import os import gc import copy import tqdm import wandb import random import argparse import numpy as np from collections import OrderedDict import utils from utils import ReplayBuffer, FreezeParameters, make_env, preprocess_obs, soft_update_params, save_image, shuffle_along_axis, Logger from replay_buffer import ReplayBuffer from models import ObservationEncoder, ObservationDecoder, TransitionModel, Actor, ValueModel, RewardModel, ProjectionHead, ContrastiveHead, CLUBSample from video import VideoRecorder from dmc2gym.wrappers import set_global_var import torch import torch.nn as nn import torch.nn.functional as F import torchvision.transforms as T from torch.utils.tensorboard import SummaryWriter #from agent.baseline_agent import BaselineAgent #from agent.bisim_agent import BisimAgent #from agent.deepmdp_agent import DeepMDPAgent #from agents.navigation.carla_env import CarlaEnv def parse_args(): parser = argparse.ArgumentParser() # environment parser.add_argument('--domain_name', default='cheetah') parser.add_argument('--version', default=1, type=int) parser.add_argument('--task_name', default='run') parser.add_argument('--image_size', default=84, type=int) parser.add_argument('--channels', default=3, type=int) parser.add_argument('--action_repeat', default=2, type=int) parser.add_argument('--frame_stack', default=3, type=int) parser.add_argument('--collection_interval', default=100, type=int) parser.add_argument('--resource_files', type=str) parser.add_argument('--eval_resource_files', type=str) parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none']) parser.add_argument('--total_frames', default=5000, type=int) # 10000 parser.add_argument('--high_noise', action='store_true') # replay buffer parser.add_argument('--replay_buffer_capacity', default=50000, type=int) #50000 parser.add_argument('--episode_length', default=51, type=int) # train parser.add_argument('--agent', default='dpi', type=str, choices=['baseline', 'bisim', 'deepmdp', 'db', 'dpi', 'rpc']) parser.add_argument('--init_steps', default=5000, type=int) parser.add_argument('--num_train_steps', default=100000, type=int) parser.add_argument('--update_steps', default=10, type=int) parser.add_argument('--batch_size', default=64, type=int) parser.add_argument('--state_size', default=100, type=int) parser.add_argument('--hidden_size', default=512, type=int) parser.add_argument('--history_size', default=256, type=int) parser.add_argument('--episode_collection', default=5, type=int) parser.add_argument('--episodes_buffer', default=5, type=int, help='Initial number of episodes to store in the buffer') parser.add_argument('--num-units', type=int, default=50, help='num hidden units for reward/value/discount models') parser.add_argument('--load_encoder', default=None, type=str) parser.add_argument('--imagine_horizon', default=15, type=str) parser.add_argument('--grad_clip_norm', type=float, default=100.0, help='Gradient clipping norm') # eval parser.add_argument('--eval_freq', default=10, type=int) # TODO: master had 10000 parser.add_argument('--num_eval_episodes', default=20, type=int) parser.add_argument('--evaluation_interval', default=10000, type=int) # TODO: master had 10000 # value parser.add_argument('--value_lr', default=8e-6, type=float) parser.add_argument('--value_target_update_freq', default=100, type=int) parser.add_argument('--td_lambda', default=0.95, type=int) # actor parser.add_argument('--actor_lr', default=8e-6, type=float) parser.add_argument('--actor_beta', default=0.9, type=float) parser.add_argument('--actor_log_std_min', default=-10, type=float) parser.add_argument('--actor_log_std_max', default=2, type=float) parser.add_argument('--actor_update_freq', default=2, type=int) # world/encoder/decoder parser.add_argument('--encoder_type', default='pixel', type=str, choices=['pixel', 'pixelCarla096', 'pixelCarla098', 'identity']) parser.add_argument('--world_model_lr', default=1e-6, type=float) parser.add_argument('--decoder_lr', default=6e-6, type=float) parser.add_argument('--reward_lr', default=8e-6, type=float) parser.add_argument('--encoder_tau', default=0.005, type=float) parser.add_argument('--decoder_type', default='pixel', type=str, choices=['pixel', 'identity', 'contrastive', 'reward', 'inverse', 'reconstruction']) parser.add_argument('--num_layers', default=4, type=int) parser.add_argument('--num_filters', default=32, type=int) parser.add_argument('--aug', action='store_true') # sac parser.add_argument('--discount', default=0.99, type=float) # misc parser.add_argument('--seed', default=1, type=int) parser.add_argument('--logging_freq', default=100, type=int) parser.add_argument('--saving_interval', default=2500, type=int) parser.add_argument('--work_dir', default='.', type=str) parser.add_argument('--save_tb', default=False, action='store_true') parser.add_argument('--save_model', default=False, action='store_true') parser.add_argument('--save_buffer', default=False, action='store_true') parser.add_argument('--save_video', default=False, action='store_true') parser.add_argument('--transition_model_type', default='', type=str, choices=['', 'deterministic', 'probabilistic', 'ensemble']) parser.add_argument('--render', default=False, action='store_true') args = parser.parse_args() return args class DPI: def __init__(self, args): # wandb config #run = wandb.init(project="dpi") self.args = args # set environment noise set_global_var(self.args.high_noise) # environment setup self.env = make_env(self.args) #self.args.seed = np.random.randint(0, 1000) self.env.seed(self.args.seed) self.global_episodes = 0 # noiseless environment setup self.args.version = 2 # env_id changes to v2 self.args.img_source = None # no image noise self.args.resource_files = None # stack several consecutive frames together if self.args.encoder_type.startswith('pixel'): self.env = utils.FrameStack(self.env, k=self.args.frame_stack) self.env = utils.ActionRepeat(self.env, self.args.action_repeat) self.env = utils.NormalizeActions(self.env) self.env = utils.TimeLimit(self.env, 1000 // args.action_repeat) # create replay buffer self.data_buffer = ReplayBuffer(self.args.replay_buffer_capacity, self.env.observation_space.shape, self.env.action_space.shape[0], self.args.episode_length, self.args.batch_size) # create work directory utils.make_dir(self.args.work_dir) self.video_dir = utils.make_dir(os.path.join(self.args.work_dir, 'video')) self.model_dir = utils.make_dir(os.path.join(self.args.work_dir, 'model')) self.buffer_dir = utils.make_dir(os.path.join(self.args.work_dir, 'buffer')) # create models self.build_models(use_saved=False, saved_model_dir=self.model_dir) def build_models(self, use_saved, saved_model_dir=None): # World Models self.obs_encoder = ObservationEncoder( obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size), # (9,84,84) state_size=self.args.state_size # 128 ).to(device) self.obs_encoder.apply(self.init_weights) self.obs_encoder_momentum = ObservationEncoder( obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size), # (9,84,84) state_size=self.args.state_size # 128 ).to(device) self.obs_encoder_momentum.apply(self.init_weights) self.obs_decoder = ObservationDecoder( state_size=self.args.state_size, # 128 output_shape=(self.args.channels*self.args.channels,self.args.image_size,self.args.image_size) # (3,84,84) ).to(device) self.obs_decoder.apply(self.init_weights) self.transition_model = TransitionModel( state_size=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256 action_size=self.env.action_space.shape[0], # 6 history_size=self.args.history_size, # 128 ).to(device) self.transition_model.apply(self.init_weights) # Actor Model self.actor_model = Actor( state_size=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256, action_size=self.env.action_space.shape[0], # 6 ).to(device) self.actor_model.apply(self.init_weights) # Value Models self.value_model = ValueModel( state_size=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256 ).to(device) self.value_model.apply(self.init_weights) self.target_value_model = ValueModel( state_size=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256 ).to(device) self.target_value_model.apply(self.init_weights) self.reward_model = RewardModel( state_size=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256 ).to(device) self.reward_model.apply(self.init_weights) # Contrastive Models self.prjoection_head = ProjectionHead( state_size=self.args.state_size, # 128 action_size=self.env.action_space.shape[0], # 6 hidden_size=self.args.hidden_size, # 256 ).to(device) self.prjoection_head_momentum = ProjectionHead( state_size=self.args.state_size, # 128 action_size=self.env.action_space.shape[0], # 6 hidden_size=self.args.hidden_size, # 256 ).to(device) self.contrastive_head = ContrastiveHead( hidden_size=self.args.hidden_size, # 256 ).to(device) self.club_sample = CLUBSample( x_dim=self.args.state_size, # 128 y_dim=self.args.state_size, # 128 hidden_size=self.args.hidden_size, # 256 ).to(device) # model parameters self.world_model_parameters = list(self.obs_encoder.parameters()) + list(self.prjoection_head.parameters()) + \ list(self.transition_model.parameters()) + list(self.club_sample.parameters()) + \ list(self.contrastive_head.parameters()) # optimizers self.world_model_opt = torch.optim.Adam(self.world_model_parameters, self.args.world_model_lr,eps=1e-6) self.value_opt = torch.optim.Adam(self.value_model.parameters(), self.args.value_lr,eps=1e-6) self.actor_opt = torch.optim.Adam(self.actor_model.parameters(), self.args.actor_lr,eps=1e-6) self.decoder_opt = torch.optim.Adam(self.obs_decoder.parameters(), self.args.decoder_lr,eps=1e-6) self.reward_opt = torch.optim.Adam(self.reward_model.parameters(), self.args.reward_lr,eps=1e-6) # Create Modules self.world_model_modules = [self.obs_encoder, self.prjoection_head, self.transition_model, self.club_sample, self.contrastive_head, self.obs_encoder_momentum, self.prjoection_head_momentum] self.value_modules = [self.value_model] self.actor_modules = [self.actor_model] self.decoder_modules = [self.obs_decoder] self.reward_modules = [self.reward_model] if use_saved: self._use_saved_models(saved_model_dir) def _use_saved_models(self, saved_model_dir): self.obs_encoder.load_state_dict(torch.load(os.path.join(saved_model_dir, 'obs_encoder.pt'))) self.obs_decoder.load_state_dict(torch.load(os.path.join(saved_model_dir, 'obs_decoder.pt'))) self.transition_model.load_state_dict(torch.load(os.path.join(saved_model_dir, 'transition_model.pt'))) def collect_random_sequences(self, seed_steps): obs = self.env.reset() done = False all_rews = [] self.global_episodes += 1 epi_reward = 0 for _ in tqdm.tqdm(range(seed_steps), desc='Collecting episodes'): action = self.env.action_space.sample() next_obs, rew, done, _ = self.env.step(action) self.data_buffer.add(obs, action, next_obs, rew, done) obs = next_obs epi_reward += rew if done: obs = self.env.reset() done=False all_rews.append(epi_reward) epi_reward = 0 return all_rews def collect_sequences(self, collect_steps, actor_model): obs = self.env.reset() done = False all_rews = [] self.global_episodes += 1 epi_reward = 0 for episode_count in tqdm.tqdm(range(collect_steps), desc='Collecting episodes'): with torch.no_grad(): obs_ = torch.tensor(obs.copy(), dtype=torch.float32) obs_ = preprocess_obs(obs_).to(device) #state = self.get_features(obs_)["sample"].unsqueeze(0) state = self.get_features(obs_)["distribution"].rsample() action = actor_model(state) action = actor_model.add_exploration(action) action = action.cpu().numpy()[0] next_obs, rew, done, _ = self.env.step(action) self.data_buffer.add(obs, action, next_obs, rew, done) if done: obs = self.env.reset() done = False all_rews.append(epi_reward) epi_reward = 0 else: obs = next_obs epi_reward += rew return all_rews def train(self, step, total_steps): # logger logdir = os.path.dirname(os.path.realpath(__file__)) + "/log/logs/" if not(os.path.exists(logdir)): os.makedirs(logdir) initial_logs = OrderedDict() logger = Logger(logdir) episodic_rews = self.collect_random_sequences(self.args.init_steps//args.action_repeat) self.global_step = self.data_buffer.steps initial_logs.update({ 'train_avg_reward':np.mean(episodic_rews), 'train_max_reward': np.max(episodic_rews), 'train_min_reward': np.min(episodic_rews), 'train_std_reward':np.std(episodic_rews), }) logger.log_scalars(initial_logs, step=0) logger.flush() while self.global_step < total_steps: logs = OrderedDict() step += 1 for update_steps in range(self.args.update_steps): model_loss, actor_loss, value_loss, actor_model = self.update((step-1)*args.update_steps + update_steps) initial_logs.update({ 'model_loss' : model_loss, 'actor_loss': actor_loss, 'value_loss': value_loss, 'train_avg_reward':np.mean(episodic_rews), 'train_max_reward': np.max(episodic_rews), 'train_min_reward': np.min(episodic_rews), 'train_std_reward':np.std(episodic_rews), }) logger.log_scalars(logs, self.global_step) print("########## Global Step:", self.global_step, " ##########") for key, value in initial_logs.items(): print(key, " : ", value) episodic_rews = self.collect_sequences(1000//self.args.action_repeat, actor_model) if self.global_step % 3150 == 0 and self.data_buffer.steps!=0: #self.args.evaluation_interval == 0: print("Saving model") path = os.path.dirname(os.path.realpath(__file__)) + "/saved_models/models.pth" self.save_models(path) self.evaluate() self.global_step = self.data_buffer.steps * self.args.action_repeat """ # collect experience if step !=0: encoder = self.obs_encoder actor = self.actor_model all_rews = self.collect_sequences(self.args.episode_collection, actor_model=actor, encoder_model=encoder) """ def collect_batch(self): obs_, acs_, nxt_obs_, rews_, terms_ = self.data_buffer.sample() obs = torch.tensor(obs_, dtype=torch.float32)[1:] last_obs = torch.tensor(obs_, dtype=torch.float32)[:-1] nxt_obs = torch.tensor(nxt_obs_, dtype=torch.float32)[1:] acs = torch.tensor(acs_, dtype=torch.float32)[:-1].to(device) nxt_acs = torch.tensor(acs_, dtype=torch.float32)[1:].to(device) rews = torch.tensor(rews_, dtype=torch.float32)[:-1].to(device).unsqueeze(-1) nonterms = torch.tensor((1.0-terms_), dtype=torch.float32)[:-1].to(device).unsqueeze(-1) last_obs = preprocess_obs(last_obs).to(device) obs = preprocess_obs(obs).to(device) nxt_obs = preprocess_obs(nxt_obs).to(device) return last_obs, obs, nxt_obs, acs, rews, nxt_acs, nonterms def update(self, step): last_observations, current_observations, next_observations, actions, rewards, next_actions, nonterms = self.collect_batch() #last_observations, current_observations, next_observations, actions, next_actions, rewards = self.select_one_batch() world_loss, enc_loss, rew_loss, dec_loss, ub_loss, lb_loss = self.world_model_losses(last_observations, current_observations, next_observations, actions, next_actions, rewards, nonterms) self.world_model_opt.zero_grad() world_loss.backward() nn.utils.clip_grad_norm_(self.world_model_parameters, self.args.grad_clip_norm) self.world_model_opt.step() self.decoder_opt.zero_grad() dec_loss.backward() nn.utils.clip_grad_norm_(self.obs_decoder.parameters(), self.args.grad_clip_norm) self.decoder_opt.step() self.reward_opt.zero_grad() rew_loss.backward() nn.utils.clip_grad_norm_(self.reward_model.parameters(), self.args.grad_clip_norm) self.reward_opt.step() actor_loss = self.actor_model_losses() self.actor_opt.zero_grad() actor_loss.backward() nn.utils.clip_grad_norm_(self.actor_model.parameters(), self.args.grad_clip_norm) self.actor_opt.step() value_loss = self.value_model_losses() self.value_opt.zero_grad() value_loss.backward() nn.utils.clip_grad_norm_(self.value_model.parameters(), self.args.grad_clip_norm) self.value_opt.step() # update momentum encoder and projection head soft_update_params(self.obs_encoder, self.obs_encoder_momentum, self.args.encoder_tau) soft_update_params(self.prjoection_head, self.prjoection_head_momentum, self.args.encoder_tau) # update target value networks #if step % self.args.value_target_update_freq == 0: # self.target_value_model = copy.deepcopy(self.value_model) if step % self.args.logging_freq: writer.add_scalar('World Loss/World Loss', world_loss.detach().item(), step) writer.add_scalar('Main Models Loss/Encoder Loss', enc_loss.detach().item(), step) writer.add_scalar('Main Models Loss/Decoder Loss', dec_loss.detach().item(), step) writer.add_scalar('Actor Critic Loss/Actor Loss', actor_loss.detach().item(), step) writer.add_scalar('Actor Critic Loss/Value Loss', value_loss.detach().item(), step) writer.add_scalar('Actor Critic Loss/Reward Loss', rew_loss.detach().item(), step) writer.add_scalar('Bound Loss/Upper Bound Loss', ub_loss.detach().item(), step) writer.add_scalar('Bound Loss/Lower Bound Loss', -lb_loss.detach().item(), step) return world_loss.item(), actor_loss.item(), value_loss.item(), self.actor_model def world_model_losses(self, last_obs, curr_obs, nxt_obs, actions, nxt_actions, rewards, nonterms): # get features self.last_state_feat = self.get_features(last_obs) self.curr_state_feat = self.get_features(curr_obs) self.nxt_state_feat = self.get_features(nxt_obs) self.nxt_state_feat_lb = self.get_features(nxt_obs, momentum=True) # states self.last_state_enc = self.last_state_feat["distribution"].rsample() #self.last_state_feat["sample"] self.curr_state_enc = self.curr_state_feat["distribution"].rsample() #self.curr_state_feat["sample"] self.nxt_state_enc = self.nxt_state_feat["distribution"].rsample() #self.nxt_state_feat["sample"] self.nxt_state_enc_lb = self.nxt_state_feat_lb["distribution"].rsample() #self.nxt_state_feat_lb["sample"] # predict next states self.transition_model.init_states(self.args.batch_size, device) # (N,128) self.observed_rollout = self.transition_model.observe_rollout(self.last_state_enc, actions, self.transition_model.prev_history, nonterms) self.pred_curr_state_dist = self.transition_model.get_dist(self.observed_rollout["mean"], self.observed_rollout["std"]) self.pred_curr_state_enc = self.pred_curr_state_dist.rsample() #self.observed_rollout["sample"] # encoder loss enc_loss = self._encoder_loss(self.curr_state_feat["distribution"], self.pred_curr_state_dist) # reward loss rew_dist = self.reward_model(self.curr_state_enc.detach()) #print(torch.cat([rew_dist.mean[0], rewards[0]],dim=-1)) rew_loss = -torch.mean(rew_dist.log_prob(rewards)) # decoder loss dec_dist = self.obs_decoder(self.nxt_state_enc.detach()) dec_loss = -torch.mean(dec_dist.log_prob(nxt_obs)) # upper bound loss past_ub_loss = 0 for i in range(self.curr_state_enc.shape[0]): _, ub_loss = self._upper_bound_minimization(self.curr_state_enc[i], self.pred_curr_state_enc[i]) ub_loss = ub_loss + past_ub_loss past_ub_loss = ub_loss ub_loss = ub_loss / self.curr_state_enc.shape[0] ub_loss = 1 * ub_loss # lower bound loss # contrastive projection vec_anchor = self.pred_curr_state_enc.detach() vec_positive = self.nxt_state_enc_lb.detach() z_anchor = self.prjoection_head(vec_anchor, nxt_actions) z_positive = self.prjoection_head_momentum(vec_positive, nxt_actions) # contrastive loss past_lb_loss = 0 for i in range(z_anchor.shape[0]): logits = self.contrastive_head(z_anchor[i], z_positive[i]) labels = torch.arange(logits.shape[0]).long().to(device) lb_loss = F.cross_entropy(logits, labels) + past_lb_loss past_lb_loss = lb_loss.detach().item() lb_loss = -0.01 * lb_loss/(z_anchor.shape[0]) world_loss = enc_loss + ub_loss + lb_loss return world_loss, enc_loss , rew_loss, dec_loss, ub_loss, lb_loss def actor_model_losses(self): with torch.no_grad(): #curr_state_enc = self.curr_state_enc.reshape(self.args.episode_length-1,-1) #self.transition_model.seq_to_batch(self.curr_state_feat, "sample")["sample"] #curr_state_hist = self.observed_rollout["history"].reshape(self.args.episode_length-1,-1) #self.transition_model.seq_to_batch(self.observed_rollout, "history")["sample"] curr_state_enc = self.curr_state_enc.reshape(-1, self.args.state_size) curr_state_hist = self.observed_rollout["history"].reshape(-1, self.args.history_size) with FreezeParameters(self.world_model_modules + self.decoder_modules + self.reward_modules + self.value_modules): imagine_horizon = self.args.imagine_horizon action = self.actor_model(curr_state_enc.detach()) self.imagined_rollout = self.transition_model.imagine_rollout(curr_state_enc, action, curr_state_hist.detach(), imagine_horizon) self.pred_nxt_state_dist = self.transition_model.get_dist(self.imagined_rollout["mean"], self.imagined_rollout["std"]) self.pred_nxt_state_enc = self.pred_nxt_state_dist.rsample() #self.transition_model.reparemeterize(self.imagined_rollout["mean"], self.imagined_rollout["std"]) with FreezeParameters(self.world_model_modules + self.value_modules + self.decoder_modules + self.reward_modules): imag_rewards_dist = self.reward_model(self.pred_nxt_state_enc) imag_values_dist = self.value_model(self.pred_nxt_state_enc) imag_rewards = imag_rewards_dist.mean imag_values = imag_values_dist.mean #print(torch.cat([imag_rewards[0], imag_values[0]],dim=-1)) discounts = self.args.discount * torch.ones_like(imag_rewards).detach() self.returns = self._compute_lambda_return(imag_rewards[:-1], imag_values[:-1], discounts[:-1] , self.args.td_lambda, imag_values[-1]) discounts = torch.cat([torch.ones_like(discounts[:1]), discounts[1:-1]], 0) self.discounts = torch.cumprod(discounts, 0).detach() actor_loss = -torch.mean(self.discounts * self.returns) return actor_loss def value_model_losses(self): with torch.no_grad(): value_feat = self.pred_nxt_state_enc[:-1].detach() value_targ = self.returns.detach() value_dist = self.value_model(value_feat) value_loss = -torch.mean(self.discounts * value_dist.log_prob(value_targ).unsqueeze(-1)) return value_loss def select_one_batch(self): # collect sequences non_zero_indices = np.nonzero(self.data_buffer.episode_count)[0] current_obs = self.data_buffer.observations[non_zero_indices] next_obs = self.data_buffer.next_observations[non_zero_indices] actions_raw = self.data_buffer.actions[non_zero_indices] rewards = self.data_buffer.rewards[non_zero_indices] self.terms = np.where(self.data_buffer.terminals[non_zero_indices]!=False)[0] # group by episodes current_obs = self.grouped_arrays(current_obs) next_obs = self.grouped_arrays(next_obs) actions_raw = self.grouped_arrays(actions_raw) rewards_ = self.grouped_arrays(rewards) # select random chunks of episodes if current_obs.shape[0] < self.args.batch_size: random_episode_number = np.random.randint(0, current_obs.shape[0], self.args.batch_size) else: random_episode_number = random.sample(range(current_obs.shape[0]), self.args.batch_size) # select random starting points if current_obs[0].shape[0]-self.args.episode_length < self.args.batch_size: init_index = np.random.randint(0, current_obs[0].shape[0]-self.args.episode_length-2, self.args.batch_size) else: init_index = np.asarray(random.sample(range(current_obs[0].shape[0]-self.args.episode_length), self.args.batch_size)) # shuffle random.shuffle(random_episode_number) random.shuffle(init_index) # select first k elements last_observations = self.select_first_k(current_obs, init_index, random_episode_number)[:-1] current_observations = self.select_first_k(current_obs, init_index, random_episode_number)[1:] next_observations = self.select_first_k(next_obs, init_index, random_episode_number)[:-1] actions = self.select_first_k(actions_raw, init_index, random_episode_number)[:-1].to(device) next_actions = self.select_first_k(actions_raw, init_index, random_episode_number)[1:].to(device) rewards = self.select_first_k(rewards_, init_index, random_episode_number)[:-1].to(device) # preprocessing last_observations = preprocess_obs(last_observations).to(device) current_observations = preprocess_obs(current_observations).to(device) next_observations = preprocess_obs(next_observations).to(device) return last_observations, current_observations, next_observations, actions, next_actions, rewards def evaluate(self, eval_episodes=10): path = path = os.path.dirname(os.path.realpath(__file__)) + "/saved_models/models.pth" self.restore_checkpoint(path) obs = self.env.reset() done = False #video = VideoRecorder(self.video_dir, resource_files=self.args.resource_files) if self.args.save_video: self.env.video.init(enabled=True) episodic_rewards = [] for episode in range(eval_episodes): rewards = 0 done = False while not done: with torch.no_grad(): obs = torch.tensor(obs.copy(), dtype=torch.float32).unsqueeze(0) obs_processed = preprocess_obs(obs).to(device) state = self.get_features(obs_processed)["distribution"].rsample() action = self.actor_model(state).cpu().detach().numpy().squeeze() next_obs, rew, done, _ = self.env.step(action) rewards += rew obs = next_obs if self.args.save_video: self.env.video.record(self.env) self.env.video.save('/home/vedant/Curiosity/Curiosity/DPI/log/video/learned_model.mp4') obs = self.env.reset() episodic_rewards.append(rewards) print("Episodic rewards: ", episodic_rewards) print("Average episodic reward: ", np.mean(episodic_rewards)) def init_weights(self, m): if isinstance(m, nn.Linear): torch.nn.init.xavier_uniform_(m.weight) m.bias.data.fill_(0.01) def grouped_arrays(self,array): indices = [0] + self.terms.tolist() def subarrays(): for start, end in zip(indices[:-1], indices[1:]): yield array[start:end] try: subarrays = np.stack(list(subarrays()), axis=0) except ValueError: subarrays = np.asarray(list(subarrays())) return subarrays def select_first_k(self, array, init_index, episode_number): term_index = init_index + self.args.episode_length array = array[episode_number] array_list = [] for i in range(array.shape[0]): array_list.append(array[i][init_index[i]:term_index[i]]) array = np.asarray(array_list) if array.ndim == 5: transposed_array = np.transpose(array, (1, 0, 2, 3, 4)) elif array.ndim == 4: transposed_array = np.transpose(array, (1, 0, 2, 3)) elif array.ndim == 3: transposed_array = np.transpose(array, (1, 0, 2)) elif array.ndim == 2: transposed_array = np.transpose(array, (1, 0)) else: transposed_array = np.expand_dims(array, axis=0) #return torch.tensor(array).float() return torch.tensor(transposed_array).float() def _upper_bound_minimization(self, current_states, predicted_current_states): current_negative_states = shuffle_along_axis(current_states.clone(), axis=0) current_negative_states = shuffle_along_axis(current_negative_states, axis=1) club_loss = self.club_sample(current_states, predicted_current_states, current_negative_states) likelihood_loss = 0 return likelihood_loss, club_loss def _encoder_loss(self, curr_states_dist, predicted_curr_states_dist): # KL divergence loss loss = torch.mean(torch.distributions.kl.kl_divergence(curr_states_dist,predicted_curr_states_dist)) return loss def get_features(self, x, momentum=False): if self.args.aug: crop_transform = T.RandomCrop(size=80) cropped_x = torch.stack([crop_transform(x[i]) for i in range(x.size(0))]) padding = (2, 2, 2, 2) x = F.pad(cropped_x, padding) with torch.no_grad(): if momentum: x = self.obs_encoder_momentum(x) else: x = self.obs_encoder(x) return x def _compute_lambda_return(self, rewards, values, discounts, td_lam, last_value): next_values = torch.cat([values[1:], last_value[None]], 0) target = rewards + discounts * next_values * (1 - td_lam) timesteps = list(range(rewards.shape[0] - 1, -1, -1)) outputs = [] accumulated_reward = last_value for t in timesteps: inp = target[t] discount_factor = discounts[t] accumulated_reward = inp + discount_factor * td_lam * accumulated_reward outputs.append(accumulated_reward) returns = torch.flip(torch.stack(outputs), [0]) return returns """ next_values = torch.cat([values[1:], last_value.unsqueeze(0)],0) targets = rewards + discounts * next_values * (1-td_lam) rets =[] last_rew = last_value for t in range(rewards.shape[0]-1, -1, -1): last_rew = targets[t] + discounts[t] * td_lam *(last_rew) rets.append(last_rew) returns = torch.flip(torch.stack(rets), [0]) return returns """ def lambda_return(self,imged_reward, value_pred, bootstrap, discount=0.99, lambda_=0.95): # Setting lambda=1 gives a discounted Monte Carlo return. # Setting lambda=0 gives a fixed 1-step return. next_values = torch.cat([value_pred[1:], bootstrap[None]], 0) discount_tensor = discount * torch.ones_like(imged_reward) # pcont inputs = imged_reward + discount_tensor * next_values * (1 - lambda_) last = bootstrap indices = reversed(range(len(inputs))) outputs = [] for index in indices: inp, disc = inputs[index], discount_tensor[index] last = inp + disc * lambda_ * last outputs.append(last) outputs = list(reversed(outputs)) outputs = torch.stack(outputs, 0) returns = outputs return returns def save_models(self, save_path): torch.save( {'rssm' : self.transition_model.state_dict(), 'actor': self.actor_model.state_dict(), 'reward_model': self.reward_model.state_dict(), 'obs_encoder': self.obs_encoder.state_dict(), 'obs_decoder': self.obs_decoder.state_dict(), 'actor_optimizer': self.actor_opt.state_dict(), 'value_optimizer': self.value_opt.state_dict(), 'world_model_optimizer': self.world_model_opt.state_dict(),}, save_path) def restore_checkpoint(self, ckpt_path): checkpoint = torch.load(ckpt_path) self.transition_model.load_state_dict(checkpoint['rssm']) self.actor_model.load_state_dict(checkpoint['actor']) self.reward_model.load_state_dict(checkpoint['reward_model']) self.obs_encoder.load_state_dict(checkpoint['obs_encoder']) self.obs_decoder.load_state_dict(checkpoint['obs_decoder']) self.world_model_opt.load_state_dict(checkpoint['world_model_optimizer']) self.actor_opt.load_state_dict(checkpoint['actor_optimizer']) self.value_opt.load_state_dict(checkpoint['value_optimizer']) if __name__ == '__main__': args = parse_args() writer = SummaryWriter() device = torch.device('cuda:0' if torch.cuda.is_available() else 'cpu') step = 0 total_steps = 2000000 dpi = DPI(args) dpi.train(step,total_steps) dpi.evaluate()