import os import shutil from typing import Optional, Union, cast from mlagents_envs.exception import UnityPolicyException from mlagents_envs.logging_util import get_logger from mlagents.tf_utils import tf from mlagents.trainers.saver.saver import BaseSaver from mlagents.trainers.tf.model_serialization import export_policy_model from mlagents.trainers.settings import TrainerSettings, SerializationSettings from mlagents.trainers.policy.tf_policy import TFPolicy from mlagents.trainers.optimizer.tf_optimizer import TFOptimizer from mlagents.trainers import __version__ logger = get_logger(__name__) class TFSaver(BaseSaver): """ Saver class for TensorFlow """ def __init__( self, trainer_settings: TrainerSettings, model_path: str, load: bool = False ): super().__init__() self.model_path = model_path self.initialize_path = trainer_settings.init_path self._keep_checkpoints = trainer_settings.keep_checkpoints self.load = load # Currently only support saving one policy. This is the one to be saved. self.policy: Optional[TFPolicy] = None self.graph = None self.sess = None self.tf_saver = None def register(self, module: Union[TFPolicy, TFOptimizer]) -> None: if isinstance(module, TFPolicy): self._register_policy(module) elif isinstance(module, TFOptimizer): self._register_optimizer(module) else: raise UnityPolicyException( "Registering Object of unsupported type {} to Saver ".format( type(module) ) ) def _register_policy(self, policy: TFPolicy) -> None: if self.policy is None: self.policy = policy self.graph = self.policy.graph self.sess = self.policy.sess with self.policy.graph.as_default(): self.tf_saver = tf.train.Saver(max_to_keep=self._keep_checkpoints) def save_checkpoint(self, behavior_name: str, step: int) -> str: checkpoint_path = os.path.join(self.model_path, f"{behavior_name}-{step}") # Save the TF checkpoint and graph definition if self.graph: with self.graph.as_default(): if self.tf_saver: self.tf_saver.save(self.sess, f"{checkpoint_path}.ckpt") tf.train.write_graph( self.graph, self.model_path, "raw_graph_def.pb", as_text=False ) # also save the policy so we have optimized model files for each checkpoint self.export(checkpoint_path, behavior_name) return checkpoint_path def export(self, output_filepath: str, behavior_name: str) -> None: # save model if there is only one worker or # only on worker-0 if there are multiple workers if self.policy and self.policy.rank is not None and self.policy.rank != 0: return export_policy_model( self.model_path, output_filepath, behavior_name, self.graph, self.sess ) def initialize_or_load(self, policy: Optional[TFPolicy] = None) -> None: # If there is an initialize path, load from that. Else, load from the set model path. # If load is set to True, don't reset steps to 0. Else, do. This allows a user to, # e.g., resume from an initialize path. if policy is None: policy = self.policy policy = cast(TFPolicy, policy) reset_steps = not self.load if self.initialize_path is not None: self._load_graph( policy, self.initialize_path, reset_global_steps=reset_steps ) elif self.load: self._load_graph(policy, self.model_path, reset_global_steps=reset_steps) else: policy.initialize() TFPolicy.broadcast_global_variables(0) def _load_graph( self, policy: TFPolicy, model_path: str, reset_global_steps: bool = False ) -> None: with policy.graph.as_default(): logger.info(f"Loading model from {model_path}.") ckpt = tf.train.get_checkpoint_state(model_path) if ckpt is None: raise UnityPolicyException( "The model {} could not be loaded. Make " "sure you specified the right " "--run-id and that the previous run you are loading from had the same " "behavior names.".format(model_path) ) if self.tf_saver: try: self.tf_saver.restore(policy.sess, ckpt.model_checkpoint_path) except tf.errors.NotFoundError: raise UnityPolicyException( "The model {} was found but could not be loaded. Make " "sure the model is from the same version of ML-Agents, has the same behavior parameters, " "and is using the same trainer configuration as the current run.".format( model_path ) ) self._check_model_version(__version__) if reset_global_steps: policy.set_step(0) logger.info( "Starting training from step 0 and saving to {}.".format( self.model_path ) ) else: logger.info(f"Resuming training from step {policy.get_current_step()}.") def _check_model_version(self, version: str) -> None: """ Checks whether the model being loaded was created with the same version of ML-Agents, and throw a warning if not so. """ if self.policy is not None and self.policy.version_tensors is not None: loaded_ver = tuple( num.eval(session=self.sess) for num in self.policy.version_tensors ) if loaded_ver != TFPolicy._convert_version_string(version): logger.warning( f"The model checkpoint you are loading from was saved with ML-Agents version " f"{loaded_ver[0]}.{loaded_ver[1]}.{loaded_ver[2]} but your current ML-Agents" f"version is {version}. Model may not behave properly." ) def copy_final_model(self, source_nn_path: str) -> None: """ Copy the .nn file at the given source to the destination. Also copies the corresponding .onnx file if it exists. """ final_model_name = os.path.splitext(source_nn_path)[0] if SerializationSettings.convert_to_barracuda: source_path = f"{final_model_name}.nn" destination_path = f"{self.model_path}.nn" shutil.copyfile(source_path, destination_path) logger.info(f"Copied {source_path} to {destination_path}.") if SerializationSettings.convert_to_onnx: try: source_path = f"{final_model_name}.onnx" destination_path = f"{self.model_path}.onnx" shutil.copyfile(source_path, destination_path) logger.info(f"Copied {source_path} to {destination_path}.") except OSError: pass