def contextual_env_distrib_and_reward(
env_id, env_class, env_kwargs, goal_sampling_mode
):
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env.goal_sampling_mode = goal_sampling_mode
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
achieved_goal_from_observation=IndexIntoAchievedGoal(observation_key),
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
)
diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
def setup_contextual_env(env_id, env_class, env_kwargs, goal_sampling_mode,
renderer):
state_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
state_env.goal_sampling_mode = goal_sampling_mode
state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
state_env,
desired_goal_keys=[state_desired_goal_key],
)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
state_env.goal_conditioned_diagnostics,
desired_goal_key=state_desired_goal_key,
observation_key=state_observation_key,
)
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_goal_distribution,
image_goal_key=img_desired_goal_key,
renderer=renderer,
)
goal_distribution = PresampledDistribution(image_goal_distribution,
5000)
img_env = InsertImageEnv(state_env, renderer=renderer)
if reward_type == 'state_distance':
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=state_env,
achieved_goal_from_observation=IndexIntoAchievedGoal(
'state_observation'),
desired_goal_key=state_desired_goal_key,
achieved_goal_key=state_achieved_goal_key,
)
elif reward_type == 'pixel_distance':
reward_fn = NegativeL2Distance(
achieved_goal_from_observation=IndexIntoAchievedGoal(
img_observation_key),
desired_goal_key=img_desired_goal_key,
)
else:
raise ValueError(reward_type)
env = ContextualEnv(
img_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=img_observation_key,
contextual_diagnostics_fns=[state_diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
def create_sets(env_id,
env_class,
env_kwargs,
renderer,
saved_filename=None,
save_to_filename=None,
**kwargs):
if saved_filename is not None:
sets = asset_loader.load_local_or_remote_file(saved_filename)
else:
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
if isinstance(env, PickAndPlaceEnv):
sets = sample_pnp_sets(env, renderer, **kwargs)
else:
raise NotImplementedError()
if save_to_filename:
save(sets, save_to_filename)
return sets
def contextual_env_distrib_and_reward(env_id, env_class, env_kwargs,
goal_sampling_mode):
env = get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
env.goal_sampling_mode = goal_sampling_mode
goal_distribution = GoalDictDistributionFromGymGoalEnv(
env,
desired_goal_key=desired_goal_key,
)
distance_fn = L2Distance(
achieved_goal_from_observation=IndexIntoAchievedGoal(
achieved_goal_key, ),
desired_goal_key=desired_goal_key,
)
if (isinstance(env, robotics.FetchReachEnv)
or isinstance(env, robotics.FetchPushEnv)
or isinstance(env, robotics.FetchPickAndPlaceEnv)
or isinstance(env, robotics.FetchSlideEnv)):
success_threshold = 0.05
else:
raise TypeError("I don't know the success threshold of env ", env)
reward_fn = ThresholdDistanceReward(distance_fn, success_threshold)
diag_fn = GenericGoalConditionedContextualDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diag_fn],
update_env_info_fn=delete_info,
)
return env, goal_distribution, reward_fn
def create_dataset(env_id,
env_class,
env_kwargs,
generate_set_kwargs,
num_ungrouped_images,
env=None,
renderer=None,
sets=None):
# env = env or create_env(**env_kwargs)
env = env or get_gym_env(env_id, env_class, env_kwargs)
renderer = renderer or EnvRenderer(output_image_format='CHW')
import time
print("making train set")
start = time.time()
if sets is None:
set_imgs = pnp_util.generate_set_images(env, renderer,
**generate_set_kwargs)
set_imgs = list(set_imgs)
else:
set_imgs = np.array(
[set.example_dict['example_image'] for set in sets])
set_imgs = ptu.from_numpy(np.array(set_imgs))
print("making eval set", time.time() - start)
start = time.time()
eval_set_imgs = pnp_util.generate_set_images(env, renderer,
**generate_set_kwargs)
eval_set_imgs = ptu.from_numpy(np.array(list(eval_set_imgs)))
set_imgs_iterator = set_imgs # an array is already a valid data iterator
print("making ungrouped images", time.time() - start)
start = time.time()
ungrouped_imgs = generate_images(env,
renderer,
num_images=num_ungrouped_images)
ungrouped_imgs = ptu.from_numpy(np.array(list(ungrouped_imgs)))
print("done", time.time() - start)
return eval_set_imgs, renderer, set_imgs, set_imgs_iterator, ungrouped_imgs
def encoder_goal_conditioned_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
algo_kwargs,
policy_kwargs,
# Encoder parameters
disentangled_qf_kwargs,
encoder_kwargs=None,
encoder_cnn_kwargs=None,
qf_state_encoder_is_goal_encoder=False,
reward_type='encoder_distance',
reward_config=None,
latent_dim=8,
# Policy params
policy_using_encoder_settings=None,
use_separate_encoder_for_policy=True,
# Env settings
env_id=None,
env_class=None,
env_kwargs=None,
contextual_env_kwargs=None,
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
num_presampled_goals=5000,
# Image env parameters
use_image_observations=False,
env_renderer_kwargs=None,
# Video parameters
save_video=True,
save_debug_video=True,
save_video_kwargs=None,
video_renderer_kwargs=None,
# Debugging parameters
visualize_representation=True,
distance_scatterplot_save_period=0,
distance_scatterplot_initial_save_period=0,
debug_renderer_kwargs=None,
debug_visualization_kwargs=None,
use_debug_trainer=False,
# vae stuff
train_encoder_as_vae=False,
vae_trainer_kwargs=None,
decoder_kwargs=None,
vae_to_sac_loss_scale=1.0,
mask_key='mask_desired_goal',
num_steps_per_mask_change=10,
):
if reward_config is None:
reward_config = {}
if encoder_cnn_kwargs is None:
encoder_cnn_kwargs = {}
if policy_using_encoder_settings is None:
policy_using_encoder_settings = {}
if debug_visualization_kwargs is None:
debug_visualization_kwargs = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if contextual_env_kwargs is None:
contextual_env_kwargs = {}
if encoder_kwargs is None:
encoder_kwargs = {}
if save_video_kwargs is None:
save_video_kwargs = {}
if video_renderer_kwargs is None:
video_renderer_kwargs = {}
if debug_renderer_kwargs is None:
debug_renderer_kwargs = {}
img_observation_key = 'image_observation'
state_observation_key = 'state_observation'
latent_desired_goal_key = 'latent_desired_goal'
state_desired_goal_key = 'state_desired_goal'
img_desired_goal_key = 'image_desired_goal'
if use_image_observations:
env_renderer = Renderer(**env_renderer_kwargs)
def setup_env(state_env, encoder, reward_fn):
goal_distribution = GoalDictDistributionFromMultitaskEnv(
state_env,
desired_goal_keys=[state_desired_goal_key],
)
if use_image_observations:
goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=goal_distribution,
image_goal_key=img_desired_goal_key,
renderer=env_renderer,
)
base_env = InsertImageEnv(state_env, renderer=env_renderer)
goal_distribution = PresampledDistribution(
goal_distribution, num_presampled_goals)
goal_distribution = EncodedGoalDictDistribution(
goal_distribution,
encoder=encoder,
keys_to_keep=[state_desired_goal_key, img_desired_goal_key],
encoder_input_key=img_desired_goal_key,
encoder_output_key=latent_desired_goal_key,
)
else:
base_env = state_env
goal_distribution = EncodedGoalDictDistribution(
goal_distribution,
encoder=encoder,
keys_to_keep=[state_desired_goal_key],
encoder_input_key=state_desired_goal_key,
encoder_output_key=latent_desired_goal_key,
)
goal_distribution = MaskedGoalDictDistribution(
goal_distribution,
mask_key=mask_key,
mask_dim=latent_dim,
distribution_type='one_hot_masks',
)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
state_env.goal_conditioned_diagnostics,
desired_goal_key=state_desired_goal_key,
observation_key=state_observation_key,
)
env = ContextualEnv(
base_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
contextual_diagnostics_fns=[state_diag_fn],
update_env_info_fn=delete_info,
**contextual_env_kwargs,
)
return env, goal_distribution
state_expl_env = get_gym_env(env_id, env_class=env_class,
env_kwargs=env_kwargs)
state_expl_env.goal_sampling_mode = exploration_goal_sampling_mode
state_eval_env = get_gym_env(env_id, env_class=env_class,
env_kwargs=env_kwargs)
state_eval_env.goal_sampling_mode = evaluation_goal_sampling_mode
if use_image_observations:
context_keys_to_save = [
state_desired_goal_key,
img_desired_goal_key,
latent_desired_goal_key,
mask_key,
]
context_key_for_rl = img_desired_goal_key
observation_key_for_rl = img_observation_key
def create_encoder():
img_num_channels, img_height, img_width = env_renderer.image_chw
cnn = BasicCNN(
input_width=img_width,
input_height=img_height,
input_channels=img_num_channels,
**encoder_cnn_kwargs
)
cnn_output_size = np.prod(cnn.output_shape)
mlp = MultiHeadedMlp(
input_size=cnn_output_size,
output_sizes=[latent_dim, latent_dim],
**encoder_kwargs)
enc = nn.Sequential(cnn, Flatten(), mlp)
enc.input_size = img_width * img_height * img_num_channels
enc.output_size = latent_dim
return enc
else:
context_keys_to_save = [state_desired_goal_key,
latent_desired_goal_key,
mask_key]
context_key_for_rl = state_desired_goal_key
observation_key_for_rl = state_observation_key
def create_encoder():
in_dim = (
state_expl_env.observation_space.spaces[state_observation_key].low.size
)
enc = ConcatMultiHeadedMlp(
input_size=in_dim,
output_sizes=[latent_dim, latent_dim],
**encoder_kwargs
)
enc.input_size = in_dim
enc.output_size = latent_dim
return enc
encoder_net = create_encoder()
mu_encoder_net = EncoderMuFromEncoderDistribution(encoder_net)
target_encoder_net = create_encoder()
mu_target_encoder_net = EncoderMuFromEncoderDistribution(target_encoder_net)
encoder_input_dim = encoder_net.input_size
encoder = EncoderFromNetwork(mu_encoder_net)
encoder.to(ptu.device)
if reward_type == 'encoder_distance':
reward_fn = MaskedEncoderRewardFnFromMultitaskEnv(
encoder=encoder,
next_state_encoder_input_key=observation_key_for_rl,
context_key=latent_desired_goal_key,
mask_key=mask_key,
**reward_config,
)
elif reward_type == 'target_encoder_distance':
target_encoder = EncoderFromNetwork(mu_target_encoder_net)
reward_fn = MaskedEncoderRewardFnFromMultitaskEnv(
encoder=target_encoder,
next_state_encoder_input_key=observation_key_for_rl,
context_key=latent_desired_goal_key,
mask_key=mask_key,
**reward_config,
)
else:
raise ValueError("invalid reward type {}".format(reward_type))
expl_env, expl_context_distrib = setup_env(state_expl_env, encoder, reward_fn)
eval_env, eval_context_distrib = setup_env(state_eval_env, encoder, reward_fn)
action_dim = expl_env.action_space.low.size
mask_encoder = nn.Identity()
mask_encoder.input_size = latent_dim
mask_encoder.output_size = latent_dim
def make_qf(goal_encoder):
if qf_state_encoder_is_goal_encoder:
state_encoder = goal_encoder
else:
state_encoder = EncoderMuFromEncoderDistribution(create_encoder())
# Append mask to the goal encoder.
goal_encoder_with_mask = Split(
module1=goal_encoder,
module2=mask_encoder,
split_idx=goal_encoder.input_size,
)
goal_encoder_with_mask.input_size = encoder_input_dim + latent_dim
goal_encoder_with_mask.output_size = 2 * latent_dim
goal_encoder = nn.Sequential(goal_encoder_with_mask, ConcatTuple())
goal_encoder.input_size = goal_encoder_with_mask.input_size
goal_encoder.output_size = goal_encoder_with_mask.output_size
return DisentangledMlpQf(
goal_encoder=goal_encoder,
state_encoder=state_encoder,
preprocess_obs_dim=encoder_input_dim,
action_dim=action_dim,
qf_kwargs=qf_kwargs,
vectorized=True,
num_heads=latent_dim,
**disentangled_qf_kwargs
)
qf1 = make_qf(mu_encoder_net)
qf2 = make_qf(mu_encoder_net)
target_qf1 = make_qf(mu_target_encoder_net)
target_qf2 = make_qf(mu_target_encoder_net)
if use_separate_encoder_for_policy:
policy_encoder = EncoderMuFromEncoderDistribution(create_encoder())
policy_encoder_net = EncodeObsAndGoal(
policy_encoder,
encoder_input_dim,
encode_state=True,
encode_goal=True,
detach_encoder_via_goal=False,
detach_encoder_via_state=False,
)
else:
policy_encoder_net = EncodeObsAndGoal(
mu_encoder_net,
encoder_input_dim,
**policy_using_encoder_settings
)
policy_encoder_net = nn.Sequential(policy_encoder_net, ConcatTuple())
policy_encoder_net.input_size = 2 * encoder_input_dim
policy_encoder_net.output_size = 2 * latent_dim
policy_encoder_net = Split(
module1=policy_encoder_net,
module2=mask_encoder,
split_idx=policy_encoder_net.input_size,
)
policy_encoder_net.input_size = 2 * encoder_input_dim + latent_dim
policy_encoder_net.output_size = 3 * latent_dim
obs_processor = nn.Sequential(
policy_encoder_net,
ConcatTuple(),
MultiHeadedMlp(
input_size=policy_encoder_net.output_size,
output_sizes=[action_dim, action_dim],
**policy_kwargs
)
)
policy = PolicyFromDistributionGenerator(
TanhGaussian(obs_processor)
)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
obs = obs.reshape(len(obs), -1)
next_obs = next_obs.reshape(len(next_obs), -1)
context = batch[context_key_for_rl]
context = context.reshape(len(context), -1)
mask = batch[mask_key]
batch['observations'] = np.concatenate([obs, context, mask], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context, mask],
axis=1)
batch['raw_next_observations'] = next_obs
return batch
if use_image_observations:
# Do this so that the context has all two/three: the state, image, and
# encoded goal
sample_context_from_observation = compose(
RemapKeyFn({
state_desired_goal_key: state_observation_key,
img_desired_goal_key: img_observation_key,
mask_key: mask_key,
}),
ReEncoderAchievedStateFn(
encoder=encoder,
encoder_input_key=context_key_for_rl,
encoder_output_key=latent_desired_goal_key,
keys_to_keep=[state_desired_goal_key, img_desired_goal_key,
mask_key],
),
)
ob_keys_to_save_in_buffer = [state_observation_key, img_observation_key,
mask_key]
else:
sample_context_from_observation = compose(
RemapKeyFn({
state_desired_goal_key: state_observation_key,
mask_key: mask_key,
}),
ReEncoderAchievedStateFn(
encoder=encoder,
encoder_input_key=context_key_for_rl,
encoder_output_key=latent_desired_goal_key,
keys_to_keep=[state_desired_goal_key, mask_key],
),
)
ob_keys_to_save_in_buffer = [state_observation_key, mask_key]
encoder_output_dim = mu_encoder_net.output_size
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=context_keys_to_save,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_observation,
observation_keys=ob_keys_to_save_in_buffer,
observation_key=observation_key_for_rl,
reward_fn=reward_fn,
post_process_batch_fn=concat_context_to_obs,
reward_dim=encoder_output_dim,
**replay_buffer_kwargs
)
disentangled_trainer = DisentangedTrainer(
env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs
)
if train_encoder_as_vae:
if vae_trainer_kwargs is None:
vae_trainer_kwargs = {}
if decoder_kwargs is None:
decoder_kwargs = {}
# VAE training
def make_decoder():
if use_image_observations:
raise NotImplementedError
else:
return Mlp(
input_size=latent_dim,
output_size=encoder_input_dim,
**decoder_kwargs
)
decoder_net = make_decoder()
vae = VAE(encoder_net, decoder_net)
vae_trainer = VAETrainer(
vae=vae,
**vae_trainer_kwargs
)
trainers = OrderedDict()
trainers['vae_trainer'] = vae_trainer
trainers['disentangled_trainer'] = disentangled_trainer
trainer = JointLossTrainer(
trainers,
optimizers=[
disentangled_trainer.qf1_optimizer,
disentangled_trainer.qf2_optimizer,
disentangled_trainer.alpha_optimizer,
disentangled_trainer.policy_optimizer,
vae_trainer.vae_optimizer,
],
trainer_loss_scales={
vae_trainer: vae_to_sac_loss_scale,
disentangled_trainer: 1,
}
)
else:
trainer = disentangled_trainer
if not use_image_observations and use_debug_trainer:
# TODO: implement this for images
debug_trainer = DebugTrainer(
observation_space=expl_env.observation_space.spaces[
state_observation_key
],
encoder=mu_encoder_net,
encoder_output_dim=encoder_output_dim,
)
trainer = JointTrainer([trainer, debug_trainer])
eval_path_collector = RotatingMaskingPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl, mask_key],
mask_key=mask_key,
mask_length=latent_dim,
num_steps_per_mask_change=num_steps_per_mask_change,
)
exploration_policy = create_exploration_policy(
policy, **exploration_policy_kwargs)
expl_path_collector = RotatingMaskingPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl, mask_key],
mask_key=mask_key,
mask_length=latent_dim,
num_steps_per_mask_change=num_steps_per_mask_change,
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs
)
algorithm.to(ptu.device)
video_renderer = Renderer(**video_renderer_kwargs)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl],
)
if save_debug_video and not use_image_observations:
# TODO: add visualization for image-based envs
obj1_sweep_renderers = {
'sweep_obj1_%d' % i: DebugRenderer(
encoder, i, **debug_renderer_kwargs)
for i in range(encoder_output_dim)
}
obj0_sweep_renderers = {
'sweep_obj0_%d' % i: DebugRenderer(
encoder, i, **debug_renderer_kwargs)
for i in range(encoder_output_dim)
}
debugger_one = DebugRenderer(encoder, 0, **debug_renderer_kwargs)
low = eval_env.env.observation_space[state_observation_key].low.min()
high = eval_env.env.observation_space[state_observation_key].high.max()
y = np.linspace(low, high, num=debugger_one.image_shape[0])
x = np.linspace(low, high, num=debugger_one.image_shape[1])
cross = np.transpose([np.tile(x, len(y)), np.repeat(y, len(x))])
def create_shared_data_creator(obj_index):
def compute_shared_data(raw_obs, env):
state = raw_obs[observation_key_for_rl]
obs = state[:2]
goal = state[2:]
if obj_index == 0:
new_states = np.concatenate(
[
np.repeat(obs[None, :], cross.shape[0], axis=0),
cross,
],
axis=1,
)
elif obj_index == 1:
new_states = np.concatenate(
[
cross,
np.repeat(goal[None, :], cross.shape[0], axis=0),
],
axis=1,
)
else:
raise ValueError(obj_index)
return encoder.encode(new_states)
return compute_shared_data
obj0_sweeper = create_shared_data_creator(0)
obj1_sweeper = create_shared_data_creator(1)
def add_images(env, base_distribution):
if use_image_observations:
img_env = env
image_goal_distribution = base_distribution
else:
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=base_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
img_env = InsertImageEnv(state_env, renderer=video_renderer)
img_env = InsertDebugImagesEnv(
img_env,
obj1_sweep_renderers,
compute_shared_data=obj1_sweeper,
)
img_env = InsertDebugImagesEnv(
img_env,
obj0_sweep_renderers,
compute_shared_data=obj0_sweeper,
)
return ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key_for_rl,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
def get_extra_imgs(
path,
index_in_path,
env,
):
return [
path['full_observations'][index_in_path][key]
for key in obj1_sweep_renderers
] + [
path['full_observations'][index_in_path][key]
for key in obj0_sweep_renderers
]
img_formats = [video_renderer.output_image_format]
for r in obj1_sweep_renderers.values():
img_formats.append(r.output_image_format)
for r in obj0_sweep_renderers.values():
img_formats.append(r.output_image_format)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
get_extra_imgs=get_extra_imgs,
**save_video_kwargs
)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
get_extra_imgs=get_extra_imgs,
**save_video_kwargs
)
else:
video_renderer = Renderer(**video_renderer_kwargs)
def add_images(env, base_distribution):
if use_image_observations:
video_env = InsertImageEnv(
env,
renderer=video_renderer,
image_key='video_observation',
)
image_goal_distribution = base_distribution
else:
video_env = InsertImageEnv(
env,
renderer=video_renderer,
image_key='image_observation',
)
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=base_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
return ContextualEnv(
video_env,
context_distribution=image_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key_for_rl,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
if use_image_observations:
keys_to_show = [
'image_desired_goal',
'image_observation',
'video_observation',
]
image_formats = [
env_renderer.output_image_format,
env_renderer.output_image_format,
video_renderer.output_image_format,
]
else:
keys_to_show = ['image_desired_goal', 'image_observation']
image_formats = [
video_renderer.output_image_format,
video_renderer.output_image_format,
]
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=video_renderer.image_chw[1],
keys_to_show=keys_to_show,
image_formats=image_formats,
**save_video_kwargs
)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=video_renderer.image_chw[1],
keys_to_show=keys_to_show,
image_formats=image_formats,
**save_video_kwargs
)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
if visualize_representation:
if use_image_observations:
def state_to_encoder_input(state):
goal_dict = {
'state_desired_goal': state,
}
env_state = state_eval_env.get_env_state()
state_eval_env.set_to_goal(goal_dict)
start_img = env_renderer.create_image(state_eval_env)
state_eval_env.set_env_state(env_state)
return start_img
visualize_representation = create_visualize_representation(
encoder, True, eval_env, video_renderer,
state_to_encoder_input=state_to_encoder_input,
env_renderer=env_renderer,
**debug_visualization_kwargs
)
algorithm.post_train_funcs.append(visualize_representation)
visualize_representation = create_visualize_representation(
encoder, False, eval_env, video_renderer,
state_to_encoder_input=state_to_encoder_input,
env_renderer=env_renderer,
**debug_visualization_kwargs
)
algorithm.post_train_funcs.append(visualize_representation)
else:
visualize_representation = create_visualize_representation(
encoder, True, eval_env, video_renderer,
**debug_visualization_kwargs
)
algorithm.post_train_funcs.append(visualize_representation)
visualize_representation = create_visualize_representation(
encoder, False, eval_env, video_renderer,
**debug_visualization_kwargs
)
algorithm.post_train_funcs.append(visualize_representation)
if distance_scatterplot_save_period > 0:
algorithm.post_train_funcs.append(create_save_h_vs_state_distance_fn(
distance_scatterplot_save_period,
distance_scatterplot_initial_save_period,
encoder,
observation_key_for_rl,
))
algorithm.train()
def encoder_goal_conditioned_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
algo_kwargs,
policy_kwargs,
# Encoder parameters
disentangled_qf_kwargs,
use_parallel_qf=False,
encoder_kwargs=None,
encoder_cnn_kwargs=None,
qf_state_encoder_is_goal_encoder=False,
reward_type='encoder_distance',
reward_config=None,
latent_dim=8,
# Policy params
policy_using_encoder_settings=None,
use_separate_encoder_for_policy=True,
# Env settings
env_id=None,
env_class=None,
env_kwargs=None,
contextual_env_kwargs=None,
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
num_presampled_goals=5000,
# Image env parameters
use_image_observations=False,
env_renderer_kwargs=None,
# Video parameters
save_video=True,
save_debug_video=True,
save_video_kwargs=None,
video_renderer_kwargs=None,
# Debugging parameters
visualize_representation=True,
distance_scatterplot_save_period=0,
distance_scatterplot_initial_save_period=0,
debug_renderer_kwargs=None,
debug_visualization_kwargs=None,
use_debug_trainer=False,
# vae stuff
train_encoder_as_vae=False,
vae_trainer_kwargs=None,
decoder_kwargs=None,
encoder_backprop_settings="rl_n_vae",
mlp_for_image_decoder=False,
pretrain_vae=False,
pretrain_vae_kwargs=None,
# Should only be set by transfer_encoder_goal_conditioned_sac_experiment
is_retraining_from_scratch=False,
train_results=None,
rl_csv_fname='progress.csv',
):
if reward_config is None:
reward_config = {}
if encoder_cnn_kwargs is None:
encoder_cnn_kwargs = {}
if policy_using_encoder_settings is None:
policy_using_encoder_settings = {}
if debug_visualization_kwargs is None:
debug_visualization_kwargs = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if contextual_env_kwargs is None:
contextual_env_kwargs = {}
if encoder_kwargs is None:
encoder_kwargs = {}
if save_video_kwargs is None:
save_video_kwargs = {}
if video_renderer_kwargs is None:
video_renderer_kwargs = {}
if debug_renderer_kwargs is None:
debug_renderer_kwargs = {}
assert (is_retraining_from_scratch != (train_results is None))
img_observation_key = 'image_observation'
state_observation_key = 'state_observation'
latent_desired_goal_key = 'latent_desired_goal'
state_desired_goal_key = 'state_desired_goal'
img_desired_goal_key = 'image_desired_goal'
backprop_rl_into_encoder = False
backprop_vae_into_encoder = False
if 'rl' in encoder_backprop_settings:
backprop_rl_into_encoder = True
if 'vae' in encoder_backprop_settings:
backprop_vae_into_encoder = True
if use_image_observations:
env_renderer = EnvRenderer(**env_renderer_kwargs)
def setup_env(state_env, encoder, reward_fn):
goal_distribution = GoalDictDistributionFromMultitaskEnv(
state_env,
desired_goal_keys=[state_desired_goal_key],
)
if use_image_observations:
goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=goal_distribution,
image_goal_key=img_desired_goal_key,
renderer=env_renderer,
)
base_env = InsertImageEnv(state_env, renderer=env_renderer)
goal_distribution = PresampledDistribution(goal_distribution,
num_presampled_goals)
goal_distribution = EncodedGoalDictDistribution(
goal_distribution,
encoder=encoder,
keys_to_keep=[state_desired_goal_key, img_desired_goal_key],
encoder_input_key=img_desired_goal_key,
encoder_output_key=latent_desired_goal_key,
)
else:
base_env = state_env
goal_distribution = EncodedGoalDictDistribution(
goal_distribution,
encoder=encoder,
keys_to_keep=[state_desired_goal_key],
encoder_input_key=state_desired_goal_key,
encoder_output_key=latent_desired_goal_key,
)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
state_env.goal_conditioned_diagnostics,
desired_goal_key=state_desired_goal_key,
observation_key=state_observation_key,
)
env = ContextualEnv(
base_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
contextual_diagnostics_fns=[state_diag_fn],
update_env_info_fn=delete_info,
**contextual_env_kwargs,
)
return env, goal_distribution
state_expl_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
state_expl_env.goal_sampling_mode = exploration_goal_sampling_mode
state_eval_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
state_eval_env.goal_sampling_mode = evaluation_goal_sampling_mode
if use_image_observations:
context_keys_to_save = [
state_desired_goal_key,
img_desired_goal_key,
latent_desired_goal_key,
]
context_key_for_rl = img_desired_goal_key
observation_key_for_rl = img_observation_key
def create_encoder():
img_num_channels, img_height, img_width = env_renderer.image_chw
cnn = BasicCNN(input_width=img_width,
input_height=img_height,
input_channels=img_num_channels,
**encoder_cnn_kwargs)
cnn_output_size = np.prod(cnn.output_shape)
mlp = MultiHeadedMlp(input_size=cnn_output_size,
output_sizes=[latent_dim, latent_dim],
**encoder_kwargs)
enc = nn.Sequential(cnn, Flatten(), mlp)
enc.input_size = img_width * img_height * img_num_channels
enc.output_size = latent_dim
return enc
else:
context_keys_to_save = [
state_desired_goal_key, latent_desired_goal_key
]
context_key_for_rl = state_desired_goal_key
observation_key_for_rl = state_observation_key
def create_encoder():
in_dim = (state_expl_env.observation_space.
spaces[state_observation_key].low.size)
enc = ConcatMultiHeadedMlp(input_size=in_dim,
output_sizes=[latent_dim, latent_dim],
**encoder_kwargs)
enc.input_size = in_dim
enc.output_size = latent_dim
return enc
encoder_net = create_encoder()
if train_results:
print("Using transfer encoder")
encoder_net = train_results.encoder_net
mu_encoder_net = EncoderMuFromEncoderDistribution(encoder_net)
target_encoder_net = create_encoder()
mu_target_encoder_net = EncoderMuFromEncoderDistribution(
target_encoder_net)
encoder_input_dim = encoder_net.input_size
encoder = EncoderFromNetwork(mu_encoder_net)
encoder.to(ptu.device)
if reward_type == 'encoder_distance':
reward_fn = EncoderRewardFnFromMultitaskEnv(
encoder=encoder,
next_state_encoder_input_key=observation_key_for_rl,
context_key=latent_desired_goal_key,
**reward_config,
)
elif reward_type == 'target_encoder_distance':
target_encoder = EncoderFromNetwork(mu_target_encoder_net)
reward_fn = EncoderRewardFnFromMultitaskEnv(
encoder=target_encoder,
next_state_encoder_input_key=observation_key_for_rl,
context_key=latent_desired_goal_key,
**reward_config,
)
elif reward_type == 'state_distance':
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=state_expl_env,
achieved_goal_from_observation=IndexIntoAchievedGoal(
'state_observation'),
desired_goal_key=state_desired_goal_key,
achieved_goal_key='state_achieved_goal',
)
else:
raise ValueError("invalid reward type {}".format(reward_type))
expl_env, expl_context_distrib = setup_env(state_expl_env, encoder,
reward_fn)
eval_env, eval_context_distrib = setup_env(state_eval_env, encoder,
reward_fn)
action_dim = expl_env.action_space.low.size
def make_qf(goal_encoder):
if not backprop_rl_into_encoder:
goal_encoder = Detach(goal_encoder)
if qf_state_encoder_is_goal_encoder:
state_encoder = goal_encoder
else:
state_encoder = EncoderMuFromEncoderDistribution(create_encoder())
raise RuntimeError(
"State encoder must be goal encoder for resuming exps")
if use_parallel_qf:
return ParallelDisentangledMlpQf(
goal_encoder=goal_encoder,
state_encoder=state_encoder,
preprocess_obs_dim=encoder_input_dim,
action_dim=action_dim,
post_encoder_mlp_kwargs=qf_kwargs,
vectorized=True,
**disentangled_qf_kwargs)
else:
return DisentangledMlpQf(goal_encoder=goal_encoder,
state_encoder=state_encoder,
preprocess_obs_dim=encoder_input_dim,
action_dim=action_dim,
qf_kwargs=qf_kwargs,
vectorized=True,
**disentangled_qf_kwargs)
qf1 = make_qf(mu_encoder_net)
qf2 = make_qf(mu_encoder_net)
target_qf1 = make_qf(mu_target_encoder_net)
target_qf2 = make_qf(mu_target_encoder_net)
if use_separate_encoder_for_policy:
policy_encoder = EncoderMuFromEncoderDistribution(create_encoder())
policy_encoder_net = EncodeObsAndGoal(
policy_encoder,
encoder_input_dim,
encode_state=True,
encode_goal=True,
detach_encoder_via_goal=False,
detach_encoder_via_state=False,
)
else:
policy_obs_encoder = mu_encoder_net
if not backprop_rl_into_encoder:
policy_obs_encoder = Detach(policy_obs_encoder)
policy_encoder_net = EncodeObsAndGoal(policy_obs_encoder,
encoder_input_dim,
**policy_using_encoder_settings)
obs_processor = nn.Sequential(
policy_encoder_net, ConcatTuple(),
MultiHeadedMlp(input_size=policy_encoder_net.output_size,
output_sizes=[action_dim, action_dim],
**policy_kwargs))
policy = PolicyFromDistributionGenerator(TanhGaussian(obs_processor))
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key_for_rl]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
batch['raw_next_observations'] = next_obs
return batch
if use_image_observations:
# Do this so that the context has all two/three: the state, image, and
# encoded goal
sample_context_from_observation = compose(
RemapKeyFn({
state_desired_goal_key: state_observation_key,
img_desired_goal_key: img_observation_key,
}),
ReEncoderAchievedStateFn(
encoder=encoder,
encoder_input_key=context_key_for_rl,
encoder_output_key=latent_desired_goal_key,
keys_to_keep=[state_desired_goal_key, img_desired_goal_key],
),
)
ob_keys_to_save_in_buffer = [
state_observation_key, img_observation_key
]
else:
sample_context_from_observation = compose(
RemapKeyFn({
state_desired_goal_key: state_observation_key,
}),
ReEncoderAchievedStateFn(
encoder=encoder,
encoder_input_key=context_key_for_rl,
encoder_output_key=latent_desired_goal_key,
keys_to_keep=[state_desired_goal_key],
),
)
ob_keys_to_save_in_buffer = [state_observation_key]
encoder_output_dim = mu_encoder_net.output_size
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=context_keys_to_save,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_observation,
observation_keys=ob_keys_to_save_in_buffer,
observation_key=observation_key_for_rl,
reward_fn=reward_fn,
post_process_batch_fn=concat_context_to_obs,
reward_dim=encoder_output_dim,
**replay_buffer_kwargs)
disentangled_trainer = DisentangedTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
if train_encoder_as_vae:
assert backprop_vae_into_encoder, \
"No point in training the vae if not backpropagating into encoder"
if vae_trainer_kwargs is None:
vae_trainer_kwargs = {}
if decoder_kwargs is None:
decoder_kwargs = invert_encoder_mlp_params(encoder_kwargs)
# VAE training
def make_decoder():
if use_image_observations:
img_num_channels, img_height, img_width = env_renderer.image_chw
if not mlp_for_image_decoder:
dcnn_in_channels, dcnn_in_height, dcnn_in_width = (
encoder_net._modules['0'].output_shape)
dcnn_input_size = (dcnn_in_channels * dcnn_in_width *
dcnn_in_height)
decoder_cnn_kwargs = invert_encoder_params(
encoder_cnn_kwargs,
img_num_channels,
)
dcnn = BasicDCNN(input_width=dcnn_in_width,
input_height=dcnn_in_height,
input_channels=dcnn_in_channels,
**decoder_cnn_kwargs)
mlp = Mlp(input_size=latent_dim,
output_size=dcnn_input_size,
**decoder_kwargs)
dec = nn.Sequential(mlp, dcnn)
dec.input_size = latent_dim
else:
dec = nn.Sequential(
Mlp(input_size=latent_dim,
output_size=img_num_channels * img_height *
img_width,
**decoder_kwargs),
Reshape(img_num_channels, img_height, img_width))
dec.input_size = latent_dim
dec.output_size = img_num_channels * img_height * img_width
return dec
else:
return Mlp(input_size=latent_dim,
output_size=encoder_input_dim,
**decoder_kwargs)
decoder_net = make_decoder()
vae = VAE(encoder_net, decoder_net)
vae_trainer = VAETrainer(vae=vae, **vae_trainer_kwargs)
if pretrain_vae:
goal_key = (img_desired_goal_key
if use_image_observations else state_desired_goal_key)
vae.to(ptu.device)
train_ae(vae_trainer,
expl_context_distrib,
**pretrain_vae_kwargs,
goal_key=goal_key,
rl_csv_fname=rl_csv_fname)
trainers = OrderedDict()
trainers['vae_trainer'] = vae_trainer
trainers['disentangled_trainer'] = disentangled_trainer
trainer = JointTrainer(trainers)
else:
trainer = disentangled_trainer
if not use_image_observations and use_debug_trainer:
# TODO: implement this for images
debug_trainer = DebugTrainer(
observation_space=expl_env.observation_space.
spaces[state_observation_key],
encoder=mu_encoder_net,
encoder_output_dim=encoder_output_dim,
)
trainer = JointTrainer([trainer, debug_trainer])
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl],
)
exploration_policy = create_exploration_policy(policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl],
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
video_renderer = EnvRenderer(**video_renderer_kwargs)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key_for_rl,
context_keys_for_policy=[context_key_for_rl],
)
if save_debug_video and not use_image_observations:
# TODO: add visualization for image-based envs
obj1_sweep_renderers = {
'sweep_obj1_%d' % i: DebugEnvRenderer(encoder, i,
**debug_renderer_kwargs)
for i in range(encoder_output_dim)
}
obj0_sweep_renderers = {
'sweep_obj0_%d' % i: DebugEnvRenderer(encoder, i,
**debug_renderer_kwargs)
for i in range(encoder_output_dim)
}
debugger_one = DebugEnvRenderer(encoder, 0,
**debug_renderer_kwargs)
low = eval_env.env.observation_space[
state_observation_key].low.min()
high = eval_env.env.observation_space[
state_observation_key].high.max()
y = np.linspace(low, high, num=debugger_one.image_shape[0])
x = np.linspace(low, high, num=debugger_one.image_shape[1])
cross = np.transpose([np.tile(x, len(y)), np.repeat(y, len(x))])
def create_shared_data_creator(obj_index):
def compute_shared_data(raw_obs, env):
state = raw_obs[observation_key_for_rl]
obs = state[:2]
goal = state[2:]
if obj_index == 0:
new_states = np.concatenate(
[
np.repeat(obs[None, :], cross.shape[0],
axis=0),
cross,
],
axis=1,
)
elif obj_index == 1:
new_states = np.concatenate(
[
cross,
np.repeat(
goal[None, :], cross.shape[0], axis=0),
],
axis=1,
)
else:
raise ValueError(obj_index)
return encoder.encode(new_states)
return compute_shared_data
obj0_sweeper = create_shared_data_creator(0)
obj1_sweeper = create_shared_data_creator(1)
def add_images(env, base_distribution):
if use_image_observations:
img_env = env
image_goal_distribution = base_distribution
else:
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=base_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
img_env = InsertImageEnv(state_env,
renderer=video_renderer)
img_env = InsertDebugImagesEnv(
img_env,
obj1_sweep_renderers,
compute_shared_data=obj1_sweeper,
)
img_env = InsertDebugImagesEnv(
img_env,
obj0_sweep_renderers,
compute_shared_data=obj0_sweeper,
)
return ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key_for_rl,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
def get_extra_imgs(
path,
index_in_path,
env,
):
return [
path['full_observations'][index_in_path][key]
for key in obj1_sweep_renderers
] + [
path['full_observations'][index_in_path][key]
for key in obj0_sweep_renderers
]
img_formats = [video_renderer.output_image_format]
for r in obj1_sweep_renderers.values():
img_formats.append(r.output_image_format)
for r in obj0_sweep_renderers.values():
img_formats.append(r.output_image_format)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
get_extra_imgs=get_extra_imgs,
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
get_extra_imgs=get_extra_imgs,
**save_video_kwargs)
else:
video_renderer = EnvRenderer(**video_renderer_kwargs)
def add_images(env, base_distribution):
if use_image_observations:
video_env = InsertImageEnv(
env,
renderer=video_renderer,
image_key='video_observation',
)
image_goal_distribution = base_distribution
else:
video_env = InsertImageEnv(
env,
renderer=video_renderer,
image_key='image_observation',
)
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=base_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
return ContextualEnv(
video_env,
context_distribution=image_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key_for_rl,
update_env_info_fn=delete_info,
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
if use_image_observations:
keys_to_show = [
'image_desired_goal',
'image_observation',
'video_observation',
]
image_formats = [
env_renderer.output_image_format,
env_renderer.output_image_format,
video_renderer.output_image_format,
]
else:
keys_to_show = ['image_desired_goal', 'image_observation']
image_formats = [
video_renderer.output_image_format,
video_renderer.output_image_format,
]
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=video_renderer.image_chw[1],
keys_to_show=keys_to_show,
image_formats=image_formats,
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=video_renderer.image_chw[1],
keys_to_show=keys_to_show,
image_formats=image_formats,
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
if visualize_representation:
from multiworld.envs.pygame import PickAndPlaceEnv
if not isinstance(state_eval_env, PickAndPlaceEnv):
raise NotImplementedError()
num_objects = (state_eval_env.observation_space[state_observation_key].
low.size) // 2
state_space = state_eval_env.observation_space['state_observation']
start_states = np.vstack([state_space.sample() for _ in range(6)])
if use_image_observations:
def state_to_encoder_input(state):
goal_dict = {
'state_desired_goal': state,
}
env_state = state_eval_env.get_env_state()
state_eval_env.set_to_goal(goal_dict)
start_img = env_renderer(state_eval_env)
state_eval_env.set_env_state(env_state)
return start_img
for i in range(num_objects):
visualize_representation = create_visualize_representation(
encoder,
i,
eval_env,
video_renderer,
state_to_encoder_input=state_to_encoder_input,
env_renderer=env_renderer,
start_states=start_states,
**debug_visualization_kwargs)
algorithm.post_train_funcs.append(visualize_representation)
else:
for i in range(num_objects):
visualize_representation = create_visualize_representation(
encoder, i, eval_env, video_renderer,
**debug_visualization_kwargs)
algorithm.post_train_funcs.append(visualize_representation)
if distance_scatterplot_save_period > 0:
algorithm.post_train_funcs.append(
create_save_h_vs_state_distance_fn(
distance_scatterplot_save_period,
distance_scatterplot_initial_save_period,
encoder,
observation_key_for_rl,
))
algorithm.train()
train_results = dict(encoder_net=encoder_net, )
TrainResults = namedtuple('TrainResults', sorted(train_results))
return TrainResults(**train_results)
def contextual_env_distrib_reward(_env_id,
_env_class=None,
_env_kwargs=None):
base_env = get_gym_env(
_env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
if init_camera:
base_env.initialize_camera(init_camera)
if (isinstance(stub_env, AntFullPositionGoalEnv)
and normalize_distances_for_full_state_ant):
base_env = NormalizeAntFullPositionGoalEnv(base_env)
normalize_env = base_env
else:
normalize_env = None
env = NoisyAction(base_env, action_noise_scale)
diag_fns = []
if is_gym_env:
goal_distribution = GoalDictDistributionFromGymGoalEnv(
env,
desired_goal_key=desired_goal_key,
)
diag_fns.append(
GenericGoalConditionedContextualDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
))
else:
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
diag_fns.append(
GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
))
if isinstance(stub_env, AntFullPositionGoalEnv):
diag_fns.append(
AntFullPositionGoalEnvDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
normalize_env=normalize_env,
))
# if isinstance(stub_env, HopperFullPositionGoalEnv):
# diag_fns.append(
# HopperFullPositionGoalEnvDiagnostics(
# desired_goal_key=desired_goal_key,
# achieved_goal_key=achieved_goal_key,
# success_threshold=success_threshold,
# )
# )
achieved_from_ob = IndexIntoAchievedGoal(achieved_goal_key, )
if reward_type == 'sparse':
distance_fn = L2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
reward_fn = ThresholdDistanceReward(distance_fn, success_threshold)
elif reward_type == 'negative_distance':
reward_fn = NegativeL2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
else:
reward_fn = ProbabilisticGoalRewardFn(
dynamics_model,
state_key=observation_key,
context_key=context_key,
reward_type=reward_type,
discount_factor=discount_factor,
)
goal_distribution = PresampledDistribution(goal_distribution,
num_presampled_goals)
final_env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=diag_fns,
update_env_info_fn=delete_info,
)
return final_env, goal_distribution, reward_fn
def probabilistic_goal_reaching_experiment(
max_path_length,
qf_kwargs,
policy_kwargs,
pgr_trainer_kwargs,
replay_buffer_kwargs,
algo_kwargs,
env_id,
discount_factor,
reward_type,
# Dynamics model
dynamics_model_version,
dynamics_model_config,
dynamics_delta_model_config=None,
dynamics_adam_config=None,
dynamics_ensemble_kwargs=None,
# Discount model
learn_discount_model=False,
discount_adam_config=None,
discount_model_config=None,
prior_discount_weight_schedule_kwargs=None,
# Environment
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
exploration_policy_kwargs=None,
action_noise_scale=0.,
num_presampled_goals=4096,
success_threshold=0.05,
# Video / visualization parameters
save_video=True,
save_video_kwargs=None,
video_renderer_kwargs=None,
plot_renderer_kwargs=None,
eval_env_ids=None,
# Debugging params
visualize_dynamics=False,
visualize_discount_model=False,
visualize_all_plots=False,
plot_discount=False,
plot_reward=False,
plot_bootstrap_value=False,
# env specific-params
normalize_distances_for_full_state_ant=False,
):
if dynamics_ensemble_kwargs is None:
dynamics_ensemble_kwargs = {}
if eval_env_ids is None:
eval_env_ids = {'eval': env_id}
if discount_model_config is None:
discount_model_config = {}
if dynamics_delta_model_config is None:
dynamics_delta_model_config = {}
if dynamics_adam_config is None:
dynamics_adam_config = {}
if discount_adam_config is None:
discount_adam_config = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not video_renderer_kwargs:
video_renderer_kwargs = {}
if not plot_renderer_kwargs:
plot_renderer_kwargs = video_renderer_kwargs.copy()
plot_renderer_kwargs['dpi'] = 48
context_key = desired_goal_key
stub_env = get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
is_gym_env = (
isinstance(stub_env, FetchEnv) or isinstance(stub_env, AntXYGoalEnv)
or isinstance(stub_env, AntFullPositionGoalEnv)
# or isinstance(stub_env, HopperFullPositionGoalEnv)
)
is_ant_full_pos = isinstance(stub_env, AntFullPositionGoalEnv)
if is_gym_env:
achieved_goal_key = desired_goal_key.replace('desired', 'achieved')
ob_keys_to_save_in_buffer = [observation_key, achieved_goal_key]
elif isinstance(stub_env, SawyerPickAndPlaceEnvYZ):
achieved_goal_key = desired_goal_key.replace('desired', 'achieved')
ob_keys_to_save_in_buffer = [observation_key, achieved_goal_key]
else:
achieved_goal_key = observation_key
ob_keys_to_save_in_buffer = [observation_key]
# TODO move all env-specific code to other file
if isinstance(stub_env, SawyerDoorHookEnv):
init_camera = sawyer_door_env_camera_v0
elif isinstance(stub_env, SawyerPushAndReachXYEnv):
init_camera = sawyer_init_camera_zoomed_in
elif isinstance(stub_env, SawyerPickAndPlaceEnvYZ):
init_camera = sawyer_pick_and_place_camera
else:
init_camera = None
full_ob_space = stub_env.observation_space
action_space = stub_env.action_space
state_to_goal = StateToGoalFn(stub_env)
dynamics_model = create_goal_dynamics_model(
full_ob_space[observation_key],
action_space,
full_ob_space[achieved_goal_key],
dynamics_model_version,
state_to_goal,
dynamics_model_config,
dynamics_delta_model_config,
ensemble_model_kwargs=dynamics_ensemble_kwargs,
)
sample_context_from_obs_dict_fn = RemapKeyFn(
{context_key: achieved_goal_key})
def contextual_env_distrib_reward(_env_id,
_env_class=None,
_env_kwargs=None):
base_env = get_gym_env(
_env_id,
env_class=env_class,
env_kwargs=env_kwargs,
unwrap_timed_envs=True,
)
if init_camera:
base_env.initialize_camera(init_camera)
if (isinstance(stub_env, AntFullPositionGoalEnv)
and normalize_distances_for_full_state_ant):
base_env = NormalizeAntFullPositionGoalEnv(base_env)
normalize_env = base_env
else:
normalize_env = None
env = NoisyAction(base_env, action_noise_scale)
diag_fns = []
if is_gym_env:
goal_distribution = GoalDictDistributionFromGymGoalEnv(
env,
desired_goal_key=desired_goal_key,
)
diag_fns.append(
GenericGoalConditionedContextualDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
))
else:
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
diag_fns.append(
GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
))
if isinstance(stub_env, AntFullPositionGoalEnv):
diag_fns.append(
AntFullPositionGoalEnvDiagnostics(
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
success_threshold=success_threshold,
normalize_env=normalize_env,
))
# if isinstance(stub_env, HopperFullPositionGoalEnv):
# diag_fns.append(
# HopperFullPositionGoalEnvDiagnostics(
# desired_goal_key=desired_goal_key,
# achieved_goal_key=achieved_goal_key,
# success_threshold=success_threshold,
# )
# )
achieved_from_ob = IndexIntoAchievedGoal(achieved_goal_key, )
if reward_type == 'sparse':
distance_fn = L2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
reward_fn = ThresholdDistanceReward(distance_fn, success_threshold)
elif reward_type == 'negative_distance':
reward_fn = NegativeL2Distance(
achieved_goal_from_observation=achieved_from_ob,
desired_goal_key=desired_goal_key,
)
else:
reward_fn = ProbabilisticGoalRewardFn(
dynamics_model,
state_key=observation_key,
context_key=context_key,
reward_type=reward_type,
discount_factor=discount_factor,
)
goal_distribution = PresampledDistribution(goal_distribution,
num_presampled_goals)
final_env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=diag_fns,
update_env_info_fn=delete_info,
)
return final_env, goal_distribution, reward_fn
expl_env, expl_context_distrib, reward_fn = contextual_env_distrib_reward(
env_id,
env_class,
env_kwargs,
)
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
def create_policy():
obs_processor = MultiHeadedMlp(input_size=obs_dim,
output_sizes=[action_dim, action_dim],
**policy_kwargs)
return PolicyFromDistributionGenerator(TanhGaussian(obs_processor))
policy = create_policy()
def concat_context_to_obs(batch, replay_buffer, obs_dict, next_obs_dict,
new_contexts):
obs = batch['observations']
next_obs = batch['next_observations']
batch['original_observations'] = obs
batch['original_next_observations'] = next_obs
context = batch[context_key]
batch['observations'] = np.concatenate([obs, context], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=expl_env,
context_keys=[context_key],
observation_keys=ob_keys_to_save_in_buffer,
context_distribution=expl_context_distrib,
sample_context_from_obs_dict_fn=sample_context_from_obs_dict_fn,
reward_fn=reward_fn,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
def create_trainer():
trainers = OrderedDict()
if learn_discount_model:
discount_model = create_discount_model(
ob_space=stub_env.observation_space[observation_key],
goal_space=stub_env.observation_space[context_key],
action_space=stub_env.action_space,
model_kwargs=discount_model_config)
optimizer = optim.Adam(discount_model.parameters(),
**discount_adam_config)
discount_trainer = DiscountModelTrainer(
discount_model,
optimizer,
observation_key='observations',
next_observation_key='original_next_observations',
goal_key=context_key,
state_to_goal_fn=state_to_goal,
)
trainers['discount_trainer'] = discount_trainer
else:
discount_model = None
if prior_discount_weight_schedule_kwargs is not None:
schedule = create_schedule(**prior_discount_weight_schedule_kwargs)
else:
schedule = None
pgr_trainer = PGRTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
discount=discount_factor,
discount_model=discount_model,
prior_discount_weight_schedule=schedule,
**pgr_trainer_kwargs)
trainers[''] = pgr_trainer
optimizers = [
pgr_trainer.qf1_optimizer,
pgr_trainer.qf2_optimizer,
pgr_trainer.alpha_optimizer,
pgr_trainer.policy_optimizer,
]
if dynamics_model_version in {
'learned_model',
'learned_model_ensemble',
'learned_model_laplace',
'learned_model_laplace_global_variance',
'learned_model_gaussian_global_variance',
}:
model_opt = optim.Adam(dynamics_model.parameters(),
**dynamics_adam_config)
elif dynamics_model_version in {
'fixed_standard_laplace',
'fixed_standard_gaussian',
}:
model_opt = None
else:
raise NotImplementedError()
model_trainer = GenerativeGoalDynamicsModelTrainer(
dynamics_model,
model_opt,
state_to_goal=state_to_goal,
observation_key='original_observations',
next_observation_key='original_next_observations',
)
trainers['dynamics_trainer'] = model_trainer
optimizers.append(model_opt)
return JointTrainer(trainers), pgr_trainer
trainer, pgr_trainer = create_trainer()
eval_policy = MakeDeterministic(policy)
def create_eval_path_collector(some_eval_env):
return ContextualPathCollector(
some_eval_env,
eval_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
path_collectors = dict()
eval_env_name_to_env_and_context_distrib = dict()
for name, extra_env_id in eval_env_ids.items():
env, context_distrib, _ = contextual_env_distrib_reward(extra_env_id)
path_collectors[name] = create_eval_path_collector(env)
eval_env_name_to_env_and_context_distrib[name] = (env, context_distrib)
eval_path_collector = JointPathCollector(path_collectors)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=[context_key],
)
def get_eval_diagnostics(key_to_paths):
stats = OrderedDict()
for eval_env_name, paths in key_to_paths.items():
env, _ = eval_env_name_to_env_and_context_distrib[eval_env_name]
stats.update(
add_prefix(
env.get_diagnostics(paths),
eval_env_name,
divider='/',
))
stats.update(
add_prefix(
eval_util.get_generic_path_information(paths),
eval_env_name,
divider='/',
))
return stats
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=None,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
evaluation_get_diagnostic_functions=[get_eval_diagnostics],
**algo_kwargs)
algorithm.to(ptu.device)
if normalize_distances_for_full_state_ant and is_ant_full_pos:
qpos_weights = expl_env.unwrapped.presampled_qpos.std(axis=0)
else:
qpos_weights = None
if save_video:
if is_gym_env:
video_renderer = GymEnvRenderer(**video_renderer_kwargs)
def set_goal_for_visualization(env, policy, o):
goal = o[desired_goal_key]
if normalize_distances_for_full_state_ant and is_ant_full_pos:
unnormalized_goal = goal * qpos_weights
env.unwrapped.goal = unnormalized_goal
else:
env.unwrapped.goal = goal
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
reset_callback=set_goal_for_visualization,
)
else:
video_renderer = EnvRenderer(**video_renderer_kwargs)
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key],
reset_callback=None,
)
renderers = OrderedDict(image_observation=video_renderer, )
state_env = expl_env.env
state_space = state_env.observation_space[observation_key]
low = state_space.low.min()
high = state_space.high.max()
y = np.linspace(low, high, num=video_renderer.image_chw[1])
x = np.linspace(low, high, num=video_renderer.image_chw[2])
all_xy_np = np.transpose([np.tile(x, len(y)), np.repeat(y, len(x))])
all_xy_torch = ptu.from_numpy(all_xy_np)
num_states = all_xy_torch.shape[0]
if visualize_dynamics:
def create_dynamics_visualizer(show_prob, vary_state=False):
def get_prob(obs_dict, action):
obs = obs_dict['state_observation']
obs_torch = ptu.from_numpy(obs)[None]
action_torch = ptu.from_numpy(action)[None]
if vary_state:
action_repeated = torch.zeros((num_states, 2))
dist = dynamics_model(all_xy_torch, action_repeated)
goal = ptu.from_numpy(
obs_dict['state_desired_goal'][None])
log_probs = dist.log_prob(goal)
else:
dist = dynamics_model(obs_torch, action_torch)
log_probs = dist.log_prob(all_xy_torch)
if show_prob:
return log_probs.exp()
else:
return log_probs
return get_prob
renderers['log_prob'] = ValueRenderer(
create_dynamics_visualizer(False), **video_renderer_kwargs)
# renderers['prob'] = ValueRenderer(
# create_dynamics_visualizer(True), **video_renderer_kwargs
# )
renderers['log_prob_vary_state'] = ValueRenderer(
create_dynamics_visualizer(False, vary_state=True),
only_get_image_once_per_episode=True,
max_out_walls=isinstance(stub_env, PickAndPlaceEnv),
**video_renderer_kwargs)
# renderers['prob_vary_state'] = ValueRenderer(
# create_dynamics_visualizer(True, vary_state=True),
# **video_renderer_kwargs)
if visualize_discount_model and pgr_trainer.discount_model:
def get_discount_values(obs, action):
obs = obs['state_observation']
obs_torch = ptu.from_numpy(obs)[None]
combined_obs = torch.cat([
obs_torch.repeat(num_states, 1),
all_xy_torch,
],
dim=1)
action_torch = ptu.from_numpy(action)[None]
action_repeated = action_torch.repeat(num_states, 1)
return pgr_trainer.discount_model(combined_obs,
action_repeated)
renderers['discount_model'] = ValueRenderer(
get_discount_values,
states_to_eval=all_xy_torch,
**video_renderer_kwargs)
if 'log_prob' in renderers and 'discount_model' in renderers:
renderers['log_prob_time_discount'] = ProductRenderer(
renderers['discount_model'], renderers['log_prob'],
**video_renderer_kwargs)
def get_reward(obs_dict, action, next_obs_dict):
o = batchify(obs_dict)
a = batchify(action)
next_o = batchify(next_obs_dict)
reward = reward_fn(o, a, next_o, next_o)
return reward[0]
def get_bootstrap(obs_dict, action, next_obs_dict, return_float=True):
context_pt = ptu.from_numpy(obs_dict[context_key][None])
o_pt = ptu.from_numpy(obs_dict[observation_key][None])
next_o_pt = ptu.from_numpy(next_obs_dict[observation_key][None])
action_torch = ptu.from_numpy(action[None])
bootstrap, *_ = pgr_trainer.get_bootstrap_stats(
torch.cat((o_pt, context_pt), dim=1),
action_torch,
torch.cat((next_o_pt, context_pt), dim=1),
)
if return_float:
return ptu.get_numpy(bootstrap)[0, 0]
else:
return bootstrap
def get_discount(obs_dict, action, next_obs_dict):
bootstrap = get_bootstrap(obs_dict,
action,
next_obs_dict,
return_float=False)
reward_np = get_reward(obs_dict, action, next_obs_dict)
reward = ptu.from_numpy(reward_np[None, None])
context_pt = ptu.from_numpy(obs_dict[context_key][None])
o_pt = ptu.from_numpy(obs_dict[observation_key][None])
obs = torch.cat((o_pt, context_pt), dim=1)
actions = ptu.from_numpy(action[None])
discount = pgr_trainer.get_discount_factor(
bootstrap,
reward,
obs,
actions,
)
if isinstance(discount, torch.Tensor):
discount = ptu.get_numpy(discount)[0, 0]
return np.clip(discount, a_min=1e-3, a_max=1)
def create_modify_fn(
title,
set_params=None,
scientific=True,
):
def modify(ax):
ax.set_title(title)
if set_params:
ax.set(**set_params)
if scientific:
scaler = ScalarFormatter(useOffset=True)
scaler.set_powerlimits((1, 1))
ax.yaxis.set_major_formatter(scaler)
ax.ticklabel_format(axis='y', style='sci')
return modify
def add_left_margin(fig):
fig.subplots_adjust(left=0.2)
if visualize_all_plots or plot_discount:
renderers['discount'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_discount,
modify_ax_fn=create_modify_fn(
title='discount',
set_params=dict(
# yscale='log',
ylim=[-0.05, 1.1], ),
# scientific=False,
),
modify_fig_fn=add_left_margin,
# autoscale_y=False,
**plot_renderer_kwargs)
if visualize_all_plots or plot_reward:
renderers['reward'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_reward,
modify_ax_fn=create_modify_fn(title='reward',
# scientific=False,
),
modify_fig_fn=add_left_margin,
**plot_renderer_kwargs)
if visualize_all_plots or plot_bootstrap_value:
renderers['bootstrap-value'] = DynamicNumberEnvRenderer(
dynamic_number_fn=get_bootstrap,
modify_ax_fn=create_modify_fn(title='bootstrap value',
# scientific=False,
),
modify_fig_fn=add_left_margin,
**plot_renderer_kwargs)
def add_images(env, state_distribution):
state_env = env.env
if is_gym_env:
goal_distribution = state_distribution
else:
goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=video_renderer,
)
context_env = ContextualEnv(
state_env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
update_env_info_fn=delete_info,
)
return InsertDebugImagesEnv(
context_env,
renderers=renderers,
)
img_expl_env = add_images(expl_env, expl_context_distrib)
if is_gym_env:
imgs_to_show = list(renderers.keys())
else:
imgs_to_show = ['image_desired_goal'] + list(renderers.keys())
img_formats = [video_renderer.output_image_format]
img_formats += [r.output_image_format for r in renderers.values()]
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="xplor",
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
keys_to_show=imgs_to_show,
**save_video_kwargs)
algorithm.post_train_funcs.append(expl_video_func)
for eval_env_name, (env, context_distrib) in (
eval_env_name_to_env_and_context_distrib.items()):
img_eval_env = add_images(env, context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
eval_policy,
tag=eval_env_name,
imsize=video_renderer.image_chw[1],
image_formats=img_formats,
keys_to_show=imgs_to_show,
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.train()
def contextual_env_distrib_and_reward(env_id, env_class, env_kwargs,
goal_sampling_mode,
presampled_goals_path):
state_env = get_gym_env(env_id,
env_class=env_class,
env_kwargs=env_kwargs)
renderer = EnvRenderer(init_camera=init_camera, **renderer_kwargs)
img_env = InsertImageEnv(state_env, renderer=renderer)
# encoded_env = EncoderWrappedEnv(
# img_env,
# model,
# dict(image_observation="latent_observation", ),
# )
# if goal_sampling_mode == "vae_prior":
# latent_goal_distribution = PriorDistribution(
# model.representation_size,
# desired_goal_key,
# )
# diagnostics = StateImageGoalDiagnosticsFn({}, )
# elif goal_sampling_mode == "presampled":
# diagnostics = state_env.get_contextual_diagnostics
# image_goal_distribution = PresampledPathDistribution(
# presampled_goals_path,
# )
# latent_goal_distribution = AddLatentDistribution(
# image_goal_distribution,
# image_goal_key,
# desired_goal_key,
# model,
# )
# elif goal_sampling_mode == "reset_of_env":
# state_goal_env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
# state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
# state_goal_env,
# desired_goal_keys=[state_goal_key],
# )
# image_goal_distribution = AddImageDistribution(
# env=state_env,
# base_distribution=state_goal_distribution,
# image_goal_key=image_goal_key,
# renderer=renderer,
# )
# latent_goal_distribution = AddLatentDistribution(
# image_goal_distribution,
# image_goal_key,
# desired_goal_key,
# model,
# )
# no_goal_distribution = PriorDistribution(
# representation_size=0,
# key="no_goal",
# )
# diagnostics = state_goal_env.get_contextual_diagnostics
# else:
# error
diagnostics = StateImageGoalDiagnosticsFn({}, )
no_goal_distribution = PriorDistribution(
representation_size=0,
key="no_goal",
)
reward_fn = GraspingRewardFn(
# img_env, # state_env,
# observation_key=observation_key,
# desired_goal_key=desired_goal_key,
# **reward_kwargs
)
env = ContextualEnv(
img_env, # state_env,
context_distribution=no_goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[diagnostics],
)
return env, no_goal_distribution, reward_fn
def experiment(variant):
render = variant.get("render", False)
debug = variant.get("debug", False)
vae_path = variant.get("vae_path", False)
process_args(variant)
env_class = variant.get("env_class")
env_kwargs = variant.get("env_kwargs")
env_id = variant.get("env_id")
# expl_env = env_class(**env_kwargs)
# eval_env = env_class(**env_kwargs)
expl_env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
eval_env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env = eval_env
if variant.get('sparse_reward', False):
expl_env = RewardWrapperEnv(expl_env, compute_hand_sparse_reward)
eval_env = RewardWrapperEnv(eval_env, compute_hand_sparse_reward)
if variant.get("vae_path", False):
vae = load_local_or_remote_file(vae_path)
variant['path_loader_kwargs']['model_path'] = vae_path
renderer = EnvRenderer(**variant.get("renderer_kwargs", {}))
expl_env = VQVAEWrappedEnv(InsertImageEnv(expl_env, renderer=renderer),
vae,
reward_params=variant.get(
"reward_params", {}),
**variant.get('vae_wrapped_env_kwargs', {}))
eval_env = VQVAEWrappedEnv(InsertImageEnv(eval_env, renderer=renderer),
vae,
reward_params=variant.get(
"reward_params", {}),
**variant.get('vae_wrapped_env_kwargs', {}))
env = eval_env
variant['path_loader_kwargs']['env'] = env
if variant.get('add_env_demos', False):
variant["path_loader_kwargs"]["demo_paths"].append(
variant["env_demo_path"])
if variant.get('add_env_offpolicy_data', False):
variant["path_loader_kwargs"]["demo_paths"].append(
variant["env_offpolicy_data_path"])
if variant.get("use_masks", False):
mask_wrapper_kwargs = variant.get("mask_wrapper_kwargs", dict())
expl_mask_distribution_kwargs = variant[
"expl_mask_distribution_kwargs"]
expl_mask_distribution = DiscreteDistribution(
**expl_mask_distribution_kwargs)
expl_env = RewardMaskWrapper(env, expl_mask_distribution,
**mask_wrapper_kwargs)
eval_mask_distribution_kwargs = variant[
"eval_mask_distribution_kwargs"]
eval_mask_distribution = DiscreteDistribution(
**eval_mask_distribution_kwargs)
eval_env = RewardMaskWrapper(env, eval_mask_distribution,
**mask_wrapper_kwargs)
env = eval_env
if variant.get("pretrained_algorithm_path", False):
resume(variant)
return
path_loader_kwargs = variant.get("path_loader_kwargs", {})
stack_obs = path_loader_kwargs.get("stack_obs", 1)
if stack_obs > 1:
expl_env = StackObservationEnv(expl_env, stack_obs=stack_obs)
eval_env = StackObservationEnv(eval_env, stack_obs=stack_obs)
observation_key = variant.get('observation_key', 'latent_observation')
desired_goal_key = variant.get('desired_goal_key', 'latent_desired_goal')
achieved_goal_key = variant.get('achieved_goal_key',
'latent_achieved_goal')
obs_dim = (env.observation_space.spaces[observation_key].low.size +
env.observation_space.spaces[desired_goal_key].low.size)
action_dim = eval_env.action_space.low.size
if hasattr(expl_env, 'info_sizes'):
env_info_sizes = expl_env.info_sizes
else:
env_info_sizes = dict()
replay_buffer_kwargs = dict(
env=env,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
)
replay_buffer_kwargs.update(variant.get('replay_buffer_kwargs', dict()))
replay_buffer = ConcatToObsWrapper(
ObsDictRelabelingBuffer(**replay_buffer_kwargs),
[
"resampled_goals",
],
)
replay_buffer_kwargs.update(
variant.get('demo_replay_buffer_kwargs', dict()))
demo_train_buffer = ConcatToObsWrapper(
ObsDictRelabelingBuffer(**replay_buffer_kwargs),
[
"resampled_goals",
],
)
demo_test_buffer = ConcatToObsWrapper(
ObsDictRelabelingBuffer(**replay_buffer_kwargs),
[
"resampled_goals",
],
)
M = variant['layer_size']
qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[M, M],
)
qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[M, M],
)
target_qf1 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[M, M],
)
target_qf2 = ConcatMlp(
input_size=obs_dim + action_dim,
output_size=1,
hidden_sizes=[M, M],
)
policy_class = variant.get("policy_class", TanhGaussianPolicy)
policy = policy_class(
obs_dim=obs_dim,
action_dim=action_dim,
**variant['policy_kwargs'],
)
expl_policy = policy
exploration_kwargs = variant.get('exploration_kwargs', {})
if exploration_kwargs:
if exploration_kwargs.get("deterministic_exploration", False):
expl_policy = MakeDeterministic(policy)
exploration_strategy = exploration_kwargs.get("strategy", None)
if exploration_strategy is None:
pass
elif exploration_strategy == 'ou':
es = OUStrategy(
action_space=expl_env.action_space,
max_sigma=exploration_kwargs['noise'],
min_sigma=exploration_kwargs['noise'],
)
expl_policy = PolicyWrappedWithExplorationStrategy(
exploration_strategy=es,
policy=expl_policy,
)
elif exploration_strategy == 'gauss_eps':
es = GaussianAndEpislonStrategy(
action_space=expl_env.action_space,
max_sigma=exploration_kwargs['noise'],
min_sigma=exploration_kwargs['noise'], # constant sigma
epsilon=0,
)
expl_policy = PolicyWrappedWithExplorationStrategy(
exploration_strategy=es,
policy=expl_policy,
)
else:
error
trainer = AWACTrainer(env=eval_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**variant['trainer_kwargs'])
if variant['collection_mode'] == 'online':
expl_path_collector = MdpStepCollector(
expl_env,
policy,
)
algorithm = TorchOnlineRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=variant['max_path_length'],
batch_size=variant['batch_size'],
num_epochs=variant['num_epochs'],
num_eval_steps_per_epoch=variant['num_eval_steps_per_epoch'],
num_expl_steps_per_train_loop=variant[
'num_expl_steps_per_train_loop'],
num_trains_per_train_loop=variant['num_trains_per_train_loop'],
min_num_steps_before_training=variant[
'min_num_steps_before_training'],
)
else:
eval_path_collector = GoalConditionedPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
desired_goal_key=desired_goal_key,
render=render,
goal_sampling_mode=variant.get("goal_sampling_mode", None),
)
expl_path_collector = GoalConditionedPathCollector(
expl_env,
policy,
observation_key=observation_key,
desired_goal_key=desired_goal_key,
render=render,
goal_sampling_mode=variant.get("goal_sampling_mode", None),
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=variant['max_path_length'],
batch_size=variant['batch_size'],
num_epochs=variant['num_epochs'],
num_eval_steps_per_epoch=variant['num_eval_steps_per_epoch'],
num_expl_steps_per_train_loop=variant[
'num_expl_steps_per_train_loop'],
num_trains_per_train_loop=variant['num_trains_per_train_loop'],
min_num_steps_before_training=variant[
'min_num_steps_before_training'],
)
algorithm.to(ptu.device)
if variant.get("save_video", True):
video_func = VideoSaveFunction(
env,
variant,
)
#algorithm.post_train_funcs.append(video_func)
algorithm.post_train_funcs.append(video_func)
# if variant.get("save_video", False):
# from rlkit.visualization.video import VideoSaveFunction
# renderer_kwargs = variant.get("renderer_kwargs", {})
# save_video_kwargs = variant.get("save_video_kwargs", {})
# def get_video_func(
# env,
# policy,
# tag,
# ):
# renderer = EnvRenderer(**renderer_kwargs)
# state_goal_distribution = GoalDictDistributionFromMultitaskEnv(
# env,
# desired_goal_keys=[desired_goal_key],
# )
# image_goal_distribution = AddImageDistribution(
# env=env,
# base_distribution=state_goal_distribution,
# image_goal_key='image_desired_goal',
# renderer=renderer,
# )
# img_env = InsertImageEnv(env, renderer=renderer)
# rollout_function = partial(
# rf.multitask_rollout,
# max_path_length=variant['max_path_length'],
# observation_key=observation_key,
# desired_goal_key=desired_goal_key,
# return_dict_obs=True,
# )
# reward_fn = ContextualRewardFnFromMultitaskEnv(
# env=env,
# achieved_goal_from_observation=IndexIntoAchievedGoal(observation_key),
# desired_goal_key=desired_goal_key,
# achieved_goal_key="state_achieved_goal",
# )
# contextual_env = ContextualEnv(
# img_env,
# context_distribution=image_goal_distribution,
# reward_fn=reward_fn,
# observation_key=observation_key,
# )
# video_func = get_save_video_function(
# rollout_function,
# contextual_env,
# policy,
# tag=tag,
# imsize=renderer.width,
# image_format='CWH',
# **save_video_kwargs
# )
# return video_func
# expl_video_func = get_video_func(expl_env, expl_policy, "expl")
# eval_video_func = get_video_func(eval_env, MakeDeterministic(policy), "eval")
# algorithm.post_train_funcs.append(eval_video_func)
# algorithm.post_train_funcs.append(expl_video_func)
if variant.get('save_paths', False):
algorithm.post_train_funcs.append(save_paths)
if variant.get('load_demos', False):
path_loader_class = variant.get('path_loader_class', MDPPathLoader)
path_loader = path_loader_class(trainer,
replay_buffer=replay_buffer,
demo_train_buffer=demo_train_buffer,
demo_test_buffer=demo_test_buffer,
**path_loader_kwargs)
path_loader.load_demos()
if variant.get('pretrain_policy', False):
trainer.pretrain_policy_with_bc(
policy,
demo_train_buffer,
demo_test_buffer,
trainer.bc_num_pretrain_steps,
)
if variant.get('pretrain_rl', False):
trainer.pretrain_q_with_bc_data()
if variant.get('save_pretrained_algorithm', False):
p_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.p')
pt_path = osp.join(logger.get_snapshot_dir(), 'pretrain_algorithm.pt')
data = algorithm._get_snapshot()
data['algorithm'] = algorithm
torch.save(data, open(pt_path, "wb"))
torch.save(data, open(p_path, "wb"))
algorithm.train()
def disco_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
generate_set_for_rl_kwargs,
# VAE parameters
create_vae_kwargs,
vae_trainer_kwargs,
vae_algo_kwargs,
data_loader_kwargs,
generate_set_for_vae_pretraining_kwargs,
num_ungrouped_images,
beta_schedule_kwargs=None,
# Oracle settings
use_ground_truth_reward=False,
use_onehot_set_embedding=False,
use_dummy_model=False,
observation_key="latent_observation",
# RIG comparison
rig_goal_setter_kwargs=None,
rig=False,
# Miscellaneous
reward_fn_kwargs=None,
# None-VAE Params
env_id=None,
env_class=None,
env_kwargs=None,
latent_observation_key="latent_observation",
state_observation_key="state_observation",
image_observation_key="image_observation",
set_description_key="set_description",
example_state_key="example_state",
example_image_key="example_image",
# Exploration
exploration_policy_kwargs=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
):
if rig_goal_setter_kwargs is None:
rig_goal_setter_kwargs = {}
if reward_fn_kwargs is None:
reward_fn_kwargs = {}
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
renderer = EnvRenderer(**renderer_kwargs)
sets = create_sets(
env_id,
env_class,
env_kwargs,
renderer,
example_state_key=example_state_key,
example_image_key=example_image_key,
**generate_set_for_rl_kwargs,
)
if use_dummy_model:
model = create_dummy_image_vae(img_chw=renderer.image_chw,
**create_vae_kwargs)
else:
model = train_set_vae(
create_vae_kwargs,
vae_trainer_kwargs,
vae_algo_kwargs,
data_loader_kwargs,
generate_set_for_vae_pretraining_kwargs,
num_ungrouped_images,
env_id=env_id,
env_class=env_class,
env_kwargs=env_kwargs,
beta_schedule_kwargs=beta_schedule_kwargs,
sets=sets,
renderer=renderer,
)
expl_env, expl_context_distrib, expl_reward = (
contextual_env_distrib_and_reward(
vae=model,
sets=sets,
state_env=get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
),
renderer=renderer,
reward_fn_kwargs=reward_fn_kwargs,
use_ground_truth_reward=use_ground_truth_reward,
state_observation_key=state_observation_key,
latent_observation_key=latent_observation_key,
example_image_key=example_image_key,
set_description_key=set_description_key,
observation_key=observation_key,
image_observation_key=image_observation_key,
rig_goal_setter_kwargs=rig_goal_setter_kwargs,
))
eval_env, eval_context_distrib, eval_reward = (
contextual_env_distrib_and_reward(
vae=model,
sets=sets,
state_env=get_gym_env(
env_id,
env_class=env_class,
env_kwargs=env_kwargs,
),
renderer=renderer,
reward_fn_kwargs=reward_fn_kwargs,
use_ground_truth_reward=use_ground_truth_reward,
state_observation_key=state_observation_key,
latent_observation_key=latent_observation_key,
example_image_key=example_image_key,
set_description_key=set_description_key,
observation_key=observation_key,
image_observation_key=image_observation_key,
rig_goal_setter_kwargs=rig_goal_setter_kwargs,
oracle_rig_goal=rig,
))
context_keys = [
expl_context_distrib.mean_key,
expl_context_distrib.covariance_key,
expl_context_distrib.set_index_key,
expl_context_distrib.set_embedding_key,
]
if rig:
context_keys_for_rl = [
expl_context_distrib.mean_key,
]
else:
if use_onehot_set_embedding:
context_keys_for_rl = [
expl_context_distrib.set_embedding_key,
]
else:
context_keys_for_rl = [
expl_context_distrib.mean_key,
expl_context_distrib.covariance_key,
]
obs_dim = np.prod(expl_env.observation_space.spaces[observation_key].shape)
obs_dim += sum([
np.prod(expl_env.observation_space.spaces[k].shape)
for k in context_keys_for_rl
])
action_dim = np.prod(expl_env.action_space.shape)
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch["observations"]
next_obs = batch["next_observations"]
contexts = [batch[k] for k in context_keys_for_rl]
batch["observations"] = np.concatenate((obs, *contexts), axis=1)
batch["next_observations"] = np.concatenate(
(next_obs, *contexts),
axis=1,
)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=context_keys,
observation_keys=list(
{observation_key, state_observation_key, latent_observation_key}),
observation_key=observation_key,
context_distribution=FilterKeys(
expl_context_distrib,
context_keys,
),
sample_context_from_obs_dict_fn=None,
# RemapKeyFn({context_key: observation_key}),
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs,
)
trainer = SACTrainer(
env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs,
)
eval_path_collector = ContextualPathCollector(
eval_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=context_keys_for_rl,
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
expl_path_collector = ContextualPathCollector(
expl_env,
exploration_policy,
observation_key=observation_key,
context_keys_for_policy=context_keys_for_rl,
)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs,
)
algorithm.to(ptu.device)
if save_video:
set_index_key = eval_context_distrib.set_index_key
expl_video_func = DisCoVideoSaveFunction(
model,
sets,
expl_path_collector,
tag="train",
reconstruction_key="image_reconstruction",
decode_set_image_key="decoded_set_prior",
set_visualization_key="set_visualization",
example_image_key=example_image_key,
set_index_key=set_index_key,
columns=len(sets),
unnormalize=True,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs,
)
algorithm.post_train_funcs.append(expl_video_func)
eval_video_func = DisCoVideoSaveFunction(
model,
sets,
eval_path_collector,
tag="eval",
reconstruction_key="image_reconstruction",
decode_set_image_key="decoded_set_prior",
set_visualization_key="set_visualization",
example_image_key=example_image_key,
set_index_key=set_index_key,
columns=len(sets),
unnormalize=True,
imsize=48,
image_format=renderer.output_image_format,
**save_video_kwargs,
)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.train()
def contextual_env_distrib_and_reward(
env_id,
env_class,
env_kwargs,
goal_sampling_mode,
env_mask_distribution_type,
static_mask=None,
):
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env.goal_sampling_mode = goal_sampling_mode
use_static_mask = (not do_masking
or env_mask_distribution_type == 'static_mask')
# Default to all ones mask if static mask isn't defined and should
# be using static masks.
if use_static_mask and static_mask is None:
static_mask = np.ones(mask_dim)
if not do_masking:
assert env_mask_distribution_type == 'static_mask'
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
goal_distribution = MaskedGoalDictDistribution(
goal_distribution,
mask_key=mask_key,
mask_dim=mask_dim,
distribution_type=env_mask_distribution_type,
static_mask=static_mask,
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
achieved_goal_from_observation=IndexIntoAchievedGoal(
observation_key),
)
if do_masking:
if masking_reward_fn:
reward_fn = partial(masking_reward_fn,
context_key=context_key,
mask_key=mask_key)
else:
reward_fn = partial(default_masked_reward_fn,
context_key=context_key,
mask_key=mask_key)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[state_diag_fn],
)
return env, goal_distribution, reward_fn
def masking_sac_experiment(
max_path_length,
qf_kwargs,
sac_trainer_kwargs,
replay_buffer_kwargs,
policy_kwargs,
algo_kwargs,
env_class=None,
env_kwargs=None,
observation_key='state_observation',
desired_goal_key='state_desired_goal',
achieved_goal_key='state_achieved_goal',
exploration_policy_kwargs=None,
evaluation_goal_sampling_mode=None,
exploration_goal_sampling_mode=None,
# Video parameters
save_video=True,
save_video_kwargs=None,
renderer_kwargs=None,
train_env_id=None,
eval_env_id=None,
do_masking=True,
mask_key="masked_observation",
masking_eval_steps=200,
log_mask_diagnostics=True,
mask_dim=None,
masking_reward_fn=None,
masking_for_exploration=True,
rotate_masks_for_eval=False,
rotate_masks_for_expl=False,
mask_distribution=None,
num_steps_per_mask_change=10,
tag=None,
):
if exploration_policy_kwargs is None:
exploration_policy_kwargs = {}
if not save_video_kwargs:
save_video_kwargs = {}
if not renderer_kwargs:
renderer_kwargs = {}
context_key = desired_goal_key
env = get_gym_env(train_env_id, env_class=env_class, env_kwargs=env_kwargs)
mask_dim = (mask_dim or env.observation_space.spaces[context_key].low.size)
if not do_masking:
mask_distribution = 'all_ones'
assert mask_distribution in [
'one_hot_masks', 'random_bit_masks', 'all_ones'
]
if mask_distribution == 'all_ones':
mask_distribution = 'static_mask'
def contextual_env_distrib_and_reward(
env_id,
env_class,
env_kwargs,
goal_sampling_mode,
env_mask_distribution_type,
static_mask=None,
):
env = get_gym_env(env_id, env_class=env_class, env_kwargs=env_kwargs)
env.goal_sampling_mode = goal_sampling_mode
use_static_mask = (not do_masking
or env_mask_distribution_type == 'static_mask')
# Default to all ones mask if static mask isn't defined and should
# be using static masks.
if use_static_mask and static_mask is None:
static_mask = np.ones(mask_dim)
if not do_masking:
assert env_mask_distribution_type == 'static_mask'
goal_distribution = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
goal_distribution = MaskedGoalDictDistribution(
goal_distribution,
mask_key=mask_key,
mask_dim=mask_dim,
distribution_type=env_mask_distribution_type,
static_mask=static_mask,
)
reward_fn = ContextualRewardFnFromMultitaskEnv(
env=env,
desired_goal_key=desired_goal_key,
achieved_goal_key=achieved_goal_key,
achieved_goal_from_observation=IndexIntoAchievedGoal(
observation_key),
)
if do_masking:
if masking_reward_fn:
reward_fn = partial(masking_reward_fn,
context_key=context_key,
mask_key=mask_key)
else:
reward_fn = partial(default_masked_reward_fn,
context_key=context_key,
mask_key=mask_key)
state_diag_fn = GoalConditionedDiagnosticsToContextualDiagnostics(
env.goal_conditioned_diagnostics,
desired_goal_key=desired_goal_key,
observation_key=observation_key,
)
env = ContextualEnv(
env,
context_distribution=goal_distribution,
reward_fn=reward_fn,
observation_key=observation_key,
contextual_diagnostics_fns=[state_diag_fn],
)
return env, goal_distribution, reward_fn
expl_env, expl_context_distrib, expl_reward = contextual_env_distrib_and_reward(
train_env_id,
env_class,
env_kwargs,
exploration_goal_sampling_mode,
mask_distribution if masking_for_exploration else 'static_mask',
)
eval_env, eval_context_distrib, eval_reward = contextual_env_distrib_and_reward(
eval_env_id, env_class, env_kwargs, evaluation_goal_sampling_mode,
'static_mask')
# Distribution for relabeling
relabel_context_distrib = GoalDictDistributionFromMultitaskEnv(
env,
desired_goal_keys=[desired_goal_key],
)
relabel_context_distrib = MaskedGoalDictDistribution(
relabel_context_distrib,
mask_key=mask_key,
mask_dim=mask_dim,
distribution_type=mask_distribution,
static_mask=None if do_masking else np.ones(mask_dim),
)
obs_dim = (expl_env.observation_space.spaces[observation_key].low.size +
expl_env.observation_space.spaces[context_key].low.size +
mask_dim)
action_dim = expl_env.action_space.low.size
def create_qf():
return ConcatMlp(input_size=obs_dim + action_dim,
output_size=1,
**qf_kwargs)
qf1 = create_qf()
qf2 = create_qf()
target_qf1 = create_qf()
target_qf2 = create_qf()
policy = TanhGaussianPolicy(obs_dim=obs_dim,
action_dim=action_dim,
**policy_kwargs)
def context_from_obs_dict_fn(obs_dict):
achieved_goal = obs_dict['state_achieved_goal']
# Should the mask be randomized for future relabeling?
# batch_size = len(achieved_goal)
# mask = np.random.choice(2, size=(batch_size, mask_dim))
mask = obs_dict[mask_key]
return {
mask_key: mask,
context_key: achieved_goal,
}
def concat_context_to_obs(batch, *args, **kwargs):
obs = batch['observations']
next_obs = batch['next_observations']
context = batch[context_key]
mask = batch[mask_key]
batch['observations'] = np.concatenate([obs, context, mask], axis=1)
batch['next_observations'] = np.concatenate([next_obs, context, mask],
axis=1)
return batch
replay_buffer = ContextualRelabelingReplayBuffer(
env=eval_env,
context_keys=[context_key, mask_key],
observation_keys=[observation_key, 'state_achieved_goal'],
context_distribution=relabel_context_distrib,
sample_context_from_obs_dict_fn=context_from_obs_dict_fn,
reward_fn=eval_reward,
post_process_batch_fn=concat_context_to_obs,
**replay_buffer_kwargs)
trainer = SACTrainer(env=expl_env,
policy=policy,
qf1=qf1,
qf2=qf2,
target_qf1=target_qf1,
target_qf2=target_qf2,
**sac_trainer_kwargs)
def create_path_collector(env, policy, is_rotating):
if is_rotating:
assert do_masking and mask_distribution == 'one_hot_masks'
return RotatingMaskingPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
mask_key=mask_key,
mask_length=mask_dim,
num_steps_per_mask_change=num_steps_per_mask_change,
)
else:
return ContextualPathCollector(
env,
policy,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
)
exploration_policy = create_exploration_policy(expl_env, policy,
**exploration_policy_kwargs)
eval_path_collector = create_path_collector(eval_env,
MakeDeterministic(policy),
rotate_masks_for_eval)
expl_path_collector = create_path_collector(expl_env, exploration_policy,
rotate_masks_for_expl)
algorithm = TorchBatchRLAlgorithm(
trainer=trainer,
exploration_env=expl_env,
evaluation_env=eval_env,
exploration_data_collector=expl_path_collector,
evaluation_data_collector=eval_path_collector,
replay_buffer=replay_buffer,
max_path_length=max_path_length,
**algo_kwargs)
algorithm.to(ptu.device)
if save_video:
rollout_function = partial(
rf.contextual_rollout,
max_path_length=max_path_length,
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
# Eval on everything for the base video
obs_processor=lambda o: np.hstack(
(o[observation_key], o[context_key], np.ones(mask_dim))))
renderer = EnvRenderer(**renderer_kwargs)
def add_images(env, state_distribution):
state_env = env.env
image_goal_distribution = AddImageDistribution(
env=state_env,
base_distribution=state_distribution,
image_goal_key='image_desired_goal',
renderer=renderer,
)
img_env = InsertImageEnv(state_env, renderer=renderer)
return ContextualEnv(
img_env,
context_distribution=image_goal_distribution,
reward_fn=eval_reward,
observation_key=observation_key,
# update_env_info_fn=DeleteOldEnvInfo(),
)
img_eval_env = add_images(eval_env, eval_context_distrib)
img_expl_env = add_images(expl_env, expl_context_distrib)
eval_video_func = get_save_video_function(
rollout_function,
img_eval_env,
MakeDeterministic(policy),
tag="eval",
imsize=renderer.image_shape[0],
image_format='CWH',
**save_video_kwargs)
expl_video_func = get_save_video_function(
rollout_function,
img_expl_env,
exploration_policy,
tag="train",
imsize=renderer.image_shape[0],
image_format='CWH',
**save_video_kwargs)
algorithm.post_train_funcs.append(eval_video_func)
algorithm.post_train_funcs.append(expl_video_func)
# For diagnostics, evaluate the policy on each individual dimension of the
# mask.
masks = []
collectors = []
for mask_idx in range(mask_dim):
mask = np.zeros(mask_dim)
mask[mask_idx] = 1
masks.append(mask)
for mask in masks:
for_dim_mask = mask if do_masking else np.ones(mask_dim)
masked_env, _, _ = contextual_env_distrib_and_reward(
eval_env_id,
env_class,
env_kwargs,
evaluation_goal_sampling_mode,
'static_mask',
static_mask=for_dim_mask)
collector = ContextualPathCollector(
masked_env,
MakeDeterministic(policy),
observation_key=observation_key,
context_keys_for_policy=[context_key, mask_key],
)
collectors.append(collector)
log_prefixes = [
'mask_{}/'.format(''.join(mask.astype(int).astype(str)))
for mask in masks
]
def get_mask_diagnostics(unused):
from rlkit.core.logging import append_log, add_prefix, OrderedDict
from rlkit.misc import eval_util
log = OrderedDict()
for prefix, collector in zip(log_prefixes, collectors):
paths = collector.collect_new_paths(
max_path_length,
masking_eval_steps,
discard_incomplete_paths=True,
)
generic_info = add_prefix(
eval_util.get_generic_path_information(paths),
prefix,
)
append_log(log, generic_info)
for collector in collectors:
collector.end_epoch(0)
return log
if log_mask_diagnostics:
algorithm._eval_get_diag_fns.append(get_mask_diagnostics)
algorithm.train()