# 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 numpy as np import torch import torch.nn as nn import torch.nn.functional as F import utils from sac_ae import Actor, Critic, weight_init, LOG_FREQ from transition_model import make_transition_model from decoder import make_decoder class DeepMDPAgent(object): """Baseline algorithm with transition model and various decoder types.""" def __init__( self, obs_shape, action_shape, device, hidden_dim=256, discount=0.99, init_temperature=0.01, alpha_lr=1e-3, alpha_beta=0.9, actor_lr=1e-3, actor_beta=0.9, actor_log_std_min=-10, actor_log_std_max=2, actor_update_freq=2, encoder_stride=2, critic_lr=1e-3, critic_beta=0.9, critic_tau=0.005, critic_target_update_freq=2, encoder_type='pixel', encoder_feature_dim=50, encoder_lr=1e-3, encoder_tau=0.005, decoder_type='pixel', decoder_lr=1e-3, decoder_update_freq=1, decoder_weight_lambda=0.0, transition_model_type='deterministic', num_layers=4, num_filters=32 ): self.reconstruction = False if decoder_type == 'reconstruction': decoder_type = 'pixel' self.reconstruction = True self.device = device self.discount = discount self.critic_tau = critic_tau self.encoder_tau = encoder_tau self.actor_update_freq = actor_update_freq self.critic_target_update_freq = critic_target_update_freq self.decoder_update_freq = decoder_update_freq self.decoder_type = decoder_type self.actor = Actor( obs_shape, action_shape, hidden_dim, encoder_type, encoder_feature_dim, actor_log_std_min, actor_log_std_max, num_layers, num_filters, encoder_stride ).to(device) self.critic = Critic( obs_shape, action_shape, hidden_dim, encoder_type, encoder_feature_dim, num_layers, num_filters, encoder_stride ).to(device) self.critic_target = Critic( obs_shape, action_shape, hidden_dim, encoder_type, encoder_feature_dim, num_layers, num_filters, encoder_stride ).to(device) self.critic_target.load_state_dict(self.critic.state_dict()) self.transition_model = make_transition_model( transition_model_type, encoder_feature_dim, action_shape ).to(device) self.reward_decoder = nn.Sequential( nn.Linear(encoder_feature_dim + action_shape[0], 512), nn.LayerNorm(512), nn.ReLU(), nn.Linear(512, 1)).to(device) decoder_params = list(self.transition_model.parameters()) + list(self.reward_decoder.parameters()) # tie encoders between actor and critic self.actor.encoder.copy_conv_weights_from(self.critic.encoder) self.log_alpha = torch.tensor(np.log(init_temperature)).to(device) self.log_alpha.requires_grad = True # set target entropy to -|A| self.target_entropy = -np.prod(action_shape) self.decoder = None if decoder_type == 'pixel': # create decoder self.decoder = make_decoder( decoder_type, obs_shape, encoder_feature_dim, num_layers, num_filters ).to(device) self.decoder.apply(weight_init) decoder_params += list(self.decoder.parameters()) self.decoder_optimizer = torch.optim.Adam( decoder_params, lr=decoder_lr, weight_decay=decoder_weight_lambda ) # optimizer for critic encoder for reconstruction loss self.encoder_optimizer = torch.optim.Adam( self.critic.encoder.parameters(), lr=encoder_lr ) # optimizers self.actor_optimizer = torch.optim.Adam( self.actor.parameters(), lr=actor_lr, betas=(actor_beta, 0.999) ) self.critic_optimizer = torch.optim.Adam( self.critic.parameters(), lr=critic_lr, betas=(critic_beta, 0.999) ) self.log_alpha_optimizer = torch.optim.Adam( [self.log_alpha], lr=alpha_lr, betas=(alpha_beta, 0.999) ) self.train() self.critic_target.train() def train(self, training=True): self.training = training self.actor.train(training) self.critic.train(training) if self.decoder is not None: self.decoder.train(training) @property def alpha(self): return self.log_alpha.exp() def select_action(self, obs): with torch.no_grad(): obs = torch.FloatTensor(obs).to(self.device) obs = obs.unsqueeze(0) mu, _, _, _ = self.actor( obs, compute_pi=False, compute_log_pi=False ) return mu.cpu().data.numpy().flatten() def sample_action(self, obs): with torch.no_grad(): obs = torch.FloatTensor(obs).to(self.device) obs = obs.unsqueeze(0) mu, pi, _, _ = self.actor(obs, compute_log_pi=False) return pi.cpu().data.numpy().flatten() def update_critic(self, obs, action, reward, next_obs, not_done, L, step): with torch.no_grad(): _, policy_action, log_pi, _ = self.actor(next_obs) target_Q1, target_Q2 = self.critic_target(next_obs, policy_action) target_V = torch.min(target_Q1, target_Q2) - self.alpha.detach() * log_pi target_Q = reward + (not_done * self.discount * target_V) # get current Q estimates current_Q1, current_Q2 = self.critic(obs, action, detach_encoder=False) critic_loss = F.mse_loss(current_Q1, target_Q) + F.mse_loss(current_Q2, target_Q) L.log('train_critic/loss', critic_loss, step) # Optimize the critic self.critic_optimizer.zero_grad() critic_loss.backward() self.critic_optimizer.step() self.critic.log(L, step) def update_actor_and_alpha(self, obs, L, step): # detach encoder, so we don't update it with the actor loss _, pi, log_pi, log_std = self.actor(obs, detach_encoder=True) actor_Q1, actor_Q2 = self.critic(obs, pi, detach_encoder=True) actor_Q = torch.min(actor_Q1, actor_Q2) actor_loss = (self.alpha.detach() * log_pi - actor_Q).mean() L.log('train_actor/loss', actor_loss, step) L.log('train_actor/target_entropy', self.target_entropy, step) entropy = 0.5 * log_std.shape[1] * (1.0 + np.log(2 * np.pi) ) + log_std.sum(dim=-1) L.log('train_actor/entropy', entropy.mean(), step) # optimize the actor self.actor_optimizer.zero_grad() actor_loss.backward() self.actor_optimizer.step() self.actor.log(L, step) self.log_alpha_optimizer.zero_grad() alpha_loss = (self.alpha * (-log_pi - self.target_entropy).detach()).mean() L.log('train_alpha/loss', alpha_loss, step) L.log('train_alpha/value', self.alpha, step) alpha_loss.backward() self.log_alpha_optimizer.step() def update_transition_reward_model(self, obs, action, next_obs, reward, L, step): h = self.critic.encoder(obs) pred_next_latent_mu, pred_next_latent_sigma = self.transition_model(torch.cat([h, action], dim=1)) if pred_next_latent_sigma is None: pred_next_latent_sigma = torch.ones_like(pred_next_latent_mu) next_h = self.critic.encoder(next_obs) diff = (pred_next_latent_mu - next_h.detach()) / pred_next_latent_sigma loss = torch.mean(0.5 * diff.pow(2) + torch.log(pred_next_latent_sigma)) L.log('train_ae/transition_loss', loss, step) pred_next_reward = self.reward_decoder(torch.cat([h, action], dim=1)) reward_loss = F.mse_loss(pred_next_reward, reward) total_loss = loss + reward_loss self.encoder_optimizer.zero_grad() self.decoder_optimizer.zero_grad() total_loss.backward() self.encoder_optimizer.step() self.decoder_optimizer.step() def update_decoder(self, obs, action, target_obs, L, step): # uses transition model # image might be stacked, just grab the first 3 (rgb)! assert target_obs.dim() == 4 target_obs = target_obs[:, :3, :, :] h = self.critic.encoder(obs) if not self.reconstruction: next_h = self.transition_model.sample_prediction(torch.cat([h, action], dim=1)) if target_obs.dim() == 4: # preprocess images to be in [-0.5, 0.5] range target_obs = utils.preprocess_obs(target_obs) rec_obs = self.decoder(next_h) loss = F.mse_loss(target_obs, rec_obs) else: rec_obs = self.decoder(h) loss = F.mse_loss(obs, rec_obs) self.encoder_optimizer.zero_grad() self.decoder_optimizer.zero_grad() loss.backward() self.encoder_optimizer.step() self.decoder_optimizer.step() L.log('train_ae/ae_loss', loss, step) self.decoder.log(L, step, log_freq=LOG_FREQ) def update(self, replay_buffer, L, step): obs, action, _, reward, next_obs, not_done = replay_buffer.sample() L.log('train/batch_reward', reward.mean(), step) self.update_critic(obs, action, reward, next_obs, not_done, L, step) self.update_transition_reward_model(obs, action, next_obs, reward, L, step) if step % self.actor_update_freq == 0: self.update_actor_and_alpha(obs, L, step) if step % self.critic_target_update_freq == 0: utils.soft_update_params( self.critic.Q1, self.critic_target.Q1, self.critic_tau ) utils.soft_update_params( self.critic.Q2, self.critic_target.Q2, self.critic_tau ) utils.soft_update_params( self.critic.encoder, self.critic_target.encoder, self.encoder_tau ) if self.decoder is not None and step % self.decoder_update_freq == 0: # decoder_type is pixel self.update_decoder(obs, action, next_obs, L, step) def save(self, model_dir, step): torch.save( self.actor.state_dict(), '%s/actor_%s.pt' % (model_dir, step) ) torch.save( self.critic.state_dict(), '%s/critic_%s.pt' % (model_dir, step) ) if self.decoder is not None: torch.save( self.decoder.state_dict(), '%s/decoder_%s.pt' % (model_dir, step) ) def load(self, model_dir, step): self.actor.load_state_dict( torch.load('%s/actor_%s.pt' % (model_dir, step)) ) self.critic.load_state_dict( torch.load('%s/critic_%s.pt' % (model_dir, step)) ) if self.decoder is not None: self.decoder.load_state_dict( torch.load('%s/decoder_%s.pt' % (model_dir, step)) )