def evaluate(self):
"""Evaluates the agent
"""
global_iteration = self._agent._agent._train_step_counter.numpy()
logger.info(
"Evaluating the agent's performance in {} episodes.".format(
str(self._params["ML"]["Runner"]["evaluation_steps"])))
metric_utils.eager_compute(
self._eval_metrics,
self._runtime,
self._agent._agent.policy,
num_episodes=self._params["ML"]["Runner"]["evaluation_steps"])
metric_utils.log_metrics(self._eval_metrics)
tf.summary.scalar("mean_reward",
self._eval_metrics[0].result().numpy(),
step=global_iteration)
tf.summary.scalar("mean_steps",
self._eval_metrics[1].result().numpy(),
step=global_iteration)
logger.error(
"The agent achieved on average {} reward and {} steps in \
{} episodes." \
.format(str(self._eval_metrics[0].result().numpy()),
str(self._eval_metrics[1].result().numpy()),
str(self._params["ML"]["Runner"]["evaluation_steps"])))
def Evaluate(self):
self._agent._training = False
global_iteration = self._agent._agent._train_step_counter.numpy()
self._logger.info(
"Evaluating the agent's performance in {} episodes.".format(
str(self._params["ML"]["TFARunner"]["EvaluationSteps", "",
20])))
metric_utils.eager_compute(
self._eval_metrics,
self._wrapped_env,
self._agent._agent.policy,
num_episodes=self._params["ML"]["TFARunner"]["EvaluationSteps", "",
20])
metric_utils.log_metrics(self._eval_metrics)
tf.summary.scalar("mean_reward",
self._eval_metrics[0].result().numpy(),
step=global_iteration)
tf.summary.scalar("mean_steps",
self._eval_metrics[1].result().numpy(),
step=global_iteration)
self._logger.info(
"The agent achieved on average {} reward and {} steps in \
{} episodes." \
.format(str(self._eval_metrics[0].result().numpy()),
str(self._eval_metrics[1].result().numpy()),
str(self._params["ML"]["TFARunner"]["EvaluationSteps", "", 20])))
def train_agent(n_iterations):
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
iterator = iter(dataset)
for iteration in range(n_iterations):
time_step, policy_state = collect_driver.run(time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
print("\r{} loss:{:.5f}".format(iteration, train_loss.loss.numpy()),
end="")
if iteration % config.TRAINING_LOG_INTERVAL == 0:
utils.print_time_stats(train_start, iteration)
print("\r")
log_metrics(train_metrics)
if iteration % config.TRAINING_SAVE_POLICY_INTERVAL == 0:
save_agent_policy()
if iteration % config.TRAINING_LOG_MEASURES_INTERVAL == 0:
# calculate and report the total return over 1 episode
utils.write_summary("AverageReturnMetric",
train_metrics[2].result(), iteration)
utils.write_summary("AverageEpisodeLengthMetric",
train_metrics[3].result(), iteration)
utils.writer.flush()
save_agent_policy()
utils.writer.flush()
def train_agent(n_iterations):
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
iterator = iter(dataset)
for iteration in range(n_iterations):
time_step, policty_state = collect_driver.run(time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
print("\r{} loss:{:.5f}".format(
agent.train_step_counter.value().numpy(), train_loss.loss.numpy()),
end="")
if iteration % ITER_LOG_PERIOD == 0:
fp.write(", ".join(
["{}".format(agent.train_step_counter.value().numpy())] +
["{}".format(m.result()) for m in training_metrics]) + "\n")
if iteration % ITER_NEWLINE_PERIOD == 0:
print()
log_metrics(training_metrics + training_metrics_2)
fp.flush()
if iteration and iteration % ITER_CHECKPOINT_PERIOD == 0:
train_checkpointer.save(train_step)
# tf_policy_saver.save(POLICY_SAVE_DIR)
print()
def train_agent(n_iterations):
current_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S")
train_log_dir = 'logs/dqn_agent/' + current_time + '/train'
writer = tf.summary.create_file_writer(train_log_dir)
time_step = None
policy_state = agent.collect_policy.get_initial_state(train_env.batch_size)
iterator = iter(dataset)
with writer.as_default():
for iteration in range(n_iterations):
time_step, policy_state = collect_driver.run(
time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
#log metrics
print("\r{} loss:{:.5f}".format(iteration,
train_loss.loss.numpy()),
end="")
if iteration % 1000 == 0:
log_metrics(train_metrics)
tf.summary.scalar("number_of_episodes",
train_metrics[0].result(), iteration)
tf.summary.scalar("environment_steps",
train_metrics[1].result(), iteration)
tf.summary.scalar("average_return", train_metrics[2].result(),
iteration)
tf.summary.scalar("average_episode_length",
train_metrics[3].result(), iteration)
writer.flush()
def train_agent(n_iterations):
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
iterator = iter(dataset)
for iteration in range(n_iterations):
time_step, policy_state = collect_driver.run(time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
print("\r{} loss:{:.5f}".format(
iteration, train_loss.loss.numpy()), end="")
if iteration % 1000 == 0:
log_metrics(train_metrics)
def compute():
results = metric_utils.eager_compute(eval_metrics, eval_tf_env,
eval_policy, eval_num_episodes,
train_step, eval_summary_writer,
'Metrics - Evaluation')
# result = metric_utils.compute(
# eval_metrics,
# eval_tf_env,
# eval_policy,
# eval_num_episodes
# )
metric_utils.log_metrics(eval_metrics)
def _eval(self):
global_step = get_global_counter()
with tf.summary.record_if(True):
eager_compute(
metrics=self._eval_metrics,
environment=self._eval_env,
state_spec=self._algorithm.predict_state_spec,
action_fn=lambda time_step, state: common.algorithm_step(
algorithm_step_func=self._algorithm.greedy_predict,
time_step=self._algorithm.transform_timestep(time_step),
state=state),
num_episodes=self._num_eval_episodes,
step_metrics=self._driver.get_step_metrics(),
train_step=global_step,
summary_writer=self._eval_summary_writer,
summary_prefix="Metrics")
metric_utils.log_metrics(self._eval_metrics)
def eval_single(self, checkpoint_path):
"""Evaluate a single checkpoint."""
global_step_val = self._reload_agent(checkpoint_path)
results = metric_utils.eager_compute(
self._eval_metrics,
self._eval_tf_env,
self._eval_policy,
num_episodes=self._num_eval_episodes,
train_step=global_step_val,
summary_writer=self._eval_summary_writer,
summary_prefix='Metrics',
)
if self._eval_metrics_callback is not None:
self._eval_metrics_callback(results, global_step_val)
metric_utils.log_metrics(self._eval_metrics)
if self._eval_summary_writer:
self._eval_summary_writer.flush()
return global_step_val
def train_agent(n_iterations):
saver = PolicySaver(agent.policy, batch_size=tf_env.batch_size)
time_step = None
policy_state = agent.collect_policy.get_initial_state(
tf_env.batch_size)
iterator = iter(dataset)
for iteration in tqdm(range(n_iterations)):
time_step, policy_state = collect_driver.run(
time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
if iteration % 1000 == 0:
print("\r{} loss:{:.5f}".format(iteration,
train_loss.loss.numpy()),
end="")
log_metrics(train_metrics)
# save the policy each 10K iteration
if iteration % 100000 == 0:
saver.save('policy_%d' % iteration)
def evaluate():
# Override outer record_if that may be out of sync with respect to the
# env_steps.result() value used for the summay step.
with tf.compat.v2.summary.record_if(True):
qj(g_step.numpy(), 'Starting eval at step', tic=1)
results = pisac_metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
histograms=eval_histograms,
num_episodes=num_eval_episodes,
train_step=env_steps.result(),
summary_writer=summary_writer,
summary_prefix='Eval',
use_function=drivers_in_graph,
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, env_steps.result())
tfa_metric_utils.log_metrics(eval_metrics)
qj(s='Finished eval', toc=1)
def train_agent(n_iterations):
checkpoint.restore(manager.latest_checkpoint)
if manager.latest_checkpoint:
print("Restored from {}".format(manager.latest_checkpoint))
else:
print("Initializing from scratch.")
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
iterator = iter(dataset)
for iteration in range(n_iterations):
time_step, policy_state = collect_driver.run(time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
print("\r{} loss:{:.5f}".format(iteration, train_loss.loss.numpy()),
end="")
if iteration % 1000 == 0:
log_metrics(train_metrics)
if iteration % 5000 == 0:
checkpoint.save(file_prefix=checkpoint_prefix)
def train_agent(n_iterations):
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
iterator = iter(dataset)
for iteration in range(initial_policy, n_iterations):
time_step, policy_state = collect_driver.run(time_step, policy_state)
trajectories, buffer_info = next(iterator)
train_loss = agent.train(trajectories)
print("\r{} loss:{:.5f} done:{:.5f}".format(
iteration, train_loss.loss.numpy(),
iteration / n_iterations * 100.0),
end="")
if iteration % 1000 == 0:
log_metrics(train_metrics)
if iteration % 10000 == 0 and iteration > 0:
#keras.saved_model.saved_model(my_policy, 'policy_' + str(iteration))
#tf.saved_model.save(agent, 'policy_' + str(iteration))
my_policy = agent.policy
saver = PolicySaver(my_policy)
saver.save('policy_' + str(iteration))
def DDPG_Bipedal(root_dir):
# Setting up directories for results
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train' + '/' + str(run_id))
eval_dir = os.path.join(root_dir, 'eval' + '/' + str(run_id))
vid_dir = os.path.join(root_dir, 'vid' + '/' + str(run_id))
# Set up Summary writer for training and evaluation
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
# Metric to record average return
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
# Metric to record average episode length
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
#Create global step
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
# Load Environment with different wrappers
tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name))
eval_py_env = suite_gym.load(env_name)
# Define Actor Network
actorNN = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=(400, 300),
)
# Define Critic Network
NN_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
criticNN = critic_network.CriticNetwork(
NN_input_specs,
observation_fc_layer_params=(400, ),
action_fc_layer_params=None,
joint_fc_layer_params=(300, ),
)
# Define & initialize DDPG Agent
agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actorNN,
critic_network=criticNN,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=tf.compat.v1.losses.mean_squared_error,
gamma=gamma,
train_step_counter=global_step)
agent.initialize()
# Determine which train metrics to display with summary writer
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
# Set policies for evaluation, initial collection
eval_policy = agent.policy # Actor policy
collect_policy = agent.collect_policy # Actor policy with OUNoise
# Set up replay buffer
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
# Define driver for initial replay buffer filling
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy, # Initializes with random Parameters
observers=[replay_buffer.add_batch],
num_steps=initial_collect_steps)
# Define collect driver for collect steps per iteration
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
agent.train = common.function(agent.train)
# Make 1000 random steps in tf_env and save in Replay Buffer
logging.info(
'Initializing replay buffer by collecting experience for 1000 steps with '
'a random policy.', initial_collect_steps)
initial_collect_driver.run()
# Computes Evaluation Metrics
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset outputs steps in batches of 64
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=64,
num_steps=2).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(
iterator) #Get experience from dataset (replay buffer)
return agent.train(experience) #Train agent on that experience
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time() # Get start time
# Collect data for replay buffer
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
# Train on experience
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='iterations_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
if results['AverageReturn'].numpy() >= 230.0:
video_score = create_video(video_dir=vid_dir,
env_name="BipedalWalker-v2",
vid_policy=eval_policy,
video_id=global_step.numpy())
return train_loss
def train_eval(
root_dir,
env_name='cartpole',
task_name='balance',
observations_whitelist='position',
num_iterations=100000,
actor_fc_layers=(400, 300),
actor_output_fc_layers=(100, ),
actor_lstm_size=(40, ),
critic_obs_fc_layers=(400, ),
critic_action_fc_layers=None,
critic_joint_fc_layers=(300, ),
critic_output_fc_layers=(100, ),
critic_lstm_size=(40, ),
# Params for collect
initial_collect_episodes=1,
collect_episodes_per_iteration=1,
replay_buffer_capacity=100000,
ou_stddev=0.2,
ou_damping=0.15,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
# Params for train
train_steps_per_iteration=200,
batch_size=64,
train_sequence_length=10,
actor_learning_rate=1e-4,
critic_learning_rate=1e-3,
dqda_clipping=None,
td_errors_loss_fn=None,
gamma=0.995,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=1000,
# Params for checkpoints, summaries, and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=True,
summarize_grads_and_vars=True,
eval_metrics_callback=None):
"""A simple train and eval for DDPG."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if observations_whitelist is not None:
env_wrappers = [
functools.partial(
wrappers.FlattenObservationsWrapper,
observations_whitelist=[observations_whitelist])
]
else:
env_wrappers = []
tf_env = tf_py_environment.TFPyEnvironment(
suite_dm_control.load(env_name,
task_name,
env_wrappers=env_wrappers))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_dm_control.load(env_name,
task_name,
env_wrappers=env_wrappers))
actor_net = actor_rnn_network.ActorRnnNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
input_fc_layer_params=actor_fc_layers,
lstm_size=actor_lstm_size,
output_fc_layer_params=actor_output_fc_layers)
critic_net_input_specs = (tf_env.time_step_spec().observation,
tf_env.action_spec())
critic_net = critic_rnn_network.CriticRnnNetwork(
critic_net_input_specs,
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
lstm_size=critic_lstm_size,
output_fc_layer_params=critic_output_fc_layers,
)
tf_agent = ddpg_agent.DdpgAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars)
tf_agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
initial_collect_driver = dynamic_episode_driver.DynamicEpisodeDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_episodes=initial_collect_episodes)
collect_driver = dynamic_episode_driver.DynamicEpisodeDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_episodes=collect_episodes_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d episodes '
'with a random policy.', initial_collect_episodes)
initial_collect_driver.run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [BxTx...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=train_sequence_length +
1).prefetch(3)
iterator = iter(dataset)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
experience, _ = next(iterator)
train_loss = tf_agent.train(experience,
train_step_counter=global_step)
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
return train_loss
def train_eval(
root_dir,
env_name='CartPole-v0',
num_iterations=100000,
train_sequence_length=1,
# Params for QNetwork
fc_layer_params=(100, ),
# Params for QRnnNetwork
input_fc_layer_params=(50, ),
lstm_size=(20, ),
output_fc_layer_params=(20, ),
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
epsilon_greedy=0.1,
replay_buffer_capacity=100000,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=64,
learning_rate=1e-3,
n_step_update=1,
gamma=0.99,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=1000,
# Params for checkpoints
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=20000,
# Params for summaries and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for DQN."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name))
if train_sequence_length != 1 and n_step_update != 1:
raise NotImplementedError(
'train_eval does not currently support n-step updates with stateful '
'networks (i.e., RNNs)')
if train_sequence_length > 1:
q_net = q_rnn_network.QRnnNetwork(
tf_env.observation_spec(),
tf_env.action_spec(),
input_fc_layer_params=input_fc_layer_params,
lstm_size=lstm_size,
output_fc_layer_params=output_fc_layer_params)
else:
q_net = q_network.QNetwork(tf_env.observation_spec(),
tf_env.action_spec(),
fc_layer_params=fc_layer_params)
train_sequence_length = n_step_update
# TODO(b/127301657): Decay epsilon based on global step, cf. cl/188907839
tf_agent = dqn_agent.DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
epsilon_greedy=epsilon_greedy,
n_step_update=n_step_update,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate),
td_errors_loss_fn=common.element_wise_squared_loss,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
tf_agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
if use_tf_functions:
# To speed up collect use common.function.
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=train_sequence_length +
1).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
return train_loss
def train_eval(
root_dir,
random_seed=None,
env_name='sawyer_push',
eval_env_name=None,
env_load_fn=get_env,
max_episode_steps=1000,
eval_episode_steps=1000,
# The SAC paper reported:
# Hopper and Cartpole results up to 1000000 iters,
# Humanoid results up to 10000000 iters,
# Other mujoco tasks up to 3000000 iters.
num_iterations=3000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Params for collect
# Follow https://github.com/haarnoja/sac/blob/master/examples/variants.py
# HalfCheetah and Ant take 10000 initial collection steps.
# Other mujoco tasks take 1000.
# Different choices roughly keep the initial episodes about the same.
initial_collect_steps=10000,
collect_steps_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
reset_goal_frequency=1000, # virtual episode size for reset-free training
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
# reset-free parameters
use_minimum=True,
reset_lagrange_learning_rate=3e-4,
value_threshold=None,
td_errors_loss_fn=tf.math.squared_difference,
gamma=0.99,
reward_scale_factor=0.1,
# Td3 parameters
actor_update_period=1,
exploration_noise_std=0.1,
target_policy_noise=0.1,
target_policy_noise_clip=0.1,
dqda_clipping=None,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
# video recording for the environment
video_record_interval=10000,
num_videos=0,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
start_time = time.time()
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
video_dir = os.path.join(eval_dir, 'videos')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if random_seed is not None:
tf.compat.v1.set_random_seed(random_seed)
env, env_train_metrics, env_eval_metrics, aux_info = env_load_fn(
name=env_name,
max_episode_steps=None,
gym_env_wrappers=(functools.partial(
reset_free_wrapper.ResetFreeWrapper,
reset_goal_frequency=reset_goal_frequency,
full_reset_frequency=max_episode_steps),))
tf_env = tf_py_environment.TFPyEnvironment(env)
eval_env_name = eval_env_name or env_name
eval_tf_env = tf_py_environment.TFPyEnvironment(
env_load_fn(name=eval_env_name,
max_episode_steps=eval_episode_steps)[0])
eval_metrics += env_eval_metrics
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
if FLAGS.agent_type == 'sac':
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=std_clip_transform),
name='forward_actor')
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
name='forward_critic')
tf_agent = SacAgent(
time_step_spec,
action_spec,
num_action_samples=FLAGS.num_action_samples,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
name='forward_agent')
actor_net_rev = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=std_clip_transform),
name='reverse_actor')
critic_net_rev = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform',
name='reverse_critic')
tf_agent_rev = SacAgent(
time_step_spec,
action_spec,
num_action_samples=FLAGS.num_action_samples,
actor_network=actor_net_rev,
critic_network=critic_net_rev,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
name='reverse_agent')
elif FLAGS.agent_type == 'td3':
actor_net = actor_network.ActorNetwork(
tf_env.time_step_spec().observation,
tf_env.action_spec(),
fc_layer_params=actor_fc_layers,
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
tf_agent = Td3Agent(
tf_env.time_step_spec(),
tf_env.action_spec(),
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
target_policy_noise=target_policy_noise,
target_policy_noise_clip=target_policy_noise_clip,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
tf_agent.initialize()
tf_agent_rev.initialize()
if FLAGS.use_reset_goals:
# distance to initial state distribution
initial_state_distance = state_distribution_distance.L2Distance(
initial_state_shape=aux_info['reset_state_shape'])
initial_state_distance.update(
tf.constant(aux_info['reset_states'], dtype=tf.float32),
update_type='complete')
if use_tf_functions:
initial_state_distance.distance = common.function(
initial_state_distance.distance)
tf_agent.compute_value = common.function(tf_agent.compute_value)
# initialize reset / practice goal proposer
if reset_lagrange_learning_rate > 0:
reset_goal_generator = ResetGoalGenerator(
goal_dim=aux_info['reset_state_shape'][0],
num_reset_candidates=FLAGS.num_reset_candidates,
compute_value_fn=tf_agent.compute_value,
distance_fn=initial_state_distance,
use_minimum=use_minimum,
value_threshold=value_threshold,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=reset_lagrange_learning_rate),
name='reset_goal_generator')
else:
reset_goal_generator = FixedResetGoal(
distance_fn=initial_state_distance)
# if use_tf_functions:
# reset_goal_generator.get_reset_goal = common.function(
# reset_goal_generator.get_reset_goal)
# modify the reset-free wrapper to use the reset goal generator
tf_env.pyenv.envs[0].set_reset_goal_fn(
reset_goal_generator.get_reset_goal)
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
replay_buffer_rev = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent_rev.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer_rev = [replay_buffer_rev.add_batch]
# initialize metrics and observers
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
]
train_metrics += env_train_metrics
train_metrics_rev = [
tf_metrics.NumberOfEpisodes(name='NumberOfEpisodesRev'),
tf_metrics.EnvironmentSteps(name='EnvironmentStepsRev'),
tf_metrics.AverageReturnMetric(
name='AverageReturnRev',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
name='AverageEpisodeLengthRev',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
]
train_metrics_rev += aux_info['train_metrics_rev']
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
eval_py_policy = py_tf_eager_policy.PyTFEagerPolicy(
tf_agent.policy, use_tf_function=True)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
initial_collect_policy_rev = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
collect_policy_rev = tf_agent_rev.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'forward'),
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'forward', 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
# reverse policy savers
train_checkpointer_rev = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'reverse'),
agent=tf_agent_rev,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics_rev,
'train_metrics_rev'))
rb_checkpointer_rev = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer_rev'),
max_to_keep=1,
replay_buffer=replay_buffer_rev)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
train_checkpointer_rev.initialize_or_restore()
rb_checkpointer_rev.initialize_or_restore()
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
collect_driver_rev = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy_rev,
observers=replay_observer_rev + train_metrics_rev,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
collect_driver.run = common.function(collect_driver.run)
collect_driver_rev.run = common.function(collect_driver_rev.run)
tf_agent.train = common.function(tf_agent.train)
tf_agent_rev.train = common.function(tf_agent_rev.train)
if replay_buffer.num_frames() == 0:
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=1)
initial_collect_driver_rev = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy_rev,
observers=replay_observer_rev + train_metrics_rev,
num_steps=1)
# does not work for some reason
if use_tf_functions:
initial_collect_driver.run = common.function(initial_collect_driver.run)
initial_collect_driver_rev.run = common.function(
initial_collect_driver_rev.run)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
for iter_idx_initial in range(initial_collect_steps):
if tf_env.pyenv.envs[0]._forward_or_reset_goal:
initial_collect_driver.run()
else:
initial_collect_driver_rev.run()
if FLAGS.use_reset_goals and iter_idx_initial % FLAGS.reset_goal_frequency == 0:
if replay_buffer_rev.num_frames():
reset_candidates_from_forward_buffer = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
reset_candidates_from_reverse_buffer = replay_buffer_rev.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
flat_forward_tensors = tf.nest.flatten(
reset_candidates_from_forward_buffer)
flat_reverse_tensors = tf.nest.flatten(
reset_candidates_from_reverse_buffer)
concatenated_tensors = [
tf.concat([x, y], axis=0)
for x, y in zip(flat_forward_tensors, flat_reverse_tensors)
]
reset_candidates = tf.nest.pack_sequence_as(
reset_candidates_from_forward_buffer, concatenated_tensors)
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
else:
reset_candidates = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates)[0]
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = replay_buffer.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
dataset_rev = replay_buffer_rev.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator_rev = iter(dataset_rev)
def train_step_rev():
experience_rev, _ = next(iterator_rev)
return tf_agent_rev.train(experience_rev)
if use_tf_functions:
train_step = common.function(train_step)
train_step_rev = common.function(train_step_rev)
# manual data save for plotting utils
np_on_cns_save(os.path.join(eval_dir, 'eval_interval.npy'), eval_interval)
try:
average_eval_return = np_on_cns_load(
os.path.join(eval_dir, 'average_eval_return.npy')).tolist()
average_eval_success = np_on_cns_load(
os.path.join(eval_dir, 'average_eval_success.npy')).tolist()
except:
average_eval_return = []
average_eval_success = []
print('initialization_time:', time.time() - start_time)
for iter_idx in range(num_iterations):
start_time = time.time()
if tf_env.pyenv.envs[0]._forward_or_reset_goal:
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
else:
time_step, policy_state = collect_driver_rev.run(
time_step=time_step,
policy_state=policy_state,
)
# reset goal generator updates
if FLAGS.use_reset_goals and iter_idx % (
FLAGS.reset_goal_frequency * collect_steps_per_iteration) == 0:
reset_candidates_from_forward_buffer = replay_buffer.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
reset_candidates_from_reverse_buffer = replay_buffer_rev.get_next(
sample_batch_size=FLAGS.num_reset_candidates // 2)[0]
flat_forward_tensors = tf.nest.flatten(
reset_candidates_from_forward_buffer)
flat_reverse_tensors = tf.nest.flatten(
reset_candidates_from_reverse_buffer)
concatenated_tensors = [
tf.concat([x, y], axis=0)
for x, y in zip(flat_forward_tensors, flat_reverse_tensors)
]
reset_candidates = tf.nest.pack_sequence_as(
reset_candidates_from_forward_buffer, concatenated_tensors)
tf_env.pyenv.envs[0].set_reset_candidates(reset_candidates)
if reset_lagrange_learning_rate > 0:
reset_goal_generator.update_lagrange_multipliers()
for _ in range(train_steps_per_iteration):
train_loss_rev = train_step_rev()
train_loss = train_step()
time_acc += time.time() - start_time
global_step_val = global_step.numpy()
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val, train_loss.loss)
logging.info('step = %d, loss_rev = %f', global_step_val,
train_loss_rev.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(
name='global_steps_per_sec', data=steps_per_sec, step=global_step)
timed_at_step = global_step_val
time_acc = 0
for train_metric in train_metrics:
if 'Heatmap' in train_metric.name:
if global_step_val % summary_interval == 0:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
else:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
for train_metric in train_metrics_rev:
if 'Heatmap' in train_metric.name:
if global_step_val % summary_interval == 0:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics_rev[:2])
else:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics_rev[:2])
if global_step_val % summary_interval == 0 and FLAGS.use_reset_goals:
reset_goal_generator.update_summaries(step_counter=global_step)
if global_step_val % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step_val)
metric_utils.log_metrics(eval_metrics)
# numpy saves for plotting
average_eval_return.append(results['AverageReturn'].numpy())
average_eval_success.append(results['EvalSuccessfulEpisodes'].numpy())
np_on_cns_save(
os.path.join(eval_dir, 'average_eval_return.npy'),
average_eval_return)
np_on_cns_save(
os.path.join(eval_dir, 'average_eval_success.npy'),
average_eval_success)
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
train_checkpointer_rev.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
rb_checkpointer_rev.save(global_step=global_step_val)
if global_step_val % video_record_interval == 0:
for video_idx in range(num_videos):
video_name = os.path.join(video_dir, str(global_step_val),
'video_' + str(video_idx) + '.mp4')
record_video(
lambda: env_load_fn( # pylint: disable=g-long-lambda
name=env_name,
max_episode_steps=max_episode_steps)[0],
video_name,
eval_py_policy,
max_episode_length=eval_episode_steps)
return train_loss
def run():
tf_env = tf_py_environment.TFPyEnvironment(SnakeEnv())
eval_env = tf_py_environment.TFPyEnvironment(SnakeEnv(step_limit=50))
q_net = q_network.QNetwork(
tf_env.observation_spec(),
tf_env.action_spec(),
conv_layer_params=(),
fc_layer_params=(512, 256, 128),
)
optimizer = tf.compat.v1.train.AdamOptimizer(learning_rate=learning_rate)
global_counter = tf.compat.v1.train.get_or_create_global_step()
agent = dqn_agent.DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
optimizer=optimizer,
td_errors_loss_fn=common.element_wise_squared_loss,
train_step_counter=global_counter,
gamma=0.95,
epsilon_greedy=0.1,
n_step_update=1,
)
root_dir = os.path.join('/tf-logs', 'snake')
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_max_length,
)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
agent.collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration,
)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=agent,
global_step=global_counter,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'),
)
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'policy'),
policy=agent.policy,
global_step=global_counter,
)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer,
)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
collect_driver.run = common.function(collect_driver.run)
agent.train = common.function(agent.train)
random_policy = random_tf_policy.RandomTFPolicy(tf_env.time_step_spec(),
tf_env.action_spec())
if replay_buffer.num_frames() >= initial_collect_steps:
logging.info("We loaded memories, not doing random seed")
else:
logging.info("Capturing %d steps to seed with random memories",
initial_collect_steps)
dynamic_step_driver.DynamicStepDriver(
tf_env,
random_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
train_summary_writer = tf.summary.create_file_writer(train_dir)
train_summary_writer.set_as_default()
avg_returns = []
avg_return_metric = tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes)
eval_metrics = [
avg_return_metric,
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
]
logging.info("Running initial evaluation")
results = metric_utils.eager_compute(
eval_metrics,
eval_env,
agent.policy,
num_episodes=num_eval_episodes,
train_step=global_counter,
summary_writer=tf.summary.create_file_writer(eval_dir),
summary_prefix='Metrics',
)
avg_returns.append(
(global_counter.numpy(), avg_return_metric.result().numpy()))
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = agent.collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_counter.numpy()
time_acc = 0
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = iter(dataset)
@common.function
def train_step():
experience, _ = next(iterator)
return agent.train(experience)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
step = global_counter.numpy()
if step % log_interval == 0:
logging.info("step = %d, loss = %f", step, train_loss.loss)
steps_per_sec = (step - timed_at_step) / time_acc
logging.info("%.3f steps/sec", steps_per_sec)
timed_at_step = step
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_counter,
step_metrics=train_metrics[:2])
if step % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=step)
if step % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=step)
if step % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=step)
if step % capture_interval == 0:
print("Capturing run:")
capture_run(os.path.join(root_dir, "snake" + str(step) + ".mp4"),
eval_env, agent.policy)
if step % eval_interval == 0:
print("EVALUTION TIME:")
results = metric_utils.eager_compute(
eval_metrics,
eval_env,
agent.policy,
num_episodes=num_eval_episodes,
train_step=global_counter,
summary_writer=tf.summary.create_file_writer(eval_dir),
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
avg_returns.append(
(global_counter.numpy(), avg_return_metric.result().numpy()))
def train_eval(
root_dir,
experiment_name, # experiment name
env_name='carla-v0',
agent_name='sac', # agent's name
num_iterations=int(1e7),
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
model_network_ctor_type='non-hierarchical', # model net
input_names=['camera', 'lidar'], # names for inputs
mask_names=['birdeye'], # names for masks
preprocessing_combiner=tf.keras.layers.Add(
), # takes a flat list of tensors and combines them
actor_lstm_size=(40, ), # lstm size for actor
critic_lstm_size=(40, ), # lstm size for critic
actor_output_fc_layers=(100, ), # lstm output
critic_output_fc_layers=(100, ), # lstm output
epsilon_greedy=0.1, # exploration parameter for DQN
q_learning_rate=1e-3, # q learning rate for DQN
ou_stddev=0.2, # exploration paprameter for DDPG
ou_damping=0.15, # exploration parameter for DDPG
dqda_clipping=None, # for DDPG
exploration_noise_std=0.1, # exploration paramter for td3
actor_update_period=2, # for td3
# Params for collect
initial_collect_steps=1000,
collect_steps_per_iteration=1,
replay_buffer_capacity=int(1e5),
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
train_steps_per_iteration=1,
initial_model_train_steps=100000, # initial model training
batch_size=256,
model_batch_size=32, # model training batch size
sequence_length=4, # number of timesteps to train model
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
model_learning_rate=1e-4, # learning rate for model training
td_errors_loss_fn=tf.losses.mean_squared_error,
gamma=0.99,
reward_scale_factor=1.0,
gradient_clipping=None,
# Params for eval
num_eval_episodes=10,
eval_interval=10000,
# Params for summaries and logging
num_images_per_summary=1, # images for each summary
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
gpu_allow_growth=True, # GPU memory growth
gpu_memory_limit=None, # GPU memory limit
action_repeat=1
): # Name of single observation channel, ['camera', 'lidar', 'birdeye']
# Setup GPU
gpus = tf.config.experimental.list_physical_devices('GPU')
if gpu_allow_growth:
for gpu in gpus:
tf.config.experimental.set_memory_growth(gpu, True)
if gpu_memory_limit:
for gpu in gpus:
tf.config.experimental.set_virtual_device_configuration(
gpu, [
tf.config.experimental.VirtualDeviceConfiguration(
memory_limit=gpu_memory_limit)
])
# Get train and eval directories
root_dir = os.path.expanduser(root_dir)
root_dir = os.path.join(root_dir, env_name, experiment_name)
# Get summary writers
summary_writer = tf.summary.create_file_writer(
root_dir, flush_millis=summaries_flush_secs * 1000)
summary_writer.set_as_default()
# Eval metrics
eval_metrics = [
tf_metrics.AverageReturnMetric(name='AverageReturnEvalPolicy',
buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(
name='AverageEpisodeLengthEvalPolicy',
buffer_size=num_eval_episodes),
]
global_step = tf.compat.v1.train.get_or_create_global_step()
# Whether to record for summary
with tf.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
# Create Carla environment
if agent_name == 'latent_sac':
py_env, eval_py_env = load_carla_env(env_name='carla-v0',
obs_channels=input_names +
mask_names,
action_repeat=action_repeat)
elif agent_name == 'dqn':
py_env, eval_py_env = load_carla_env(env_name='carla-v0',
discrete=True,
obs_channels=input_names,
action_repeat=action_repeat)
else:
py_env, eval_py_env = load_carla_env(env_name='carla-v0',
obs_channels=input_names,
action_repeat=action_repeat)
tf_env = tf_py_environment.TFPyEnvironment(py_env)
eval_tf_env = tf_py_environment.TFPyEnvironment(eval_py_env)
fps = int(np.round(1.0 / (py_env.dt * action_repeat)))
# Specs
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
## Make tf agent
if agent_name == 'latent_sac':
# Get model network for latent sac
if model_network_ctor_type == 'hierarchical':
model_network_ctor = sequential_latent_network.SequentialLatentModelHierarchical
elif model_network_ctor_type == 'non-hierarchical':
model_network_ctor = sequential_latent_network.SequentialLatentModelNonHierarchical
else:
raise NotImplementedError
model_net = model_network_ctor(input_names,
input_names + mask_names)
# Get the latent spec
latent_size = model_net.latent_size
latent_observation_spec = tensor_spec.TensorSpec((latent_size, ),
dtype=tf.float32)
latent_time_step_spec = ts.time_step_spec(
observation_spec=latent_observation_spec)
# Get actor and critic net
actor_net = actor_distribution_network.ActorDistributionNetwork(
latent_observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=normal_projection_net)
critic_net = critic_network.CriticNetwork(
(latent_observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers)
# Build the inner SAC agent based on latent space
inner_agent = sac_agent.SacAgent(
latent_time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
inner_agent.initialize()
# Build the latent sac agent
tf_agent = latent_sac_agent.LatentSACAgent(
time_step_spec,
action_spec,
inner_agent=inner_agent,
model_network=model_net,
model_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=model_learning_rate),
model_batch_size=model_batch_size,
num_images_per_summary=num_images_per_summary,
sequence_length=sequence_length,
gradient_clipping=gradient_clipping,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
fps=fps)
else:
# Set up preprosessing layers for dictionary observation inputs
preprocessing_layers = collections.OrderedDict()
for name in input_names:
preprocessing_layers[name] = Preprocessing_Layer(32, 256)
if len(input_names) < 2:
preprocessing_combiner = None
if agent_name == 'dqn':
q_rnn_net = q_rnn_network.QRnnNetwork(
observation_spec,
action_spec,
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
input_fc_layer_params=critic_joint_fc_layers,
lstm_size=critic_lstm_size,
output_fc_layer_params=critic_output_fc_layers)
tf_agent = dqn_agent.DqnAgent(
time_step_spec,
action_spec,
q_network=q_rnn_net,
epsilon_greedy=epsilon_greedy,
n_step_update=1,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=q_learning_rate),
td_errors_loss_fn=common.element_wise_squared_loss,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
elif agent_name == 'ddpg' or agent_name == 'td3':
actor_rnn_net = multi_inputs_actor_rnn_network.MultiInputsActorRnnNetwork(
observation_spec,
action_spec,
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
input_fc_layer_params=actor_fc_layers,
lstm_size=actor_lstm_size,
output_fc_layer_params=actor_output_fc_layers)
critic_rnn_net = multi_inputs_critic_rnn_network.MultiInputsCriticRnnNetwork(
(observation_spec, action_spec),
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
lstm_size=critic_lstm_size,
output_fc_layer_params=critic_output_fc_layers)
if agent_name == 'ddpg':
tf_agent = ddpg_agent.DdpgAgent(
time_step_spec,
action_spec,
actor_network=actor_rnn_net,
critic_network=critic_rnn_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
ou_stddev=ou_stddev,
ou_damping=ou_damping,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=None,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars)
elif agent_name == 'td3':
tf_agent = td3_agent.Td3Agent(
time_step_spec,
action_spec,
actor_network=actor_rnn_net,
critic_network=critic_rnn_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
exploration_noise_std=exploration_noise_std,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
actor_update_period=actor_update_period,
dqda_clipping=dqda_clipping,
td_errors_loss_fn=None,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
elif agent_name == 'sac':
actor_distribution_rnn_net = actor_distribution_rnn_network.ActorDistributionRnnNetwork(
observation_spec,
action_spec,
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
input_fc_layer_params=actor_fc_layers,
lstm_size=actor_lstm_size,
output_fc_layer_params=actor_output_fc_layers,
continuous_projection_net=normal_projection_net)
critic_rnn_net = multi_inputs_critic_rnn_network.MultiInputsCriticRnnNetwork(
(observation_spec, action_spec),
preprocessing_layers=preprocessing_layers,
preprocessing_combiner=preprocessing_combiner,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
lstm_size=critic_lstm_size,
output_fc_layer_params=critic_output_fc_layers)
tf_agent = sac_agent.SacAgent(
time_step_spec,
action_spec,
actor_network=actor_distribution_rnn_net,
critic_network=critic_rnn_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=tf.math.
squared_difference, # make critic loss dimension compatible
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
else:
raise NotImplementedError
tf_agent.initialize()
# Get replay buffer
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1, # No parallel environments
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
# Train metrics
env_steps = tf_metrics.EnvironmentSteps()
average_return = tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size)
train_metrics = [
tf_metrics.NumberOfEpisodes(),
env_steps,
average_return,
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
]
# Get policies
# eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
eval_policy = tf_agent.policy
initial_collect_policy = random_tf_policy.RandomTFPolicy(
time_step_spec, action_spec)
collect_policy = tf_agent.collect_policy
# Checkpointers
train_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(root_dir, 'train'),
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'),
max_to_keep=2)
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
root_dir, 'policy'),
policy=eval_policy,
global_step=global_step,
max_to_keep=2)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
root_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
# Collect driver
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=initial_collect_steps)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
# Optimize the performance by using tf functions
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
if (env_steps.result() == 0 or replay_buffer.num_frames() == 0):
logging.info(
'Initializing replay buffer by collecting experience for %d steps'
'with a random policy.', initial_collect_steps)
initial_collect_driver.run()
if agent_name == 'latent_sac':
compute_summaries(eval_metrics,
eval_tf_env,
eval_policy,
train_step=global_step,
summary_writer=summary_writer,
num_episodes=1,
num_episodes_to_render=1,
model_net=model_net,
fps=10,
image_keys=input_names + mask_names)
else:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=1,
train_step=env_steps.result(),
summary_writer=summary_writer,
summary_prefix='Eval',
)
metric_utils.log_metrics(eval_metrics)
# Dataset generates trajectories with shape [Bxslx...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=sequence_length +
1).prefetch(3)
iterator = iter(dataset)
# Get train step
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
train_step = common.function(train_step)
if agent_name == 'latent_sac':
def train_model_step():
experience, _ = next(iterator)
return tf_agent.train_model(experience)
train_model_step = common.function(train_model_step)
# Training initializations
time_step = None
time_acc = 0
env_steps_before = env_steps.result().numpy()
# Start training
for iteration in range(num_iterations):
start_time = time.time()
if agent_name == 'latent_sac' and iteration < initial_model_train_steps:
train_model_step()
else:
# Run collect
time_step, _ = collect_driver.run(time_step=time_step)
# Train an iteration
for _ in range(train_steps_per_iteration):
train_step()
time_acc += time.time() - start_time
# Log training information
if global_step.numpy() % log_interval == 0:
logging.info('env steps = %d, average return = %f',
env_steps.result(), average_return.result())
env_steps_per_sec = (env_steps.result().numpy() -
env_steps_before) / time_acc
logging.info('%.3f env steps/sec', env_steps_per_sec)
tf.summary.scalar(name='env_steps_per_sec',
data=env_steps_per_sec,
step=env_steps.result())
time_acc = 0
env_steps_before = env_steps.result().numpy()
# Get training metrics
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=env_steps.result())
# Evaluation
if global_step.numpy() % eval_interval == 0:
# Log evaluation metrics
if agent_name == 'latent_sac':
compute_summaries(
eval_metrics,
eval_tf_env,
eval_policy,
train_step=global_step,
summary_writer=summary_writer,
num_episodes=num_eval_episodes,
num_episodes_to_render=num_images_per_summary,
model_net=model_net,
fps=10,
image_keys=input_names + mask_names)
else:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=env_steps.result(),
summary_writer=summary_writer,
summary_prefix='Eval',
)
metric_utils.log_metrics(eval_metrics)
# Save checkpoints
global_step_val = global_step.numpy()
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
def train_eval(
root_dir,
env_name='cartpole',
task_name='balance',
observations_allowlist='position',
eval_env_name=None,
num_iterations=1000000,
# Params for networks.
actor_fc_layers=(400, 300),
actor_output_fc_layers=(100, ),
actor_lstm_size=(40, ),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(300, ),
critic_output_fc_layers=(100, ),
critic_lstm_size=(40, ),
num_parallel_environments=1,
# Params for collect
initial_collect_episodes=1,
collect_episodes_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=1,
batch_size=256,
critic_learning_rate=3e-4,
train_sequence_length=20,
actor_learning_rate=3e-4,
alpha_learning_rate=3e-4,
td_errors_loss_fn=tf.math.squared_difference,
gamma=0.99,
reward_scale_factor=0.1,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=30,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for RNN SAC on DM control."""
root_dir = os.path.expanduser(root_dir)
summary_writer = tf.compat.v2.summary.create_file_writer(
root_dir, flush_millis=summaries_flush_secs * 1000)
summary_writer.set_as_default()
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
if observations_allowlist is not None:
env_wrappers = [
functools.partial(
wrappers.FlattenObservationsWrapper,
observations_allowlist=[observations_allowlist])
]
else:
env_wrappers = []
env_load_fn = functools.partial(suite_dm_control.load,
task_name=task_name,
env_wrappers=env_wrappers)
if num_parallel_environments == 1:
py_env = env_load_fn(env_name)
else:
py_env = parallel_py_environment.ParallelPyEnvironment(
[lambda: env_load_fn(env_name)] * num_parallel_environments)
tf_env = tf_py_environment.TFPyEnvironment(py_env)
eval_env_name = eval_env_name or env_name
eval_tf_env = tf_py_environment.TFPyEnvironment(
env_load_fn(eval_env_name))
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
actor_net = actor_distribution_rnn_network.ActorDistributionRnnNetwork(
observation_spec,
action_spec,
input_fc_layer_params=actor_fc_layers,
lstm_size=actor_lstm_size,
output_fc_layer_params=actor_output_fc_layers,
continuous_projection_net=tanh_normal_projection_network.
TanhNormalProjectionNetwork)
critic_net = critic_rnn_network.CriticRnnNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
lstm_size=critic_lstm_size,
output_fc_layer_params=critic_output_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
tf_agent = sac_agent.SacAgent(
time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
tf_agent.initialize()
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
env_steps = tf_metrics.EnvironmentSteps(prefix='Train')
average_return = tf_metrics.AverageReturnMetric(
prefix='Train',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size)
train_metrics = [
tf_metrics.NumberOfEpisodes(prefix='Train'),
env_steps,
average_return,
tf_metrics.AverageEpisodeLengthMetric(
prefix='Train',
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
]
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(root_dir, 'train'),
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
root_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
root_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
initial_collect_driver = dynamic_episode_driver.DynamicEpisodeDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_episodes=initial_collect_episodes)
collect_driver = dynamic_episode_driver.DynamicEpisodeDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_episodes=collect_episodes_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
if env_steps.result() == 0 or replay_buffer.num_frames() == 0:
logging.info(
'Initializing replay buffer by collecting experience for %d episodes '
'with a random policy.', initial_collect_episodes)
initial_collect_driver.run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=env_steps.result(),
summary_writer=summary_writer,
summary_prefix='Eval',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, env_steps.result())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
time_acc = 0
env_steps_before = env_steps.result().numpy()
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
# Reduce filter_fn over full trajectory sampled. The sequence is kept only
# if all elements except for the last one pass the filter. This is to
# allow training on terminal steps.
return tf.reduce_all(~trajectories.is_boundary()[:-1])
dataset = replay_buffer.as_dataset(
sample_batch_size=batch_size,
num_steps=train_sequence_length + 1).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
start_env_steps = env_steps.result()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
episode_steps = env_steps.result() - start_env_steps
# TODO(b/152648849)
for _ in range(episode_steps):
for _ in range(train_steps_per_iteration):
train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('env steps = %d, average return = %f',
env_steps.result(), average_return.result())
env_steps_per_sec = (env_steps.result().numpy() -
env_steps_before) / time_acc
logging.info('%.3f env steps/sec', env_steps_per_sec)
tf.compat.v2.summary.scalar(name='env_steps_per_sec',
data=env_steps_per_sec,
step=env_steps.result())
time_acc = 0
env_steps_before = env_steps.result().numpy()
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=env_steps.result())
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=env_steps.result(),
summary_writer=summary_writer,
summary_prefix='Eval',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, env_steps.numpy())
metric_utils.log_metrics(eval_metrics)
global_step_val = global_step.numpy()
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
def train(self,
training_iterations=TRAINING_ITERATIONS,
training_stock_list=None):
self.reset(training_stock_list)
train_dir = 'training_data_progress/train-' + self.name
eval_dir = 'training_data_progress/eval-' + self.name
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=self.tf_agent.collect_data_spec,
batch_size=self.tf_training_env.batch_size,
max_length=MAX_BUFFER_SIZE)
summaries_flush_secs = 10
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=NUM_EVAL_EPISODES),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=NUM_EVAL_EPISODES)
]
global_step = self.tf_agent.train_step_counter
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % LOG_INTERVAL, 0)):
replay_observer = [replay_buffer.add_batch]
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(
buffer_size=NUM_EVAL_EPISODES,
batch_size=self.tf_training_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=NUM_EVAL_EPISODES,
batch_size=self.tf_training_env.batch_size),
]
eval_policy = greedy_policy.GreedyPolicy(self.tf_agent.policy)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
self.tf_training_env.time_step_spec(),
self.tf_training_env.action_spec())
collect_policy = self.tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=self.tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics,
'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
initial_collect_driver_random = dynamic_step_driver.DynamicStepDriver(
self.tf_training_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=INIT_COLLECT_STEPS)
initial_collect_driver_random.run = common.function(
initial_collect_driver_random.run)
collect_driver = dynamic_step_driver.DynamicStepDriver(
self.tf_training_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=STEP_ITERATIONS)
collect_driver.run = common.function(collect_driver.run)
self.tf_agent.train = common.function(self.tf_agent.train)
# Collect some initial data.
# Random
random_policy = random_tf_policy.RandomTFPolicy(
self.tf_training_env.time_step_spec(),
self.tf_training_env.action_spec())
avg_return, avg_return_per_step, avg_daily_percentage = self.compute_avg_return(
random_policy)
print(
'Random:\n\tAverage Return = {0}\n\tAverage Return Per Step = {1}\n\tPercent = {2}%'
.format(avg_return, avg_return_per_step, avg_daily_percentage))
self.gym_training_env.save_feature_distribution(self.name)
# Agent
avg_return, avg_return_per_step, avg_daily_percentage = self.compute_avg_return(
self.tf_agent.policy)
print(
'Agent :\n\tAverage Return = {0}\n\tAverage Return Per Step = {1}\n\tPercent = {2}%'
.format(avg_return, avg_return_per_step, avg_daily_percentage))
self.eval_env.reset()
self.eval_env.run_and_save_evaluation(str(0))
self.gym_training_env.save_feature_distribution(self.name)
evaluations = [self.get_evaluation()]
returns = [self.eval_env.returns]
actions_over_time_list = [self.eval_env.action_sets_over_time]
# Collect initial replay data.
print(
'Initializing replay buffer by collecting experience for {} steps with '
'a random policy.'.format(INIT_COLLECT_STEPS))
initial_collect_driver_random.run()
results = metric_utils.eager_compute(
eval_metrics,
self.tf_training_env,
eval_policy,
num_episodes=NUM_EVAL_EPISODES,
train_step=global_step,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(
self.tf_training_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = replay_buffer.as_dataset(
sample_batch_size=BATCH_SIZE, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(BATCH_SIZE).prefetch(5)
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
def _train_step():
try:
experience, _ = next(iterator)
return self.tf_agent.train(experience)
except Exception as e:
print("Caught Exception:", e)
return 1e-20
train_step = common.function(_train_step)
for _ in range(training_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(STEP_ITERATIONS):
train_loss = train_step()
time_acc += time.time() - start_time
self.global_step_val = global_step.numpy()
if self.global_step_val % LOG_INTERVAL == 0:
steps_per_sec = (self.global_step_val -
timed_at_step) / time_acc
print(
self.name,
'\nstep = {0:d}:\n\tloss = {1:f}\n\t{2:.3f} steps/sec'.
format(self.global_step_val, train_loss.loss,
steps_per_sec))
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = self.global_step_val
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if self.global_step_val % EVAL_INTERVAL == 0:
results = metric_utils.eager_compute(
eval_metrics,
self.tf_training_env,
eval_policy,
num_episodes=NUM_EVAL_EPISODES,
train_step=global_step,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
avg_return, avg_return_per_step, avg_daily_percentage = self.compute_avg_return(
self.tf_agent.policy)
print(
self.name,
'\nstep = {0}:\n\tloss = {1}\n\tAverage Return = {2}\n\tAverage Return Per Step = {3}\n\tPercent = {4}%'
.format(self.global_step_val, train_loss.loss,
avg_return, avg_return_per_step,
avg_daily_percentage))
self.eval_env.reset()
self.eval_env.run_and_save_evaluation(
str(self.global_step_val // EVAL_INTERVAL))
self.gym_training_env.save_feature_distribution(self.name)
if avg_daily_percentage == returns[-1]:
"---- Average return did not change since last time. Breaking loop."
break
evaluations.append(self.get_evaluation())
returns.append(self.eval_env.returns)
actions_over_time_list.append(
self.eval_env.action_sets_over_time)
train_checkpointer.save(global_step=self.global_step_val)
policy_checkpointer.save(global_step=self.global_step_val)
rb_checkpointer.save(global_step=self.global_step_val)
training_report = util.load_training_report()
agent_report = training_report.get(self.name, dict())
agent_report["Training Results"] = returns
agent_report["Evaluations"] = [max(e, 0.0) for e in evaluations]
bins = [0.1 * i - 0.0000001 for i in range(11)]
agent_report["Histograms"] = [
str(list(map(int,
np.histogram(actions, bins, density=True)[0])))
for actions in actions_over_time_list
]
training_report[self.name] = agent_report
util.save_training_report(training_report)
print("---- Average-daily-percentage over training period for",
self.name)
print("\t\t", avg_daily_percentage)
self.save()
self.reset()
def train(root_dir,
agent,
environment,
training_loops,
steps_per_loop,
additional_metrics=(),
training_data_spec_transformation_fn=None):
"""Perform `training_loops` iterations of training.
Checkpoint results.
If one or more baseline_reward_fns are provided, the regret is computed
against each one of them. Here is example baseline_reward_fn:
def baseline_reward_fn(observation, per_action_reward_fns):
rewards = ... # compute reward for each arm
optimal_action_reward = ... # take the maximum reward
return optimal_action_reward
Args:
root_dir: path to the directory where checkpoints and metrics will be
written.
agent: an instance of `TFAgent`.
environment: an instance of `TFEnvironment`.
training_loops: an integer indicating how many training loops should be run.
steps_per_loop: an integer indicating how many driver steps should be
executed and presented to the trainer during each training loop.
additional_metrics: Tuple of metric objects to log, in addition to default
metrics `NumberOfEpisodes`, `AverageReturnMetric`, and
`AverageEpisodeLengthMetric`.
training_data_spec_transformation_fn: Optional function that transforms the
data items before they get to the replay buffer.
"""
# TODO(b/127641485): create evaluation loop with configurable metrics.
if training_data_spec_transformation_fn is None:
data_spec = agent.policy.trajectory_spec
else:
data_spec = training_data_spec_transformation_fn(
agent.policy.trajectory_spec)
replay_buffer = get_replay_buffer(data_spec, environment.batch_size,
steps_per_loop)
# `step_metric` records the number of individual rounds of bandit interaction;
# that is, (number of trajectories) * batch_size.
step_metric = tf_metrics.EnvironmentSteps()
metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.AverageEpisodeLengthMetric(
batch_size=environment.batch_size)
] + list(additional_metrics)
if isinstance(environment.reward_spec(), dict):
metrics += [
tf_metrics.AverageReturnMultiMetric(
reward_spec=environment.reward_spec(),
batch_size=environment.batch_size)
]
else:
metrics += [
tf_metrics.AverageReturnMetric(batch_size=environment.batch_size)
]
if training_data_spec_transformation_fn is not None:
add_batch_fn = lambda data: replay_buffer.add_batch( # pylint: disable=g-long-lambda
training_data_spec_transformation_fn(data))
else:
add_batch_fn = replay_buffer.add_batch
observers = [add_batch_fn, step_metric] + metrics
driver = dynamic_step_driver.DynamicStepDriver(env=environment,
policy=agent.collect_policy,
num_steps=steps_per_loop *
environment.batch_size,
observers=observers)
training_loop = get_training_loop_fn(driver, replay_buffer, agent,
steps_per_loop)
checkpoint_manager = restore_and_get_checkpoint_manager(
root_dir, agent, metrics, step_metric)
saver = policy_saver.PolicySaver(agent.policy)
summary_writer = tf.summary.create_file_writer(root_dir)
summary_writer.set_as_default()
for _ in range(training_loops):
training_loop()
metric_utils.log_metrics(metrics)
for metric in metrics:
metric.tf_summaries(train_step=step_metric.result())
checkpoint_manager.save()
saver.save(os.path.join(root_dir, 'policy_%d' % step_metric.result()))
def train_eval(
load_root_dir,
env_load_fn=None,
gym_env_wrappers=[],
monitor=False,
env_name=None,
agent_class=None,
train_metrics_callback=None,
# SacAgent args
actor_fc_layers=(256, 256),
critic_joint_fc_layers=(256, 256),
# Safety Critic training args
safety_critic_joint_fc_layers=None,
safety_critic_lr=3e-4,
safety_critic_bias_init_val=None,
safety_critic_kernel_scale=None,
n_envs=None,
target_safety=0.2,
fail_weight=None,
# Params for train
num_global_steps=10000,
batch_size=256,
# Params for eval
run_eval=False,
eval_metrics=[],
num_eval_episodes=10,
eval_interval=1000,
# Params for summaries and logging
train_checkpoint_interval=10000,
summary_interval=1000,
monitor_interval=5000,
summaries_flush_secs=10,
debug_summaries=False,
seed=None):
if isinstance(agent_class, str):
assert agent_class in ALGOS, 'trainer.train_eval: agent_class {} invalid'.format(
agent_class)
agent_class = ALGOS.get(agent_class)
train_ckpt_dir = osp.join(load_root_dir, 'train')
rb_ckpt_dir = osp.join(load_root_dir, 'train', 'replay_buffer')
py_env = env_load_fn(env_name, gym_env_wrappers=gym_env_wrappers)
tf_env = tf_py_environment.TFPyEnvironment(py_env)
if monitor:
vid_path = os.path.join(load_root_dir, 'rollouts')
monitor_env_wrapper = misc.monitor_freq(1, vid_path)
monitor_env = gym.make(env_name)
for wrapper in gym_env_wrappers:
monitor_env = wrapper(monitor_env)
monitor_env = monitor_env_wrapper(monitor_env)
# auto_reset must be False to ensure Monitor works correctly
monitor_py_env = gym_wrapper.GymWrapper(monitor_env, auto_reset=False)
if run_eval:
eval_dir = os.path.join(load_root_dir, 'eval')
n_envs = n_envs or num_eval_episodes
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(prefix='EvalMetrics',
buffer_size=num_eval_episodes,
batch_size=n_envs),
tf_metrics.AverageEpisodeLengthMetric(
prefix='EvalMetrics',
buffer_size=num_eval_episodes,
batch_size=n_envs)
] + [
tf_py_metric.TFPyMetric(m, name='EvalMetrics/{}'.format(m.name))
for m in eval_metrics
]
eval_tf_env = tf_py_environment.TFPyEnvironment(
parallel_py_environment.ParallelPyEnvironment([
lambda: env_load_fn(env_name,
gym_env_wrappers=gym_env_wrappers)
] * n_envs))
if seed:
seeds = [seed * n_envs + i for i in range(n_envs)]
try:
eval_tf_env.pyenv.seed(seeds)
except:
pass
global_step = tf.compat.v1.train.get_or_create_global_step()
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=agents.normal_projection_net)
critic_net = agents.CriticNetwork(
(observation_spec, action_spec),
joint_fc_layer_params=critic_joint_fc_layers)
if agent_class in SAFETY_AGENTS:
safety_critic_net = agents.CriticNetwork(
(observation_spec, action_spec),
joint_fc_layer_params=critic_joint_fc_layers)
tf_agent = agent_class(time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
safety_critic_network=safety_critic_net,
train_step_counter=global_step,
debug_summaries=False)
else:
tf_agent = agent_class(time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
train_step_counter=global_step,
debug_summaries=False)
collect_data_spec = tf_agent.collect_data_spec
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
collect_data_spec, batch_size=1, max_length=1000000)
replay_buffer = misc.load_rb_ckpt(rb_ckpt_dir, replay_buffer)
tf_agent, _ = misc.load_agent_ckpt(train_ckpt_dir, tf_agent)
if agent_class in SAFETY_AGENTS:
target_safety = target_safety or tf_agent._target_safety
loaded_train_steps = global_step.numpy()
logging.info("Loaded agent from %s trained for %d steps", train_ckpt_dir,
loaded_train_steps)
global_step.assign(0)
tf.summary.experimental.set_step(global_step)
thresholds = [target_safety, 0.5]
sc_metrics = [
tf.keras.metrics.AUC(name='safety_critic_auc'),
tf.keras.metrics.BinaryAccuracy(name='safety_critic_acc',
threshold=0.5),
tf.keras.metrics.TruePositives(name='safety_critic_tp',
thresholds=thresholds),
tf.keras.metrics.FalsePositives(name='safety_critic_fp',
thresholds=thresholds),
tf.keras.metrics.TrueNegatives(name='safety_critic_tn',
thresholds=thresholds),
tf.keras.metrics.FalseNegatives(name='safety_critic_fn',
thresholds=thresholds)
]
if seed:
tf.compat.v1.set_random_seed(seed)
summaries_flush_secs = 10
timestamp = datetime.utcnow().strftime('%Y-%m-%d-%H-%M-%S')
offline_train_dir = osp.join(train_ckpt_dir, 'offline', timestamp)
config_saver = gin.tf.GinConfigSaverHook(offline_train_dir,
summarize_config=True)
tf.function(config_saver.after_create_session)()
sc_summary_writer = tf.compat.v2.summary.create_file_writer(
offline_train_dir, flush_millis=summaries_flush_secs * 1000)
sc_summary_writer.set_as_default()
if safety_critic_kernel_scale is not None:
ki = tf.compat.v1.variance_scaling_initializer(
scale=safety_critic_kernel_scale,
mode='fan_in',
distribution='truncated_normal')
else:
ki = tf.compat.v1.keras.initializers.VarianceScaling(
scale=1. / 3., mode='fan_in', distribution='uniform')
if safety_critic_bias_init_val is not None:
bi = tf.constant_initializer(safety_critic_bias_init_val)
else:
bi = None
sc_net_off = agents.CriticNetwork(
(observation_spec, action_spec),
joint_fc_layer_params=safety_critic_joint_fc_layers,
kernel_initializer=ki,
value_bias_initializer=bi,
name='SafetyCriticOffline')
sc_net_off.create_variables()
target_sc_net_off = common.maybe_copy_target_network_with_checks(
sc_net_off, None, 'TargetSafetyCriticNetwork')
optimizer = tf.keras.optimizers.Adam(safety_critic_lr)
sc_net_off_ckpt_dir = os.path.join(offline_train_dir, 'safety_critic')
sc_checkpointer = common.Checkpointer(
ckpt_dir=sc_net_off_ckpt_dir,
safety_critic=sc_net_off,
target_safety_critic=target_sc_net_off,
optimizer=optimizer,
global_step=global_step,
max_to_keep=5)
sc_checkpointer.initialize_or_restore()
resample_counter = py_metrics.CounterMetric('ActionResampleCounter')
eval_policy = agents.SafeActorPolicyRSVar(
time_step_spec=time_step_spec,
action_spec=action_spec,
actor_network=actor_net,
safety_critic_network=sc_net_off,
safety_threshold=target_safety,
resample_counter=resample_counter,
training=True)
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
num_steps=2,
sample_batch_size=batch_size //
2).prefetch(3)
data = iter(dataset)
full_data = replay_buffer.gather_all()
fail_mask = tf.cast(full_data.observation['task_agn_rew'], tf.bool)
fail_step = nest_utils.fast_map_structure(
lambda *x: tf.boolean_mask(*x, fail_mask), full_data)
init_step = nest_utils.fast_map_structure(
lambda *x: tf.boolean_mask(*x, full_data.is_first()), full_data)
before_fail_mask = tf.roll(fail_mask, [-1], axis=[1])
after_init_mask = tf.roll(full_data.is_first(), [1], axis=[1])
before_fail_step = nest_utils.fast_map_structure(
lambda *x: tf.boolean_mask(*x, before_fail_mask), full_data)
after_init_step = nest_utils.fast_map_structure(
lambda *x: tf.boolean_mask(*x, after_init_mask), full_data)
filter_mask = tf.squeeze(tf.logical_or(before_fail_mask, fail_mask))
filter_mask = tf.pad(
filter_mask, [[0, replay_buffer._max_length - filter_mask.shape[0]]])
n_failures = tf.reduce_sum(tf.cast(filter_mask, tf.int32)).numpy()
failure_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
collect_data_spec,
batch_size=1,
max_length=n_failures,
dataset_window_shift=1)
data_utils.copy_rb(replay_buffer, failure_buffer, filter_mask)
sc_dataset_neg = failure_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size //
2,
num_steps=2).prefetch(3)
neg_data = iter(sc_dataset_neg)
get_action = lambda ts: tf_agent._actions_and_log_probs(ts)[0]
eval_sc = log_utils.eval_fn(before_fail_step, fail_step, init_step,
after_init_step, get_action)
losses = []
mean_loss = tf.keras.metrics.Mean(name='mean_ep_loss')
target_update = train_utils.get_target_updater(sc_net_off,
target_sc_net_off)
with tf.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
while global_step.numpy() < num_global_steps:
pos_experience, _ = next(data)
neg_experience, _ = next(neg_data)
exp = data_utils.concat_batches(pos_experience, neg_experience,
collect_data_spec)
boundary_mask = tf.logical_not(exp.is_boundary()[:, 0])
exp = nest_utils.fast_map_structure(
lambda *x: tf.boolean_mask(*x, boundary_mask), exp)
safe_rew = exp.observation['task_agn_rew'][:, 1]
if fail_weight:
weights = tf.where(tf.cast(safe_rew, tf.bool),
fail_weight / 0.5, (1 - fail_weight) / 0.5)
else:
weights = None
train_loss, sc_loss, lam_loss = train_step(
exp,
safe_rew,
tf_agent,
sc_net=sc_net_off,
target_sc_net=target_sc_net_off,
metrics=sc_metrics,
weights=weights,
target_safety=target_safety,
optimizer=optimizer,
target_update=target_update,
debug_summaries=debug_summaries)
global_step.assign_add(1)
global_step_val = global_step.numpy()
losses.append(
(train_loss.numpy(), sc_loss.numpy(), lam_loss.numpy()))
mean_loss(train_loss)
with tf.name_scope('Losses'):
tf.compat.v2.summary.scalar(name='sc_loss',
data=sc_loss,
step=global_step_val)
tf.compat.v2.summary.scalar(name='lam_loss',
data=lam_loss,
step=global_step_val)
if global_step_val % summary_interval == 0:
tf.compat.v2.summary.scalar(name=mean_loss.name,
data=mean_loss.result(),
step=global_step_val)
if global_step_val % summary_interval == 0:
with tf.name_scope('Metrics'):
for metric in sc_metrics:
if len(tf.squeeze(metric.result()).shape) == 0:
tf.compat.v2.summary.scalar(name=metric.name,
data=metric.result(),
step=global_step_val)
else:
fmt_str = '_{}'.format(thresholds[0])
tf.compat.v2.summary.scalar(
name=metric.name + fmt_str,
data=metric.result()[0],
step=global_step_val)
fmt_str = '_{}'.format(thresholds[1])
tf.compat.v2.summary.scalar(
name=metric.name + fmt_str,
data=metric.result()[1],
step=global_step_val)
metric.reset_states()
if global_step_val % eval_interval == 0:
eval_sc(sc_net_off, step=global_step_val)
if run_eval:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='EvalMetrics',
)
if train_metrics_callback is not None:
train_metrics_callback(results, global_step_val)
metric_utils.log_metrics(eval_metrics)
with eval_summary_writer.as_default():
for eval_metric in eval_metrics[2:]:
eval_metric.tf_summaries(
train_step=global_step,
step_metrics=eval_metrics[:2])
if monitor and global_step_val % monitor_interval == 0:
monitor_time_step = monitor_py_env.reset()
monitor_policy_state = eval_policy.get_initial_state(1)
ep_len = 0
monitor_start = time.time()
while not monitor_time_step.is_last():
monitor_action = eval_policy.action(
monitor_time_step, monitor_policy_state)
action, monitor_policy_state = monitor_action.action, monitor_action.state
monitor_time_step = monitor_py_env.step(action)
ep_len += 1
logging.debug(
'saved rollout at timestep %d, rollout length: %d, %4.2f sec',
global_step_val, ep_len,
time.time() - monitor_start)
if global_step_val % train_checkpoint_interval == 0:
sc_checkpointer.save(global_step=global_step_val)
def train_eval(
root_dir,
env_name='HalfCheetah-v2',
num_iterations=1000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Params for collect
initial_collect_steps=10000,
collect_steps_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
td_errors_loss_fn=tf.compat.v1.losses.mean_squared_error,
gamma=0.99,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=30,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for SAC."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(suite_mujoco.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(suite_mujoco.load(env_name))
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=normal_projection_net)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers)
tf_agent = sac_agent.SacAgent(
time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
tf_agent.initialize()
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_py_metric.TFPyMetric(py_metrics.AverageReturnMetric()),
tf_py_metric.TFPyMetric(py_metrics.AverageEpisodeLengthMetric()),
]
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer,
num_steps=initial_collect_steps)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
initial_collect_driver.run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(
num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = iter(dataset)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
experience, _ = next(iterator)
train_loss = tf_agent.train(experience)
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(
name='global_steps_per_sec', data=steps_per_sec, step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
global_step_val = global_step.numpy()
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
return train_loss
def train_eval(root_dir, tf_env, eval_tf_env, agent, num_iterations,
initial_collect_steps, collect_steps_per_iteration,
replay_buffer_capacity, train_steps_per_iteration, batch_size,
use_tf_functions, num_eval_episodes, eval_interval,
train_checkpoint_interval, policy_checkpoint_interval,
rb_checkpoint_interval, log_interval, summary_interval,
summaries_flush_secs):
"""A simple train and eval for DQN."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
#tf_metrics.ChosenActionHistogram(buffer_size=num_eval_episodes),
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
#tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_env
eval_tf_env = eval_tf_env
tf_agent = agent
train_metrics = [
#tf_metrics.ChosenActionHistogram(),
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(buffer_size=1),
#tf_metrics.AverageEpisodeLengthMetric(),
]
diverged = False
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
max_to_keep=1,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
max_to_keep=1,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
best_policy = -1000
if use_tf_functions:
# To speed up collect use common.function.
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
#Collect initial replay data.
dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=2).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if np.isnan(train_loss.loss).any():
diverged = True
break
elif np.isinf(train_loss.loss).any():
diverged = True
break
if global_step.numpy() % log_interval == 0:
print('step = {0}, loss = {1}'.format(global_step.numpy(),
train_loss.loss))
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
print('{0} steps/sec'.format(steps_per_sec))
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if results["AverageReturn"].numpy() > best_policy:
print("New best policy found")
print(results["AverageReturn"].numpy())
best_policy = results["AverageReturn"].numpy()
policy_checkpointer.save(global_step=global_step.numpy())
metric_utils.log_metrics(eval_metrics)
return train_loss
def train_eval(
root_dir,
env_name='sawyer_reach',
num_iterations=3000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Params for collect
initial_collect_steps=10000,
collect_steps_per_iteration=1,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
gamma=0.99,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=30,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=200000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
random_seed=0,
max_future_steps=50,
actor_std=None,
log_subset=None,
):
"""A simple train and eval for SAC."""
np.random.seed(random_seed)
tf.random.set_seed(random_seed)
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env, eval_tf_env, obs_dim = c_learning_envs.load(env_name)
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
if actor_std is None:
proj_net = tanh_normal_projection_network.TanhNormalProjectionNetwork
else:
proj_net = functools.partial(
tanh_normal_projection_network.TanhNormalProjectionNetwork,
std_transform=lambda t: actor_std * tf.ones_like(t))
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=proj_net)
critic_net = c_learning_utils.ClassifierCriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
tf_agent = c_learning_agent.CLearningAgent(
time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=bce_loss,
gamma=gamma,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
tf_agent.initialize()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes),
c_learning_utils.FinalDistance(
buffer_size=num_eval_episodes, obs_dim=obs_dim),
c_learning_utils.MinimumDistance(
buffer_size=num_eval_episodes, obs_dim=obs_dim),
c_learning_utils.DeltaDistance(
buffer_size=num_eval_episodes, obs_dim=obs_dim),
]
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
c_learning_utils.InitialDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
obs_dim=obs_dim),
c_learning_utils.FinalDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
obs_dim=obs_dim),
c_learning_utils.MinimumDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
obs_dim=obs_dim),
c_learning_utils.DeltaDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
obs_dim=obs_dim),
]
if log_subset is not None:
start_index, end_index = log_subset
for name, metrics in [('train', train_metrics), ('eval', eval_metrics)]:
metrics.extend([
c_learning_utils.InitialDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size if name == 'train' else 10,
obs_dim=obs_dim,
start_index=start_index,
end_index=end_index,
name='SubsetInitialDistance'),
c_learning_utils.FinalDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size if name == 'train' else 10,
obs_dim=obs_dim,
start_index=start_index,
end_index=end_index,
name='SubsetFinalDistance'),
c_learning_utils.MinimumDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size if name == 'train' else 10,
obs_dim=obs_dim,
start_index=start_index,
end_index=end_index,
name='SubsetMinimumDistance'),
c_learning_utils.DeltaDistance(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size if name == 'train' else 10,
obs_dim=obs_dim,
start_index=start_index,
end_index=end_index,
name='SubsetDeltaDistance'),
])
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'),
max_to_keep=None)
train_checkpointer.initialize_or_restore()
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
replay_observer = [replay_buffer.add_batch]
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + train_metrics,
num_steps=initial_collect_steps)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + train_metrics,
num_steps=collect_steps_per_iteration)
if use_tf_functions:
initial_collect_driver.run = common.function(initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Save the hyperparameters
operative_filename = os.path.join(root_dir, 'operative.gin')
with tf.compat.v1.gfile.Open(operative_filename, 'w') as f:
f.write(gin.operative_config_str())
logging.info(gin.operative_config_str())
if replay_buffer.num_frames() == 0:
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps '
'with a random policy.', initial_collect_steps)
initial_collect_driver.run()
metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = replay_buffer.as_dataset(
sample_batch_size=batch_size,
num_steps=max_future_steps)
dataset = dataset.unbatch().filter(_filter_invalid_transition)
dataset = dataset.batch(batch_size, drop_remainder=True)
goal_fn = functools.partial(
c_learning_utils.goal_fn,
batch_size=batch_size,
obs_dim=obs_dim,
gamma=gamma)
dataset = dataset.map(goal_fn)
dataset = dataset.prefetch(5)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
global_step_val = global_step.numpy()
while global_step_val < num_iterations:
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
global_step_val = global_step.numpy()
if global_step_val % log_interval == 0:
logging.info('step = %d, loss = %f', global_step_val,
train_loss.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(
name='global_steps_per_sec', data=steps_per_sec, step=global_step)
timed_at_step = global_step_val
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(
train_step=global_step, step_metrics=train_metrics[:2])
if global_step_val % eval_interval == 0:
metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
metric_utils.log_metrics(eval_metrics)
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
return train_loss
def train_eval(
root_dir,
environment_name="broken_reacher",
num_iterations=1000000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
initial_collect_steps=10000,
real_initial_collect_steps=10000,
collect_steps_per_iteration=1,
real_collect_interval=10,
replay_buffer_capacity=1000000,
# Params for target update
target_update_tau=0.005,
target_update_period=1,
# Params for train
train_steps_per_iteration=1,
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
classifier_learning_rate=3e-4,
alpha_learning_rate=3e-4,
td_errors_loss_fn=tf.math.squared_difference,
gamma=0.99,
reward_scale_factor=0.1,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=30,
eval_interval=10000,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=50000,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=True,
summarize_grads_and_vars=False,
train_on_real=False,
delta_r_warmup=0,
random_seed=0,
checkpoint_dir=None,
):
"""A simple train and eval for SAC."""
np.random.seed(random_seed)
tf.random.set_seed(random_seed)
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, "train")
eval_dir = os.path.join(root_dir, "eval")
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
if environment_name == "broken_reacher":
get_env_fn = darc_envs.get_broken_reacher_env
elif environment_name == "half_cheetah_obstacle":
get_env_fn = darc_envs.get_half_cheetah_direction_env
elif environment_name == "inverted_pendulum":
get_env_fn = darc_envs.get_inverted_pendulum_env
elif environment_name.startswith("broken_joint"):
base_name = environment_name.split("broken_joint_")[1]
get_env_fn = functools.partial(darc_envs.get_broken_joint_env,
env_name=base_name)
elif environment_name.startswith("falling"):
base_name = environment_name.split("falling_")[1]
get_env_fn = functools.partial(darc_envs.get_falling_env,
env_name=base_name)
else:
raise NotImplementedError("Unknown environment: %s" % environment_name)
eval_name_list = ["sim", "real"]
eval_env_list = [get_env_fn(mode) for mode in eval_name_list]
eval_metrics_list = []
for name in eval_name_list:
eval_metrics_list.append([
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes,
name="AverageReturn_%s" % name),
])
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env_real = get_env_fn("real")
if train_on_real:
tf_env = get_env_fn("real")
else:
tf_env = get_env_fn("sim")
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=(
tanh_normal_projection_network.TanhNormalProjectionNetwork),
)
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer="glorot_uniform",
last_kernel_initializer="glorot_uniform",
)
classifier = classifiers.build_classifier(observation_spec,
action_spec)
tf_agent = darc_agent.DarcAgent(
time_step_spec,
action_spec,
actor_network=actor_net,
critic_network=critic_net,
classifier=classifier,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
classifier_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=classifier_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=td_errors_loss_fn,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step,
)
tf_agent.initialize()
# Make the replay buffer.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity,
)
replay_observer = [replay_buffer.add_batch]
real_replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=1,
max_length=replay_buffer_capacity,
)
real_replay_observer = [real_replay_buffer.add_batch]
sim_train_metrics = [
tf_metrics.NumberOfEpisodes(name="NumberOfEpisodesSim"),
tf_metrics.EnvironmentSteps(name="EnvironmentStepsSim"),
tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
name="AverageReturnSim",
),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
name="AverageEpisodeLengthSim",
),
]
real_train_metrics = [
tf_metrics.NumberOfEpisodes(name="NumberOfEpisodesReal"),
tf_metrics.EnvironmentSteps(name="EnvironmentStepsReal"),
tf_metrics.AverageReturnMetric(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
name="AverageReturnReal",
),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size,
name="AverageEpisodeLengthReal",
),
]
eval_policy = greedy_policy.GreedyPolicy(tf_agent.policy)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
collect_policy = tf_agent.collect_policy
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(
sim_train_metrics + real_train_metrics, "train_metrics"),
)
policy_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, "policy"),
policy=eval_policy,
global_step=global_step,
)
rb_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, "replay_buffer"),
max_to_keep=1,
replay_buffer=(replay_buffer, real_replay_buffer),
)
if checkpoint_dir is not None:
checkpoint_path = tf.train.latest_checkpoint(checkpoint_dir)
assert checkpoint_path is not None
train_checkpointer._load_status = train_checkpointer._checkpoint.restore( # pylint: disable=protected-access
checkpoint_path)
train_checkpointer._load_status.initialize_or_restore() # pylint: disable=protected-access
else:
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
if replay_buffer.num_frames() == 0:
initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=replay_observer + sim_train_metrics,
num_steps=initial_collect_steps,
)
real_initial_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env_real,
initial_collect_policy,
observers=real_replay_observer + real_train_metrics,
num_steps=real_initial_collect_steps,
)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=replay_observer + sim_train_metrics,
num_steps=collect_steps_per_iteration,
)
real_collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env_real,
collect_policy,
observers=real_replay_observer + real_train_metrics,
num_steps=collect_steps_per_iteration,
)
config_str = gin.operative_config_str()
logging.info(config_str)
with tf.compat.v1.gfile.Open(os.path.join(root_dir, "operative.gin"),
"w") as f:
f.write(config_str)
if use_tf_functions:
initial_collect_driver.run = common.function(
initial_collect_driver.run)
real_initial_collect_driver.run = common.function(
real_initial_collect_driver.run)
collect_driver.run = common.function(collect_driver.run)
real_collect_driver.run = common.function(real_collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
# Collect initial replay data.
if replay_buffer.num_frames() == 0:
logging.info(
"Initializing replay buffer by collecting experience for %d steps with "
"a random policy.",
initial_collect_steps,
)
initial_collect_driver.run()
real_initial_collect_driver.run()
for eval_name, eval_env, eval_metrics in zip(eval_name_list,
eval_env_list,
eval_metrics_list):
metric_utils.eager_compute(
eval_metrics,
eval_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix="Metrics-%s" % eval_name,
)
metric_utils.log_metrics(eval_metrics)
time_step = None
real_time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Prepare replay buffer as dataset with invalid transitions filtered.
def _filter_invalid_transition(trajectories, unused_arg1):
return ~trajectories.is_boundary()[0]
dataset = (replay_buffer.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5))
real_dataset = (real_replay_buffer.as_dataset(
sample_batch_size=batch_size, num_steps=2).unbatch().filter(
_filter_invalid_transition).batch(batch_size).prefetch(5))
# Dataset generates trajectories with shape [Bx2x...]
iterator = iter(dataset)
real_iterator = iter(real_dataset)
def train_step():
experience, _ = next(iterator)
real_experience, _ = next(real_iterator)
return tf_agent.train(experience, real_experience=real_experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
assert not policy_state # We expect policy_state == ().
if (global_step.numpy() % real_collect_interval == 0
and global_step.numpy() >= delta_r_warmup):
real_time_step, policy_state = real_collect_driver.run(
time_step=real_time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
global_step_val = global_step.numpy()
if global_step_val % log_interval == 0:
logging.info("step = %d, loss = %f", global_step_val,
train_loss.loss)
steps_per_sec = (global_step_val - timed_at_step) / time_acc
logging.info("%.3f steps/sec", steps_per_sec)
tf.compat.v2.summary.scalar(name="global_steps_per_sec",
data=steps_per_sec,
step=global_step)
timed_at_step = global_step_val
time_acc = 0
for train_metric in sim_train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=sim_train_metrics[:2])
for train_metric in real_train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=real_train_metrics[:2])
if global_step_val % eval_interval == 0:
for eval_name, eval_env, eval_metrics in zip(
eval_name_list, eval_env_list, eval_metrics_list):
metric_utils.eager_compute(
eval_metrics,
eval_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix="Metrics-%s" % eval_name,
)
metric_utils.log_metrics(eval_metrics)
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step_val)
return train_loss
def train_eval(
root_dir,
env_name='Blob2d-v1',
num_iterations=100000,
train_sequence_length=1,
collect_steps_per_iteration=1,
initial_collect_steps=1500,
replay_buffer_max_length=10000,
batch_size=64,
learning_rate=1e-3,
num_eval_episodes=10,
eval_interval=1000,
# Params for QNetwork
fc_layer_params=(100, ),
use_tf_functions=False,
## train params
train_steps_per_iteration=1,
train_checkpoint_interval=1000,
policy_checkpoint_interval=1000,
rb_checkpoint_interval=1000,
n_step_update=1,
## Params for Summaries and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(suite_gym.load(env_name))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name))
if train_sequence_length != 1 and n_step_update != 1:
raise NotImplementedError(
'train_eval does not currently support n-step updates with stateful '
'networks (i.e., RNNs)')
env = suite_gym.load('Blob2d-v1')
tf_env = tf_py_environment.TFPyEnvironment(env)
action_spec = tf_env.action_spec()
fc_layer_params = (100, )
q_net = q_network.QNetwork(tf_env.observation_spec(),
tf_env.action_spec(),
fc_layer_params=fc_layer_params)
agent = dqn_agent.DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate),
td_errors_loss_fn=common.element_wise_squared_loss,
train_step_counter=global_step)
agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
]
eval_policy = agent.policy
collect_policy = agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_max_length)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
train_checkpointer = common.Checkpointer(ckpt_dir=train_dir,
agent=agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(
train_metrics,
'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=train_sequence_length +
1).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
# Main Training loop.
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() - timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
return train_loss
def train(
root_dir,
load_root_dir=None,
env_load_fn=None,
env_name=None,
num_parallel_environments=1, # pylint: disable=unused-argument
agent_class=None,
initial_collect_random=True, # pylint: disable=unused-argument
initial_collect_driver_class=None,
collect_driver_class=None,
num_global_steps=1000000,
train_steps_per_iteration=1,
train_metrics=None,
# Safety Critic training args
train_sc_steps=10,
train_sc_interval=300,
online_critic=False,
# Params for eval
run_eval=False,
num_eval_episodes=30,
eval_interval=1000,
eval_metrics_callback=None,
# Params for summaries and logging
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=20000,
keep_rb_checkpoint=False,
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
early_termination_fn=None,
env_metric_factories=None): # pylint: disable=unused-argument
"""A simple train and eval for SC-SAC."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
train_metrics = train_metrics or []
if run_eval:
eval_dir = os.path.join(root_dir, 'eval')
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes),
] + [tf_py_metric.TFPyMetric(m) for m in train_metrics]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = env_load_fn(env_name)
if not isinstance(tf_env, tf_py_environment.TFPyEnvironment):
tf_env = tf_py_environment.TFPyEnvironment(tf_env)
if run_eval:
eval_py_env = env_load_fn(env_name)
eval_tf_env = tf_py_environment.TFPyEnvironment(eval_py_env)
time_step_spec = tf_env.time_step_spec()
observation_spec = time_step_spec.observation
action_spec = tf_env.action_spec()
print('obs spec:', observation_spec)
print('action spec:', action_spec)
if online_critic:
resample_metric = tf_py_metric.TfPyMetric(
py_metrics.CounterMetric('unsafe_ac_samples'))
tf_agent = agent_class(time_step_spec,
action_spec,
train_step_counter=global_step,
resample_metric=resample_metric)
else:
tf_agent = agent_class(time_step_spec,
action_spec,
train_step_counter=global_step)
tf_agent.initialize()
# Make the replay buffer.
collect_data_spec = tf_agent.collect_data_spec
logging.info('Allocating replay buffer ...')
# Add to replay buffer and other agent specific observers.
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
collect_data_spec, max_length=1000000)
logging.info('RB capacity: %i', replay_buffer.capacity)
logging.info('ReplayBuffer Collect data spec: %s', collect_data_spec)
agent_observers = [replay_buffer.add_batch]
if online_critic:
online_replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
collect_data_spec, max_length=10000)
online_rb_ckpt_dir = os.path.join(train_dir,
'online_replay_buffer')
online_rb_checkpointer = common.Checkpointer(
ckpt_dir=online_rb_ckpt_dir,
max_to_keep=1,
replay_buffer=online_replay_buffer)
clear_rb = common.function(online_replay_buffer.clear)
agent_observers.append(online_replay_buffer.add_batch)
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes,
batch_size=tf_env.batch_size),
tf_metrics.AverageEpisodeLengthMetric(
buffer_size=num_eval_episodes, batch_size=tf_env.batch_size),
] + [tf_py_metric.TFPyMetric(m) for m in train_metrics]
if not online_critic:
eval_policy = tf_agent.policy
else:
eval_policy = tf_agent._safe_policy # pylint: disable=protected-access
initial_collect_policy = random_tf_policy.RandomTFPolicy(
time_step_spec, action_spec)
if not online_critic:
collect_policy = tf_agent.collect_policy
else:
collect_policy = tf_agent._safe_policy # pylint: disable=protected-access
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
safety_critic_checkpointer = common.Checkpointer(
ckpt_dir=os.path.join(train_dir, 'safety_critic'),
safety_critic=tf_agent._safety_critic_network, # pylint: disable=protected-access
global_step=global_step)
rb_ckpt_dir = os.path.join(train_dir, 'replay_buffer')
rb_checkpointer = common.Checkpointer(ckpt_dir=rb_ckpt_dir,
max_to_keep=1,
replay_buffer=replay_buffer)
if load_root_dir:
load_root_dir = os.path.expanduser(load_root_dir)
load_train_dir = os.path.join(load_root_dir, 'train')
misc.load_pi_ckpt(load_train_dir, tf_agent) # loads tf_agent
if load_root_dir is None:
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
safety_critic_checkpointer.initialize_or_restore()
collect_driver = collect_driver_class(tf_env,
collect_policy,
observers=agent_observers +
train_metrics)
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
if not rb_checkpointer.checkpoint_exists:
logging.info('Performing initial collection ...')
common.function(
initial_collect_driver_class(tf_env,
initial_collect_policy,
observers=agent_observers +
train_metrics).run)()
last_id = replay_buffer._get_last_id() # pylint: disable=protected-access
logging.info('Data saved after initial collection: %d steps',
last_id)
tf.print(
replay_buffer._get_rows_for_id(last_id), # pylint: disable=protected-access
output_stream=logging.info)
if run_eval:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
if FLAGS.viz_pm:
eval_fig_dir = osp.join(eval_dir, 'figs')
if not tf.io.gfile.isdir(eval_fig_dir):
tf.io.gfile.makedirs(eval_fig_dir)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
num_steps=2).prefetch(3)
iterator = iter(dataset)
if online_critic:
online_dataset = online_replay_buffer.as_dataset(
num_parallel_calls=3, num_steps=2).prefetch(3)
online_iterator = iter(online_dataset)
@common.function
def critic_train_step():
"""Builds critic training step."""
experience, buf_info = next(online_iterator)
if env_name in [
'IndianWell', 'IndianWell2', 'IndianWell3',
'DrunkSpider', 'DrunkSpiderShort'
]:
safe_rew = experience.observation['task_agn_rew']
else:
safe_rew = agents.process_replay_buffer(
online_replay_buffer, as_tensor=True)
safe_rew = tf.gather(safe_rew,
tf.squeeze(buf_info.ids),
axis=1)
ret = tf_agent.train_sc(experience, safe_rew)
clear_rb()
return ret
@common.function
def train_step():
experience, _ = next(iterator)
ret = tf_agent.train(experience)
return ret
if not early_termination_fn:
early_termination_fn = lambda: False
loss_diverged = False
# How many consecutive steps was loss diverged for.
loss_divergence_counter = 0
mean_train_loss = tf.keras.metrics.Mean(name='mean_train_loss')
if online_critic:
mean_resample_ac = tf.keras.metrics.Mean(
name='mean_unsafe_ac_samples')
resample_metric.reset()
while (global_step.numpy() <= num_global_steps
and not early_termination_fn()):
# Collect and train.
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
if online_critic:
mean_resample_ac(resample_metric.result())
resample_metric.reset()
if time_step.is_last():
resample_ac_freq = mean_resample_ac.result()
mean_resample_ac.reset_states()
tf.compat.v2.summary.scalar(name='unsafe_ac_samples',
data=resample_ac_freq,
step=global_step)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
mean_train_loss(train_loss.loss)
if online_critic:
if global_step.numpy() % train_sc_interval == 0:
for _ in range(train_sc_steps):
sc_loss, lambda_loss = critic_train_step() # pylint: disable=unused-variable
total_loss = mean_train_loss.result()
mean_train_loss.reset_states()
# Check for exploding losses.
if (math.isnan(total_loss) or math.isinf(total_loss)
or total_loss > MAX_LOSS):
loss_divergence_counter += 1
if loss_divergence_counter > TERMINATE_AFTER_DIVERGED_LOSS_STEPS:
loss_diverged = True
break
else:
loss_divergence_counter = 0
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
total_loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
global_step_val = global_step.numpy()
if global_step_val % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step_val)
if global_step_val % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step_val)
safety_critic_checkpointer.save(global_step=global_step_val)
if global_step_val % rb_checkpoint_interval == 0:
if online_critic:
online_rb_checkpointer.save(global_step=global_step_val)
rb_checkpointer.save(global_step=global_step_val)
if run_eval and global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
if FLAGS.viz_pm:
savepath = 'step{}.png'.format(global_step_val)
savepath = osp.join(eval_fig_dir, savepath)
misc.record_episode_vis_summary(eval_tf_env, eval_policy,
savepath)
if not keep_rb_checkpoint:
misc.cleanup_checkpoints(rb_ckpt_dir)
if loss_diverged:
# Raise an error at the very end after the cleanup.
raise ValueError('Loss diverged to {} at step {}, terminating.'.format(
total_loss, global_step.numpy()))
return total_loss
def train_eval(
root_dir,
env_name='CartPole-v0',
num_iterations=5e5,
train_sequence_length=1,
# Params for QNetwork
fc_layer_params=(
64,
64,
),
# Params for QRnnNetwork
input_fc_layer_params=(50, ),
lstm_size=(6, ),
output_fc_layer_params=(30, ),
# Params for collect
initial_collect_steps=2000,
collect_steps_per_iteration=6,
epsilon_greedy=0.1,
replay_buffer_capacity=100000,
# Params for target update
target_update_tau=0.05,
target_update_period=5,
# Params for train
train_steps_per_iteration=6,
batch_size=32,
learning_rate=1e-3,
n_step_update=1,
gamma=0.99,
reward_scale_factor=1.0,
gradient_clipping=None,
use_tf_functions=True,
# Params for eval
num_eval_episodes=1,
eval_interval=1000,
# Params for checkpoints
train_checkpoint_interval=10000,
policy_checkpoint_interval=5000,
rb_checkpoint_interval=20000,
# Params for summaries and logging
log_interval=1000,
summary_interval=1000,
summaries_flush_secs=10,
debug_summaries=False,
summarize_grads_and_vars=False,
eval_metrics_callback=None):
"""A simple train and eval for DQN."""
root_dir = os.path.expanduser(root_dir)
train_dir = os.path.join(root_dir, 'train')
eval_dir = os.path.join(root_dir, 'eval')
clusters = pickle.load(open('clusters.pickle', 'rb'))
graph = nx.read_gpickle('graph.gpickle')
print(graph.nodes)
train_summary_writer = tf.compat.v2.summary.create_file_writer(
train_dir, flush_millis=summaries_flush_secs * 1000)
train_summary_writer.set_as_default()
eval_summary_writer = tf.compat.v2.summary.create_file_writer(
eval_dir, flush_millis=summaries_flush_secs * 1000)
eval_metrics = [
tf_metrics.AverageReturnMetric(buffer_size=num_eval_episodes),
tf_metrics.AverageEpisodeLengthMetric(buffer_size=num_eval_episodes)
]
global_step = tf.compat.v1.train.get_or_create_global_step()
with tf.compat.v2.summary.record_if(
lambda: tf.math.equal(global_step % summary_interval, 0)):
tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name,
gym_kwargs={
'graph': graph,
'clusters': clusters
}))
eval_tf_env = tf_py_environment.TFPyEnvironment(
suite_gym.load(env_name,
gym_kwargs={
'graph': graph,
'clusters': clusters
}))
if train_sequence_length != 1 and n_step_update != 1:
raise NotImplementedError(
'train_eval does not currently support n-step updates with stateful '
'networks (i.e., RNNs)')
action_spec = tf_env.action_spec()
num_actions = action_spec.maximum - action_spec.minimum + 1
if train_sequence_length > 1:
q_net = create_recurrent_network(input_fc_layer_params, lstm_size,
output_fc_layer_params,
num_actions)
else:
q_net = create_feedforward_network(fc_layer_params, num_actions)
train_sequence_length = n_step_update
q_net = GATNetwork(tf_env.observation_spec(), tf_env.action_spec(),
graph)
#time_step = tf_env.reset()
#q_net(time_step.observation, time_step.step_type)
#q_net = actor_distribution_network.ActorDistributionNetwork(
# tf_env.observation_spec(),
# tf_env.action_spec(),
# fc_layer_params=fc_layer_params)
#q_net = QNetwork(tf_env.observation_spec(), tf_env.action_spec(), 30)
# TODO(b/127301657): Decay epsilon based on global step, cf. cl/188907839
tf_agent = dqn_agent.DqnAgent(
tf_env.time_step_spec(),
tf_env.action_spec(),
q_network=q_net,
epsilon_greedy=epsilon_greedy,
n_step_update=n_step_update,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate),
td_errors_loss_fn=common.element_wise_squared_loss,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=gradient_clipping,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=global_step)
#critic_net = ddpg.critic_network.CriticNetwork(
#(tf_env.observation_spec(), tf_env.action_spec()),
#observation_fc_layer_params=None,
#action_fc_layer_params=None,
#joint_fc_layer_params=(64,64,),
#kernel_initializer='glorot_uniform',
#last_kernel_initializer='glorot_uniform')
#tf_agent = DdpgAgent(tf_env.time_step_spec(),
# tf_env.action_spec(),
# actor_network=q_net,
# critic_network=critic_net,
# actor_optimizer=tf.compat.v1.train.AdamOptimizer(learning_rate=learning_rate),
# critic_optimizer=tf.compat.v1.train.AdamOptimizer(learning_rate=learning_rate),
# ou_stddev=0.0,
# ou_damping=0.0)
tf_agent.initialize()
train_metrics = [
tf_metrics.NumberOfEpisodes(),
tf_metrics.EnvironmentSteps(),
tf_metrics.AverageReturnMetric(),
tf_metrics.AverageEpisodeLengthMetric(),
tf_metrics.MaxReturnMetric(),
]
eval_policy = tf_agent.policy
collect_policy = tf_agent.collect_policy
replay_buffer = tf_uniform_replay_buffer.TFUniformReplayBuffer(
data_spec=tf_agent.collect_data_spec,
batch_size=tf_env.batch_size,
max_length=replay_buffer_capacity)
collect_driver = dynamic_step_driver.DynamicStepDriver(
tf_env,
collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=collect_steps_per_iteration)
train_checkpointer = common.Checkpointer(
ckpt_dir=train_dir,
agent=tf_agent,
global_step=global_step,
metrics=metric_utils.MetricsGroup(train_metrics, 'train_metrics'))
policy_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'policy'),
policy=eval_policy,
global_step=global_step)
rb_checkpointer = common.Checkpointer(ckpt_dir=os.path.join(
train_dir, 'replay_buffer'),
max_to_keep=1,
replay_buffer=replay_buffer)
train_checkpointer.initialize_or_restore()
rb_checkpointer.initialize_or_restore()
if use_tf_functions:
# To speed up collect use common.function.
collect_driver.run = common.function(collect_driver.run)
tf_agent.train = common.function(tf_agent.train)
initial_collect_policy = random_tf_policy.RandomTFPolicy(
tf_env.time_step_spec(), tf_env.action_spec())
# Collect initial replay data.
logging.info(
'Initializing replay buffer by collecting experience for %d steps with '
'a random policy.', initial_collect_steps)
dynamic_step_driver.DynamicStepDriver(
tf_env,
initial_collect_policy,
observers=[replay_buffer.add_batch] + train_metrics,
num_steps=initial_collect_steps).run()
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
time_step = None
policy_state = collect_policy.get_initial_state(tf_env.batch_size)
timed_at_step = global_step.numpy()
time_acc = 0
# Dataset generates trajectories with shape [Bx2x...]
dataset = replay_buffer.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=train_sequence_length +
1).prefetch(3)
iterator = iter(dataset)
def train_step():
experience, _ = next(iterator)
return tf_agent.train(experience)
if use_tf_functions:
train_step = common.function(train_step)
for _ in range(num_iterations):
start_time = time.time()
time_step, policy_state = collect_driver.run(
time_step=time_step,
policy_state=policy_state,
)
for _ in range(train_steps_per_iteration):
train_loss = train_step()
time_acc += time.time() - start_time
if global_step.numpy() % log_interval == 0:
logging.info('step = %d, loss = %f', global_step.numpy(),
train_loss.loss)
steps_per_sec = (global_step.numpy() -
timed_at_step) / time_acc
logging.info('%.3f steps/sec', steps_per_sec)
tf.compat.v2.summary.scalar(name='global_steps_per_sec',
data=steps_per_sec,
step=global_step)
timed_at_step = global_step.numpy()
time_acc = 0
for train_metric in train_metrics:
train_metric.tf_summaries(train_step=global_step,
step_metrics=train_metrics[:2])
if global_step.numpy() % train_checkpoint_interval == 0:
train_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % policy_checkpoint_interval == 0:
policy_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % rb_checkpoint_interval == 0:
rb_checkpointer.save(global_step=global_step.numpy())
if global_step.numpy() % eval_interval == 0:
results = metric_utils.eager_compute(
eval_metrics,
eval_tf_env,
eval_policy,
num_episodes=num_eval_episodes,
train_step=global_step,
summary_writer=eval_summary_writer,
summary_prefix='Metrics',
)
if eval_metrics_callback is not None:
eval_metrics_callback(results, global_step.numpy())
metric_utils.log_metrics(eval_metrics)
print(tf_env.envs[0]._gym_env.best_controllers)
print(tf_env.envs[0]._gym_env.best_reward)
tf_env.envs[0]._gym_env.reset()
centroid_controllers, heuristic_distance = tf_env.envs[
0]._gym_env.graphCentroidAction()
# Convert heuristic controllers to actual
print(centroid_controllers)
# Assume all clusters same length
#centroid_controllers.sort()
#cluster_len = len(clusters[0])
#for i in range(len(clusters)):
# centroid_controllers[i] -= i * cluster_len
print(centroid_controllers)
for cont in centroid_controllers:
(_, reward_final, _, _) = tf_env.envs[0]._gym_env.step(cont)
best_heuristic = reward_final
print(tf_env.envs[0]._gym_env.controllers, reward_final)
return train_loss