def log_diagnostics(self, itr, prefix='Diagnostics/'):
with logger.tabular_prefix(prefix):
logger.record_tabular('NewCompletedTrajs', self._new_completed_trajs)
logger.record_tabular('StepsInTrajWindow',
sum(info["Length"] for info in self._traj_infos))
super().log_diagnostics(itr, prefix=prefix)
self._new_completed_trajs = 0
def log_diagnostics(self,
itr,
player_eval_traj_infos,
observer_eval_traj_infos,
eval_time,
prefix='Diagnostics/'):
if not player_eval_traj_infos:
logger.log("WARNING: player had no complete trajectories in eval.")
if not observer_eval_traj_infos:
logger.log(
"WARNING: observer had no complete trajectories in eval.")
player_steps_in_eval = sum(
[info["Length"] for info in player_eval_traj_infos])
observer_steps_in_eval = sum(
[info["Length"] for info in observer_eval_traj_infos])
with logger.tabular_prefix(prefix):
logger.record_tabular('PlayerStepsInEval', player_steps_in_eval)
logger.record_tabular('ObserverStepsInEval',
observer_steps_in_eval)
logger.record_tabular('PlayerTrajsInEval',
len(player_eval_traj_infos))
logger.record_tabular('ObserverTrajsInEval',
len(observer_eval_traj_infos))
self._cum_eval_time += eval_time
logger.record_tabular('CumEvalTime', self._cum_eval_time)
super().log_diagnostics(itr,
player_eval_traj_infos,
observer_eval_traj_infos,
eval_time,
prefix=prefix)
def log_diagnostics(self, itr):
"""
记录诊断信息。
:param itr: 第几次迭代。
"""
logger.record_tabular('NewCompletedTrajs', self._new_completed_trajs)
logger.record_tabular('StepsInTrajWindow',
sum(info["Length"] for info in self._traj_infos))
super().log_diagnostics(itr)
self._new_completed_trajs = 0
def log_diagnostics(self, itr, sampler_itr, throttle_time):
logger.record_tabular('CumCompletedTrajs', self._cum_completed_trajs)
logger.record_tabular('NewCompletedTrajs', self._new_completed_trajs)
logger.record_tabular('StepsInTrajWindow',
sum(info["Length"] for info in self._traj_infos))
super().log_diagnostics(itr, sampler_itr, throttle_time)
self._new_completed_trajs = 0
def log_diagnostics(self, itr, sampler_itr, throttle_time):
if not self._traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in self._traj_infos])
logger.record_tabular('StepsInEval', steps_in_eval)
logger.record_tabular('TrajsInEval', len(self._traj_infos))
logger.record_tabular('CumEvalTime', self.ctrl.eval_time.value)
super().log_diagnostics(itr, sampler_itr, throttle_time)
self._traj_infos = list() # Clear after each eval.
def log_diagnostics(self, itr, eval_traj_infos, eval_time):
if not eval_traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in eval_traj_infos])
logger.record_tabular('StepsInEval', steps_in_eval)
logger.record_tabular('TrajsInEval', len(eval_traj_infos))
self._cum_eval_time += eval_time
logger.record_tabular('CumEvalTime', self._cum_eval_time)
super().log_diagnostics(itr, eval_traj_infos, eval_time)
def log_diagnostics(self, itr, val_info, *args, **kwargs):
self.save_itr_snapshot(itr)
new_time = time.time()
self._cum_time = new_time - self._start_time
epochs = itr * self.algo.batch_size / (
self.algo.replay_buffer.size * (1 - self.algo.validation_split))
logger.record_tabular("Iteration", itr)
logger.record_tabular("Epochs", epochs)
logger.record_tabular("CumTime (s)", self._cum_time)
logger.record_tabular("UpdatesPerSecond", itr / self._cum_time)
if self._opt_infos:
for k, v in self._opt_infos.items():
logger.record_tabular_misc_stat(k, v)
for k, v in zip(val_info._fields, val_info):
logger.record_tabular_misc_stat("val_" + k, v)
self._opt_infos = {k: list() for k in self._opt_infos} # (reset)
logger.dump_tabular(with_prefix=False)
if itr < self.n_updates - 1:
logger.log(
f"Optimizing over {self.log_interval_updates} iterations.")
self.pbar = ProgBarCounter(self.log_interval_updates)
def log_diagnostics(self,
itr,
sampler_itr,
throttle_time,
prefix="Diagnostics/"):
if not self._traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in self._traj_infos])
with logger.tabular_prefix(prefix):
logger.record_tabular("StepsInEval", steps_in_eval)
logger.record_tabular("TrajsInEval", len(self._traj_infos))
logger.record_tabular("CumEvalTime", self.ctrl.eval_time.value)
super().log_diagnostics(itr, sampler_itr, throttle_time, prefix=prefix)
self._traj_infos = list() # Clear after each eval.
def log_diagnostics(self,
itr,
eval_traj_infos,
eval_time,
prefix="Diagnostics/"):
if not eval_traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in eval_traj_infos])
with logger.tabular_prefix(prefix):
logger.record_tabular("StepsInEval", steps_in_eval)
logger.record_tabular("TrajsInEval", len(eval_traj_infos))
self._cum_eval_time += eval_time
logger.record_tabular("CumEvalTime", self._cum_eval_time)
super().log_diagnostics(itr, eval_traj_infos, eval_time, prefix=prefix)
def log_diagnostics(self,
itr,
sampler_itr,
throttle_time,
prefix="Diagnostics/"):
with logger.tabular_prefix(prefix):
logger.record_tabular("CumCompletedTrajs",
self._cum_completed_trajs)
logger.record_tabular("NewCompletedTrajs",
self._new_completed_trajs)
logger.record_tabular(
"StepsInTrajWindow",
sum(info["Length"] for info in self._traj_infos))
super().log_diagnostics(itr, sampler_itr, throttle_time, prefix=prefix)
self._new_completed_trajs = 0
def log_diagnostics(self, itr, eval_traj_infos, eval_time: float):
"""
[此函数设计得不好，和父类的同名函数签名不一致]
记录诊断信息。此函数会写日志。
:param itr: 第几次迭代。
:param eval_traj_infos: 做evaluation的时候在trajectory中step产生的统计信息，例如非0的reward值等。
:param eval_time: 完成一次evaluation消耗的时间(秒)。
:return:
"""
if not eval_traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in eval_traj_infos])
logger.record_tabular('StepsInEval', steps_in_eval)
logger.record_tabular('TrajsInEval', len(eval_traj_infos))
self._cum_eval_time += eval_time # 累积的evaluation消耗时间
logger.record_tabular('CumEvalTime', self._cum_eval_time)
super().log_diagnostics(itr, eval_traj_infos, eval_time)
def log_diagnostics(itr, algo, agent, sampler):
if itr > 0:
shared_sampler_dict['angle_bound_scale'] = np.minimum(
options.angle_bound_scale + 0.004 * (itr - 0), 1.)
if itr > 500:
if not options.fixed_hpos_std:
shared_sampler_dict['hpos_std'] = np.minimum(
options.hpos_std + 0.0005 * (itr - 500), 0.25)
record_tabular('agent/hpos_std', shared_sampler_dict['hpos_std'])
record_tabular('agent/angle_bound_scale',
shared_sampler_dict['angle_bound_scale'])
std = agent.model.log_std.exp().data.cpu().numpy()
for i in range(std.shape[0]):
record_tabular('agent/std{}'.format(i), std[i])
record_tabular_misc_stat(
'final_obj_position_x',
sampler.samples_np.env.observation[sampler.samples_np.env.done, 8])
def log_diagnostics(self, itr, eval_traj_infos, eval_time):
self.save_itr_snapshot(itr)
if not eval_traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in eval_traj_infos])
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumSteps', itr * self.itr_batch_size)
logger.record_tabular('StepsInEval', steps_in_eval)
logger.record_tabular('TrajsInEval', len(eval_traj_infos))
self._log_infos(eval_traj_infos)
new_time = time.time()
log_interval_time = new_time - self._last_time
new_train_time = log_interval_time - eval_time
self.cum_train_time += new_train_time
self.cum_eval_time += eval_time
self.cum_total_time += log_interval_time
self._last_time = new_time
samples_per_second = (float('nan')
if itr == 0 else self.log_interval_itrs *
self.itr_batch_size / new_train_time)
logger.record_tabular('CumTrainTime', self.cum_train_time)
logger.record_tabular('CumEvalTime', self.cum_eval_time)
logger.record_tabular('CumTotalTime', self.cum_total_time)
logger.record_tabular('SamplesPerSecond', samples_per_second)
logger.dump_tabular(with_prefix=False)
logger.log(f"optimizing over {self.log_interval_itrs} iterations")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def log_diagnostics(self, itr, sampler_itr, throttle_time):
self.pbar.stop()
self.save_itr_snapshot(itr, sampler_itr)
new_time = time.time()
time_elapsed = new_time - self._last_time
new_updates = self.algo.update_counter - self._last_update_counter
new_samples = self.sampler.batch_size * (sampler_itr - self._last_sampler_itr)
updates_per_second = (float('nan') if itr == 0 else
new_updates / time_elapsed)
samples_per_second = (float('nan') if itr == 0 else
new_samples / time_elapsed)
if self._eval:
new_eval_time = self.ctrl.eval_time.value
eval_time_elapsed = new_eval_time - self._last_eval_time
non_eval_time_elapsed = time_elapsed - eval_time_elapsed
non_eval_samples_per_second = (float('nan') if itr == 0 else
new_samples / non_eval_time_elapsed)
self._last_eval_time = new_eval_time
cum_steps = sampler_itr * self.sampler.batch_size # No * world_size.
replay_ratio = (new_updates * self.algo.batch_size * self.world_size /
max(1, new_samples))
cum_replay_ratio = (self.algo.update_counter * self.algo.batch_size *
self.world_size / max(1, cum_steps))
logger.record_tabular('Iteration', itr)
logger.record_tabular('SamplerIteration', sampler_itr)
logger.record_tabular('CumTime (s)', new_time - self._start_time)
logger.record_tabular('CumSteps', cum_steps)
logger.record_tabular('CumUpdates', self.algo.update_counter)
logger.record_tabular('ReplayRatio', replay_ratio)
logger.record_tabular('CumReplayRatio', cum_replay_ratio)
logger.record_tabular('StepsPerSecond', samples_per_second)
if self._eval:
logger.record_tabular('NonEvalSamplesPerSecond', non_eval_samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('OptThrottle', (time_elapsed - throttle_time) /
time_elapsed)
self._log_infos()
self._last_time = new_time
self._last_itr = itr
self._last_sampler_itr = sampler_itr
self._last_update_counter = self.algo.update_counter
logger.dump_tabular(with_prefix=False)
logger.log(f"Optimizing over {self.log_interval_itrs} sampler "
"iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def log_diagnostics(self,
itr,
traj_infos=None,
eval_time=0,
prefix='Diagnostics/'):
"""
Write diagnostics (including stored ones) to csv via the logger.
"""
if itr > 0:
self.pbar.stop()
if itr >= self.min_itr_learn - 1:
self.save_itr_snapshot(itr)
new_time = time.time()
self._cum_time = new_time - self._start_time
train_time_elapsed = new_time - self._last_time - eval_time
new_updates = self.algo.update_counter - self._last_update_counter
new_samples = (self.sampler.batch_size * self.world_size *
self.log_interval_itrs)
updates_per_second = (float('nan') if itr == 0 else new_updates /
train_time_elapsed)
samples_per_second = (float('nan') if itr == 0 else new_samples /
train_time_elapsed)
replay_ratio = (new_updates * self.algo.batch_size * self.world_size /
new_samples)
cum_replay_ratio = (self.algo.batch_size * self.algo.update_counter /
((itr + 1) * self.sampler.batch_size)
) # world_size cancels.
cum_steps = (itr + 1) * self.sampler.batch_size * self.world_size
with logger.tabular_prefix(prefix):
if self._eval:
logger.record_tabular(
'CumTrainTime', self._cum_time -
self._cum_eval_time) # Already added new eval_time.
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumTime (s)', self._cum_time)
logger.record_tabular('CumSteps', cum_steps)
logger.record_tabular('CumCompletedTrajs',
self._cum_completed_trajs)
logger.record_tabular('CumUpdates', self.algo.update_counter)
logger.record_tabular('StepsPerSecond', samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('ReplayRatio', replay_ratio)
logger.record_tabular('CumReplayRatio', cum_replay_ratio)
self._log_infos(traj_infos)
logger.dump_tabular(with_prefix=False)
self._last_time = new_time
self._last_update_counter = self.algo.update_counter
if itr < self.n_itr - 1:
logger.log(f"Optimizing over {self.log_interval_itrs} iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def log_diagnostics(self, itr, sample_itr, throttle_time):
self.pbar.stop()
self.save_itr_snapshot(itr, sample_itr)
new_time = time.time()
time_elapsed = new_time - self._last_time
samples_per_second = (float('nan') if itr == 0 else
self.log_interval_itrs * self.itr_batch_size / time_elapsed)
updates_per_second = (float('nan') if itr == 0 else
self.algo.updates_per_optimize * (itr - self._last_itr) / time_elapsed)
logger.record_tabular('Iteration', itr)
logger.record_tabular('SamplerIteration', sample_itr)
logger.record_tabular('CumTime (s)', new_time - self._start_time)
logger.record_tabular('CumSteps', sample_itr * self.itr_batch_size)
logger.record_tabular('CumUpdates', itr * self.algo.updates_per_optimize)
logger.record_tabular('SamplesPerSecond', samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('OptThrottle', (time_elapsed - throttle_time) /
time_elapsed)
self._log_infos()
self._last_time = new_time
self._last_itr = itr
logger.dump_tabular(with_prefix=False)
logger.log(f"Optimizing over {self.log_interval_itrs} sampler "
"iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def log_diagnostics(self, itr, traj_infos=None, eval_time=0):
if itr > 0:
self.pbar.stop()
self.save_itr_snapshot(itr)
new_time = time.time()
self._cum_time = new_time - self._start_time
train_time_elapsed = new_time - self._last_time - eval_time
new_updates = self.algo.update_counter - self._last_update_counter
new_samples = (self.sampler.batch_size * self.world_size *
self.log_interval_itrs)
updates_per_second = (float('nan') if itr == 0 else new_updates /
train_time_elapsed)
samples_per_second = (float('nan') if itr == 0 else new_samples /
train_time_elapsed)
replay_ratio = (new_updates * self.algo.batch_size * self.world_size /
new_samples)
cum_replay_ratio = (self.algo.batch_size * self.algo.update_counter /
((itr + 1) * self.sampler.batch_size)
) # world_size cancels.
cum_steps = (itr + 1) * self.sampler.batch_size * self.world_size
if self._eval:
logger.record_tabular(
'CumTrainTime', self._cum_time -
self._cum_eval_time) # Already added new eval_time.
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumTime (s)', self._cum_time)
logger.record_tabular('CumSteps', cum_steps)
logger.record_tabular('CumCompletedTrajs', self._cum_completed_trajs)
logger.record_tabular('CumUpdates', self.algo.update_counter)
logger.record_tabular('StepsPerSecond', samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('ReplayRatio', replay_ratio)
logger.record_tabular('CumReplayRatio', cum_replay_ratio)
self._cum_pyflex_steps += sum(
getattr(info['env_infos'][-1], 'total_steps')
for info in traj_infos)
logger.record_tabular('CumPyflexSteps', self._cum_pyflex_steps)
self._log_infos(traj_infos)
logger.dump_tabular(with_prefix=False)
self._last_time = new_time
self._last_update_counter = self.algo.update_counter
if itr < self.n_itr - 1:
logger.log(f"Optimizing over {self.log_interval_itrs} iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def train(demos, add_preproc, seed, batch_size, total_n_batches,
eval_every_n_batches, out_dir, run_name, gpu_idx, cpu_list,
eval_n_traj, snapshot_gap, omit_noop, net_width_mul, net_use_bn,
net_dropout, net_coord_conv, net_attention, net_task_spec_layers,
load_policy, aug_mode, min_bc):
# TODO: abstract setup code. Seeds & GPUs should go in one function. Env
# setup should go in another function (or maybe the same function). Dataset
# loading should be simplified by having a single class that can provide
# whatever form of data the current IL method needs, without having to do
# unnecessary copies in memory. Maybe also just use Sacred, because YOLO.
with contextlib.ExitStack() as exit_stack:
# set up seeds & devices
set_seeds(seed)
mp.set_start_method('spawn')
use_gpu = gpu_idx is not None and torch.cuda.is_available()
dev = torch.device(["cpu", f"cuda:{gpu_idx}"][use_gpu])
print(f"Using device {dev}, seed {seed}")
if cpu_list is None:
cpu_list = sample_cpu_list()
affinity = dict(
cuda_idx=gpu_idx if use_gpu else None,
workers_cpus=cpu_list,
)
# register original envs
import magical
magical.register_envs()
# TODO: split out part of the dataset for validation.
demos_metas_dict = get_demos_meta(demo_paths=demos,
omit_noop=omit_noop,
transfer_variants=[],
preproc_name=add_preproc)
dataset_mt = demos_metas_dict['dataset_mt']
loader_mt = make_loader_mt(dataset_mt, batch_size)
variant_groups = demos_metas_dict['variant_groups']
env_metas = demos_metas_dict['env_metas']
num_demo_sources = demos_metas_dict['num_demo_sources']
task_ids_and_demo_env_names = demos_metas_dict[
'task_ids_and_demo_env_names']
sampler_batch_B = batch_size
# this doesn't really matter
sampler_batch_T = 5
sampler, sampler_batch_B = make_mux_sampler(
variant_groups=variant_groups,
num_demo_sources=num_demo_sources,
env_metas=env_metas,
use_gpu=use_gpu,
batch_B=sampler_batch_B,
batch_T=sampler_batch_T,
# TODO: instead of doing this, try sampling in proportion to length
# of horizon; that should get more samples from harder envs
task_var_weights=None)
if load_policy is not None:
try:
pol_path = get_latest_path(load_policy)
except ValueError:
pol_path = load_policy
policy_ctor = functools.partial(
adapt_pol_loader,
pol_path=pol_path,
task_ids_and_demo_env_names=task_ids_and_demo_env_names)
policy_kwargs = {}
else:
policy_kwargs = {
'env_ids_and_names': task_ids_and_demo_env_names,
'width': net_width_mul,
'use_bn': net_use_bn,
'dropout': net_dropout,
'coord_conv': net_coord_conv,
'attention': net_attention,
'n_task_spec_layers': net_task_spec_layers,
**get_policy_spec_magical(env_metas),
}
policy_ctor = MultiHeadPolicyNet
agent = CategoricalPgAgent(ModelCls=MuxTaskModelWrapper,
model_kwargs=dict(
model_ctor=policy_ctor,
model_kwargs=policy_kwargs))
sampler.initialize(agent=agent,
seed=np.random.randint(1 << 31),
affinity=affinity)
exit_stack.callback(lambda: sampler.shutdown())
model_mt = policy_ctor(**policy_kwargs).to(dev)
if min_bc:
num_tasks = len(task_ids_and_demo_env_names)
weight_mod = MinBCWeightingModule(num_tasks, num_demo_sources) \
.to(dev)
all_params = it.chain(model_mt.parameters(),
weight_mod.parameters())
else:
weight_mod = None
all_params = model_mt.parameters()
# Adam mostly works fine, but in very loose informal tests it seems
# like SGD had fewer weird failures where mean loss would jump up by a
# factor of 2x for a period (?). (I don't think that was solely due to
# high LR; probably an architectural issue.) opt_mt =
# torch.optim.Adam(model_mt.parameters(), lr=3e-4)
opt_mt = torch.optim.SGD(all_params, lr=1e-3, momentum=0.1)
try:
aug_opts = MILBenchAugmentations.PRESETS[aug_mode]
except KeyError:
raise ValueError(f"unsupported mode '{aug_mode}'")
if aug_opts:
print("Augmentations:", ", ".join(aug_opts))
aug_model = MILBenchAugmentations(**{k: True for k in aug_opts}) \
.to(dev)
else:
print("No augmentations")
aug_model = None
n_uniq_envs = len(task_ids_and_demo_env_names)
log_params = {
'n_uniq_envs': n_uniq_envs,
'n_demos': len(demos),
'net_use_bn': net_use_bn,
'net_width_mul': net_width_mul,
'net_dropout': net_dropout,
'net_coord_conv': net_coord_conv,
'net_attention': net_attention,
'aug_mode': aug_mode,
'seed': seed,
'omit_noop': omit_noop,
'batch_size': batch_size,
'eval_n_traj': eval_n_traj,
'eval_every_n_batches': eval_every_n_batches,
'total_n_batches': total_n_batches,
'snapshot_gap': snapshot_gap,
'add_preproc': add_preproc,
'net_task_spec_layers': net_task_spec_layers,
}
with make_logger_ctx(out_dir,
"mtbc",
f"mt{n_uniq_envs}",
run_name,
snapshot_gap=snapshot_gap,
log_params=log_params):
# initial save
torch.save(
model_mt,
os.path.join(logger.get_snapshot_dir(), 'full_model.pt'))
# train for a while
n_batches_done = 0
n_rounds = int(np.ceil(total_n_batches / eval_every_n_batches))
rnd = 1
assert eval_every_n_batches > 0
while n_batches_done < total_n_batches:
batches_left_now = min(total_n_batches - n_batches_done,
eval_every_n_batches)
print(f"Done {n_batches_done}/{total_n_batches} "
f"({n_batches_done/total_n_batches*100:.2f}%, "
f"{rnd}/{n_rounds} rounds) batches; doing another "
f"{batches_left_now}")
model_mt.train()
loss_ewma, losses, per_task_losses = do_training_mt(
loader=loader_mt,
model=model_mt,
opt=opt_mt,
dev=dev,
aug_model=aug_model,
min_bc_module=weight_mod,
n_batches=batches_left_now)
# TODO: record accuracy on a random subset of the train and
# validation sets (both in eval mode, not train mode)
print(f"Evaluating {eval_n_traj} trajectories on "
f"{variant_groups.num_tasks} tasks")
record_misc_calls = []
model_mt.eval()
copy_model_into_agent_eval(model_mt, sampler.agent)
scores_by_tv = eval_model(
sampler,
# shouldn't be any exploration
itr=0,
n_traj=eval_n_traj)
for (task_id, variant_id), scores in scores_by_tv.items():
tv_id = (task_id, variant_id)
env_name = variant_groups.env_name_by_task_variant[tv_id]
tag = make_env_tag(strip_mb_preproc_name(env_name))
logger.record_tabular_misc_stat("Score%s" % tag, scores)
env_losses = per_task_losses.get(tv_id, [])
record_misc_calls.append((f"Loss{tag}", env_losses))
# we record score AFTER loss so that losses are all in one
# place, and scores are all in another
for args in record_misc_calls:
logger.record_tabular_misc_stat(*args)
# finish logging for this epoch
logger.record_tabular("Round", rnd)
logger.record_tabular("LossEWMA", loss_ewma)
logger.record_tabular_misc_stat("Loss", losses)
logger.dump_tabular()
logger.save_itr_params(
rnd, {
'model_state': model_mt.state_dict(),
'opt_state': opt_mt.state_dict(),
})
# advance ctrs
rnd += 1
n_batches_done += batches_left_now
def log_diagnostics(self, itr, eval_traj_infos, eval_time):
"""
Write diagnostics (including stored ones) to csv via the logger.
ONE NEW LINE VS REGULAR RUNNER, TO LOG ENV STEPS = steps*frame_skip
"""
if not eval_traj_infos:
logger.log("WARNING: had no complete trajectories in eval.")
steps_in_eval = sum([info["Length"] for info in eval_traj_infos])
logger.record_tabular('StepsInEval', steps_in_eval)
logger.record_tabular('TrajsInEval', len(eval_traj_infos))
self._cum_eval_time += eval_time
logger.record_tabular('CumEvalTime', self._cum_eval_time)
if itr > 0:
self.pbar.stop()
if itr >= self.min_itr_learn - 1:
self.save_itr_snapshot(itr)
new_time = time.time()
self._cum_time = new_time - self._start_time
train_time_elapsed = new_time - self._last_time - eval_time
new_updates = self.algo.update_counter - self._last_update_counter
new_samples = (self.sampler.batch_size * self.world_size *
self.log_interval_itrs)
updates_per_second = (float('nan') if itr == 0 else
new_updates / train_time_elapsed)
samples_per_second = (float('nan') if itr == 0 else
new_samples / train_time_elapsed)
replay_ratio = (new_updates * self.algo.batch_size * self.world_size /
new_samples)
cum_replay_ratio = (self.algo.batch_size * self.algo.update_counter /
((itr + 1) * self.sampler.batch_size)) # world_size cancels.
cum_steps = (itr + 1) * self.sampler.batch_size * self.world_size
if self._eval:
logger.record_tabular('CumTrainTime',
self._cum_time - self._cum_eval_time) # Already added new eval_time.
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumTime (s)', self._cum_time)
logger.record_tabular('CumSteps', cum_steps)
logger.record_tabular('EnvSteps', cum_steps * self._frame_skip) # NEW LINE
logger.record_tabular('CumCompletedTrajs', self._cum_completed_trajs)
logger.record_tabular('CumUpdates', self.algo.update_counter)
logger.record_tabular('StepsPerSecond', samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('ReplayRatio', replay_ratio)
logger.record_tabular('CumReplayRatio', cum_replay_ratio)
self._log_infos(eval_traj_infos)
logger.dump_tabular(with_prefix=False)
self._last_time = new_time
self._last_update_counter = self.algo.update_counter
if itr < self.n_itr - 1:
logger.log(f"Optimizing over {self.log_interval_itrs} iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
def log_diagnostics(self, itr, traj_infos=None, eval_time=0):
"""
记录诊断信息(写日志)，会把模型参数等也保存下来。
:param itr: 第几次迭代。
"""
if itr > 0:
self.pbar.stop() # 停止更新进度条
if itr >= self.min_itr_learn - 1:
self.save_itr_snapshot(itr)
new_time = time.time()
self._cum_time = new_time - self._start_time
train_time_elapsed = new_time - self._last_time - eval_time
new_updates = self.algo.update_counter - self._last_update_counter
new_samples = (self.sampler.batch_size * self.world_size *
self.log_interval_itrs)
updates_per_second = (float('nan') if itr == 0 else new_updates /
train_time_elapsed)
samples_per_second = (float('nan') if itr == 0 else new_samples /
train_time_elapsed)
replay_ratio = (new_updates * self.algo.batch_size * self.world_size /
new_samples)
cum_replay_ratio = (self.algo.batch_size * self.algo.update_counter /
((itr + 1) * self.sampler.batch_size)
) # world_size cancels.
cum_steps = (itr + 1) * self.sampler.batch_size * self.world_size
# 写一些额外的统计信息到日志里
if self._eval:
logger.record_tabular(
'CumTrainTime', self._cum_time -
self._cum_eval_time) # Already added new eval_time.
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumTime (s)', self._cum_time)
logger.record_tabular('CumSteps', cum_steps)
logger.record_tabular(
'CumCompletedTrajs',
self._cum_completed_trajs) # 只对那些标识了"traj_done"的有效
logger.record_tabular('CumUpdates', self.algo.update_counter)
logger.record_tabular('StepsPerSecond', samples_per_second)
logger.record_tabular('UpdatesPerSecond', updates_per_second)
logger.record_tabular('ReplayRatio', replay_ratio)
logger.record_tabular('CumReplayRatio', cum_replay_ratio)
self._log_infos(traj_infos)
logger.dump_tabular(with_prefix=False) # 写日志文件
self._last_time = new_time
self._last_update_counter = self.algo.update_counter
if itr < self.n_itr - 1:
logger.log(f"Optimizing over {self.log_interval_itrs} iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs) # 进度条
def log_diagnostics(self, itr):
self.pbar.stop()
self.save_itr_snapshot(itr)
new_time = time.time()
samples_per_second = (self.log_interval_itrs *
self.itr_batch_size) / (new_time - self._last_time)
logger.record_tabular('Iteration', itr)
logger.record_tabular('CumSteps', (itr + 1) * self.itr_batch_size)
logger.record_tabular('CumTime (s)', new_time - self._start_time)
logger.record_tabular('SamplesPerSecond', samples_per_second)
logger.record_tabular('CumCompletedTrajs', self._cum_completed_trajs)
logger.record_tabular('NewCompletedTrajs', self._new_completed_trajs)
logger.record_tabular('StepsInTrajWindow',
sum(info["Length"] for info in self._traj_infos))
self._log_infos()
self._last_time = new_time
logger.dump_tabular(with_prefix=False)
self._new_completed_trajs = 0
if itr < self.n_itr - 1:
logger.log(f"Optimizing over {self.log_interval_itrs} iterations.")
self.pbar = ProgBarCounter(self.log_interval_itrs)
