumps({"filters": filters, "state": state})
@DeveloperAPI
def restore(self, objs):
objs = pickle.loads(objs)
self.sync_filters(objs["filters"])
for pid, state in objs["state"].items():
self.policy_map[pid].set_state(state)
@DeveloperAPI
def set_global_vars(self, global_vars):
self.foreach_policy(lambda p, _: p.on_global_var_update(global_vars))
self.global_vars = global_vars
@DeveloperAPI
def get_global_vars(self):
return self.global_vars
@DeveloperAPI
def export_policy_model(self, export_dir, policy_id=DEFAULT_POLICY_ID):
self.policy_map[policy_id].export_model(export_dir)
@DeveloperAPI
def import_policy_model_from_h5(self,
import_file,
policy_id=DEFAULT_POLICY_ID):
self.policy_map[policy_id].import_model_from_h5(import_file)
@DeveloperAPI
def export_policy_checkpoint(self,
export_dir,
filename_prefix="model",
policy_id=DEFAULT_POLICY_ID):
self.policy_map[policy_id].export_checkpoint(export_dir,
filename_prefix)
@DeveloperAPI
def stop(self):
self.async_env.stop()
@DeveloperAPI
def creation_args(self):
"""Returns the args used to create this worker."""
return self._original_kwargs
def _build_policy_map(self, policy_dict, policy_config):
policy_map = {}
preprocessors = {}
for name, (cls, obs_space, act_space,
conf) in sorted(policy_dict.items()):
logger.debug("Creating policy for {}".format(name))
merged_conf = merge_dicts(policy_config, conf)
merged_conf["num_workers"] = self.num_workers
merged_conf["worker_index"] = self.worker_index
if self.preprocessing_enabled:
preprocessor = ModelCatalog.get_preprocessor_for_space(
obs_space, merged_conf.get("model"))
preprocessors[name] = preprocessor
obs_space = preprocessor.observation_space
else:
preprocessors[name] = NoPreprocessor(obs_space)
if isinstance(obs_space, gym.spaces.Dict) or \
isinstance(obs_space, gym.spaces.Tuple):
raise ValueError(
"Found raw Tuple|Dict space as input to policy. "
"Please preprocess these observations with a "
"Tuple|DictFlatteningPreprocessor.")
if tf and tf.executing_eagerly():
if hasattr(cls, "as_eager"):
cls = cls.as_eager()
if policy_config["eager_tracing"]:
cls = cls.with_tracing()
elif not issubclass(cls, TFPolicy):
pass # could be some other type of policy
else:
raise ValueError("This policy does not support eager "
"execution: {}".format(cls))
if tf:
with tf.variable_scope(name):
policy_map[name] = cls(obs_space, act_space, merged_conf)
else:
policy_map[name] = cls(obs_space, act_space, merged_conf)
if self.worker_index == 0:
logger.info("Built policy map: {}".format(policy_map))
logger.info("Built preprocessor map: {}".format(preprocessors))
return policy_map, preprocessors
def setup_torch_data_parallel(self, url, world_rank, world_size, backend):
"""Join a torch process group for distributed SGD."""
logger.info("Joining process group, url={}, world_rank={}, "
"world_size={}, backend={}".format(url, world_rank,
world_size, backend))
torch.distributed.init_process_group(
backend=backend,
init_method=url,
rank=world_rank,
world_size=world_size)
for pid, policy in self.policy_map.items():
if not isinstance(policy, TorchPolicy):
raise ValueError(
"This policy does not support torch distributed", policy)
policy.distributed_world_size = world_size
def get_node_ip(self):
"""Returns the IP address of the current node."""
return ray.services.get_node_ip_address()
def find_free_port(self):
"""Finds a free port on the current node."""
from ray.util.sgd import utils
return utils.find_free_port()
def __del__(self):
if hasattr(self, "sampler") and isinstance(self.sampler, AsyncSampler):
self.sampler.shutdown = True
def __init__(self,
env_creator,
policy,
policy_mapping_fn=None,
policies_to_train=None,
tf_session_creator=None,
rollout_fragment_length=100,
batch_mode="truncate_episodes",
episode_horizon=None,
preprocessor_pref="deepmind",
sample_async=False,
compress_observations=False,
num_envs=1,
observation_fn=None,
observation_filter="NoFilter",
clip_rewards=None,
clip_actions=True,
env_config=None,
model_config=None,
policy_config=None,
worker_index=0,
num_workers=0,
monitor_path=None,
log_dir=None,
log_level=None,
callbacks=None,
input_creator=lambda ioctx: ioctx.default_sampler_input(),
input_evaluation=frozenset([]),
output_creator=lambda ioctx: NoopOutput(),
remote_worker_envs=False,
remote_env_batch_wait_ms=0,
soft_horizon=False,
no_done_at_end=False,
seed=None,
extra_python_environs=None,
fake_sampler=False):
"""Initialize a rollout worker.
Arguments:
env_creator (func): Function that returns a gym.Env given an
EnvContext wrapped configuration.
policy (class|dict): Either a class implementing
Policy, or a dictionary of policy id strings to
(Policy, obs_space, action_space, config) tuples. If a
dict is specified, then we are in multi-agent mode and a
policy_mapping_fn should also be set.
policy_mapping_fn (func): A function that maps agent ids to
policy ids in multi-agent mode. This function will be called
each time a new agent appears in an episode, to bind that agent
to a policy for the duration of the episode.
policies_to_train (list): Optional whitelist of policies to train,
or None for all policies.
tf_session_creator (func): A function that returns a TF session.
This is optional and only useful with TFPolicy.
rollout_fragment_length (int): The target number of env transitions
to include in each sample batch returned from this worker.
batch_mode (str): One of the following batch modes:
"truncate_episodes": Each call to sample() will return a batch
of at most `rollout_fragment_length * num_envs` in size.
The batch will be exactly
`rollout_fragment_length * num_envs` in size if
postprocessing does not change batch sizes. Episodes may be
truncated in order to meet this size requirement.
"complete_episodes": Each call to sample() will return a batch
of at least `rollout_fragment_length * num_envs` in size.
Episodes will not be truncated, but multiple episodes may
be packed within one batch to meet the batch size. Note
that when `num_envs > 1`, episode steps will be buffered
until the episode completes, and hence batches may contain
significant amounts of off-policy data.
episode_horizon (int): Whether to stop episodes at this horizon.
preprocessor_pref (str): Whether to prefer RLlib preprocessors
("rllib") or deepmind ("deepmind") when applicable.
sample_async (bool): Whether to compute samples asynchronously in
the background, which improves throughput but can cause samples
to be slightly off-policy.
compress_observations (bool): If true, compress the observations.
They can be decompressed with rllib/utils/compression.
num_envs (int): If more than one, will create multiple envs
and vectorize the computation of actions. This has no effect if
if the env already implements VectorEnv.
observation_fn (ObservationFunction): Optional multi-agent
observation function.
observation_filter (str): Name of observation filter to use.
clip_rewards (bool): Whether to clip rewards to [-1, 1] prior to
experience postprocessing. Setting to None means clip for Atari
only.
clip_actions (bool): Whether to clip action values to the range
specified by the policy action space.
env_config (dict): Config to pass to the env creator.
model_config (dict): Config to use when creating the policy model.
policy_config (dict): Config to pass to the policy. In the
multi-agent case, this config will be merged with the
per-policy configs specified by `policy`.
worker_index (int): For remote workers, this should be set to a
non-zero and unique value. This index is passed to created envs
through EnvContext so that envs can be configured per worker.
num_workers (int): For remote workers, how many workers altogether
have been created?
monitor_path (str): Write out episode stats and videos to this
directory if specified.
log_dir (str): Directory where logs can be placed.
log_level (str): Set the root log level on creation.
callbacks (DefaultCallbacks): Custom training callbacks.
input_creator (func): Function that returns an InputReader object
for loading previous generated experiences.
input_evaluation (list): How to evaluate the policy performance.
This only makes sense to set when the input is reading offline
data. The possible values include:
- "is": the step-wise importance sampling estimator.
- "wis": the weighted step-wise is estimator.
- "simulation": run the environment in the background, but
use this data for evaluation only and never for learning.
output_creator (func): Function that returns an OutputWriter object
for saving generated experiences.
remote_worker_envs (bool): If using num_envs > 1, whether to create
those new envs in remote processes instead of in the current
process. This adds overheads, but can make sense if your envs
remote_env_batch_wait_ms (float): Timeout that remote workers
are waiting when polling environments. 0 (continue when at
least one env is ready) is a reasonable default, but optimal
value could be obtained by measuring your environment
step / reset and model inference perf.
soft_horizon (bool): Calculate rewards but don't reset the
environment when the horizon is hit.
no_done_at_end (bool): Ignore the done=True at the end of the
episode and instead record done=False.
seed (int): Set the seed of both np and tf to this value to
to ensure each remote worker has unique exploration behavior.
extra_python_environs (dict): Extra python environments need to
be set.
fake_sampler (bool): Use a fake (inf speed) sampler for testing.
"""
self._original_kwargs = locals().copy()
del self._original_kwargs["self"]
global _global_worker
_global_worker = self
# set extra environs first
if extra_python_environs:
for key, value in extra_python_environs.items():
os.environ[key] = str(value)
def gen_rollouts():
while True:
yield self.sample()
ParallelIteratorWorker.__init__(self, gen_rollouts, False)
policy_config = policy_config or {}
if (tf and policy_config.get("eager")
and not policy_config.get("no_eager_on_workers")
# This eager check is necessary for certain all-framework tests
# that use tf's eager_mode() context generator.
and not tf.executing_eagerly()):
tf.enable_eager_execution()
if log_level:
logging.getLogger("ray.rllib").setLevel(log_level)
if worker_index > 1:
disable_log_once_globally() # only need 1 worker to log
elif log_level == "DEBUG":
enable_periodic_logging()
env_context = EnvContext(env_config or {}, worker_index)
self.policy_config = policy_config
if callbacks:
self.callbacks = callbacks()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks = DefaultCallbacks()
self.worker_index = worker_index
self.num_workers = num_workers
model_config = model_config or {}
policy_mapping_fn = (policy_mapping_fn
or (lambda agent_id: DEFAULT_POLICY_ID))
if not callable(policy_mapping_fn):
raise ValueError("Policy mapping function not callable?")
self.env_creator = env_creator
self.rollout_fragment_length = rollout_fragment_length * num_envs
self.batch_mode = batch_mode
self.compress_observations = compress_observations
self.preprocessing_enabled = True
self.last_batch = None
self.global_vars = None
self.fake_sampler = fake_sampler
self.env = _validate_env(env_creator(env_context))
if isinstance(self.env, MultiAgentEnv) or \
isinstance(self.env, BaseEnv):
def wrap(env):
return env # we can't auto-wrap these env types
elif is_atari(self.env) and \
not model_config.get("custom_preprocessor") and \
preprocessor_pref == "deepmind":
# Deepmind wrappers already handle all preprocessing
self.preprocessing_enabled = False
if clip_rewards is None:
clip_rewards = True
def wrap(env):
env = wrap_deepmind(
env,
dim=model_config.get("dim"),
framestack=model_config.get("framestack"))
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
else:
def wrap(env):
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
self.env = wrap(self.env)
def make_env(vector_index):
return wrap(
env_creator(
env_context.copy_with_overrides(
vector_index=vector_index, remote=remote_worker_envs)))
self.tf_sess = None
policy_dict = _validate_and_canonicalize(policy, self.env)
self.policies_to_train = policies_to_train or list(policy_dict.keys())
# set numpy and python seed
if seed is not None:
np.random.seed(seed)
random.seed(seed)
if not hasattr(self.env, "seed"):
raise ValueError("Env doesn't support env.seed(): {}".format(
self.env))
self.env.seed(seed)
try:
assert torch is not None
torch.manual_seed(seed)
except AssertionError:
logger.info("Could not seed torch")
if _has_tensorflow_graph(policy_dict) and not (tf and
tf.executing_eagerly()):
if not tf:
raise ImportError("Could not import tensorflow")
with tf.Graph().as_default():
if tf_session_creator:
self.tf_sess = tf_session_creator()
else:
self.tf_sess = tf.Session(
config=tf.ConfigProto(
gpu_options=tf.GPUOptions(allow_growth=True)))
with self.tf_sess.as_default():
# set graph-level seed
if seed is not None:
tf.set_random_seed(seed)
self.policy_map, self.preprocessors = \
self._build_policy_map(policy_dict, policy_config)
if (ray.is_initialized()
and ray.worker._mode() != ray.worker.LOCAL_MODE):
if not ray.get_gpu_ids():
logger.debug(
"Creating policy evaluation worker {}".format(
worker_index) +
" on CPU (please ignore any CUDA init errors)")
elif not tf.test.is_gpu_available():
raise RuntimeError(
"GPUs were assigned to this worker by Ray, but "
"TensorFlow reports GPU acceleration is disabled. "
"This could be due to a bad CUDA or TF installation.")
else:
self.policy_map, self.preprocessors = self._build_policy_map(
policy_dict, policy_config)
self.multiagent = set(self.policy_map.keys()) != {DEFAULT_POLICY_ID}
if self.multiagent:
if not ((isinstance(self.env, MultiAgentEnv)
or isinstance(self.env, ExternalMultiAgentEnv))
or isinstance(self.env, BaseEnv)):
raise ValueError(
"Have multiple policies {}, but the env ".format(
self.policy_map) +
"{} is not a subclass of BaseEnv, MultiAgentEnv or "
"ExternalMultiAgentEnv?".format(self.env))
self.filters = {
policy_id: get_filter(observation_filter,
policy.observation_space.shape)
for (policy_id, policy) in self.policy_map.items()
}
if self.worker_index == 0:
logger.info("Built filter map: {}".format(self.filters))
# Always use vector env for consistency even if num_envs = 1
self.async_env = BaseEnv.to_base_env(
self.env,
make_env=make_env,
num_envs=num_envs,
remote_envs=remote_worker_envs,
remote_env_batch_wait_ms=remote_env_batch_wait_ms)
self.num_envs = num_envs
if self.batch_mode == "truncate_episodes":
pack_episodes = True
elif self.batch_mode == "complete_episodes":
rollout_fragment_length = float("inf") # never cut episodes
pack_episodes = False # sampler will return 1 episode per poll
else:
raise ValueError("Unsupported batch mode: {}".format(
self.batch_mode))
self.io_context = IOContext(log_dir, policy_config, worker_index, self)
self.reward_estimators = []
for method in input_evaluation:
if method == "simulation":
logger.warning(
"Requested 'simulation' input evaluation method: "
"will discard all sampler outputs and keep only metrics.")
sample_async = True
elif method == "is":
ise = ImportanceSamplingEstimator.create(self.io_context)
self.reward_estimators.append(ise)
elif method == "wis":
wise = WeightedImportanceSamplingEstimator.create(
self.io_context)
self.reward_estimators.append(wise)
else:
raise ValueError(
"Unknown evaluation method: {}".format(method))
if sample_async:
self.sampler = AsyncSampler(
self,
self.async_env,
self.policy_map,
policy_mapping_fn,
self.preprocessors,
self.filters,
clip_rewards,
rollout_fragment_length,
self.callbacks,
horizon=episode_horizon,
pack=pack_episodes,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
blackhole_outputs="simulation" in input_evaluation,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn)
self.sampler.start()
else:
self.sampler = SyncSampler(
self,
self.async_env,
self.policy_map,
policy_mapping_fn,
self.preprocessors,
self.filters,
clip_rewards,
rollout_fragment_length,
self.callbacks,
horizon=episode_horizon,
pack=pack_episodes,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn)
self.input_reader = input_creator(self.io_context)
assert isinstance(self.input_reader, InputReader), self.input_reader
self.output_writer = output_creator(self.io_context)
assert isinstance(self.output_writer, OutputWriter), self.output_writer
logger.debug(
"Created rollout worker with env {} ({}), policies {}".format(
self.async_env, self.env, self.policy_map))
def __init__(
self,
*,
env_creator: Callable[[EnvContext], EnvType],
validate_env: Optional[Callable[[EnvType, EnvContext],
None]] = None,
policy_spec: Union[type, Dict[
str, Tuple[Optional[type], gym.Space, gym.Space,
PartialTrainerConfigDict]]] = None,
policy_mapping_fn: Optional[Callable[[AgentID], PolicyID]] = None,
policies_to_train: Optional[List[PolicyID]] = None,
tf_session_creator: Optional[Callable[[], "tf1.Session"]] = None,
rollout_fragment_length: int = 100,
batch_mode: str = "truncate_episodes",
episode_horizon: int = None,
preprocessor_pref: str = "deepmind",
sample_async: bool = False,
compress_observations: bool = False,
num_envs: int = 1,
observation_fn: "ObservationFunction" = None,
observation_filter: str = "NoFilter",
clip_rewards: bool = None,
clip_actions: bool = True,
env_config: EnvConfigDict = None,
model_config: ModelConfigDict = None,
policy_config: TrainerConfigDict = None,
worker_index: int = 0,
num_workers: int = 0,
monitor_path: str = None,
log_dir: str = None,
log_level: str = None,
callbacks: Type["DefaultCallbacks"] = None,
input_creator: Callable[[
IOContext
], InputReader] = lambda ioctx: ioctx.default_sampler_input(),
input_evaluation: List[str] = frozenset([]),
output_creator: Callable[
[IOContext], OutputWriter] = lambda ioctx: NoopOutput(),
remote_worker_envs: bool = False,
remote_env_batch_wait_ms: int = 0,
soft_horizon: bool = False,
no_done_at_end: bool = False,
seed: int = None,
extra_python_environs: dict = None,
fake_sampler: bool = False,
spaces: Optional[Dict[PolicyID, Tuple[gym.spaces.Space,
gym.spaces.Space]]] = None,
policy: Union[type, Dict[
str, Tuple[Optional[type], gym.Space, gym.Space,
PartialTrainerConfigDict]]] = None,
):
"""Initialize a rollout worker.
Args:
env_creator (Callable[[EnvContext], EnvType]): Function that
returns a gym.Env given an EnvContext wrapped configuration.
validate_env (Optional[Callable[[EnvType, EnvContext], None]]):
Optional callable to validate the generated environment (only
on worker=0).
policy_spec (Union[type, Dict[str, Tuple[Type[Policy], gym.Space,
gym.Space, PartialTrainerConfigDict]]]): Either a Policy class
or a dict of policy id strings to
(Policy class, obs_space, action_space, config)-tuples. If a
dict is specified, then we are in multi-agent mode and a
policy_mapping_fn can also be set (if not, will map all agents
to DEFAULT_POLICY_ID).
policy_mapping_fn (Optional[Callable[[AgentID], PolicyID]]): A
callable that maps agent ids to policy ids in multi-agent mode.
This function will be called each time a new agent appears in
an episode, to bind that agent to a policy for the duration of
the episode. If not provided, will map all agents to
DEFAULT_POLICY_ID.
policies_to_train (Optional[List[PolicyID]]): Optional list of
policies to train, or None for all policies.
tf_session_creator (Optional[Callable[[], tf1.Session]]): A
function that returns a TF session. This is optional and only
useful with TFPolicy.
rollout_fragment_length (int): The target number of env transitions
to include in each sample batch returned from this worker.
batch_mode (str): One of the following batch modes:
"truncate_episodes": Each call to sample() will return a batch
of at most `rollout_fragment_length * num_envs` in size.
The batch will be exactly
`rollout_fragment_length * num_envs` in size if
postprocessing does not change batch sizes. Episodes may be
truncated in order to meet this size requirement.
"complete_episodes": Each call to sample() will return a batch
of at least `rollout_fragment_length * num_envs` in size.
Episodes will not be truncated, but multiple episodes may
be packed within one batch to meet the batch size. Note
that when `num_envs > 1`, episode steps will be buffered
until the episode completes, and hence batches may contain
significant amounts of off-policy data.
episode_horizon (int): Whether to stop episodes at this horizon.
preprocessor_pref (str): Whether to prefer RLlib preprocessors
("rllib") or deepmind ("deepmind") when applicable.
sample_async (bool): Whether to compute samples asynchronously in
the background, which improves throughput but can cause samples
to be slightly off-policy.
compress_observations (bool): If true, compress the observations.
They can be decompressed with rllib/utils/compression.
num_envs (int): If more than one, will create multiple envs
and vectorize the computation of actions. This has no effect if
if the env already implements VectorEnv.
observation_fn (ObservationFunction): Optional multi-agent
observation function.
observation_filter (str): Name of observation filter to use.
clip_rewards (bool): Whether to clip rewards to [-1, 1] prior to
experience postprocessing. Setting to None means clip for Atari
only.
clip_actions (bool): Whether to clip action values to the range
specified by the policy action space.
env_config (EnvConfigDict): Config to pass to the env creator.
model_config (ModelConfigDict): Config to use when creating the
policy model.
policy_config (TrainerConfigDict): Config to pass to the policy.
In the multi-agent case, this config will be merged with the
per-policy configs specified by `policy_spec`.
worker_index (int): For remote workers, this should be set to a
non-zero and unique value. This index is passed to created envs
through EnvContext so that envs can be configured per worker.
num_workers (int): For remote workers, how many workers altogether
have been created?
monitor_path (str): Write out episode stats and videos to this
directory if specified.
log_dir (str): Directory where logs can be placed.
log_level (str): Set the root log level on creation.
callbacks (DefaultCallbacks): Custom training callbacks.
input_creator (Callable[[IOContext], InputReader]): Function that
returns an InputReader object for loading previous generated
experiences.
input_evaluation (List[str]): How to evaluate the policy
performance. This only makes sense to set when the input is
reading offline data. The possible values include:
- "is": the step-wise importance sampling estimator.
- "wis": the weighted step-wise is estimator.
- "simulation": run the environment in the background, but
use this data for evaluation only and never for learning.
output_creator (Callable[[IOContext], OutputWriter]): Function that
returns an OutputWriter object for saving generated
experiences.
remote_worker_envs (bool): If using num_envs > 1, whether to create
those new envs in remote processes instead of in the current
process. This adds overheads, but can make sense if your envs
remote_env_batch_wait_ms (float): Timeout that remote workers
are waiting when polling environments. 0 (continue when at
least one env is ready) is a reasonable default, but optimal
value could be obtained by measuring your environment
step / reset and model inference perf.
soft_horizon (bool): Calculate rewards but don't reset the
environment when the horizon is hit.
no_done_at_end (bool): Ignore the done=True at the end of the
episode and instead record done=False.
seed (int): Set the seed of both np and tf to this value to
to ensure each remote worker has unique exploration behavior.
extra_python_environs (dict): Extra python environments need to
be set.
fake_sampler (bool): Use a fake (inf speed) sampler for testing.
spaces (Optional[Dict[PolicyID, Tuple[gym.spaces.Space,
gym.spaces.Space]]]): An optional space dict mapping policy IDs
to (obs_space, action_space)-tuples. This is used in case no
Env is created on this RolloutWorker.
policy: Obsoleted arg. Use `policy_spec` instead.
"""
# Deprecated arg.
if policy is not None:
deprecation_warning("policy", "policy_spec", error=False)
policy_spec = policy
assert policy_spec is not None, "Must provide `policy_spec` when " \
"creating RolloutWorker!"
self._original_kwargs: dict = locals().copy()
del self._original_kwargs["self"]
global _global_worker
_global_worker = self
# set extra environs first
if extra_python_environs:
for key, value in extra_python_environs.items():
os.environ[key] = str(value)
def gen_rollouts():
while True:
yield self.sample()
ParallelIteratorWorker.__init__(self, gen_rollouts, False)
policy_config: TrainerConfigDict = policy_config or {}
if (tf1 and policy_config.get("framework") in ["tf2", "tfe"]
# This eager check is necessary for certain all-framework tests
# that use tf's eager_mode() context generator.
and not tf1.executing_eagerly()):
tf1.enable_eager_execution()
if log_level:
logging.getLogger("ray.rllib").setLevel(log_level)
if worker_index > 1:
disable_log_once_globally() # only need 1 worker to log
elif log_level == "DEBUG":
enable_periodic_logging()
env_context = EnvContext(env_config or {}, worker_index)
self.env_context = env_context
self.policy_config: TrainerConfigDict = policy_config
if callbacks:
self.callbacks: "DefaultCallbacks" = callbacks()
else:
from ray.rllib.agents.callbacks import DefaultCallbacks
self.callbacks: "DefaultCallbacks" = DefaultCallbacks()
self.worker_index: int = worker_index
self.num_workers: int = num_workers
model_config: ModelConfigDict = model_config or {}
policy_mapping_fn = (policy_mapping_fn
or (lambda agent_id: DEFAULT_POLICY_ID))
if not callable(policy_mapping_fn):
raise ValueError("Policy mapping function not callable?")
self.env_creator: Callable[[EnvContext], EnvType] = env_creator
self.rollout_fragment_length: int = rollout_fragment_length * num_envs
self.batch_mode: str = batch_mode
self.compress_observations: bool = compress_observations
self.preprocessing_enabled: bool = True
self.last_batch: SampleBatchType = None
self.global_vars: dict = None
self.fake_sampler: bool = fake_sampler
# No Env will be used in this particular worker (not needed).
if worker_index == 0 and num_workers > 0 and \
policy_config["create_env_on_driver"] is False:
self.env = None
# Create an env for this worker.
else:
self.env = _validate_env(env_creator(env_context))
if validate_env is not None:
validate_env(self.env, self.env_context)
if isinstance(self.env, (BaseEnv, MultiAgentEnv)):
def wrap(env):
return env # we can't auto-wrap these env types
elif is_atari(self.env) and \
not model_config.get("custom_preprocessor") and \
preprocessor_pref == "deepmind":
# Deepmind wrappers already handle all preprocessing.
self.preprocessing_enabled = False
# If clip_rewards not explicitly set to False, switch it
# on here (clip between -1.0 and 1.0).
if clip_rewards is None:
clip_rewards = True
def wrap(env):
env = wrap_deepmind(
env,
dim=model_config.get("dim"),
framestack=model_config.get("framestack"))
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
else:
def wrap(env):
if monitor_path:
from gym import wrappers
env = wrappers.Monitor(env, monitor_path, resume=True)
return env
self.env: EnvType = wrap(self.env)
def make_env(vector_index):
return wrap(
env_creator(
env_context.copy_with_overrides(
worker_index=worker_index,
vector_index=vector_index,
remote=remote_worker_envs)))
self.make_env_fn = make_env
self.tf_sess = None
policy_dict = _validate_and_canonicalize(
policy_spec, self.env, spaces=spaces)
self.policies_to_train: List[PolicyID] = policies_to_train or list(
policy_dict.keys())
self.policy_map: Dict[PolicyID, Policy] = None
self.preprocessors: Dict[PolicyID, Preprocessor] = None
# set numpy and python seed
if seed is not None:
np.random.seed(seed)
random.seed(seed)
if not hasattr(self.env, "seed"):
logger.info("Env doesn't support env.seed(): {}".format(
self.env))
else:
self.env.seed(seed)
try:
assert torch is not None
torch.manual_seed(seed)
except AssertionError:
logger.info("Could not seed torch")
if _has_tensorflow_graph(policy_dict) and not (
tf1 and tf1.executing_eagerly()):
if not tf1:
raise ImportError("Could not import tensorflow")
with tf1.Graph().as_default():
if tf_session_creator:
self.tf_sess = tf_session_creator()
else:
self.tf_sess = tf1.Session(
config=tf1.ConfigProto(
gpu_options=tf1.GPUOptions(allow_growth=True)))
with self.tf_sess.as_default():
# set graph-level seed
if seed is not None:
tf1.set_random_seed(seed)
self.policy_map, self.preprocessors = \
self._build_policy_map(policy_dict, policy_config)
else:
self.policy_map, self.preprocessors = self._build_policy_map(
policy_dict, policy_config)
if (ray.is_initialized()
and ray.worker._mode() != ray.worker.LOCAL_MODE):
# Check available number of GPUs
if not ray.get_gpu_ids():
logger.debug("Creating policy evaluation worker {}".format(
worker_index) +
" on CPU (please ignore any CUDA init errors)")
elif (policy_config["framework"] in ["tf2", "tf", "tfe"] and
not tf.config.experimental.list_physical_devices("GPU")) or \
(policy_config["framework"] == "torch" and
not torch.cuda.is_available()):
raise RuntimeError(
"GPUs were assigned to this worker by Ray, but "
"your DL framework ({}) reports GPU acceleration is "
"disabled. This could be due to a bad CUDA- or {} "
"installation.".format(policy_config["framework"],
policy_config["framework"]))
self.multiagent: bool = set(
self.policy_map.keys()) != {DEFAULT_POLICY_ID}
if self.multiagent and self.env is not None:
if not ((isinstance(self.env, MultiAgentEnv)
or isinstance(self.env, ExternalMultiAgentEnv))
or isinstance(self.env, BaseEnv)):
raise ValueError(
"Have multiple policies {}, but the env ".format(
self.policy_map) +
"{} is not a subclass of BaseEnv, MultiAgentEnv or "
"ExternalMultiAgentEnv?".format(self.env))
self.filters: Dict[PolicyID, Filter] = {
policy_id: get_filter(observation_filter,
policy.observation_space.shape)
for (policy_id, policy) in self.policy_map.items()
}
if self.worker_index == 0:
logger.info("Built filter map: {}".format(self.filters))
self.num_envs: int = num_envs
if self.env is None:
self.async_env = None
elif "custom_vector_env" in policy_config:
custom_vec_wrapper = policy_config["custom_vector_env"]
self.async_env = custom_vec_wrapper(self.env)
else:
# Always use vector env for consistency even if num_envs = 1.
self.async_env: BaseEnv = BaseEnv.to_base_env(
self.env,
make_env=make_env,
num_envs=num_envs,
remote_envs=remote_worker_envs,
remote_env_batch_wait_ms=remote_env_batch_wait_ms)
# `truncate_episodes`: Allow a batch to contain more than one episode
# (fragments) and always make the batch `rollout_fragment_length`
# long.
if self.batch_mode == "truncate_episodes":
pack = True
# `complete_episodes`: Never cut episodes and sampler will return
# exactly one (complete) episode per poll.
elif self.batch_mode == "complete_episodes":
rollout_fragment_length = float("inf")
pack = False
else:
raise ValueError("Unsupported batch mode: {}".format(
self.batch_mode))
self.io_context: IOContext = IOContext(log_dir, policy_config,
worker_index, self)
self.reward_estimators: List[OffPolicyEstimator] = []
for method in input_evaluation:
if method == "simulation":
logger.warning(
"Requested 'simulation' input evaluation method: "
"will discard all sampler outputs and keep only metrics.")
sample_async = True
elif method == "is":
ise = ImportanceSamplingEstimator.create(self.io_context)
self.reward_estimators.append(ise)
elif method == "wis":
wise = WeightedImportanceSamplingEstimator.create(
self.io_context)
self.reward_estimators.append(wise)
else:
raise ValueError(
"Unknown evaluation method: {}".format(method))
if self.env is None:
self.sampler = None
elif sample_async:
self.sampler = AsyncSampler(
worker=self,
env=self.async_env,
policies=self.policy_map,
policy_mapping_fn=policy_mapping_fn,
preprocessors=self.preprocessors,
obs_filters=self.filters,
clip_rewards=clip_rewards,
rollout_fragment_length=rollout_fragment_length,
callbacks=self.callbacks,
horizon=episode_horizon,
multiple_episodes_in_batch=pack,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
blackhole_outputs="simulation" in input_evaluation,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn,
_use_trajectory_view_api=policy_config.get(
"_use_trajectory_view_api", False))
# Start the Sampler thread.
self.sampler.start()
else:
self.sampler = SyncSampler(
worker=self,
env=self.async_env,
policies=self.policy_map,
policy_mapping_fn=policy_mapping_fn,
preprocessors=self.preprocessors,
obs_filters=self.filters,
clip_rewards=clip_rewards,
rollout_fragment_length=rollout_fragment_length,
callbacks=self.callbacks,
horizon=episode_horizon,
multiple_episodes_in_batch=pack,
tf_sess=self.tf_sess,
clip_actions=clip_actions,
soft_horizon=soft_horizon,
no_done_at_end=no_done_at_end,
observation_fn=observation_fn,
_use_trajectory_view_api=policy_config.get(
"_use_trajectory_view_api", False))
self.input_reader: InputReader = input_creator(self.io_context)
self.output_writer: OutputWriter = output_creator(self.io_context)
logger.debug(
"Created rollout worker with env {} ({}), policies {}".format(
self.async_env, self.env, self.policy_map))
def make_callbacks():
# Deprecation warning will be logged by DefaultCallbacks.
return DefaultCallbacks(
legacy_callbacks_dict=legacy_callbacks_dict)
def __init__(
self,
env,
batch_size,
trace_length,
grid_size,
exploiter_base_lr,
exploiter_decay_lr_in_n_epi,
exploiter_stop_training_after_n_epi,
train_exploiter_n_times_per_epi,
):
self.stop_training_after_n_epi = exploiter_stop_training_after_n_epi
self.train_exploiter_n_times_per_epi = train_exploiter_n_times_per_epi
# with tf.variable_scope(f"dqn_exploiter"):
# Create the dqn policy for the exploiter
dqn_config = copy.deepcopy(DEFAULT_CONFIG)
dqn_config.update({
"prioritized_replay":
False,
"double_q":
True,
"buffer_size":
50000,
"dueling":
False,
"learning_starts":
min(int((batch_size - 1) * (trace_length - 1)), 64),
"model": {
"dim": grid_size,
"conv_filters": [[16, [3, 3], 1], [32, [3, 3], 1]],
# [Channel, [Kernel, Kernel], Stride]]
# "fcnet_hiddens": [self.env.NUM_ACTIONS],
"max_seq_len": trace_length,
# Number of hidden layers for fully connected net
"fcnet_hiddens": [64],
# Nonlinearity for fully connected net (tanh, relu)
"fcnet_activation": "relu",
},
# Update the replay buffer with this many samples at once. Note that
# this setting applies per-worker if num_workers > 1.
"rollout_fragment_length":
1,
# Size of a batch sampled from replay buffer for training. Note that
# if async_updates is set, then each worker returns gradients for a
# batch of this size.
"train_batch_size":
min(int((batch_size) * (trace_length)), 64),
"explore":
False,
"grad_clip":
1,
"gamma":
0.5,
"lr":
exploiter_base_lr,
# Learning rate schedule
"lr_schedule": [
(0, exploiter_base_lr / 1000),
(100, exploiter_base_lr),
(exploiter_decay_lr_in_n_epi, exploiter_base_lr / 1e9),
],
"sgd_momentum":
0.9,
})
print("dqn_config", dqn_config)
self.local_replay_buffer = LocalReplayBuffer(
num_shards=1,
learning_starts=dqn_config["learning_starts"],
buffer_size=dqn_config["buffer_size"],
replay_batch_size=dqn_config["train_batch_size"],
replay_mode=dqn_config["multiagent"]["replay_mode"],
replay_sequence_length=dqn_config["replay_sequence_length"],
)
# self.dqn_exploiter = DQNTFPolicy(obs_space=self.env.OBSERVATION_SPACE,
# action_space=self.env.ACTION_SPACE,
# config=dqn_config)
def sgd_optimizer_dqn(policy, config) -> "torch.optim.Optimizer":
return torch.optim.SGD(
policy.q_func_vars,
lr=policy.cur_lr,
momentum=config["sgd_momentum"],
)
MyDQNTorchPolicy = DQNTorchPolicy.with_updates(
optimizer_fn=sgd_optimizer_dqn)
self.dqn_policy = MyDQNTorchPolicy(
obs_space=env.OBSERVATION_SPACE,
action_space=env.ACTION_SPACE,
config=dqn_config,
)
self.multi_agent_batch_builders = [
MultiAgentSampleBatchBuilder(
policy_map={"player_blue": self.dqn_policy},
clip_rewards=False,
callbacks=DefaultCallbacks(),
)
# for _ in range(self.batch_size)
]
def _init_algo(self, fear, greed, n_players, use_simple_agents,
action_flip_prob, max_reward_strength, value_fn_variant,
cost_param, with_redistribution, n_planning_eps, env_config,
n_units, n_episodes, env, lr, gamma, weight_decay,
loss_mul_planner, mean_theta, with_planner, std_theta,
add_state_grad, planner_momentum, planner_clip_norm,
entropy_coeff, seed, normalize_planner,
no_weights_decay_planner, planner_std_theta_mul,
use_adam_optimizer, use_softmax_hot, report_every_n,
momentum, weight_decay_pl_mul, square_cost,
normalize_against_v, use_v_pl, normalize_against_vp,
normalize_vp_separated, use_rllib_polcy, **kwargs):
if not use_simple_agents:
speed_ratio = 5.0
lr = lr / speed_ratio
loss_mul_planner = loss_mul_planner * speed_ratio**2 / 2 / 2
cost_param = cost_param * 1.5
if n_units == 64:
lr = lr / 8
print("args not used:", kwargs)
convert_a_to_one_hot = not use_simple_agents
np.random.seed(seed)
tf.set_random_seed(seed)
random.seed(seed)
if env == "FearGreedMatrix":
env = define_greed_fear_matrix_game(fear=fear,
greed=greed)(env_config)
elif env == "CoinGame":
env = CoinGame(env_config)
env.seed(seed=seed)
agents = create_population(env,
n_players,
use_simple_agents=use_simple_agents,
n_units=n_units,
lr=lr,
gamma=gamma,
weight_decay=weight_decay,
mean_theta=mean_theta,
std_theta=std_theta,
entropy_coeff=entropy_coeff,
use_adam_optimizer=use_adam_optimizer,
momentum=momentum,
use_rllib_polcy=use_rllib_polcy)
np.random.seed(seed + 1)
tf.set_random_seed(seed + 1)
random.seed(seed + 1)
if with_planner:
std_theta = std_theta * planner_std_theta_mul
weight_decay = weight_decay * weight_decay_pl_mul
if no_weights_decay_planner:
weight_decay = 0.0
planning_agent = Planning_Agent(
env,
agents,
learning_rate=lr,
max_reward_strength=max_reward_strength,
cost_param=cost_param,
with_redistribution=with_redistribution,
value_fn_variant=value_fn_variant,
n_units=n_units,
weight_decay=weight_decay,
convert_a_to_one_hot=convert_a_to_one_hot,
loss_mul_planner=loss_mul_planner,
mean_theta=mean_theta,
std_theta=std_theta,
planner_clip_norm=planner_clip_norm,
normalize_planner=normalize_planner,
add_state_grad=add_state_grad,
planner_momentum=planner_momentum,
use_adam_optimizer=use_adam_optimizer,
use_softmax_hot=use_softmax_hot,
square_cost=square_cost,
normalize_against_v=normalize_against_v,
use_v_pl=use_v_pl,
normalize_against_vp=normalize_against_vp,
normalize_vp_separated=normalize_vp_separated)
else:
planning_agent = None
self.epi_n = 0
self.players = agents
self.env = env
self.action_flip_prob = action_flip_prob
self.planning_agent = planning_agent
self.with_redistribution = with_redistribution
self.n_planning_eps = n_planning_eps
self.player_ids = env.players_ids
self.n_players = n_players
self.n_episodes = n_episodes
self.max_reward_strength = max_reward_strength
self.cost_param = cost_param
self.value_fn_variant = value_fn_variant
self.fear = fear
self.greed = greed
self.report_every_n = report_every_n
self.normalize_vp_separated = normalize_vp_separated
self.use_rllib_polcy = use_rllib_polcy
self.avg_planning_rewards_per_round = []
self.episode_reward = []
self.training_epi_avg_reward = []
if self.use_rllib_polcy:
self.multi_agent_batch_builder = MultiAgentSampleBatchBuilder(
policy_map={
idx: player
for idx, player in enumerate(self.players)
},
clip_rewards=False,
callbacks=DefaultCallbacks())
def mycallback():
return DefaultCallbacks()
