torchrl 0.11.0__cp314-cp314-manylinux_2_28_aarch64.whl

torchrl/objectives/multiagent/qmixer.py

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+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+from __future__ import annotations
+
+import warnings
+from copy import deepcopy
+from dataclasses import dataclass
+
+import torch
+from tensordict import TensorDict, TensorDictBase, TensorDictParams
+from tensordict.nn import dispatch, TensorDictModule
+from tensordict.utils import NestedKey
+from torch import nn
+
+from torchrl.data.tensor_specs import TensorSpec
+from torchrl.data.utils import _find_action_space
+from torchrl.modules import SafeSequential
+from torchrl.modules.tensordict_module.actors import QValueActor
+from torchrl.modules.tensordict_module.common import ensure_tensordict_compatible
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.utils import (
+    _cache_values,
+    _GAMMA_LMBDA_DEPREC_ERROR,
+    default_value_kwargs,
+    distance_loss,
+    ValueEstimators,
+)
+from torchrl.objectives.value import TDLambdaEstimator, ValueEstimatorBase
+from torchrl.objectives.value.advantages import TD0Estimator, TD1Estimator
+
+
+class QMixerLoss(LossModule):
+    """The QMixer loss class.
+
+    Mixes local agent q values into a global q value according to a mixing network and then
+    uses DQN updates on the global value.
+    This loss is for multi-agent applications.
+    Therefore, it expects the 'local_value', 'action_value' and 'action' keys
+    to have an agent dimension (this is visible in the default AcceptedKeys).
+    This dimension will be mixed by the mixer which will compute a 'global_value' key, used for a DQN objective.
+    The premade mixers of type :class:`torchrl.modules.models.multiagent.Mixer` will expect the multi-agent
+    dimension to be the penultimate one.
+
+    Args:
+        local_value_network (QValueActor or nn.Module): a local Q value operator.
+        mixer_network (TensorDictModule or nn.Module): a mixer network mapping the agents' local Q values
+            and an optional state to the global Q value. It is suggested to provide a TensorDictModule
+            wrapping a mixer from :class:`torchrl.modules.models.multiagent.Mixer`.
+
+    Keyword Args:
+        loss_function (str, optional): loss function for the value discrepancy. Can be one of "l1", "l2" or "smooth_l1".
+            Defaults to "l2".
+        delay_value (bool, optional): whether to duplicate the value network
+            into a new target value network to
+            create a double DQN. Default is ``False``.
+        action_space (str or TensorSpec, optional): Action space. Must be one of
+            ``"one-hot"``, ``"mult_one_hot"``, ``"binary"`` or ``"categorical"``,
+            or an instance of the corresponding specs (:class:`torchrl.data.OneHot`,
+            :class:`torchrl.data.MultiOneHot`,
+            :class:`torchrl.data.Binary` or :class:`torchrl.data.Categorical`).
+            If not provided, an attempt to retrieve it from the value network
+            will be made.
+        priority_key (NestedKey, optional): [Deprecated, use .set_keys(priority_key=priority_key) instead]
+            The key at which priority is assumed to be stored within TensorDicts added
+            to this ReplayBuffer.  This is to be used when the sampler is of type
+            :class:`~torchrl.data.PrioritizedSampler`.  Defaults to ``"td_error"``.
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from tensordict import TensorDict
+        >>> from tensordict.nn import TensorDictModule
+        >>> from torchrl.modules import QValueModule, SafeSequential
+        >>> from torchrl.modules.models.multiagent import QMixer
+        >>> from torchrl.objectives.multiagent import QMixerLoss
+        >>> n_agents = 4
+        >>> module = TensorDictModule(
+        ...     nn.Linear(10,3), in_keys=[("agents", "observation")], out_keys=[("agents", "action_value")]
+        ... )
+        >>> value_module = QValueModule(
+        ...     action_value_key=("agents", "action_value"),
+        ...     out_keys=[
+        ...         ("agents", "action"),
+        ...         ("agents", "action_value"),
+        ...         ("agents", "chosen_action_value"),
+        ...     ],
+        ...     action_space="categorical",
+        ... )
+        >>> qnet = SafeSequential(module, value_module)
+        >>> qmixer = TensorDictModule(
+        ...    module=QMixer(
+        ...        state_shape=(64, 64, 3),
+        ...        mixing_embed_dim=32,
+        ...        n_agents=n_agents,
+        ...        device="cpu",
+        ...    ),
+        ...    in_keys=[("agents", "chosen_action_value"), "state"],
+        ...    out_keys=["chosen_action_value"],
+        ... )
+        >>> loss = QMixerLoss(qnet, qmixer, action_space="categorical")
+        >>> td = TensorDict(
+        ...    {
+        ...        "agents": TensorDict(
+        ...            {"observation": torch.zeros(32, n_agents, 10)}, [32, n_agents]
+        ...        ),
+        ...        "state": torch.zeros(32, 64, 64, 3),
+        ...        "next": TensorDict(
+        ...           {
+        ...                "agents": TensorDict(
+        ...                     {"observation": torch.zeros(32, n_agents, 10)}, [32, n_agents]
+        ...                ),
+        ...                "state": torch.zeros(32, 64, 64, 3),
+        ...                "reward": torch.zeros(32, 1),
+        ...                "done": torch.zeros(32, 1, dtype=torch.bool),
+        ...                "terminated": torch.zeros(32, 1, dtype=torch.bool),
+        ...            },
+        ...            [32],
+        ...        ),
+        ...    },
+        ...    [32],
+        ... )
+        >>> loss(qnet(td))
+        TensorDict(
+            fields={
+                loss: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False)},
+            batch_size=torch.Size([]),
+            device=None,
+            is_shared=False)
+    """
+
+    @dataclass
+    class _AcceptedKeys:
+        """Maintains default values for all configurable tensordict keys.
+
+        This class defines which tensordict keys can be set using '.set_keys(key_name=key_value)' and their
+        default values.
+
+        Attributes:
+            advantage (NestedKey): The input tensordict key where the advantage is expected.
+                Will be used for the underlying value estimator. Defaults to ``"advantage"``.
+            value_target (NestedKey): The input tensordict key where the target state value is expected.
+                Will be used for the underlying value estimator Defaults to ``"value_target"``.
+            local_value (NestedKey): The input tensordict key where the local chosen action value is expected.
+                Will be used for the underlying value estimator. Defaults to ``("agents", "chosen_action_value")``.
+            global_value (NestedKey): The input tensordict key where the global chosen action value is expected.
+                Will be used for the underlying value estimator. Defaults to ``"chosen_action_value"``.
+            action (NestedKey): The input tensordict key where the action is expected.
+                Defaults to ``("agents", "action")``.
+            action_value (NestedKey): The input tensordict key where the action value is expected.
+                Defaults to ``("agents", "action_value")``.
+            priority (NestedKey): The input tensordict key where the target priority is written to.
+                Defaults to ``"td_error"``.
+            reward (NestedKey): The input tensordict key where the reward is expected.
+                Will be used for the underlying value estimator. Defaults to ``"reward"``.
+            done (NestedKey): The key in the input TensorDict that indicates
+                whether a trajectory is done. Will be used for the underlying value estimator.
+                Defaults to ``"done"``.
+            terminated (NestedKey): The key in the input TensorDict that indicates
+                whether a trajectory is terminated. Will be used for the underlying value estimator.
+                Defaults to ``"terminated"``.
+        """
+
+        advantage: NestedKey = "advantage"
+        value_target: NestedKey = "value_target"
+        local_value: NestedKey = ("agents", "chosen_action_value")
+        global_value: NestedKey = "chosen_action_value"
+        action_value: NestedKey = ("agents", "action_value")
+        action: NestedKey = ("agents", "action")
+        priority: NestedKey = "td_error"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    default_value_estimator = ValueEstimators.TD0
+    out_keys = ["loss"]
+
+    local_value_network: TensorDictModule
+    local_value_network_params: TensorDictParams
+    target_local_value_network_params: TensorDictParams
+    mixer_network: TensorDictModule
+    mixer_network_params: TensorDictParams
+    target_mixer_network_params: TensorDictParams
+
+    def __init__(
+        self,
+        local_value_network: QValueActor | nn.Module,
+        mixer_network: TensorDictModule | nn.Module,
+        *,
+        loss_function: str | None = "l2",
+        delay_value: bool = True,
+        gamma: float | None = None,
+        action_space: str | TensorSpec = None,
+        priority_key: str | None = None,
+    ) -> None:
+        super().__init__()
+        self._in_keys = None
+        self._set_deprecated_ctor_keys(priority=priority_key)
+        self.delay_value = delay_value
+        local_value_network = ensure_tensordict_compatible(
+            module=local_value_network,
+            wrapper_type=QValueActor,
+            action_space=action_space,
+        )
+        if not isinstance(mixer_network, TensorDictModule):
+            # If it is not a TensorDictModule we make it one with default keys
+            mixer_network = ensure_tensordict_compatible(
+                module=mixer_network,
+                in_keys=[self.tensor_keys.local_value],
+                out_keys=[self.tensor_keys.global_value],
+            )
+
+        global_value_network = SafeSequential(local_value_network, mixer_network)
+        params = TensorDict.from_module(global_value_network)
+        with params.apply(
+            self._make_meta_params, device=torch.device("meta"), filter_empty=False
+        ).to_module(global_value_network):
+            self.__dict__["global_value_network"] = deepcopy(global_value_network)
+
+        self.convert_to_functional(
+            local_value_network,
+            "local_value_network",
+            create_target_params=self.delay_value,
+        )
+        self.convert_to_functional(
+            mixer_network,
+            "mixer_network",
+            create_target_params=self.delay_value,
+        )
+        self.global_value_network.module[0] = self.local_value_network
+        self.global_value_network.module[1] = self.mixer_network
+
+        self.global_value_network_in_keys = global_value_network.in_keys
+
+        self.loss_function = loss_function
+        if action_space is None:
+            # infer from value net
+            try:
+                action_space = local_value_network.spec
+            except AttributeError:
+                # let's try with action_space then
+                try:
+                    action_space = local_value_network.action_space
+                except AttributeError:
+                    raise ValueError(self.ACTION_SPEC_ERROR)
+        if action_space is None:
+            warnings.warn(
+                "action_space was not specified. QMixerLoss will default to 'one-hot'."
+                "This behavior will be deprecated soon and a space will have to be passed."
+                "Check the QMixerLoss documentation to see how to pass the action space. "
+            )
+            action_space = "one-hot"
+
+        self.action_space = _find_action_space(action_space)
+
+        if gamma is not None:
+            raise TypeError(_GAMMA_LMBDA_DEPREC_ERROR)
+
+    def _forward_value_estimator_keys(self, **kwargs) -> None:
+        if self._value_estimator is not None:
+            self._value_estimator.set_keys(
+                advantage=self.tensor_keys.advantage,
+                value_target=self.tensor_keys.value_target,
+                value=self.tensor_keys.global_value,
+                reward=self.tensor_keys.reward,
+                done=self.tensor_keys.done,
+                terminated=self.tensor_keys.terminated,
+            )
+        self._set_in_keys()
+
+    def _set_in_keys(self):
+        keys = [
+            self.tensor_keys.action,
+            ("next", self.tensor_keys.reward),
+            ("next", self.tensor_keys.done),
+            ("next", self.tensor_keys.terminated),
+            *self.global_value_network.in_keys,
+            *[("next", key) for key in self.global_value_network.in_keys],
+        ]
+        self._in_keys = list(set(keys))
+
+    @property
+    def in_keys(self):
+        if self._in_keys is None:
+            self._set_in_keys()
+        return self._in_keys
+
+    def make_value_estimator(self, value_type: ValueEstimators = None, **hyperparams):
+        if value_type is None:
+            value_type = self.default_value_estimator
+
+        # Handle ValueEstimatorBase instance or class
+        if isinstance(value_type, ValueEstimatorBase) or (
+            isinstance(value_type, type) and issubclass(value_type, ValueEstimatorBase)
+        ):
+            return LossModule.make_value_estimator(self, value_type, **hyperparams)
+
+        self.value_type = value_type
+        hp = dict(default_value_kwargs(value_type))
+        if hasattr(self, "gamma"):
+            hp["gamma"] = self.gamma
+        hp.update(hyperparams)
+        if value_type is ValueEstimators.TD1:
+            self._value_estimator = TD1Estimator(
+                **hp, value_network=self.global_value_network
+            )
+        elif value_type is ValueEstimators.TD0:
+            self._value_estimator = TD0Estimator(
+                **hp, value_network=self.global_value_network
+            )
+        elif value_type is ValueEstimators.GAE:
+            raise NotImplementedError(
+                f"Value type {value_type} it not implemented for loss {type(self)}."
+            )
+        elif value_type is ValueEstimators.TDLambda:
+            self._value_estimator = TDLambdaEstimator(
+                **hp, value_network=self.global_value_network
+            )
+        else:
+            raise NotImplementedError(f"Unknown value type {value_type}")
+
+        tensor_keys = {
+            "advantage": self.tensor_keys.advantage,
+            "value_target": self.tensor_keys.value_target,
+            "value": self.tensor_keys.global_value,
+            "reward": self.tensor_keys.reward,
+            "done": self.tensor_keys.done,
+            "terminated": self.tensor_keys.terminated,
+        }
+        self._value_estimator.set_keys(**tensor_keys)
+
+    @dispatch
+    def forward(self, tensordict: TensorDictBase) -> TensorDict:
+        td_copy = tensordict.clone(False)
+        with self.local_value_network_params.to_module(self.local_value_network):
+            self.local_value_network(
+                td_copy,
+            )
+
+        action = tensordict.get(self.tensor_keys.action)
+        pred_val = td_copy.get(
+            self.tensor_keys.action_value
+        )  # [*B, n_agents, n_actions]
+
+        if self.action_space == "categorical":
+            if action.shape != pred_val.shape:
+                # unsqueeze the action if it lacks on trailing singleton dim
+                action = action.unsqueeze(-1)
+            pred_val_index = torch.gather(pred_val, -1, index=action)
+        else:
+            action = action.to(torch.float)
+            pred_val_index = (pred_val * action).sum(-1, keepdim=True)
+
+        td_copy.set(self.tensor_keys.local_value, pred_val_index)  # [*B, n_agents, 1]
+        with self.mixer_network_params.to_module(self.mixer_network):
+            self.mixer_network(td_copy)
+        pred_val_index = td_copy[self.tensor_keys.global_value].squeeze(-1)
+        # [*B] this is global and shared among the agents as will be the target
+
+        target_value = self.value_estimator.value_estimate(
+            td_copy,
+            target_params=self._cached_target_params,
+        ).squeeze(-1)
+
+        with torch.no_grad():
+            priority_tensor = (pred_val_index - target_value).pow(2)
+            priority_tensor = priority_tensor.unsqueeze(-1)
+        if tensordict.device is not None:
+            priority_tensor = priority_tensor.to(tensordict.device)
+
+        tensordict.set(
+            self.tensor_keys.priority,
+            priority_tensor,
+            inplace=True,
+        )
+        loss = distance_loss(pred_val_index, target_value, self.loss_function)
+        return TensorDict({"loss": loss.mean()}, [])
+
+    @property
+    @_cache_values
+    def _cached_target_params(self):
+        target_params = TensorDict(
+            {
+                "module": {
+                    "0": self.target_local_value_network_params,
+                    "1": self.target_mixer_network_params,
+                }
+            },
+            batch_size=self.target_local_value_network_params.batch_size,
+            device=self.target_local_value_network_params.device,
+        )
+        return target_params