torchrl 0.11.0__cp314-cp314t-macosx_11_0_arm64.whl

torchrl/data/datasets/vd4rl.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 functools
+import importlib
+import json
+import os
+import pathlib
+import shutil
+import tempfile
+from collections import defaultdict
+from collections.abc import Callable
+from pathlib import Path
+
+import numpy as np
+import torch
+from tensordict import PersistentTensorDict, TensorDict
+from torch import multiprocessing as mp
+from torchrl._utils import KeyDependentDefaultDict, logger as torchrl_logger
+from torchrl.data.datasets.common import BaseDatasetExperienceReplay
+from torchrl.data.datasets.utils import _get_root_dir
+from torchrl.data.replay_buffers.samplers import Sampler
+from torchrl.data.replay_buffers.storages import TensorStorage
+from torchrl.data.replay_buffers.writers import ImmutableDatasetWriter, Writer
+from torchrl.envs.transforms import Compose, Resize, ToTensorImage
+from torchrl.envs.utils import _classproperty
+
+_has_tqdm = importlib.util.find_spec("tqdm", None) is not None
+_has_h5py = importlib.util.find_spec("h5py", None) is not None
+_has_hf_hub = importlib.util.find_spec("huggingface_hub", None) is not None
+
+THIS_DIR = pathlib.Path(__file__).parent
+
+
+class VD4RLExperienceReplay(BaseDatasetExperienceReplay):
+    """V-D4RL experience replay dataset.
+
+    This class downloads the H5/npz data from V-D4RL and processes it in a mmap
+    format, which makes indexing (and therefore sampling) faster.
+
+    Learn more about V-D4RL here: https://arxiv.org/abs/2206.04779
+
+    The `"pixels"` entry is located at the root of the data, and all the data
+    that is not reward, done-state, action or pixels is moved under a `"state"`
+    node.
+
+    The data format follows the :ref:`TED convention <TED-format>`.
+
+    Args:
+        dataset_id (str): the dataset to be downloaded. Must be part of
+            VD4RLExperienceReplay.available_datasets.
+        batch_size (int): Batch-size used during sampling. Can be overridden by
+            `data.sample(batch_size)` if necessary.
+
+    Keyword Args:
+        root (Path or str, optional): The V-D4RL dataset root directory.
+            The actual dataset memory-mapped files will be saved under
+            `<root>/<dataset_id>`. If none is provided, it defaults to
+            `~/.cache/torchrl/atari`.vd4rl`.
+        download (bool or str, optional): Whether the dataset should be downloaded if
+            not found. Defaults to ``True``. Download can also be passed as ``"force"``,
+            in which case the downloaded data will be overwritten.
+        sampler (Sampler, optional): the sampler to be used. If none is provided
+            a default RandomSampler() will be used.
+        writer (Writer, optional): the writer to be used. If none is provided
+            a default :class:`~torchrl.data.replay_buffers.writers.ImmutableDatasetWriter` will be used.
+        collate_fn (callable, optional): merges a list of samples to form a
+            mini-batch of Tensor(s)/outputs.  Used when using batched
+            loading from a map-style dataset.
+        pin_memory (bool): whether pin_memory() should be called on the rb
+            samples.
+        prefetch (int, optional): number of next batches to be prefetched
+            using multithreading.
+        transform (Transform, optional): Transform to be executed when sample() is called.
+            To chain transforms use the :class:`~torchrl.envs.transforms.transforms.Compose` class.
+        split_trajs (bool, optional): if ``True``, the trajectories will be split
+            along the first dimension and padded to have a matching shape.
+            To split the trajectories, the ``"done"`` signal will be used, which
+            is recovered via ``done = truncated | terminated``. In other words,
+            it is assumed that any ``truncated`` or ``terminated`` signal is
+            equivalent to the end of a trajectory. For some datasets from
+            ``D4RL``, this may not be true. It is up to the user to make
+            accurate choices regarding this usage of ``split_trajs``.
+            Defaults to ``False``.
+        totensor (bool, optional): if ``True``, a :class:`~torchrl.envs.transforms.ToTensorImage`
+            transform will be included in the transform list (if not automatically
+            detected). Defaults to ``True``.
+        image_size (int, list of ints or None): if not ``None``, this argument
+            will be used to create a :class:`~torchrl.envs.transforms.Resize`
+            transform that will be appended to the transform list. Supports
+            `int` types (square resizing) or a list/tuple of `int` (rectangular
+            resizing). Defaults to ``None`` (no resizing).
+        num_workers (int, optional): the number of workers to download the files.
+            Defaults to ``0`` (no multiprocessing).
+
+    Attributes:
+        available_datasets: a list of accepted entries to be downloaded. These
+            names correspond to the directory path in the huggingface dataset
+            repository. If possible, the list will be dynamically retrieved from
+            huggingface. If no internet connection is available, it a cached
+            version will be used.
+
+    .. note:: Since not all experience replay have start and stop signals, we
+        do not mark the episodes in the retrieved dataset.
+
+    Examples:
+        >>> import torch
+        >>> torch.manual_seed(0)
+        >>> from torchrl.data.datasets import VD4RLExperienceReplay
+        >>> d = VD4RLExperienceReplay("main/walker_walk/random/64px", batch_size=32,
+        ...     image_size=50)
+        >>> for batch in d:
+        ...     break
+        >>> print(batch)
+        TensorDict(
+            fields={
+                action: Tensor(shape=torch.Size([32, 6]), device=cpu, dtype=torch.float32, is_shared=False),
+                done: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                index: Tensor(shape=torch.Size([32]), device=cpu, dtype=torch.int64, is_shared=False),
+                is_init: Tensor(shape=torch.Size([32]), device=cpu, dtype=torch.bool, is_shared=False),
+                next: TensorDict(
+                    fields={
+                        done: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                        observation: TensorDict(
+                            fields={
+                                height: Tensor(shape=torch.Size([32]), device=cpu, dtype=torch.float32, is_shared=False),
+                                orientations: Tensor(shape=torch.Size([32, 14]), device=cpu, dtype=torch.float32, is_shared=False),
+                                velocity: Tensor(shape=torch.Size([32, 9]), device=cpu, dtype=torch.float32, is_shared=False)},
+                            batch_size=torch.Size([32]),
+                            device=cpu,
+                            is_shared=False),
+                        pixels: Tensor(shape=torch.Size([32, 3, 50, 50]), device=cpu, dtype=torch.float32, is_shared=False),
+                        reward: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.float32, is_shared=False),
+                        terminated: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                        truncated: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False)},
+                    batch_size=torch.Size([32]),
+                    device=cpu,
+                    is_shared=False),
+                observation: TensorDict(
+                    fields={
+                        height: Tensor(shape=torch.Size([32]), device=cpu, dtype=torch.float32, is_shared=False),
+                        orientations: Tensor(shape=torch.Size([32, 14]), device=cpu, dtype=torch.float32, is_shared=False),
+                        velocity: Tensor(shape=torch.Size([32, 9]), device=cpu, dtype=torch.float32, is_shared=False)},
+                    batch_size=torch.Size([32]),
+                    device=cpu,
+                    is_shared=False),
+                pixels: Tensor(shape=torch.Size([32, 3, 50, 50]), device=cpu, dtype=torch.float32, is_shared=False),
+                terminated: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                truncated: Tensor(shape=torch.Size([32, 1]), device=cpu, dtype=torch.bool, is_shared=False)},
+            batch_size=torch.Size([32]),
+            device=cpu,
+            is_shared=False)
+
+    """
+
+    def __init__(
+        self,
+        dataset_id,
+        batch_size: int,
+        *,
+        root: str | Path | None = None,
+        download: bool = True,
+        sampler: Sampler | None = None,
+        writer: Writer | None = None,
+        collate_fn: Callable | None = None,
+        pin_memory: bool = False,
+        prefetch: int | None = None,
+        transform: torchrl.envs.Transform | None = None,  # noqa-F821
+        split_trajs: bool = False,
+        totensor: bool = True,
+        image_size: int | list[int] | None = None,
+        num_workers: int = 0,
+        **env_kwargs,
+    ):
+        if not _has_h5py or not _has_hf_hub:
+            raise ImportError(
+                "h5py and huggingface_hub are required for V-D4RL datasets."
+            )
+        if dataset_id not in self.available_datasets:
+            raise ValueError(
+                f"The dataset_id {dataset_id} isn't part of the accepted datasets. "
+                f"To check which dataset can be downloaded, call `{type(self)}.available_datasets`."
+            )
+        self.dataset_id = dataset_id
+        if root is None:
+            root = _get_root_dir("vd4rl")
+            os.makedirs(root, exist_ok=True)
+        self.root = root
+        self.split_trajs = split_trajs
+        self.download = download
+        self.num_workers = num_workers
+        if self.download == "force" or (self.download and not self._is_downloaded()):
+            if self.download == "force":
+                try:
+                    if os.path.exists(self.data_path_root):
+                        shutil.rmtree(self.data_path_root)
+                    if self.data_path != self.data_path_root:
+                        shutil.rmtree(self.data_path)
+                except FileNotFoundError:
+                    pass
+            storage = self._download_and_preproc(
+                dataset_id, data_path=self.data_path, num_workers=self.num_workers
+            )
+        elif self.split_trajs and not os.path.exists(self.data_path):
+            storage = self._make_split()
+        else:
+            storage = self._load()
+        if totensor and transform is None:
+            transform = ToTensorImage(
+                in_keys=["pixels", ("next", "pixels")], shape_tolerant=True
+            )
+        elif totensor and (
+            not isinstance(transform, Compose)
+            or not any(isinstance(t, ToTensorImage) for t in transform)
+        ):
+            transform = Compose(
+                transform,
+                ToTensorImage(
+                    in_keys=["pixels", ("next", "pixels")], shape_tolerant=True
+                ),
+            )
+        if image_size is not None:
+            transform = Compose(
+                transform, Resize(image_size, in_keys=["pixels", ("next", "pixels")])
+            )
+        storage = TensorStorage(storage)
+
+        if writer is None:
+            writer = ImmutableDatasetWriter()
+
+        super().__init__(
+            storage=storage,
+            sampler=sampler,
+            writer=writer,
+            collate_fn=collate_fn,
+            pin_memory=pin_memory,
+            prefetch=prefetch,
+            transform=transform,
+            batch_size=batch_size,
+        )
+
+    @classmethod
+    def _parse_datasets(cls):
+        from huggingface_hub import HfApi
+
+        dataset = HfApi().dataset_info("conglu/vd4rl")
+        sibs = defaultdict(list)
+        for sib in dataset.siblings:
+            if sib.rfilename.endswith("npz") or sib.rfilename.endswith("hdf5"):
+                path = Path(sib.rfilename)
+                sibs[path.parent].append(path)
+        return sibs
+
+    @classmethod
+    def _hf_hub_download(cls, subfolder, filename, *, tmpdir):
+        from huggingface_hub import hf_hub_download
+
+        return hf_hub_download(
+            "conglu/vd4rl",
+            subfolder=subfolder,
+            filename=filename,
+            repo_type="dataset",
+            cache_dir=str(tmpdir),
+        )
+
+    @classmethod
+    def _download_and_preproc(cls, dataset_id, data_path, num_workers):
+
+        tds = []
+        with tempfile.TemporaryDirectory() as tmpdir:
+            sibs = cls._parse_datasets()
+            total_steps = 0
+
+            paths_to_proc = []
+            files_to_proc = []
+
+            for path in sibs:
+                if dataset_id not in str(path):
+                    continue
+                for file in sibs[path]:
+                    paths_to_proc.append(str(path))
+                    files_to_proc.append(str(file.parts[-1]))
+            func = functools.partial(cls._hf_hub_download, tmpdir=tmpdir)
+            if num_workers > 0:
+                with mp.Pool(num_workers) as pool:
+                    files = pool.starmap(
+                        func,
+                        zip(paths_to_proc, files_to_proc),
+                    )
+                    files = list(files)
+            else:
+                files = [
+                    func(subfolder, filename)
+                    for (subfolder, filename) in zip(paths_to_proc, files_to_proc)
+                ]
+            torchrl_logger.info("Downloaded, processing files")
+            if _has_tqdm:
+                import tqdm
+
+                pbar = tqdm.tqdm(files)
+            else:
+                pbar = files
+            for local_path in pbar:
+                if _has_tqdm:
+                    pbar.set_description(f"file={local_path}")
+                # we memmap temporarily the files for faster access later
+                if local_path.endswith("hdf5"):
+                    td = (
+                        PersistentTensorDict.from_h5(local_path)
+                        .to_tensordict()
+                        .memmap(num_threads=32)
+                    )
+                else:
+                    td = _from_npz(local_path).memmap(num_threads=32)
+                td.unlock_()
+                if total_steps == 0:
+                    tdc = cls._process_data(td.clone())
+                    td_save = tdc[0]
+                tds.append(td)
+                total_steps += td.shape[0]
+
+        # From this point, the local paths are non needed anymore
+        td_save = td_save.expand(total_steps).memmap_like(data_path, num_threads=32)
+        torchrl_logger.info(f"Saved tensordict: {td_save}")
+        idx0 = 0
+        idx1 = 0
+        while len(files):
+            _ = files.pop(0)
+            td = tds.pop(0)
+            td = cls._process_data(td)
+            idx1 += td.shape[0]
+            td_save[idx0:idx1] = td
+            idx0 = idx1
+        return td_save
+
+    @classmethod
+    def _process_data(cls, td: TensorDict):
+        for name in list(td.keys()):
+            # move remaining data
+            if name not in _NAME_MATCH:
+                td.rename_key_(name, ("state", name))
+            elif name != _NAME_MATCH[name]:
+                td.rename_key_(name, _NAME_MATCH[name])
+        if ("next", "reward") in td.keys(True):
+            td.set(("next", "reward"), td.get(("next", "reward")).unsqueeze(-1))
+        if ("next", "done") in td.keys(True) and ("next", "terminated") in td.keys(
+            True
+        ):
+            # first unsqueeze
+            td.set(("next", "done"), td.get(("next", "done")).unsqueeze(-1))
+            td.set(("next", "terminated"), td.get(("next", "terminated")).unsqueeze(-1))
+            # create root vals
+            td.set("done", torch.zeros_like(td.get(("next", "done"))))
+            td.set("terminated", torch.zeros_like(td.get(("next", "terminated"))))
+            # Add truncated
+            td.set(
+                ("next", "truncated"),
+                td.get(("next", "done")) & ~td.get(("next", "terminated")),
+            )
+
+            td.set("truncated", torch.zeros_like(td.get(("next", "truncated"))))
+
+        pixels = td.get("pixels")
+        subtd = td._get_sub_tensordict(slice(0, -1))
+        subtd.set(("next", "pixels"), pixels[1:], inplace=True)
+        state = td.get("state", None)
+        if state is not None:
+            subtd.set(("next", "state"), state[1:], inplace=True)
+
+        return td
+
+    @_classproperty
+    def available_datasets(cls):
+        return cls._available_datasets()
+
+    @classmethod
+    def _available_datasets(cls):
+        # try to gather paths from hf
+        try:
+            sibs = cls._parse_datasets()
+            return [str(path)[6:] for path in sibs]
+        except Exception:
+            # return the default datasets
+            with open(THIS_DIR / "vd4rl.json") as file:
+                return json.load(file)
+
+    def _make_split(self):
+        from torchrl.collectors.utils import split_trajectories
+
+        td_data = TensorDict.load_memmap(self.data_path_root)
+        td_data = split_trajectories(td_data).memmap_(self.data_path)
+        return td_data
+
+    def _load(self):
+        return TensorDict.load_memmap(self.data_path)
+
+    @property
+    def data_path(self):
+        if self.split_trajs:
+            return Path(self.root) / (self.dataset_id + "_split")
+        return self.data_path_root
+
+    @property
+    def data_path_root(self):
+        return Path(self.root) / self.dataset_id
+
+    def _is_downloaded(self):
+        return os.path.exists(self.data_path_root)
+
+
+def _from_npz(npz_path):
+    npz = np.load(npz_path)
+    npz_dict = {file: npz[file] for file in npz.files}
+    return TensorDict.from_dict(npz_dict, auto_batch_size=True)
+
+
+_NAME_MATCH = KeyDependentDefaultDict(lambda x: x)
+_NAME_MATCH.update(
+    {
+        "is_first": "is_init",
+        "is_last": ("next", "done"),
+        "is_terminal": ("next", "terminated"),
+        "reward": ("next", "reward"),
+        "image": "pixels",
+        "observation": "pixels",
+        "discount": "discount",
+        "action": "action",
+    }
+)

torchrl/data/llm/__init__.py

@@ -0,0 +1,34 @@
+# 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 .dataset import (
+    create_infinite_iterator,
+    get_dataloader,
+    TensorDictTokenizer,
+    TokenizedDatasetLoader,
+)
+from .history import add_chat_template, ContentBase, History
+from .prompt import PromptData, PromptTensorDictTokenizer
+from .reward import PairwiseDataset, RewardData
+from .topk import TopKRewardSelector
+from .utils import AdaptiveKLController, ConstantKLController, RolloutFromModel
+
+__all__ = [
+    "AdaptiveKLController",
+    "ConstantKLController",
+    "ContentBase",
+    "History",
+    "PairwiseDataset",
+    "PromptData",
+    "add_chat_template",
+    "PromptTensorDictTokenizer",
+    "RewardData",
+    "RolloutFromModel",
+    "TensorDictTokenizer",
+    "TokenizedDatasetLoader",
+    "create_infinite_iterator",
+    "get_dataloader",
+    "TopKRewardSelector",
+]