Adding files

logger.py

@@ -7,7 +7,6 @@ import torch
 import torchvision
 import numpy as np
 from termcolor import colored
-from datetime import datetime
 
 FORMAT_CONFIG = {
     'rl': {
@@ -94,10 +93,8 @@ class MetersGroup(object):
 class Logger(object):
     def __init__(self, log_dir, use_tb=True, config='rl'):
         self._log_dir = log_dir
-        now = datetime.now()
-        dt_string = now.strftime("%d_%m_%Y-%H_%M_%S")
         if use_tb:
-            tb_dir = os.path.join(log_dir, 'runs/tb_'+dt_string)
+            tb_dir = os.path.join(log_dir, 'tb')
             if os.path.exists(tb_dir):
                 shutil.rmtree(tb_dir)
             self._sw = SummaryWriter(tb_dir)

sac_ae.py

@@ -6,7 +6,7 @@ import copy
 import math
 
 import utils
-from encoder import make_encoder, club_loss, TransitionModel
+from encoder import make_encoder
 from decoder import make_decoder
 
 LOG_FREQ = 10000
@@ -70,8 +70,10 @@ class Actor(nn.Module):
         self.outputs = dict()
         self.apply(weight_init)
 
-    def forward(self, obs, compute_pi=True, compute_log_pi=True, detach_encoder=False):
+    def forward(
-        obs, _, _ = self.encoder(obs, detach=detach_encoder)
+        self, obs, compute_pi=True, compute_log_pi=True, detach_encoder=False
+    ):
+        obs = self.encoder(obs, detach=detach_encoder)
 
         mu, log_std = self.trunk(obs).chunk(2, dim=-1)
 
@@ -98,6 +100,7 @@ class Actor(nn.Module):
             log_pi = None
 
         mu, pi, log_pi = squash(mu, pi, log_pi)
+
         return mu, pi, log_pi, log_std
 
     def log(self, L, step, log_freq=LOG_FREQ):
@@ -156,7 +159,7 @@ class Critic(nn.Module):
 
     def forward(self, obs, action, detach_encoder=False):
         # detach_encoder allows to stop gradient propogation to encoder
-        obs, _ , _ = self.encoder(obs, detach=detach_encoder)
+        obs = self.encoder(obs, detach=detach_encoder)
 
         q1 = self.Q1(obs, action)
         q2 = self.Q2(obs, action)
@@ -179,52 +182,6 @@ class Critic(nn.Module):
             L.log_param('train_critic/q1_fc%d' % i, self.Q1.trunk[i * 2], step)
             L.log_param('train_critic/q2_fc%d' % i, self.Q2.trunk[i * 2], step)
 
-class CURL(nn.Module):
-    """
-    CURL
-    """
-
-    def __init__(self, obs_shape, z_dim, a_dim, batch_size, critic, critic_target, output_type="continuous"):
-        super(CURL, self).__init__()
-        self.batch_size = batch_size
-
-        self.encoder = critic.encoder
-
-        self.encoder_target = critic_target.encoder 
-
-        self.W = nn.Parameter(torch.rand(z_dim, z_dim))
-        self.combine = nn.Linear(z_dim + a_dim, z_dim)
-        self.output_type = output_type
-
-    def encode(self, x, a=None, detach=False, ema=False):
-        """
-        Encoder: z_t = e(x_t)
-        :param x: x_t, x y coordinates
-        :return: z_t, value in r2
-        """
-        if ema:
-            with torch.no_grad():
-                z_out = self.encoder_target(x)[0]
-                z_out = self.combine(torch.concat((z_out,a), dim=-1))
-        else:
-            z_out = self.encoder(x)[0]
-
-        if detach:
-            z_out = z_out.detach()
-        return z_out
-
-    def compute_logits(self, z_a, z_pos):
-        """
-        Uses logits trick for CURL:
-        - compute (B,B) matrix z_a (W z_pos.T)
-        - positives are all diagonal elements
-        - negatives are all other elements
-        - to compute loss use multiclass cross entropy with identity matrix for labels
-        """
-        Wz = torch.matmul(self.W, z_pos.T)  # (z_dim,B)
-        logits = torch.matmul(z_a, Wz)  # (B,B)
-        logits = logits - torch.max(logits, 1)[0][:, None]
-        return logits
 
 class SacAeAgent(object):
     """SAC+AE algorithm."""
@@ -268,12 +225,6 @@ class SacAeAgent(object):
         self.decoder_update_freq = decoder_update_freq
         self.decoder_latent_lambda = decoder_latent_lambda
 
-        self.transition_model = TransitionModel(
-            encoder_feature_dim, 
-            hidden_dim, 
-            action_shape[0], 
-            encoder_feature_dim).to(device)
-
         self.actor = Actor(
             obs_shape, action_shape, hidden_dim, encoder_type,
             encoder_feature_dim, actor_log_std_min, actor_log_std_max,
@@ -300,11 +251,6 @@ class SacAeAgent(object):
         # set target entropy to -|A|
         self.target_entropy = -np.prod(action_shape)
 
-        self.CURL = CURL(obs_shape, encoder_feature_dim, action_shape[0],
-                         obs_shape[0], self.critic,self.critic_target, output_type='continuous').to(self.device)
-        
-        self.cross_entropy_loss = nn.CrossEntropyLoss()
-
         self.decoder = None
         if decoder_type != 'identity':
             # create decoder
@@ -335,10 +281,6 @@ class SacAeAgent(object):
             self.critic.parameters(), lr=critic_lr, betas=(critic_beta, 0.999)
         )
 
-        self.cpc_optimizer = torch.optim.Adam(
-                self.CURL.parameters(), lr=encoder_lr
-        )
-        
         self.log_alpha_optimizer = torch.optim.Adam(
             [self.log_alpha], lr=alpha_lr, betas=(alpha_beta, 0.999)
         )
@@ -387,6 +329,7 @@ class SacAeAgent(object):
                                  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()
@@ -423,38 +366,12 @@ class SacAeAgent(object):
         alpha_loss.backward()
         self.log_alpha_optimizer.step()
 
-    def update_decoder(self, last_obs, last_action, last_reward, curr_obs, last_not_done, action, reward, next_obs, not_done, target_obs, L, step):
+    def update_decoder(self, obs, target_obs, L, step):
-        h_curr, mu_h_curr, std_h_curr = self.critic.encoder(curr_obs)
+        h = self.critic.encoder(obs)
-
-        with torch.no_grad():
-            h_last, _, _ = self.critic.encoder(last_obs)
-            self.transition_model.init_states(last_obs.shape[0], self.device)
-            curr_state = self.transition_model.transition_step(h_last, last_action, self.transition_model.prev_history, last_not_done)
-
-            hist = curr_state["history"]
-            next_state = self.transition_model.transition_step(h_curr, action, hist, not_done)
-
-            next_state_mu = next_state["mean"]
-            next_state_sigma = next_state["std"]
-            next_state_sample = next_state["sample"]
-            pred_dist = torch.distributions.Normal(next_state_mu, next_state_sigma)
-        
-        h, mu_h_next, logstd_h_next = self.critic.encoder(next_obs)
-        std_h_next = torch.exp(logstd_h_next)
-        enc_dist = torch.distributions.Normal(mu_h_next, std_h_next)
-        enc_loss = torch.mean(torch.distributions.kl.kl_divergence(enc_dist,pred_dist)) * 0.1
-
-        z_pos = self.CURL.encode(next_obs, action.detach(), ema=True)
-        logits = self.CURL.compute_logits(h_curr, z_pos)
-        labels = torch.arange(logits.shape[0]).long().to(self.device)
-        lb_loss = self.cross_entropy_loss(logits, labels) * 0.1
-
-        ub_loss = club_loss(h, mu_h_next, logstd_h_next, next_state_sample) * 0.1
 
         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(h)
         rec_loss = F.mse_loss(target_obs, rec_obs)
 
@@ -462,35 +379,26 @@ class SacAeAgent(object):
         # see https://arxiv.org/pdf/1903.12436.pdf
         latent_loss = (0.5 * h.pow(2).sum(1)).mean()
 
-        loss = rec_loss + enc_loss + lb_loss + ub_loss #self.decoder_latent_lambda * latent_loss
+        loss = rec_loss + self.decoder_latent_lambda * latent_loss
         self.encoder_optimizer.zero_grad()
         self.decoder_optimizer.zero_grad()
-        self.cpc_optimizer.zero_grad()
         loss.backward()
 
         self.encoder_optimizer.step()
         self.decoder_optimizer.step()
-        self.cpc_optimizer.step()
         L.log('train_ae/ae_loss', loss, step)
-        L.log('train_ae/lb_loss', lb_loss, step)
-        L.log('train_ae/ub_loss', ub_loss, step)
-        L.log('train_ae/enc_loss', enc_loss, step)
-        L.log('train_ae/dec_loss', rec_loss, step)
 
         self.decoder.log(L, step, log_freq=LOG_FREQ)
 
     def update(self, replay_buffer, L, step):
-        last_obs, last_action, last_reward, curr_obs, last_not_done, action, reward, next_obs, not_done = replay_buffer.sample()
+        obs, action, reward, next_obs, not_done = replay_buffer.sample()
-        #obs, action, reward, next_obs, not_done = replay_buffer.sample()
 
-        L.log('train/batch_reward', last_reward.mean(), step)
+        L.log('train/batch_reward', reward.mean(), step)
 
-        #self.update_critic(last_obs, last_action, last_reward, curr_obs, last_not_done, L, step)
+        self.update_critic(obs, action, reward, next_obs, not_done, L, step)
-        self.update_critic(curr_obs, action, reward, next_obs, not_done, L, step)
 
         if step % self.actor_update_freq == 0:
-            #self.update_actor_and_alpha(last_obs, L, step)
+            self.update_actor_and_alpha(obs, L, step)
-            self.update_actor_and_alpha(curr_obs, L, step)
 
         if step % self.critic_target_update_freq == 0:
             utils.soft_update_params(
@@ -505,7 +413,7 @@ class SacAeAgent(object):
             )
 
         if self.decoder is not None and step % self.decoder_update_freq == 0:
-            self.update_decoder(last_obs, last_action, last_reward, curr_obs, last_not_done, action, reward, next_obs, not_done, next_obs, L, step)
+            self.update_decoder(obs, obs, L, step)
 
     def save(self, model_dir, step):
         torch.save(

train.py

@@ -26,16 +26,13 @@ def parse_args():
     parser.add_argument('--image_size', default=84, type=int)
     parser.add_argument('--action_repeat', default=1, type=int)
     parser.add_argument('--frame_stack', default=3, type=int)
-    parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
-    parser.add_argument('--resource_files', type=str)
-    parser.add_argument('--total_frames', default=10000, type=int)
     # replay buffer
     parser.add_argument('--replay_buffer_capacity', default=1000000, type=int)
     # train
     parser.add_argument('--agent', default='sac_ae', type=str)
     parser.add_argument('--init_steps', default=1000, type=int)
     parser.add_argument('--num_train_steps', default=1000000, type=int)
-    parser.add_argument('--batch_size', default=512, type=int)
+    parser.add_argument('--batch_size', default=128, type=int)
     parser.add_argument('--hidden_dim', default=1024, type=int)
     # eval
     parser.add_argument('--eval_freq', default=10000, type=int)
@@ -146,10 +143,7 @@ def main():
         from_pixels=(args.encoder_type == 'pixel'),
         height=args.image_size,
         width=args.image_size,
-        frame_skip=args.action_repeat,
+        frame_skip=args.action_repeat
-        img_source=args.img_source,
-        resource_files=args.resource_files,
-        total_frames=args.total_frames
     )
     env.seed(args.seed)
 
@@ -218,65 +212,28 @@ def main():
 
             L.log('train/episode', episode, step)
 
-        if episode_step == 0:
-            last_obs = obs
-            # sample action for data collection
-            if step < args.init_steps:
-                last_action = env.action_space.sample()
-            else:
-                with utils.eval_mode(agent):
-                    last_action = agent.sample_action(last_obs)
-            
-            curr_obs, last_reward, last_done, _ = env.step(last_action)
-
-            # allow infinit bootstrap
-            last_done_bool = 0 if episode_step + 1 == env._max_episode_steps else float(last_done)
-            episode_reward += last_reward
-
-            # sample action for data collection
-            if step < args.init_steps:
-                action = env.action_space.sample()
-            else:
-                with utils.eval_mode(agent):
-                    action = agent.sample_action(curr_obs)
-            
-            next_obs, reward, done, _ = env.step(action)
-
-            # allow infinit bootstrap
-            done_bool = 0 if episode_step + 1 == env._max_episode_steps else float(done)
-            episode_reward += reward
-
-            replay_buffer.add(last_obs, last_action, last_reward, curr_obs, last_done_bool, action, reward, next_obs, done_bool)
-
-        last_obs = curr_obs
-        last_action = action
-        last_reward = reward
-        last_done = done
-        curr_obs = next_obs
-
         # sample action for data collection
         if step < args.init_steps:
             action = env.action_space.sample()
         else:
             with utils.eval_mode(agent):
-                action = agent.sample_action(curr_obs)
+                action = agent.sample_action(obs)
-
 
         # run training update
         if step >= args.init_steps:
-            #num_updates = args.init_steps if step == args.init_steps else 1
+            num_updates = args.init_steps if step == args.init_steps else 1
-            num_updates = 1 if step == args.init_steps else 1
             for _ in range(num_updates):
                 agent.update(replay_buffer, L, step)
 
         next_obs, reward, done, _ = env.step(action)
 
         # allow infinit bootstrap
-        done_bool = 0 if episode_step + 1 == env._max_episode_steps else float(done)
+        done_bool = 0 if episode_step + 1 == env._max_episode_steps else float(
+            done
+        )
         episode_reward += reward
 
-        #replay_buffer.add(obs, action, reward, next_obs, done_bool)
+        replay_buffer.add(obs, action, reward, next_obs, done_bool)
-        replay_buffer.add(last_obs, last_action, last_reward, curr_obs, last_done_bool, action, reward, next_obs, done_bool)
 
         obs = next_obs
         episode_step += 1

utils.py

@@ -75,26 +75,18 @@ class ReplayBuffer(object):
         # the proprioceptive obs is stored as float32, pixels obs as uint8
         obs_dtype = np.float32 if len(obs_shape) == 1 else np.uint8
 
-        self.last_obses = np.empty((capacity, *obs_shape), dtype=obs_dtype)
+        self.obses = np.empty((capacity, *obs_shape), dtype=obs_dtype)
-        self.curr_obses = np.empty((capacity, *obs_shape), dtype=obs_dtype)
         self.next_obses = np.empty((capacity, *obs_shape), dtype=obs_dtype)
-        self.last_actions = np.empty((capacity, *action_shape), dtype=np.float32)
         self.actions = np.empty((capacity, *action_shape), dtype=np.float32)
-        self.last_rewards = np.empty((capacity, 1), dtype=np.float32)
         self.rewards = np.empty((capacity, 1), dtype=np.float32)
-        self.last_not_dones = np.empty((capacity, 1), dtype=np.float32)
         self.not_dones = np.empty((capacity, 1), dtype=np.float32)
 
         self.idx = 0
         self.last_save = 0
         self.full = False
 
-    def add(self, last_obs, last_action, last_reward, curr_obs, last_done, action, reward, next_obs, done):
+    def add(self, obs, action, reward, next_obs, done):
-        np.copyto(self.last_obses[self.idx], last_obs)
+        np.copyto(self.obses[self.idx], obs)
-        np.copyto(self.last_actions[self.idx], last_action)
-        np.copyto(self.last_rewards[self.idx], last_reward)
-        np.copyto(self.curr_obses[self.idx], curr_obs)
-        np.copyto(self.last_not_dones[self.idx], not last_done)
         np.copyto(self.actions[self.idx], action)
         np.copyto(self.rewards[self.idx], reward)
         np.copyto(self.next_obses[self.idx], next_obs)
@@ -108,31 +100,25 @@ class ReplayBuffer(object):
             0, self.capacity if self.full else self.idx, size=self.batch_size
         )
 
-        last_obses = torch.as_tensor(self.last_obses[idxs], device=self.device).float()
+        obses = torch.as_tensor(self.obses[idxs], device=self.device).float()
-        last_actions = torch.as_tensor(self.last_actions[idxs], device=self.device)
-        last_rewards = torch.as_tensor(self.last_rewards[idxs], device=self.device)
-        curr_obses = torch.as_tensor(self.curr_obses[idxs], device=self.device).float()
-        last_not_dones = torch.as_tensor(self.last_not_dones[idxs], device=self.device)
         actions = torch.as_tensor(self.actions[idxs], device=self.device)
         rewards = torch.as_tensor(self.rewards[idxs], device=self.device)
-        next_obses = torch.as_tensor(self.next_obses[idxs], device=self.device).float()
+        next_obses = torch.as_tensor(
+            self.next_obses[idxs], device=self.device
+        ).float()
         not_dones = torch.as_tensor(self.not_dones[idxs], device=self.device)
 
-        return last_obses, last_actions, last_rewards, curr_obses, last_not_dones, actions, rewards, next_obses, not_dones
+        return obses, actions, rewards, next_obses, not_dones
 
     def save(self, save_dir):
         if self.idx == self.last_save:
             return
         path = os.path.join(save_dir, '%d_%d.pt' % (self.last_save, self.idx))
         payload = [
-            self.last_obses[self.last_save:self.idx],
+            self.obses[self.last_save:self.idx],
-            self.last_actions[self.last_save:self.idx],
+            self.next_obses[self.last_save:self.idx],
-            self.last_rewards[self.last_save:self.idx],
-            self.curr_obses[self.last_save:self.idx],
-            self.last_not_dones[self.last_save:self.idx],
             self.actions[self.last_save:self.idx],
             self.rewards[self.last_save:self.idx],
-            self.next_obses[self.last_save:self.idx],
             self.not_dones[self.last_save:self.idx]
         ]
         self.last_save = self.idx
@@ -146,14 +132,10 @@ class ReplayBuffer(object):
             path = os.path.join(save_dir, chunk)
             payload = torch.load(path)
             assert self.idx == start
-            self.last_obses[start:end] = payload[0]
+            self.obses[start:end] = payload[0]
-            self.last_actions[start:end] = payload[1]
+            self.next_obses[start:end] = payload[1]
-            self.last_rewards[start:end] = payload[2]
-            self.curr_obses[start:end] = payload[3]
-            self.last_not_dones[start:end] = payload[4]
             self.actions[start:end] = payload[2]
             self.rewards[start:end] = payload[3]
-            self.next_obses[start:end] = payload[4]
             self.not_dones[start:end] = payload[4]
             self.idx = end