torchrl 0.11.0__cp314-cp314t-win_amd64.whl

sota-implementations/td3/utils.py

@@ -0,0 +1,319 @@
+# 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 tempfile
+from contextlib import nullcontext
+
+import torch
+from tensordict.nn import TensorDictModule, TensorDictSequential
+
+from torch import nn, optim
+from torchrl.collectors import SyncDataCollector
+from torchrl.data import TensorDictPrioritizedReplayBuffer, TensorDictReplayBuffer
+from torchrl.data.replay_buffers.storages import LazyMemmapStorage, LazyTensorStorage
+from torchrl.envs import (
+    CatTensors,
+    Compose,
+    DMControlEnv,
+    DoubleToFloat,
+    EnvCreator,
+    InitTracker,
+    ParallelEnv,
+    RewardSum,
+    StepCounter,
+    TransformedEnv,
+)
+from torchrl.envs.libs.gym import GymEnv, set_gym_backend
+from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.modules import AdditiveGaussianModule, MLP, TanhModule, ValueOperator
+
+from torchrl.objectives import SoftUpdate
+from torchrl.objectives.td3 import TD3Loss
+from torchrl.record import VideoRecorder
+
+
+# ====================================================================
+# Environment utils
+# -----------------
+
+
+def env_maker(cfg, device="cpu", from_pixels=False):
+    lib = cfg.env.library
+    if lib in ("gym", "gymnasium"):
+        with set_gym_backend(lib):
+            return GymEnv(
+                cfg.env.name,
+                device=device,
+                from_pixels=from_pixels,
+                pixels_only=False,
+            )
+    elif lib == "dm_control":
+        env = DMControlEnv(
+            cfg.env.name, cfg.env.task, from_pixels=from_pixels, pixels_only=False
+        )
+        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):
+    transformed_env = TransformedEnv(
+        env,
+        Compose(
+            StepCounter(max_steps=max_episode_steps),
+            InitTracker(),
+            DoubleToFloat(),
+            RewardSum(),
+        ),
+    )
+    return transformed_env
+
+
+def make_environment(cfg, logger, device):
+    """Make environments for training and evaluation."""
+    partial = functools.partial(env_maker, cfg=cfg)
+    parallel_env = ParallelEnv(
+        cfg.collector.env_per_collector,
+        EnvCreator(partial),
+        serial_for_single=True,
+        device=device,
+    )
+    parallel_env.set_seed(cfg.env.seed)
+
+    train_env = apply_env_transforms(parallel_env, cfg.env.max_episode_steps)
+
+    partial = functools.partial(env_maker, cfg=cfg, from_pixels=cfg.logger.video)
+    trsf_clone = train_env.transform.clone()
+    if cfg.logger.video:
+        trsf_clone.insert(
+            0, VideoRecorder(logger, tag="rendering/test", in_keys=["pixels"])
+        )
+    eval_env = TransformedEnv(
+        ParallelEnv(
+            1,
+            EnvCreator(partial),
+            serial_for_single=True,
+            device=device,
+        ),
+        trsf_clone,
+    )
+    return train_env, eval_env
+
+
+# ====================================================================
+# Collector and replay buffer
+# ---------------------------
+
+
+def make_collector(cfg, train_env, actor_model_explore, compile_mode, device):
+    """Make collector."""
+    collector_device = cfg.collector.device
+    if collector_device in ("", None):
+        collector_device = device
+    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,
+        reset_at_each_iter=cfg.collector.reset_at_each_iter,
+        device=collector_device,
+        compile_policy={"mode": compile_mode} if compile_mode else False,
+        cudagraph_policy={"warmup": 10} if cfg.compile.cudagraphs else False,
+    )
+    collector.set_seed(cfg.env.seed)
+    return collector
+
+
+def make_replay_buffer(
+    batch_size: int,
+    prb: bool = False,
+    buffer_size: int = 1000000,
+    scratch_dir: str | None = None,
+    device: torch.device = "cpu",
+    prefetch: int = 3,
+    compile: bool = False,
+):
+    if compile:
+        prefetch = 0
+    if scratch_dir in ("", None):
+        ctx = nullcontext(None)
+    elif scratch_dir == "temp":
+        ctx = tempfile.TemporaryDirectory()
+    else:
+        ctx = nullcontext(scratch_dir)
+    with ctx as scratch_dir:
+        storage_cls = (
+            functools.partial(LazyTensorStorage, device=device, compilable=compile)
+            if not scratch_dir
+            else functools.partial(
+                LazyMemmapStorage, device="cpu", scratch_dir=scratch_dir
+            )
+        )
+
+        if prb:
+            replay_buffer = TensorDictPrioritizedReplayBuffer(
+                alpha=0.7,
+                beta=0.5,
+                pin_memory=False,
+                prefetch=prefetch,
+                storage=storage_cls(buffer_size),
+                batch_size=batch_size,
+                compilable=compile,
+            )
+        else:
+            replay_buffer = TensorDictReplayBuffer(
+                pin_memory=False,
+                prefetch=prefetch,
+                storage=storage_cls(buffer_size),
+                batch_size=batch_size,
+                compilable=compile,
+            )
+        if scratch_dir:
+            replay_buffer.append_transform(lambda td: td.to(device))
+        return replay_buffer
+
+
+# ====================================================================
+# Model
+# -----
+
+
+def make_td3_agent(cfg, train_env, eval_env, device):
+    """Make TD3 agent."""
+    # Define Actor Network
+    in_keys = ["observation"]
+    action_spec = train_env.action_spec_unbatched.to(device)
+    actor_net = MLP(
+        num_cells=cfg.network.hidden_sizes,
+        out_features=action_spec.shape[-1],
+        activation_class=get_activation(cfg),
+        device=device,
+    )
+
+    in_keys_actor = in_keys
+    actor_module = TensorDictModule(
+        actor_net,
+        in_keys=in_keys_actor,
+        out_keys=["param"],
+    )
+    actor = TensorDictSequential(
+        actor_module,
+        TanhModule(
+            in_keys=["param"],
+            out_keys=["action"],
+            spec=action_spec,
+        ),
+    )
+
+    # Define Critic Network
+    qvalue_net = MLP(
+        num_cells=cfg.network.hidden_sizes,
+        out_features=1,
+        activation_class=get_activation(cfg),
+        device=device,
+    )
+
+    qvalue = ValueOperator(
+        in_keys=["action"] + in_keys,
+        module=qvalue_net,
+    )
+
+    model = nn.ModuleList([actor, qvalue])
+
+    # init nets
+    with torch.no_grad(), set_exploration_type(ExplorationType.RANDOM):
+        td = eval_env.fake_tensordict()
+        td = td.to(device)
+        for net in model:
+            net(td)
+    # Exploration wrappers:
+    actor_model_explore = TensorDictSequential(
+        actor,
+        AdditiveGaussianModule(
+            sigma_init=1,
+            sigma_end=1,
+            mean=0,
+            std=0.1,
+            spec=action_spec,
+            device=device,
+        ),
+    )
+    return model, actor_model_explore
+
+
+# ====================================================================
+# TD3 Loss
+# ---------
+
+
+def make_loss_module(cfg, model):
+    """Make loss module and target network updater."""
+    # Create TD3 loss
+    loss_module = TD3Loss(
+        actor_network=model[0],
+        qvalue_network=model[1],
+        num_qvalue_nets=2,
+        loss_function=cfg.optim.loss_function,
+        delay_actor=True,
+        delay_qvalue=True,
+        action_spec=model[0][1].spec,
+        policy_noise=cfg.optim.policy_noise,
+        noise_clip=cfg.optim.noise_clip,
+    )
+    loss_module.make_value_estimator(gamma=cfg.optim.gamma)
+
+    # Define Target Network Updater
+    target_net_updater = SoftUpdate(loss_module, eps=cfg.optim.target_update_polyak)
+    return loss_module, target_net_updater
+
+
+def make_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,
+    )
+    optimizer_critic = optim.Adam(
+        critic_params,
+        lr=cfg.optim.lr,
+        weight_decay=cfg.optim.weight_decay,
+        eps=cfg.optim.adam_eps,
+    )
+    return optimizer_actor, optimizer_critic
+
+
+# ====================================================================
+# 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(cfg):
+    if cfg.network.activation == "relu":
+        return nn.ReLU
+    elif cfg.network.activation == "tanh":
+        return nn.Tanh
+    elif cfg.network.activation == "leaky_relu":
+        return nn.LeakyReLU
+    else:
+        raise NotImplementedError
+
+
+def dump_video(module):
+    if isinstance(module, VideoRecorder):
+        module.dump()

sota-implementations/td3_bc/td3_bc.py

@@ -0,0 +1,177 @@
+# 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.
+"""TD3+BC Example.
+
+This is a self-contained example of an offline RL TD3+BC training script.
+
+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 tqdm
+from tensordict import TensorDict
+from tensordict.nn import CudaGraphModule
+from torchrl._utils import compile_with_warmup, get_available_device, timeit
+from torchrl.envs import set_gym_backend
+from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.record.loggers import generate_exp_name, get_logger
+from utils import (
+    dump_video,
+    log_metrics,
+    make_environment,
+    make_loss_module,
+    make_offline_replay_buffer,
+    make_optimizer,
+    make_td3_agent,
+)
+
+
+@hydra.main(config_path="", config_name="config")
+def main(cfg: DictConfig):  # noqa: F821
+    set_gym_backend(cfg.env.library).set()
+
+    # Create logger
+    exp_name = generate_exp_name("TD3BC-offline", cfg.logger.exp_name)
+    logger = None
+    if cfg.logger.backend:
+        logger = get_logger(
+            logger_type=cfg.logger.backend,
+            logger_name="td3bc_logging",
+            experiment_name=exp_name,
+            wandb_kwargs={
+                "mode": cfg.logger.mode,
+                "config": dict(cfg),
+                "project": cfg.logger.project_name,
+                "group": cfg.logger.group_name,
+            },
+        )
+
+    # Set seeds
+    torch.manual_seed(cfg.env.seed)
+    np.random.seed(cfg.env.seed)
+    device = (
+        torch.device(cfg.network.device)
+        if cfg.network.device
+        else get_available_device()
+    )
+
+    # Creante env
+    eval_env = make_environment(
+        cfg,
+        logger=logger,
+    )
+
+    # Create replay buffer
+    replay_buffer = make_offline_replay_buffer(cfg.replay_buffer, device=device)
+
+    compile_mode = None
+    if cfg.compile.compile:
+        compile_mode = cfg.compile.compile_mode
+        if compile_mode in ("", None):
+            if cfg.compile.cudagraphs:
+                compile_mode = "default"
+            else:
+                compile_mode = "reduce-overhead"
+
+    # Create agent
+    model, _ = make_td3_agent(cfg, eval_env, device)
+
+    # Create loss
+    loss_module, target_net_updater = make_loss_module(cfg.optim, model)
+
+    # Create optimizer
+    optimizer_actor, optimizer_critic = make_optimizer(cfg.optim, loss_module)
+
+    def update(sampled_tensordict, update_actor):
+        # Compute loss
+        q_loss, *_ = loss_module.qvalue_loss(sampled_tensordict)
+
+        # Update critic
+        q_loss.backward()
+        optimizer_critic.step()
+        optimizer_critic.zero_grad(set_to_none=True)
+
+        # Update actor
+        if update_actor:
+            actor_loss, actorloss_metadata = loss_module.actor_loss(sampled_tensordict)
+            actor_loss.backward()
+            optimizer_actor.step()
+            optimizer_actor.zero_grad(set_to_none=True)
+
+            # Update target params
+            target_net_updater.step()
+        else:
+            actorloss_metadata = {}
+            actor_loss = q_loss.new_zeros(())
+        metadata = TensorDict(actorloss_metadata)
+        metadata.set("q_loss", q_loss.detach())
+        metadata.set("actor_loss", actor_loss.detach())
+        return metadata
+
+    if cfg.compile.compile:
+        update = compile_with_warmup(update, mode=compile_mode, warmup=1)
+
+    if cfg.compile.cudagraphs:
+        warnings.warn(
+            "CudaGraphModule is experimental and may lead to silently wrong results. Use with caution.",
+            category=UserWarning,
+        )
+        update = CudaGraphModule(update, in_keys=[], out_keys=[], warmup=5)
+
+    gradient_steps = cfg.optim.gradient_steps
+    evaluation_interval = cfg.logger.eval_iter
+    eval_steps = cfg.logger.eval_steps
+    delayed_updates = cfg.optim.policy_update_delay
+    pbar = tqdm.tqdm(range(gradient_steps))
+    # Training loop
+    for update_counter in pbar:
+        timeit.printevery(num_prints=1000, total_count=gradient_steps, erase=True)
+
+        # Update actor every delayed_updates
+        update_actor = update_counter % delayed_updates == 0
+
+        with timeit("rb - sample"):
+            # Sample from replay buffer
+            sampled_tensordict = replay_buffer.sample()
+
+        with timeit("update"):
+            torch.compiler.cudagraph_mark_step_begin()
+            metadata = update(sampled_tensordict, update_actor).clone()
+
+        metrics_to_log = {}
+        if update_actor:
+            metrics_to_log.update(metadata.to_dict())
+        else:
+            metrics_to_log.update(metadata.exclude("actor_loss").to_dict())
+
+        # evaluation
+        if update_counter % evaluation_interval == 0:
+            with set_exploration_type(
+                ExplorationType.DETERMINISTIC
+            ), torch.no_grad(), timeit("eval"):
+                eval_td = eval_env.rollout(
+                    max_steps=eval_steps, policy=model[0], auto_cast_to_device=True
+                )
+                eval_env.apply(dump_video)
+            eval_reward = eval_td["next", "reward"].sum(1).mean().item()
+            metrics_to_log["evaluation_reward"] = eval_reward
+        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, update_counter)
+
+    if not eval_env.is_closed:
+        eval_env.close()
+    pbar.close()
+
+
+if __name__ == "__main__":
+    main()