Curiosity/DPI/utils.py

# Copyright (c) Facebook, Inc. and its affiliates.
# All rights reserved.

# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.

import os
import torch
import numpy as np
import torch.nn as nn

import gym
import dmc2gym

import random
from PIL import Image
from collections import deque


class eval_mode(object):
    def __init__(self, *models):
        self.models = models

    def __enter__(self):
        self.prev_states = []
        for model in self.models:
            self.prev_states.append(model.training)
            model.train(False)

    def __exit__(self, *args):
        for model, state in zip(self.models, self.prev_states):
            model.train(state)
        return False


def soft_update_params(net, target_net, tau):
    for param, target_param in zip(net.parameters(), target_net.parameters()):
        target_param.data.copy_(
            tau * param.data + (1 - tau) * target_param.data
        )


def set_seed_everywhere(seed):
    torch.manual_seed(seed)
    if torch.cuda.is_available():
        torch.cuda.manual_seed_all(seed)
    np.random.seed(seed)
    random.seed(seed)


def module_hash(module):
    result = 0
    for tensor in module.state_dict().values():
        result += tensor.sum().item()
    return result


def make_dir(dir_path):
    try:
        os.mkdir(dir_path)
    except OSError:
        pass
    return dir_path


def preprocess_obs(obs, bits=5):
    """Preprocessing image, see https://arxiv.org/abs/1807.03039."""
    bins = 2**bits
    assert obs.dtype == torch.float32
    if bits < 8:
        obs = torch.floor(obs / 2**(8 - bits))
    obs = obs / bins
    obs = obs + torch.rand_like(obs) / bins
    obs = obs - 0.5
    return obs


class FrameStack(gym.Wrapper):
    def __init__(self, env, k):
        gym.Wrapper.__init__(self, env)
        self._k = k
        self._frames = deque([], maxlen=k)
        shp = env.observation_space.shape
        self.observation_space = gym.spaces.Box(
            low=0,
            high=1,
            shape=((shp[0] * k,) + shp[1:]),
            dtype=env.observation_space.dtype
        )
        self._max_episode_steps = env._max_episode_steps

    def reset(self):
        obs = self.env.reset()
        for _ in range(self._k):
            self._frames.append(obs)
        return self._get_obs()

    def step(self, action):
        obs, reward, done, info = self.env.step(action)
        self._frames.append(obs)
        return self._get_obs(), reward, done, info

    def _get_obs(self):
        assert len(self._frames) == self._k
        return np.concatenate(list(self._frames), axis=0)


class ReplayBuffer:
    def __init__(self, size, obs_shape, action_size, seq_len, batch_size, args):
        self.size = size
        self.obs_shape = obs_shape
        self.action_size = action_size
        self.seq_len = seq_len
        self.batch_size = batch_size
        self.idx = 0
        self.full = False
        self.args = args
        self.observations = np.empty((size, *obs_shape), dtype=np.uint8)
        self.actions = np.empty((size, action_size), dtype=np.float32)
        self.next_observations = np.empty((size, *obs_shape), dtype=np.uint8)
        self.episode_count = np.zeros((size,), dtype=np.uint8) 
        self.terminals = np.empty((size,), dtype=np.float32)
        self.steps, self.episodes = 0, 0
    
    def add(self, obs, ac, next_obs, episode_count, done):
        self.observations[self.idx] = obs
        self.actions[self.idx] = ac
        self.next_observations[self.idx] = next_obs
        self.episode_count[self.idx] = episode_count
        self.terminals[self.idx] = done
        self.idx = (self.idx + 1) % self.size
        self.full = self.full or self.idx == 0
        self.steps += 1 
        self.episodes = self.episodes + (1 if done else 0)

    def _sample_idx(self, L):
        valid_idx = False
        while not valid_idx:
            idx = np.random.randint(0, self.size if self.full else self.idx - L)
            idxs = np.arange(idx, idx + L) % self.size
            valid_idx = not self.idx in idxs[1:] 
        return idxs

    def _retrieve_batch(self, idxs, n, L):
        vec_idxs = idxs.transpose().reshape(-1)  # Unroll indices
        observations = self.observations[vec_idxs]
        next_observations = self.next_observations[vec_idxs]
        return observations.reshape(L, n, *observations.shape[1:]), self.actions[vec_idxs].reshape(L, n, -1), observations.reshape(L, n, *next_observations.shape[1:]), \
                self.rewards[vec_idxs].reshape(L, n), self.terminals[vec_idxs].reshape(L, n)

    def sample(self):
        n = self.batch_size
        l = self.seq_len
        obs,acs,rews,terms= self._retrieve_batch(np.asarray([self._sample_idx(l) for _ in range(n)]), n, l)
        return obs,acs,rews,terms
    
    def group_steps(self, buffer, variable):
        variable = getattr(buffer, variable)
        non_zero_indices = np.nonzero(buffer.episode_count)[0]
        variable = variable[non_zero_indices]

        variable = variable.reshape(self.args.episode_length, self.args.batch_size,
                                                     self.args.frame_stack*self.args.channels,
                                                     self.args.image_size,self.args.image_size)
        return variable

    def transform_grouped_steps(self, variable):
        variable = variable.transpose((1, 0, 2, 3, 4))
        variable = variable.reshape(self.args.batch_size*self.args.episode_length,self.args.frame_stack*self.args.channels,
                                    self.args.image_size,self.args.image_size)
        return variable
    

def make_env(args):
    # For making ground plane transparent, change rgba to (0, 0, 0, 0) in local_dm_control_suite/{domain_name}.xml, 
    # else change to (0.5, 0.5, 0.5, 1.0) for default ground plane color
    # https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-geom
    env = dmc2gym.make(
            domain_name=args.domain_name,
            task_name=args.task_name,
            resource_files=args.resource_files,
            img_source=args.img_source,
            total_frames=args.total_frames,
            seed=args.seed,
            visualize_reward=False,
            from_pixels=(args.encoder_type == 'pixel'),
            height=args.image_size,
            width=args.image_size,
            frame_skip=args.action_repeat
        )
    return env

def save_image(array, filename):
    array = array.transpose(1, 2, 0)
    array = (array * 255).astype(np.uint8)
    image = Image.fromarray(array)
    image.save(filename)