torchrl 0.11.0__cp314-cp314-win_amd64.whl

torchrl/objectives/reinforce.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 contextlib
+from copy import deepcopy
+from dataclasses import dataclass
+
+import torch
+from tensordict import TensorDict, TensorDictBase, TensorDictParams
+
+from tensordict.nn import (
+    composite_lp_aggregate,
+    dispatch,
+    ProbabilisticTensorDictSequential,
+    TensorDictModule,
+)
+from tensordict.utils import NestedKey
+from torchrl.objectives.common import LossModule
+
+from torchrl.objectives.utils import (
+    _clip_value_loss,
+    _GAMMA_LMBDA_DEPREC_ERROR,
+    _reduce,
+    default_value_kwargs,
+    distance_loss,
+    ValueEstimators,
+)
+from torchrl.objectives.value import (
+    GAE,
+    TD0Estimator,
+    TD1Estimator,
+    TDLambdaEstimator,
+    ValueEstimatorBase,
+    VTrace,
+)
+
+
+class ReinforceLoss(LossModule):
+    """Reinforce loss module.
+
+    Presented in "Simple statistical gradient-following sota-implementations for connectionist reinforcement learning", Williams, 1992
+    https://doi.org/10.1007/BF00992696
+
+
+    Args:
+        actor_network (ProbabilisticTensorDictSequential): policy operator.
+        critic_network (ValueOperator): value operator.
+
+    Keyword Args:
+        delay_value (bool, optional): if ``True``, a target network is needed
+            for the critic. Defaults to ``False``. Incompatible with ``functional=False``.
+        loss_critic_type (str): loss function for the value discrepancy.
+            Can be one of "l1", "l2" or "smooth_l1". Defaults to ``"smooth_l1"``.
+        advantage_key (str): [Deprecated, use .set_keys(advantage_key=advantage_key) instead]
+            The input tensordict key where the advantage is expected to be written.
+            Defaults to ``"advantage"``.
+        value_target_key (str): [Deprecated, use .set_keys(value_target_key=value_target_key) instead]
+            The input tensordict key where the target state
+            value is expected to be written. Defaults to ``"value_target"``.
+        separate_losses (bool, optional): if ``True``, shared parameters between
+            policy and critic will only be trained on the policy loss.
+            Defaults to ``False``, i.e., gradients are propagated to shared
+            parameters for both policy and critic losses.
+        functional (bool, optional): whether modules should be functionalized.
+            Functionalizing permits features like meta-RL, but makes it
+            impossible to use distributed models (DDP, FSDP, ...) and comes
+            with a little cost. Defaults to ``True``.
+        reduction (str, optional): Specifies the reduction to apply to the output:
+            ``"none"`` | ``"mean"`` | ``"sum"``. ``"none"``: no reduction will be applied,
+            ``"mean"``: the sum of the output will be divided by the number of
+            elements in the output, ``"sum"``: the output will be summed. Default: ``"mean"``.
+        clip_value (:obj:`float`, optional): If provided, it will be used to compute a clipped version of the value
+            prediction with respect to the input tensordict value estimate and use it to calculate the value loss.
+            The purpose of clipping is to limit the impact of extreme value predictions, helping stabilize training
+            and preventing large updates. However, it will have no impact if the value estimate was done by the current
+            version of the value estimator. Defaults to ``None``.
+
+    .. note:
+      The advantage (typically GAE) can be computed by the loss function or
+      in the training loop. The latter option is usually preferred, but this is
+      up to the user to choose which option is to be preferred.
+      If the advantage key (``"advantage`` by default) is not present in the
+      input tensordict, the advantage will be computed by the :meth:`~.forward`
+      method.
+
+        >>> reinforce_loss = ReinforceLoss(actor, critic)
+        >>> advantage = GAE(critic)
+        >>> data = next(datacollector)
+        >>> losses = reinforce_loss(data)
+        >>> # equivalent
+        >>> advantage(data)
+        >>> losses = reinforce_loss(data)
+
+      A custom advantage module can be built using :meth:`~.make_value_estimator`.
+      The default is :class:`~torchrl.objectives.value.GAE` with hyperparameters
+      dictated by :func:`~torchrl.objectives.utils.default_value_kwargs`.
+
+        >>> reinforce_loss = ReinforceLoss(actor, critic)
+        >>> reinforce_loss.make_value_estimator(ValueEstimators.TDLambda)
+        >>> data = next(datacollector)
+        >>> losses = reinforce_loss(data)
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data.tensor_specs import Unbounded
+        >>> from torchrl.modules.distributions import NormalParamExtractor, TanhNormal
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives.reinforce import ReinforceLoss
+        >>> from tensordict import TensorDict
+        >>> n_obs, n_act = 3, 5
+        >>> value_net = ValueOperator(nn.Linear(n_obs, 1), in_keys=["observation"])
+        >>> net = nn.Sequential(nn.Linear(n_obs, 2 * n_act), NormalParamExtractor())
+        >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"])
+        >>> actor_net = ProbabilisticActor(
+        ...     module,
+        ...     distribution_class=TanhNormal,
+        ...     return_log_prob=True,
+        ...     in_keys=["loc", "scale"],
+        ...     spec=Unbounded(n_act),)
+        >>> loss = ReinforceLoss(actor_net, value_net)
+        >>> batch = 2
+        >>> data = TensorDict({
+        ...     "observation": torch.randn(batch, n_obs),
+        ...     "next": {
+        ...         "observation": torch.randn(batch, n_obs),
+        ...         "reward": torch.randn(batch, 1),
+        ...         "done": torch.zeros(batch, 1, dtype=torch.bool),
+        ...         "terminated": torch.zeros(batch, 1, dtype=torch.bool),
+        ...     },
+        ...     "action": torch.randn(batch, n_act),
+        ... }, [batch])
+        >>> loss(data)
+        TensorDict(
+            fields={
+                loss_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_value: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False)},
+            batch_size=torch.Size([]),
+            device=None,
+            is_shared=False)
+
+    This class is compatible with non-tensordict based modules too and can be
+    used without recurring to any tensordict-related primitive. In this case,
+    the expected keyword arguments are:
+    ``["action", "next_reward", "next_done", "next_terminated"]`` + in_keys of the actor and critic network
+    The return value is a tuple of tensors in the following order: ``["loss_actor", "loss_value"]``.
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data.tensor_specs import Unbounded
+        >>> from torchrl.modules.distributions import NormalParamExtractor, TanhNormal
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives.reinforce import ReinforceLoss
+        >>> n_obs, n_act = 3, 5
+        >>> value_net = ValueOperator(nn.Linear(n_obs, 1), in_keys=["observation"])
+        >>> net = nn.Sequential(nn.Linear(n_obs, 2 * n_act), NormalParamExtractor())
+        >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"])
+        >>> actor_net = ProbabilisticActor(
+        ...     module,
+        ...     distribution_class=TanhNormal,
+        ...     return_log_prob=True,
+        ...     in_keys=["loc", "scale"],
+        ...     spec=Unbounded(n_act),)
+        >>> loss = ReinforceLoss(actor_net, value_net)
+        >>> batch = 2
+        >>> loss_actor, loss_value = loss(
+        ...     observation=torch.randn(batch, n_obs),
+        ...     next_observation=torch.randn(batch, n_obs),
+        ...     next_reward=torch.randn(batch, 1),
+        ...     next_done=torch.zeros(batch, 1, dtype=torch.bool),
+        ...     next_terminated=torch.zeros(batch, 1, dtype=torch.bool),
+        ...     action=torch.randn(batch, n_act),)
+        >>> loss_actor.backward()
+
+    """
+
+    @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): he 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"``.
+            value (NestedKey): The input tensordict key where the state value is expected.
+                Will be used for the underlying value estimator. Defaults to ``"state_value"``.
+            sample_log_prob (NestedKey): The input tensordict key where the sample log probability is expected.
+                Defaults to ``"sample_log_prob"`` when :func:`~tensordict.nn.composite_lp_aggregate` returns `True`,
+                `"action_log_prob"`  otherwise.
+            action (NestedKey): The input tensordict key where the action is expected.
+                Defaults to ``"action"``.
+            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"
+        value: NestedKey = "state_value"
+        sample_log_prob: NestedKey | None = None
+        action: NestedKey = "action"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+
+        def __post_init__(self):
+            if self.sample_log_prob is None:
+                if composite_lp_aggregate(nowarn=True):
+                    self.sample_log_prob = "sample_log_prob"
+                else:
+                    self.sample_log_prob = "action_log_prob"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    default_value_estimator = ValueEstimators.GAE
+    out_keys = ["loss_actor", "loss_value"]
+
+    actor_network: TensorDictModule
+    critic_network: TensorDictModule
+    actor_network_params: TensorDictParams | None
+    critic_network_params: TensorDictParams | None
+    target_actor_network_params: TensorDictParams | None
+    target_critic_network_params: TensorDictParams | None
+
+    @classmethod
+    def __new__(cls, *args, **kwargs):
+        cls._tensor_keys = cls._AcceptedKeys()
+        return super().__new__(cls)
+
+    def __init__(
+        self,
+        actor_network: ProbabilisticTensorDictSequential,
+        critic_network: TensorDictModule | None = None,
+        *,
+        delay_value: bool = False,
+        loss_critic_type: str = "smooth_l1",
+        gamma: float | None = None,
+        advantage_key: str | None = None,
+        value_target_key: str | None = None,
+        separate_losses: bool = False,
+        functional: bool = True,
+        actor: ProbabilisticTensorDictSequential = None,
+        critic: ProbabilisticTensorDictSequential = None,
+        reduction: str | None = None,
+        clip_value: float | None = None,
+    ) -> None:
+        if actor is not None:
+            actor_network = actor
+        del actor
+        if critic is not None:
+            critic_network = critic
+        del critic
+        if actor_network is None or critic_network is None:
+            raise TypeError(
+                "Missing positional arguments actor_network or critic_network."
+            )
+        if not functional and delay_value:
+            raise RuntimeError(
+                "delay_value and ~functional are incompatible, as delayed value currently relies on functional calls."
+            )
+        if reduction is None:
+            reduction = "mean"
+
+        self._functional = functional
+
+        super().__init__()
+        self.in_keys = None
+        self._set_deprecated_ctor_keys(
+            advantage=advantage_key, value_target=value_target_key
+        )
+
+        self.delay_value = delay_value
+        self.loss_critic_type = loss_critic_type
+        self.reduction = reduction
+
+        # Actor
+        if self.functional:
+            self.convert_to_functional(
+                actor_network,
+                "actor_network",
+                create_target_params=False,
+            )
+        else:
+            self.actor_network = actor_network
+
+        if separate_losses:
+            # we want to make sure there are no duplicates in the params: the
+            # params of critic must be refs to actor if they're shared
+            policy_params = list(actor_network.parameters())
+        else:
+            policy_params = None
+        # Value
+        if critic_network is not None:
+            if self.functional:
+                self.convert_to_functional(
+                    critic_network,
+                    "critic_network",
+                    create_target_params=self.delay_value,
+                    compare_against=policy_params,
+                )
+            else:
+                self.critic_network = critic_network
+                self.target_critic_network_params = None
+
+        if gamma is not None:
+            raise TypeError(_GAMMA_LMBDA_DEPREC_ERROR)
+
+        if clip_value is not None:
+            if isinstance(clip_value, float):
+                clip_value = torch.tensor(clip_value)
+            elif isinstance(clip_value, torch.Tensor):
+                if clip_value.numel() != 1:
+                    raise ValueError(
+                        f"clip_value must be a float or a scalar tensor, got {clip_value}."
+                    )
+            else:
+                raise ValueError(
+                    f"clip_value must be a float or a scalar tensor, got {clip_value}."
+                )
+        self.register_buffer("clip_value", clip_value)
+
+    @property
+    def functional(self):
+        return self._functional
+
+    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.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.actor_network.in_keys,
+            *[("next", key) for key in self.actor_network.in_keys],
+            *self.critic_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
+
+    @in_keys.setter
+    def in_keys(self, values):
+        self._in_keys = values
+
+    @dispatch
+    def forward(self, tensordict: TensorDictBase) -> TensorDictBase:
+        advantage = tensordict.get(self.tensor_keys.advantage, None)
+        if advantage is None:
+            self.value_estimator(
+                tensordict,
+                params=self.critic_network_params.detach() if self.functional else None,
+                target_params=self.target_critic_network_params
+                if self.functional
+                else None,
+            )
+            advantage = tensordict.get(self.tensor_keys.advantage)
+
+        # compute log-prob
+        with self.actor_network_params.to_module(
+            self.actor_network
+        ) if self.functional else contextlib.nullcontext():
+            tensordict = self.actor_network(tensordict)
+
+        log_prob = tensordict.get(self.tensor_keys.sample_log_prob)
+        if log_prob.shape == advantage.shape[:-1]:
+            log_prob = log_prob.unsqueeze(-1)
+        loss_actor = -log_prob * advantage.detach()
+        td_out = TensorDict({"loss_actor": loss_actor}, batch_size=[])
+
+        loss_value, value_clip_fraction = self.loss_critic(tensordict)
+        td_out.set("loss_value", loss_value)
+        if value_clip_fraction is not None:
+            td_out.set("value_clip_fraction", value_clip_fraction)
+        td_out = td_out.named_apply(
+            lambda name, value: _reduce(value, reduction=self.reduction).squeeze(-1)
+            if name.startswith("loss_")
+            else value,
+        )
+        self._clear_weakrefs(
+            tensordict,
+            td_out,
+            "actor_network_params",
+            "critic_network_params",
+            "target_actor_network_params",
+            "target_critic_network_params",
+        )
+        return td_out
+
+    def loss_critic(self, tensordict: TensorDictBase) -> torch.Tensor:
+
+        if self.clip_value:
+            old_state_value = tensordict.get(
+                self.tensor_keys.value, None
+            )  # TODO: None soon to be removed
+            if old_state_value is None:
+                raise KeyError(
+                    f"clip_value is set to {self.clip_value}, but "
+                    f"the key {self.tensor_keys.value} was not found in the input tensordict. "
+                    f"Make sure that the value_key passed to Reinforce exists in the input tensordict."
+                )
+            old_state_value = old_state_value.clone()
+
+        target_return = tensordict.get(
+            self.tensor_keys.value_target, None
+        )  # TODO: None soon to be removed
+        if target_return is None:
+            raise KeyError(
+                f"the key {self.tensor_keys.value_target} was not found in the input tensordict. "
+                f"Make sure you provided the right key and the value_target (i.e. the target "
+                f"return) has been retrieved accordingly. Advantage classes such as GAE, "
+                f"TDLambdaEstimate and TDEstimate all return a 'value_target' entry that "
+                f"can be used for the value loss."
+            )
+
+        tensordict_select = tensordict.select(
+            *self.critic_network.in_keys, strict=False
+        )
+        with self.critic_network_params.to_module(
+            self.critic_network
+        ) if self.functional else contextlib.nullcontext():
+            state_value = self.critic_network(tensordict_select).get(
+                self.tensor_keys.value
+            )
+        loss_value = distance_loss(
+            target_return,
+            state_value,
+            loss_function=self.loss_critic_type,
+        )
+        clip_fraction = None
+        if self.clip_value:
+            loss_value, clip_fraction = _clip_value_loss(
+                old_state_value,
+                state_value,
+                self.clip_value.to(state_value.device),
+                target_return,
+                loss_value,
+                self.loss_critic_type,
+            )
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "critic_network_params",
+            "target_actor_network_params",
+            "target_critic_network_params",
+        )
+
+        return loss_value, clip_fraction
+
+    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 == ValueEstimators.TD1:
+            self._value_estimator = TD1Estimator(
+                value_network=self.critic_network, **hp
+            )
+        elif value_type == ValueEstimators.TD0:
+            self._value_estimator = TD0Estimator(
+                value_network=self.critic_network, **hp
+            )
+        elif value_type == ValueEstimators.GAE:
+            self._value_estimator = GAE(value_network=self.critic_network, **hp)
+        elif value_type == ValueEstimators.TDLambda:
+            self._value_estimator = TDLambdaEstimator(
+                value_network=self.critic_network, **hp
+            )
+        elif value_type == ValueEstimators.VTrace:
+            # VTrace currently does not support functional call on the actor
+            if self.functional:
+                actor_with_params = deepcopy(self.actor_network)
+                self.actor_network_params.to_module(actor_with_params)
+            else:
+                actor_with_params = self.actor_network
+            self._value_estimator = VTrace(
+                value_network=self.critic_network, actor_network=actor_with_params, **hp
+            )
+        else:
+            raise NotImplementedError(f"Unknown value type {value_type}")
+
+        tensor_keys = {
+            "advantage": self.tensor_keys.advantage,
+            "value": self.tensor_keys.value,
+            "value_target": self.tensor_keys.value_target,
+            "reward": self.tensor_keys.reward,
+            "done": self.tensor_keys.done,
+            "terminated": self.tensor_keys.terminated,
+            "sample_log_prob": self.tensor_keys.sample_log_prob,
+        }
+        self._value_estimator.set_keys(**tensor_keys)