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from typing import Any, Dict, List, Optional, Tuple, Callable
import numpy as np
from distutils.version import LooseVersion
from mlagents_envs.timers import timed
from mlagents.tf_utils import tf
from mlagents import tf_utils
from mlagents_envs.exception import UnityException
from mlagents_envs.logging_util import get_logger
from mlagents.trainers.policy import Policy
from mlagents.trainers.action_info import ActionInfo
from mlagents.trainers.trajectory import SplitObservations
from mlagents.trainers.torch.action_log_probs import LogProbsTuple
from mlagents.trainers.behavior_id_utils import get_global_agent_id
from mlagents_envs.base_env import DecisionSteps, ActionTuple, BehaviorSpec
from mlagents.trainers.tf.models import ModelUtils
from mlagents.trainers.settings import TrainerSettings, EncoderType
from mlagents.trainers import __version__
from mlagents.trainers.tf.distributions import (
GaussianDistribution,
MultiCategoricalDistribution,
)
from mlagents.tf_utils.globals import get_rank
logger = get_logger(__name__)
# This is the version number of the inputs and outputs of the model, and
# determines compatibility with inference in Barracuda.
MODEL_FORMAT_VERSION = 2
EPSILON = 1e-6 # Small value to avoid divide by zero
class UnityPolicyException(UnityException):
"""
Related to errors with the Trainer.
"""
pass
class TFPolicy(Policy):
"""
Contains a learning model, and the necessary
functions to save/load models and create the input placeholders.
"""
# Callback function used at the start of training to synchronize weights.
# By default, this nothing.
# If this needs to be used, it should be done from outside ml-agents.
broadcast_global_variables: Callable[[int], None] = lambda root_rank: None
def __init__(
self,
seed: int,
behavior_spec: BehaviorSpec,
trainer_settings: TrainerSettings,
tanh_squash: bool = False,
reparameterize: bool = False,
condition_sigma_on_obs: bool = True,
create_tf_graph: bool = True,
):
"""
Initialized the policy.
:param seed: Random seed to use for TensorFlow.
:param brain: The corresponding Brain for this policy.
:param trainer_settings: The trainer parameters.
"""
super().__init__(
seed,
behavior_spec,
trainer_settings,
tanh_squash,
reparameterize,
condition_sigma_on_obs,
)
if (
self.behavior_spec.action_spec.continuous_size > 0
and self.behavior_spec.action_spec.discrete_size > 0
):
raise UnityPolicyException(
"TensorFlow does not support mixed action spaces. Please run with the Torch framework."
)
# for ghost trainer save/load snapshots
self.assign_phs: List[tf.Tensor] = []
self.assign_ops: List[tf.Operation] = []
self.update_dict: Dict[str, tf.Tensor] = {}
self.inference_dict: Dict[str, tf.Tensor] = {}
self.first_normalization_update: bool = False
self.graph = tf.Graph()
self.sess = tf.Session(
config=tf_utils.generate_session_config(), graph=self.graph
)
self._initialize_tensorflow_references()
self.grads = None
self.update_batch: Optional[tf.Operation] = None
self.trainable_variables: List[tf.Variable] = []
self.rank = get_rank()
if create_tf_graph:
self.create_tf_graph()
def get_trainable_variables(self) -> List[tf.Variable]:
"""
Returns a List of the trainable variables in this policy. if create_tf_graph hasn't been called,
returns empty list.
"""
return self.trainable_variables
def create_tf_graph(self) -> None:
"""
Builds the tensorflow graph needed for this policy.
"""
with self.graph.as_default():
tf.set_random_seed(self.seed)
_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES)
if len(_vars) > 0:
# We assume the first thing created in the graph is the Policy. If
# already populated, don't create more tensors.
return
self.create_input_placeholders()
encoded = self._create_encoder(
self.visual_in,
self.processed_vector_in,
self.h_size,
self.num_layers,
self.vis_encode_type,
)
if self.use_continuous_act:
self._create_cc_actor(
encoded,
self.tanh_squash,
self.reparameterize,
self.condition_sigma_on_obs,
)
else:
self._create_dc_actor(encoded)
self.trainable_variables = tf.get_collection(
tf.GraphKeys.TRAINABLE_VARIABLES, scope="policy"
)
self.trainable_variables += tf.get_collection(
tf.GraphKeys.TRAINABLE_VARIABLES, scope="lstm"
) # LSTMs need to be root scope for Barracuda export
self.inference_dict = {
"action": self.output,
"log_probs": self.all_log_probs,
"entropy": self.entropy,
}
if self.use_continuous_act:
self.inference_dict["pre_action"] = self.output_pre
if self.use_recurrent:
self.inference_dict["memory_out"] = self.memory_out
# We do an initialize to make the Policy usable out of the box. If an optimizer is needed,
# it will re-load the full graph
self.initialize()
# Create assignment ops for Ghost Trainer
self.init_load_weights()
def _create_encoder(
self,
visual_in: List[tf.Tensor],
vector_in: tf.Tensor,
h_size: int,
num_layers: int,
vis_encode_type: EncoderType,
) -> tf.Tensor:
"""
Creates an encoder for visual and vector observations.
:param h_size: Size of hidden linear layers.
:param num_layers: Number of hidden linear layers.
:param vis_encode_type: Type of visual encoder to use if visual input.
:return: The hidden layer (tf.Tensor) after the encoder.
"""
with tf.variable_scope("policy"):
encoded = ModelUtils.create_observation_streams(
self.visual_in,
self.processed_vector_in,
1,
h_size,
num_layers,
vis_encode_type,
)[0]
return encoded
@staticmethod
def _convert_version_string(version_string: str) -> Tuple[int, ...]:
"""
Converts the version string into a Tuple of ints (major_ver, minor_ver, patch_ver).
:param version_string: The semantic-versioned version string (X.Y.Z).
:return: A Tuple containing (major_ver, minor_ver, patch_ver).
"""
ver = LooseVersion(version_string)
return tuple(map(int, ver.version[0:3]))
def initialize(self):
with self.graph.as_default():
init = tf.global_variables_initializer()
self.sess.run(init)
def get_weights(self):
with self.graph.as_default():
_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES)
values = [v.eval(session=self.sess) for v in _vars]
return values
def init_load_weights(self):
with self.graph.as_default():
_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES)
values = [v.eval(session=self.sess) for v in _vars]
for var, value in zip(_vars, values):
assign_ph = tf.placeholder(var.dtype, shape=value.shape)
self.assign_phs.append(assign_ph)
self.assign_ops.append(tf.assign(var, assign_ph))
def load_weights(self, values):
if len(self.assign_ops) == 0:
logger.warning(
"Calling load_weights in tf_policy but assign_ops is empty. Did you forget to call init_load_weights?"
)
with self.graph.as_default():
feed_dict = {}
for assign_ph, value in zip(self.assign_phs, values):
feed_dict[assign_ph] = value
self.sess.run(self.assign_ops, feed_dict=feed_dict)
@timed
def evaluate(
self, decision_requests: DecisionSteps, global_agent_ids: List[str]
) -> Dict[str, Any]:
"""
Evaluates policy for the agent experiences provided.
:param decision_requests: DecisionSteps object containing inputs.
:param global_agent_ids: The global (with worker ID) agent ids of the data in the batched_step_result.
:return: Outputs from network as defined by self.inference_dict.
"""
feed_dict = {
self.batch_size_ph: len(decision_requests),
self.sequence_length_ph: 1,
}
if self.use_recurrent:
if not self.use_continuous_act:
feed_dict[self.prev_action] = self.retrieve_previous_action(
global_agent_ids
)
feed_dict[self.memory_in] = self.retrieve_memories(global_agent_ids)
feed_dict = self.fill_eval_dict(feed_dict, decision_requests)
run_out = self._execute_model(feed_dict, self.inference_dict)
return run_out
def get_action(
self, decision_requests: DecisionSteps, worker_id: int = 0
) -> ActionInfo:
"""
Decides actions given observations information, and takes them in environment.
:param decision_requests: A dictionary of brain names and DecisionSteps from environment.
:param worker_id: In parallel environment training, the unique id of the environment worker that
the DecisionSteps came from. Used to construct a globally unique id for each agent.
:return: an ActionInfo containing action, memories, values and an object
to be passed to add experiences
"""
if len(decision_requests) == 0:
return ActionInfo.empty()
global_agent_ids = [
get_global_agent_id(worker_id, int(agent_id))
for agent_id in decision_requests.agent_id
] # For 1-D array, the iterator order is correct.
run_out = self.evaluate( # pylint: disable=assignment-from-no-return
decision_requests, global_agent_ids
)
self.save_memories(global_agent_ids, run_out.get("memory_out"))
# For Compatibility with buffer changes for hybrid action support
if "log_probs" in run_out:
log_probs_tuple = LogProbsTuple()
if self.behavior_spec.action_spec.is_continuous():
log_probs_tuple.add_continuous(run_out["log_probs"])
else:
log_probs_tuple.add_discrete(run_out["log_probs"])
run_out["log_probs"] = log_probs_tuple
if "action" in run_out:
action_tuple = ActionTuple()
env_action_tuple = ActionTuple()
if self.behavior_spec.action_spec.is_continuous():
action_tuple.add_continuous(run_out["pre_action"])
env_action_tuple.add_continuous(run_out["action"])
else:
action_tuple.add_discrete(run_out["action"])
env_action_tuple.add_discrete(run_out["action"])
run_out["action"] = action_tuple
run_out["env_action"] = env_action_tuple
self.check_nan_action(run_out.get("action"))
return ActionInfo(
action=run_out.get("action"),
env_action=run_out.get("env_action"),
value=run_out.get("value"),
outputs=run_out,
agent_ids=decision_requests.agent_id,
)
def update(self, mini_batch, num_sequences):
"""
Performs update of the policy.
:param num_sequences: Number of experience trajectories in batch.
:param mini_batch: Batch of experiences.
:return: Results of update.
"""
raise UnityPolicyException("The update function was not implemented.")
def _execute_model(self, feed_dict, out_dict):
"""
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 fill_eval_dict(self, feed_dict, batched_step_result):
vec_vis_obs = SplitObservations.from_observations(batched_step_result.obs)
for i, _ in enumerate(vec_vis_obs.visual_observations):
feed_dict[self.visual_in[i]] = vec_vis_obs.visual_observations[i]
if self.use_vec_obs:
feed_dict[self.vector_in] = vec_vis_obs.vector_observations
if not self.use_continuous_act:
mask = np.ones(
(
len(batched_step_result),
sum(self.behavior_spec.action_spec.discrete_branches),
),
dtype=np.float32,
)
if batched_step_result.action_mask is not None:
mask = 1 - np.concatenate(batched_step_result.action_mask, axis=1)
feed_dict[self.action_masks] = mask
return feed_dict
def get_current_step(self):
"""
Gets current model step.
:return: current model step.
"""
step = self.sess.run(self.global_step)
return step
def set_step(self, step: int) -> int:
"""
Sets current model step to step without creating additional ops.
:param step: Step to set the current model step to.
:return: The step the model was set to.
"""
current_step = self.get_current_step()
# Increment a positive or negative number of steps.
return self.increment_step(step - current_step)
def increment_step(self, n_steps):
"""
Increments model step.
"""
out_dict = {
"global_step": self.global_step,
"increment_step": self.increment_step_op,
}
feed_dict = {self.steps_to_increment: n_steps}
return self.sess.run(out_dict, feed_dict=feed_dict)["global_step"]
def get_inference_vars(self):
"""
:return:list of inference var names
"""
return list(self.inference_dict.keys())
def get_update_vars(self):
"""
:return:list of update var names
"""
return list(self.update_dict.keys())
def update_normalization(self, vector_obs: np.ndarray) -> None:
"""
If this policy normalizes vector observations, this will update the norm values in the graph.
:param vector_obs: The vector observations to add to the running estimate of the distribution.
"""
if self.use_vec_obs and self.normalize:
if self.first_normalization_update:
self.sess.run(
self.init_normalization_op, feed_dict={self.vector_in: vector_obs}
)
self.first_normalization_update = False
else:
self.sess.run(
self.update_normalization_op, feed_dict={self.vector_in: vector_obs}
)
@property
def use_vis_obs(self):
return self.vis_obs_size > 0
@property
def use_vec_obs(self):
return self.vec_obs_size > 0
def _initialize_tensorflow_references(self):
self.value_heads: Dict[str, tf.Tensor] = {}
self.normalization_steps: Optional[tf.Variable] = None
self.running_mean: Optional[tf.Variable] = None
self.running_variance: Optional[tf.Variable] = None
self.init_normalization_op: Optional[tf.Operation] = None
self.update_normalization_op: Optional[tf.Operation] = None
self.value: Optional[tf.Tensor] = None
self.all_log_probs: tf.Tensor = None
self.total_log_probs: Optional[tf.Tensor] = None
self.entropy: Optional[tf.Tensor] = None
self.output_pre: Optional[tf.Tensor] = None
self.output: Optional[tf.Tensor] = None
self.selected_actions: tf.Tensor = None
self.action_masks: Optional[tf.Tensor] = None
self.prev_action: Optional[tf.Tensor] = None
self.memory_in: Optional[tf.Tensor] = None
self.memory_out: Optional[tf.Tensor] = None
self.version_tensors: Optional[Tuple[tf.Tensor, tf.Tensor, tf.Tensor]] = None
def create_input_placeholders(self):
with self.graph.as_default():
(
self.global_step,
self.increment_step_op,
self.steps_to_increment,
) = ModelUtils.create_global_steps()
self.vector_in, self.visual_in = ModelUtils.create_input_placeholders(
self.behavior_spec.observation_shapes
)
if self.normalize:
self.first_normalization_update = True
normalization_tensors = ModelUtils.create_normalizer(self.vector_in)
self.update_normalization_op = normalization_tensors.update_op
self.init_normalization_op = normalization_tensors.init_op
self.normalization_steps = normalization_tensors.steps
self.running_mean = normalization_tensors.running_mean
self.running_variance = normalization_tensors.running_variance
self.processed_vector_in = ModelUtils.normalize_vector_obs(
self.vector_in,
self.running_mean,
self.running_variance,
self.normalization_steps,
)
else:
self.processed_vector_in = self.vector_in
self.update_normalization_op = None
self.batch_size_ph = tf.placeholder(
shape=None, dtype=tf.int32, name="batch_size"
)
self.sequence_length_ph = tf.placeholder(
shape=None, dtype=tf.int32, name="sequence_length"
)
self.mask_input = tf.placeholder(
shape=[None], dtype=tf.float32, name="masks"
)
# Only needed for PPO, but needed for BC module
self.epsilon = tf.placeholder(
shape=[None, self.act_size[0]], dtype=tf.float32, name="epsilon"
)
self.mask = tf.cast(self.mask_input, tf.int32)
tf.Variable(
int(self.behavior_spec.action_spec.is_continuous()),
name="is_continuous_control",
trainable=False,
dtype=tf.int32,
)
int_version = TFPolicy._convert_version_string(__version__)
major_ver_t = tf.Variable(
int_version[0],
name="trainer_major_version",
trainable=False,
dtype=tf.int32,
)
minor_ver_t = tf.Variable(
int_version[1],
name="trainer_minor_version",
trainable=False,
dtype=tf.int32,
)
patch_ver_t = tf.Variable(
int_version[2],
name="trainer_patch_version",
trainable=False,
dtype=tf.int32,
)
self.version_tensors = (major_ver_t, minor_ver_t, patch_ver_t)
tf.Variable(
MODEL_FORMAT_VERSION,
name="version_number",
trainable=False,
dtype=tf.int32,
)
tf.Variable(
self.m_size, name="memory_size", trainable=False, dtype=tf.int32
)
if self.behavior_spec.action_spec.is_continuous():
tf.Variable(
self.act_size[0],
name="action_output_shape",
trainable=False,
dtype=tf.int32,
)
else:
tf.Variable(
sum(self.act_size),
name="action_output_shape",
trainable=False,
dtype=tf.int32,
)
def _create_cc_actor(
self,
encoded: tf.Tensor,
tanh_squash: bool = False,
reparameterize: bool = False,
condition_sigma_on_obs: bool = True,
) -> None:
"""
Creates Continuous control actor-critic model.
:param h_size: Size of hidden linear layers.
:param num_layers: Number of hidden linear layers.
:param vis_encode_type: Type of visual encoder to use if visual input.
:param tanh_squash: Whether to use a tanh function, or a clipped output.
:param reparameterize: Whether we are using the resampling trick to update the policy.
"""
if self.use_recurrent:
self.memory_in = tf.placeholder(
shape=[None, self.m_size], dtype=tf.float32, name="recurrent_in"
)
hidden_policy, memory_policy_out = ModelUtils.create_recurrent_encoder(
encoded, self.memory_in, self.sequence_length_ph, name="lstm_policy"
)
self.memory_out = tf.identity(memory_policy_out, name="recurrent_out")
else:
hidden_policy = encoded
with tf.variable_scope("policy"):
distribution = GaussianDistribution(
hidden_policy,
self.act_size,
reparameterize=reparameterize,
tanh_squash=tanh_squash,
condition_sigma=condition_sigma_on_obs,
)
if tanh_squash:
self.output_pre = distribution.sample
self.output = tf.identity(self.output_pre, name="action")
else:
self.output_pre = distribution.sample
# Clip and scale output to ensure actions are always within [-1, 1] range.
output_post = tf.clip_by_value(self.output_pre, -3, 3) / 3
self.output = tf.identity(output_post, name="action")
self.selected_actions = tf.stop_gradient(self.output)
self.all_log_probs = tf.identity(distribution.log_probs, name="action_probs")
self.entropy = distribution.entropy
# We keep these tensors the same name, but use new nodes to keep code parallelism with discrete control.
self.total_log_probs = distribution.total_log_probs
def _create_dc_actor(self, encoded: tf.Tensor) -> None:
"""
Creates Discrete control actor-critic model.
:param h_size: Size of hidden linear layers.
:param num_layers: Number of hidden linear layers.
:param vis_encode_type: Type of visual encoder to use if visual input.
"""
if self.use_recurrent:
self.prev_action = tf.placeholder(
shape=[None, len(self.act_size)], dtype=tf.int32, name="prev_action"
)
prev_action_oh = tf.concat(
[
tf.one_hot(self.prev_action[:, i], self.act_size[i])
for i in range(len(self.act_size))
],
axis=1,
)
hidden_policy = tf.concat([encoded, prev_action_oh], axis=1)
self.memory_in = tf.placeholder(
shape=[None, self.m_size], dtype=tf.float32, name="recurrent_in"
)
hidden_policy, memory_policy_out = ModelUtils.create_recurrent_encoder(
hidden_policy,
self.memory_in,
self.sequence_length_ph,
name="lstm_policy",
)
self.memory_out = tf.identity(memory_policy_out, "recurrent_out")
else:
hidden_policy = encoded
self.action_masks = tf.placeholder(
shape=[None, sum(self.act_size)], dtype=tf.float32, name="action_masks"
)
with tf.variable_scope("policy"):
distribution = MultiCategoricalDistribution(
hidden_policy, self.act_size, self.action_masks
)
# It's important that we are able to feed_dict a value into this tensor to get the
# right one-hot encoding, so we can't do identity on it.
self.output = distribution.sample
self.all_log_probs = tf.identity(distribution.log_probs, name="action")
self.selected_actions = tf.stop_gradient(
distribution.sample_onehot
) # In discrete, these are onehot
self.entropy = distribution.entropy
self.total_log_probs = distribution.total_log_probs