torchrl 0.11.0__cp314-cp314-win_amd64.whl

sota-implementations/crossq/crossq.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.
+"""CrossQ Example.
+
+This is a simple self-contained example of a CrossQ training script.
+
+It supports state environments like MuJoCo.
+
+The helper functions are coded in the utils.py associated with this script.
+"""
+from __future__ import annotations
+
+import warnings
+
+import hydra
+import numpy as np
+import torch
+import torch.cuda
+import tqdm
+from tensordict import TensorDict
+from tensordict.nn import CudaGraphModule
+from torchrl._utils import get_available_device, timeit
+from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.objectives import group_optimizers
+from torchrl.record.loggers import generate_exp_name, get_logger
+from utils import (
+    log_metrics,
+    make_collector,
+    make_crossQ_agent,
+    make_crossQ_optimizer,
+    make_environment,
+    make_loss_module,
+    make_replay_buffer,
+)
+
+torch.set_float32_matmul_precision("high")
+
+
+@hydra.main(version_base="1.1", config_path=".", config_name="config")
+def main(cfg: DictConfig):  # noqa: F821
+    device = (
+        torch.device(cfg.network.device)
+        if cfg.network.device
+        else get_available_device()
+    )
+
+    # Create logger
+    exp_name = generate_exp_name("CrossQ", cfg.logger.exp_name)
+    logger = None
+    if cfg.logger.backend:
+        logger = get_logger(
+            logger_type=cfg.logger.backend,
+            logger_name="crossq_logging",
+            experiment_name=exp_name,
+            wandb_kwargs={
+                "mode": cfg.logger.mode,
+                "config": dict(cfg),
+                "project": cfg.logger.project_name,
+                "group": cfg.logger.group_name,
+            },
+        )
+
+    torch.manual_seed(cfg.env.seed)
+    np.random.seed(cfg.env.seed)
+
+    # Create environments
+    train_env, eval_env = make_environment(cfg)
+
+    # Create agent
+    model, exploration_policy = make_crossQ_agent(cfg, train_env, device)
+
+    # Create CrossQ loss
+    loss_module = make_loss_module(cfg, model, device=device)
+
+    compile_mode = None
+    if cfg.compile.compile:
+        if cfg.compile.compile_mode not in (None, ""):
+            compile_mode = cfg.compile.compile_mode
+        elif cfg.compile.cudagraphs:
+            compile_mode = "default"
+        else:
+            compile_mode = "reduce-overhead"
+
+    # Create off-policy collector
+    collector = make_collector(
+        cfg,
+        train_env,
+        exploration_policy.eval(),
+        device=device,
+        compile=cfg.compile.compile,
+        compile_mode=compile_mode,
+        cudagraph=cfg.compile.cudagraphs,
+    )
+
+    # Create replay buffer
+    replay_buffer = make_replay_buffer(
+        batch_size=cfg.optim.batch_size,
+        prb=cfg.replay_buffer.prb,
+        buffer_size=cfg.replay_buffer.size,
+        scratch_dir=cfg.replay_buffer.scratch_dir,
+        device="cpu",
+    )
+
+    # Create optimizers
+    (
+        optimizer_actor,
+        optimizer_critic,
+        optimizer_alpha,
+    ) = make_crossQ_optimizer(cfg, loss_module)
+    optimizer = group_optimizers(optimizer_actor, optimizer_critic, optimizer_alpha)
+    del optimizer_actor, optimizer_critic, optimizer_alpha
+
+    def update_qloss(sampled_tensordict):
+        optimizer.zero_grad(set_to_none=True)
+        td_loss = {}
+        q_loss, value_meta = loss_module.qvalue_loss(sampled_tensordict)
+        sampled_tensordict.set(loss_module.tensor_keys.priority, value_meta["td_error"])
+        q_loss = q_loss.mean()
+
+        # Update critic
+        q_loss.backward()
+        optimizer.step()
+        td_loss["loss_qvalue"] = q_loss
+        td_loss["loss_actor"] = float("nan")
+        td_loss["loss_alpha"] = float("nan")
+        return TensorDict(td_loss, device=device).detach()
+
+    def update_all(sampled_tensordict: TensorDict):
+        optimizer.zero_grad(set_to_none=True)
+
+        td_loss = {}
+        q_loss, value_meta = loss_module.qvalue_loss(sampled_tensordict)
+        sampled_tensordict.set(loss_module.tensor_keys.priority, value_meta["td_error"])
+        q_loss = q_loss.mean()
+
+        actor_loss, metadata_actor = loss_module.actor_loss(sampled_tensordict)
+        actor_loss = actor_loss.mean()
+        alpha_loss = loss_module.alpha_loss(
+            log_prob=metadata_actor["log_prob"].detach()
+        ).mean()
+
+        # Updates
+        (q_loss + actor_loss + actor_loss).backward()
+        optimizer.step()
+
+        # Update critic
+        td_loss["loss_qvalue"] = q_loss
+        td_loss["loss_actor"] = actor_loss
+        td_loss["loss_alpha"] = alpha_loss
+
+        return TensorDict(td_loss, device=device).detach()
+
+    if compile_mode:
+        update_all = torch.compile(update_all, mode=compile_mode)
+        update_qloss = torch.compile(update_qloss, mode=compile_mode)
+    if cfg.compile.cudagraphs:
+        warnings.warn(
+            "CudaGraphModule is experimental and may lead to silently wrong results. Use with caution.",
+            category=UserWarning,
+        )
+        update_all = CudaGraphModule(update_all, warmup=50)
+        update_qloss = CudaGraphModule(update_qloss, warmup=50)
+
+    def update(sampled_tensordict: TensorDict, update_actor: bool):
+        if update_actor:
+            return update_all(sampled_tensordict)
+        return update_qloss(sampled_tensordict)
+
+    # Main loop
+    collected_frames = 0
+    pbar = tqdm.tqdm(total=cfg.collector.total_frames)
+
+    init_random_frames = cfg.collector.init_random_frames
+    num_updates = int(cfg.collector.frames_per_batch * cfg.optim.utd_ratio)
+    prb = cfg.replay_buffer.prb
+    eval_iter = cfg.logger.eval_iter
+    frames_per_batch = cfg.collector.frames_per_batch
+    eval_rollout_steps = cfg.env.max_episode_steps
+
+    update_counter = 0
+    delayed_updates = cfg.optim.policy_update_delay
+    c_iter = iter(collector)
+    total_iter = len(collector)
+    for _ in range(total_iter):
+        timeit.printevery(1000, total_iter, erase=True)
+        with timeit("collecting"):
+            torch.compiler.cudagraph_mark_step_begin()
+            tensordict = next(c_iter)
+
+        # Update weights of the inference policy
+        collector.update_policy_weights_()
+
+        current_frames = tensordict.numel()
+        pbar.update(current_frames)
+        tensordict = tensordict.reshape(-1)
+
+        with timeit("rb - extend"):
+            # Add to replay buffer
+            replay_buffer.extend(tensordict)
+        collected_frames += current_frames
+
+        # Optimization steps
+        if collected_frames >= init_random_frames:
+            tds = []
+            for _ in range(num_updates):
+                # Update actor every delayed_updates
+                update_counter += 1
+                update_actor = update_counter % delayed_updates == 0
+                # Sample from replay buffer
+                with timeit("rb - sample"):
+                    sampled_tensordict = replay_buffer.sample().to(device)
+                with timeit("update"):
+                    torch.compiler.cudagraph_mark_step_begin()
+                    td_loss = update(sampled_tensordict, update_actor=update_actor)
+                tds.append(td_loss.clone())
+                # Update priority
+                if prb:
+                    replay_buffer.update_priority(sampled_tensordict)
+
+            tds = TensorDict.stack(tds).nanmean()
+        episode_end = (
+            tensordict["next", "done"]
+            if tensordict["next", "done"].any()
+            else tensordict["next", "truncated"]
+        )
+        episode_rewards = tensordict["next", "episode_reward"][episode_end]
+
+        metrics_to_log = {}
+
+        # Evaluation
+        if abs(collected_frames % eval_iter) < frames_per_batch:
+            with set_exploration_type(
+                ExplorationType.DETERMINISTIC
+            ), torch.no_grad(), timeit("eval"):
+                eval_rollout = eval_env.rollout(
+                    eval_rollout_steps,
+                    model[0],
+                    auto_cast_to_device=True,
+                    break_when_any_done=True,
+                )
+                eval_reward = eval_rollout["next", "reward"].sum(-2).mean().item()
+                metrics_to_log["eval/reward"] = eval_reward
+
+        # Logging
+        if len(episode_rewards) > 0:
+            episode_length = tensordict["next", "step_count"][episode_end]
+            metrics_to_log["train/reward"] = episode_rewards.mean().item()
+            metrics_to_log["train/episode_length"] = episode_length.sum().item() / len(
+                episode_length
+            )
+        if collected_frames >= init_random_frames:
+            metrics_to_log["train/q_loss"] = tds["loss_qvalue"]
+            metrics_to_log["train/actor_loss"] = tds["loss_actor"]
+            metrics_to_log["train/alpha_loss"] = tds["loss_alpha"]
+
+        if logger is not None:
+            metrics_to_log.update(timeit.todict(prefix="time"))
+            metrics_to_log["time/speed"] = pbar.format_dict["rate"]
+            log_metrics(logger, metrics_to_log, collected_frames)
+
+    collector.shutdown()
+    if not eval_env.is_closed:
+        eval_env.close()
+    if not train_env.is_closed:
+        train_env.close()
+
+
+if __name__ == "__main__":
+    main()

sota-implementations/crossq/utils.py

@@ -0,0 +1,320 @@
+# 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 torch
+from tensordict.nn import InteractionType, TensorDictModule
+from tensordict.nn.distributions import NormalParamExtractor
+from torch import nn, optim
+from torchrl.collectors import SyncDataCollector
+from torchrl.data import TensorDictPrioritizedReplayBuffer, TensorDictReplayBuffer
+from torchrl.data.replay_buffers.storages import LazyMemmapStorage
+from torchrl.envs import (
+    CatTensors,
+    Compose,
+    DMControlEnv,
+    DoubleToFloat,
+    EnvCreator,
+    ParallelEnv,
+    TransformedEnv,
+)
+from torchrl.envs.libs.gym import GymEnv, set_gym_backend
+from torchrl.envs.transforms import InitTracker, RewardSum, StepCounter
+from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.modules import MLP, ProbabilisticActor, ValueOperator
+from torchrl.modules.distributions import TanhNormal
+
+from torchrl.modules.models.batchrenorm import BatchRenorm1d
+from torchrl.objectives import CrossQLoss
+
+# ====================================================================
+# Environment utils
+# -----------------
+
+
+def env_maker(cfg, device="cpu"):
+    lib = cfg.env.library
+    if lib in ("gym", "gymnasium"):
+        with set_gym_backend(lib):
+            return GymEnv(
+                cfg.env.name,
+                device=device,
+            )
+    elif lib == "dm_control":
+        env = DMControlEnv(cfg.env.name, cfg.env.task)
+        return TransformedEnv(
+            env, CatTensors(in_keys=env.observation_spec.keys(), out_key="observation")
+        )
+    else:
+        raise NotImplementedError(f"Unknown lib {lib}.")
+
+
+def apply_env_transforms(env, max_episode_steps=1000):
+    transformed_env = TransformedEnv(
+        env,
+        Compose(
+            InitTracker(),
+            StepCounter(max_episode_steps),
+            DoubleToFloat(),
+            RewardSum(),
+        ),
+    )
+    return transformed_env
+
+
+def make_environment(cfg):
+    """Make environments for training and evaluation."""
+    parallel_env = ParallelEnv(
+        cfg.collector.env_per_collector,
+        EnvCreator(lambda cfg=cfg: env_maker(cfg)),
+        serial_for_single=True,
+    )
+    parallel_env.set_seed(cfg.env.seed)
+
+    train_env = apply_env_transforms(parallel_env, cfg.env.max_episode_steps)
+
+    eval_env = TransformedEnv(
+        ParallelEnv(
+            cfg.collector.env_per_collector,
+            EnvCreator(lambda cfg=cfg: env_maker(cfg)),
+            serial_for_single=True,
+        ),
+        train_env.transform.clone(),
+    )
+    return train_env, eval_env
+
+
+# ====================================================================
+# Collector and replay buffer
+# ---------------------------
+
+
+def make_collector(
+    cfg,
+    train_env,
+    actor_model_explore,
+    device,
+    compile=False,
+    compile_mode=None,
+    cudagraph=False,
+):
+    """Make collector."""
+    collector = SyncDataCollector(
+        train_env,
+        actor_model_explore,
+        init_random_frames=cfg.collector.init_random_frames,
+        frames_per_batch=cfg.collector.frames_per_batch,
+        total_frames=cfg.collector.total_frames,
+        device=device,
+        compile_policy={"mode": compile_mode} if compile else False,
+        cudagraph_policy=cudagraph,
+    )
+    collector.set_seed(cfg.env.seed)
+    return collector
+
+
+def make_replay_buffer(
+    batch_size,
+    prb=False,
+    buffer_size=1000000,
+    scratch_dir=None,
+    device="cpu",
+    prefetch=3,
+):
+    if prb:
+        replay_buffer = TensorDictPrioritizedReplayBuffer(
+            alpha=0.7,
+            beta=0.5,
+            pin_memory=False,
+            prefetch=prefetch,
+            storage=LazyMemmapStorage(
+                buffer_size,
+                scratch_dir=scratch_dir,
+            ),
+            batch_size=batch_size,
+        )
+    else:
+        replay_buffer = TensorDictReplayBuffer(
+            pin_memory=False,
+            prefetch=prefetch,
+            storage=LazyMemmapStorage(
+                buffer_size,
+                scratch_dir=scratch_dir,
+            ),
+            batch_size=batch_size,
+        )
+    replay_buffer.append_transform(lambda x: x.to(device, non_blocking=True))
+    return replay_buffer
+
+
+# ====================================================================
+# Model
+# -----
+
+
+def make_crossQ_agent(cfg, train_env, device):
+    """Make CrossQ agent."""
+    # Define Actor Network
+    in_keys = ["observation"]
+    action_spec = train_env.action_spec_unbatched
+    actor_net_kwargs = {
+        "num_cells": cfg.network.actor_hidden_sizes,
+        "out_features": 2 * action_spec.shape[-1],
+        "activation_class": get_activation(cfg.network.actor_activation),
+        "norm_class": BatchRenorm1d,
+        "norm_kwargs": {
+            "momentum": cfg.network.batch_norm_momentum,
+            "num_features": cfg.network.actor_hidden_sizes[-1],
+            "warmup_steps": cfg.network.warmup_steps,
+        },
+    }
+
+    actor_net = MLP(**actor_net_kwargs)
+
+    dist_class = TanhNormal
+    dist_kwargs = {
+        "low": torch.as_tensor(action_spec.space.low, device=device),
+        "high": torch.as_tensor(action_spec.space.high, device=device),
+        "tanh_loc": False,
+        "safe_tanh": not cfg.compile.compile,
+    }
+
+    actor_extractor = NormalParamExtractor(
+        scale_mapping=f"biased_softplus_{cfg.network.default_policy_scale}",
+        scale_lb=cfg.network.scale_lb,
+    )
+    actor_net = nn.Sequential(actor_net, actor_extractor)
+
+    in_keys_actor = in_keys
+    actor_module = TensorDictModule(
+        actor_net,
+        in_keys=in_keys_actor,
+        out_keys=[
+            "loc",
+            "scale",
+        ],
+    )
+    actor = ProbabilisticActor(
+        spec=action_spec,
+        in_keys=["loc", "scale"],
+        module=actor_module,
+        distribution_class=dist_class,
+        distribution_kwargs=dist_kwargs,
+        default_interaction_type=InteractionType.RANDOM,
+        return_log_prob=False,
+    )
+
+    # Define Critic Network
+    qvalue_net_kwargs = {
+        "num_cells": cfg.network.critic_hidden_sizes,
+        "out_features": 1,
+        "activation_class": get_activation(cfg.network.critic_activation),
+        "norm_class": BatchRenorm1d,
+        "norm_kwargs": {
+            "momentum": cfg.network.batch_norm_momentum,
+            "num_features": cfg.network.critic_hidden_sizes[-1],
+            "warmup_steps": cfg.network.warmup_steps,
+        },
+    }
+
+    qvalue_net = MLP(
+        **qvalue_net_kwargs,
+    )
+
+    qvalue = ValueOperator(
+        in_keys=["action"] + in_keys,
+        module=qvalue_net,
+    )
+
+    model = nn.ModuleList([actor, qvalue]).to(device)
+
+    # init nets
+    with torch.no_grad(), set_exploration_type(ExplorationType.RANDOM):
+        td = train_env.fake_tensordict()
+        td = td.to(device)
+        for net in model:
+            net.eval()
+            net(td)
+            net.train()
+    del td
+
+    return model, model[0]
+
+
+# ====================================================================
+# CrossQ Loss
+# ---------
+
+
+def make_loss_module(cfg, model, device: torch.device | None = None):
+    """Make loss module and target network updater."""
+    # Create CrossQ loss
+    loss_module = CrossQLoss(
+        actor_network=model[0],
+        qvalue_network=model[1],
+        num_qvalue_nets=2,
+        loss_function=cfg.optim.loss_function,
+        alpha_init=cfg.optim.alpha_init,
+    )
+    loss_module.make_value_estimator(gamma=cfg.optim.gamma, device=device)
+
+    return loss_module
+
+
+def split_critic_params(critic_params):
+    critic1_params = []
+    critic2_params = []
+
+    for param in critic_params:
+        data1, data2 = param.data.chunk(2, dim=0)
+        critic1_params.append(nn.Parameter(data1))
+        critic2_params.append(nn.Parameter(data2))
+    return critic1_params, critic2_params
+
+
+def make_crossQ_optimizer(cfg, loss_module):
+    critic_params = list(loss_module.qvalue_network_params.flatten_keys().values())
+    actor_params = list(loss_module.actor_network_params.flatten_keys().values())
+
+    optimizer_actor = optim.Adam(
+        actor_params,
+        lr=cfg.optim.lr,
+        weight_decay=cfg.optim.weight_decay,
+        eps=cfg.optim.adam_eps,
+        betas=(cfg.optim.beta1, cfg.optim.beta2),
+    )
+    optimizer_critic = optim.Adam(
+        critic_params,
+        lr=cfg.optim.lr,
+        weight_decay=cfg.optim.weight_decay,
+        eps=cfg.optim.adam_eps,
+        betas=(cfg.optim.beta1, cfg.optim.beta2),
+    )
+    optimizer_alpha = optim.Adam(
+        [loss_module.log_alpha],
+        lr=cfg.optim.lr,
+    )
+    return optimizer_actor, optimizer_critic, optimizer_alpha
+
+
+# ====================================================================
+# General utils
+# ---------
+
+
+def log_metrics(logger, metrics, step):
+    for metric_name, metric_value in metrics.items():
+        logger.log_scalar(metric_name, metric_value, step)
+
+
+def get_activation(activation: str):
+    if activation == "relu":
+        return nn.ReLU
+    elif activation == "tanh":
+        return nn.Tanh
+    elif activation == "leaky_relu":
+        return nn.LeakyReLU
+    else:
+        raise NotImplementedError