from typing import Dict, Any, List, Tuple, Optional import numpy as np from mlagents.tf_utils.tf import tf from mlagents.trainers.buffer import AgentBuffer from mlagents.trainers.policy.tf_policy import TFPolicy from mlagents.trainers.optimizer import Optimizer from mlagents.trainers.trajectory import SplitObservations from mlagents.trainers.components.reward_signals.reward_signal_factory import ( create_reward_signal, ) from mlagents.trainers.settings import TrainerSettings, RewardSignalType from mlagents.trainers.components.bc.module import BCModule class TFOptimizer(Optimizer): # pylint: disable=W0223 def __init__(self, policy: TFPolicy, trainer_params: TrainerSettings): super().__init__() self.sess = policy.sess self.policy = policy self.update_dict: Dict[str, tf.Tensor] = {} self.value_heads: Dict[str, tf.Tensor] = {} self.create_reward_signals(trainer_params.reward_signals) self.memory_in: tf.Tensor = None self.memory_out: tf.Tensor = None self.m_size: int = 0 self.bc_module: Optional[BCModule] = None # Create pretrainer if needed if trainer_params.behavioral_cloning is not None: self.bc_module = BCModule( self.policy, trainer_params.behavioral_cloning, policy_learning_rate=trainer_params.hyperparameters.learning_rate, default_batch_size=trainer_params.hyperparameters.batch_size, default_num_epoch=3, ) def get_trajectory_value_estimates( self, batch: AgentBuffer, next_obs: List[np.ndarray], done: bool ) -> Tuple[Dict[str, np.ndarray], Dict[str, float]]: feed_dict: Dict[tf.Tensor, Any] = { self.policy.batch_size_ph: batch.num_experiences, self.policy.sequence_length_ph: batch.num_experiences, # We want to feed data in batch-wise, not time-wise. } if self.policy.vec_obs_size > 0: feed_dict[self.policy.vector_in] = batch["vector_obs"] if self.policy.vis_obs_size > 0: for i in range(len(self.policy.visual_in)): _obs = batch["visual_obs%d" % i] feed_dict[self.policy.visual_in[i]] = _obs if self.policy.use_recurrent: feed_dict[self.policy.memory_in] = [ np.zeros((self.policy.m_size), dtype=np.float32) ] feed_dict[self.memory_in] = [np.zeros((self.m_size), dtype=np.float32)] if self.policy.prev_action is not None: feed_dict[self.policy.prev_action] = batch["prev_action"] if self.policy.use_recurrent: value_estimates, policy_mem, value_mem = self.sess.run( [self.value_heads, self.policy.memory_out, self.memory_out], feed_dict ) prev_action = ( batch["actions"][-1] if not self.policy.use_continuous_act else None ) else: value_estimates = self.sess.run(self.value_heads, feed_dict) prev_action = None policy_mem = None value_mem = None value_estimates = {k: np.squeeze(v, axis=1) for k, v in value_estimates.items()} # We do this in a separate step to feed the memory outs - a further optimization would # be to append to the obs before running sess.run. final_value_estimates = self._get_value_estimates( next_obs, done, policy_mem, value_mem, prev_action ) return value_estimates, final_value_estimates def _get_value_estimates( self, next_obs: List[np.ndarray], done: bool, policy_memory: np.ndarray = None, value_memory: np.ndarray = None, prev_action: np.ndarray = None, ) -> Dict[str, float]: """ Generates value estimates for bootstrapping. :param experience: AgentExperience to be used for bootstrapping. :param done: Whether or not this is the last element of the episode, in which case the value estimate will be 0. :return: The value estimate dictionary with key being the name of the reward signal and the value the corresponding value estimate. """ feed_dict: Dict[tf.Tensor, Any] = { self.policy.batch_size_ph: 1, self.policy.sequence_length_ph: 1, } vec_vis_obs = SplitObservations.from_observations(next_obs) for i in range(len(vec_vis_obs.visual_observations)): feed_dict[self.policy.visual_in[i]] = [vec_vis_obs.visual_observations[i]] if self.policy.vec_obs_size > 0: feed_dict[self.policy.vector_in] = [vec_vis_obs.vector_observations] if policy_memory is not None: feed_dict[self.policy.memory_in] = policy_memory if value_memory is not None: feed_dict[self.memory_in] = value_memory if prev_action is not None: feed_dict[self.policy.prev_action] = [prev_action] value_estimates = self.sess.run(self.value_heads, feed_dict) value_estimates = {k: float(v) for k, v in value_estimates.items()} # If we're done, reassign all of the value estimates that need terminal states. if done: for k in value_estimates: if self.reward_signals[k].use_terminal_states: value_estimates[k] = 0.0 return value_estimates def create_reward_signals( self, reward_signal_configs: Dict[RewardSignalType, Any] ) -> None: """ Create reward signals :param reward_signal_configs: Reward signal config. """ # Create reward signals for reward_signal, settings in reward_signal_configs.items(): # Name reward signals by string in case we have duplicates later self.reward_signals[reward_signal.value] = create_reward_signal( self.policy, reward_signal, settings ) self.update_dict.update( self.reward_signals[reward_signal.value].update_dict ) @classmethod def create_optimizer_op( cls, learning_rate: tf.Tensor, name: str = "Adam" ) -> tf.train.Optimizer: return tf.train.AdamOptimizer(learning_rate=learning_rate, name=name) def _execute_model( self, feed_dict: Dict[tf.Tensor, np.ndarray], out_dict: Dict[str, tf.Tensor] ) -> Dict[str, np.ndarray]: """ Executes model. :param feed_dict: Input dictionary mapping nodes to input data. :param out_dict: Output dictionary mapping names to nodes. :return: Dictionary mapping names to input data. """ network_out = self.sess.run(list(out_dict.values()), feed_dict=feed_dict) run_out = dict(zip(list(out_dict.keys()), network_out)) return run_out def _make_zero_mem(self, m_size: int, length: int) -> List[np.ndarray]: return [ np.zeros((m_size), dtype=np.float32) for i in range(0, length, self.policy.sequence_length) ]