ml-agents/python/unitytrainers/trainer_controller.py

# # Unity ML-Agents Toolkit
# ## ML-Agent Learning
"""Launches unitytrainers for each External Brains in a Unity Environment."""

import os
import logging

import yaml
import re
import numpy as np
import tensorflow as tf
from tensorflow.python.tools import freeze_graph
from unityagents.environment import UnityEnvironment
from unityagents.exception import UnityEnvironmentException

from unitytrainers.ppo.trainer import PPOTrainer
from unitytrainers.bc.trainer import BehavioralCloningTrainer
from unitytrainers.meta_curriculum import MetaCurriculum
from unitytrainers.exception import MetaCurriculumError


class TrainerController(object):
    def __init__(self, env_path, run_id, save_freq, curriculum_folder,
                 fast_simulation, load, train, worker_id, keep_checkpoints,
                 lesson, seed, docker_target_name, trainer_config_path,
                 no_graphics):
        """
        :param env_path: Location to the environment executable to be loaded.
        :param run_id: The sub-directory name for model and summary statistics
        :param save_freq: Frequency at which to save model
        :param curriculum_folder: Folder containing JSON curriculums for the
               environment.
        :param fast_simulation: Whether to run the game at training speed.
        :param load: Whether to load the model or randomly initialize.
        :param train: Whether to train model, or only run inference.
        :param worker_id: Number to add to communication port (5005).
               Used for multi-environment
        :param keep_checkpoints: How many model checkpoints to keep.
        :param lesson: Start learning from this lesson.
        :param seed: Random seed used for training.
        :param docker_target_name: Name of docker volume that will contain all
               data.
        :param trainer_config_path: Fully qualified path to location of trainer
               configuration file.
        :param no_graphics: Whether to run the Unity simulator in no-graphics
                            mode.
        """
        self.trainer_config_path = trainer_config_path

        if env_path is not None:
            # Strip out executable extensions if passed
            env_path = (env_path.strip()
                        .replace('.app', '')
                        .replace('.exe', '')
                        .replace('.x86_64', '')
                        .replace('.x86', ''))

        # Recognize and use docker volume if one is passed as an argument
        if docker_target_name == '':
            self.docker_training = False
            self.model_path = './models/{run_id}'.format(run_id=run_id)
            self.curriculum_folder = curriculum_folder
            self.summaries_dir = './summaries'
        else:
            self.docker_training = True
            self.model_path = '/{docker_target_name}/models/{run_id}'.format(
                docker_target_name=docker_target_name,
                run_id=run_id)
            if env_path is not None:
                env_path = '/{docker_target_name}/{env_name}'.format(
                    docker_target_name=docker_target_name, env_name=env_path)
            if curriculum_folder is not None:
                self.curriculum_folder = \
                    '/{docker_target_name}/{curriculum_file}'.format(
                    docker_target_name=docker_target_name,
                    curriculum_folder=curriculum_folder)

            self.summaries_dir = '/{docker_target_name}/summaries'.format(
                docker_target_name=docker_target_name)

        self.logger = logging.getLogger("unityagents")
        self.run_id = run_id
        self.save_freq = save_freq
        self.lesson = lesson
        self.fast_simulation = fast_simulation
        self.load_model = load
        self.train_model = train
        self.worker_id = worker_id
        self.keep_checkpoints = keep_checkpoints
        self.trainers = {}
        self.seed = seed
        np.random.seed(self.seed)
        tf.set_random_seed(self.seed)
        self.env = UnityEnvironment(file_name=env_path,
                                    worker_id=self.worker_id,
                                    seed=self.seed,
                                    docker_training=self.docker_training,
                                    no_graphics=no_graphics)
        if env_path is None:
            self.env_name = 'editor_'+self.env.academy_name
        else:
            # Extract out name of environment
            self.env_name = os.path.basename(os.path.normpath(env_path))

        if curriculum_folder is None:
            self.meta_curriculum = None
        else:
            self.meta_curriculum = MetaCurriculum(self.curriculum_folder,
                self.env._resetParameters)

        if self.meta_curriculum:
            for brain_name in self.meta_curriculum.brains_to_curriculums.keys():
                if brain_name not in self.env.external_brain_names:
                    raise MetaCurriculumError('One of the curriculums '
                                              'defined in ' +
                                              self.curriculum_folder + ' '
                                              'does not have a corresponding '
                                              'Brain. Check that the '
                                              'curriculum file has the same '
                                              'name as the Brain '
                                              'whose curriculum it defines.')

    def _get_progresses(self):
        if self.meta_curriculum:
            brain_names_to_progresses = {}
            for brain_name, curriculum \
                in self.meta_curriculum.brains_to_curriculums.items():
                if curriculum.measure == "progress":
                    progress = (self.trainers[brain_name].get_step /
                        self.trainers[brain_name].get_max_steps)
                    brain_names_to_progresses[brain_name] = progress
                elif curriculum.measure == "reward":
                    progress = self.trainers[brain_name].get_last_reward
                    brain_names_to_progresses[brain_name] = progress
            return brain_names_to_progresses
        else:
            return None

    def _process_graph(self):
        nodes = []
        scopes = []
        for brain_name in self.trainers.keys():
            if self.trainers[brain_name].graph_scope is not None:
                scope = self.trainers[brain_name].graph_scope + '/'
                if scope == '/':
                    scope = ''
                scopes += [scope]
                if self.trainers[brain_name].parameters["trainer"] \
                   == "imitation":
                    nodes += [scope + x for x in ["action"]]
                else:
                    nodes += [scope + x for x in ["action", "value_estimate",
                        "action_probs", "value_estimate"]]
                if self.trainers[brain_name].parameters["use_recurrent"]:
                    nodes += [scope + x for x in ["recurrent_out",
                                                  "memory_size"]]
        if len(scopes) > 1:
            self.logger.info("List of available scopes :")
            for scope in scopes:
                self.logger.info("\t" + scope)
        self.logger.info("List of nodes to export :")
        for n in nodes:
            self.logger.info("\t" + n)
        return nodes

    def _save_model(self, sess, saver, steps=0):
        """
        Saves current model to checkpoint folder.
        :param sess: Current Tensorflow session.
        :param steps: Current number of steps in training process.
        :param saver: Tensorflow saver for session.
        """
        last_checkpoint = self.model_path + '/model-' + str(steps) + '.cptk'
        saver.save(sess, last_checkpoint)
        tf.train.write_graph(sess.graph_def, self.model_path,
                             'raw_graph_def.pb', as_text=False)
        self.logger.info("Saved Model")

    def _export_graph(self):
        """
        Exports latest saved model to .bytes format for Unity embedding.
        """
        target_nodes = ','.join(self._process_graph())
        ckpt = tf.train.get_checkpoint_state(self.model_path)
        freeze_graph.freeze_graph(
            input_graph=self.model_path + '/raw_graph_def.pb',
            input_binary=True,
            input_checkpoint=ckpt.model_checkpoint_path,
            output_node_names=target_nodes,
            output_graph=(self.model_path + '/' + self.env_name + "_"
                + self.run_id + '.bytes'),
            clear_devices=True, initializer_nodes="", input_saver="",
            restore_op_name="save/restore_all",
            filename_tensor_name="save/Const:0")

    def _initialize_trainers(self, trainer_config, sess):
        trainer_parameters_dict = {}
        # TODO: This probably doesn't need to be reinitialized.
        self.trainers = {}
        for brain_name in self.env.external_brain_names:
            trainer_parameters = trainer_config['default'].copy()
            if len(self.env.external_brain_names) > 1:
                graph_scope = re.sub('[^0-9a-zA-Z]+', '-', brain_name)
                trainer_parameters['graph_scope'] = graph_scope
                trainer_parameters['summary_path'] = '{basedir}/{name}'.format(
                    basedir=self.summaries_dir,
                    name=str(self.run_id) + '_' + graph_scope)
            else:
                trainer_parameters['graph_scope'] = ''
                trainer_parameters['summary_path'] = '{basedir}/{name}'.format(
                    basedir=self.summaries_dir,
                    name=str(self.run_id))
            if brain_name in trainer_config:
                _brain_key = brain_name
                while not isinstance(trainer_config[_brain_key], dict):
                    _brain_key = trainer_config[_brain_key]
                for k in trainer_config[_brain_key]:
                    trainer_parameters[k] = trainer_config[_brain_key][k]
            trainer_parameters_dict[brain_name] = trainer_parameters.copy()
        for brain_name in self.env.external_brain_names:
            if trainer_parameters_dict[brain_name]['trainer'] == "imitation":
                self.trainers[brain_name] = BehavioralCloningTrainer(
                    sess, self.env, brain_name,
                    trainer_parameters_dict[brain_name], self.train_model,
                    self.seed, self.run_id)
            elif trainer_parameters_dict[brain_name]['trainer'] == "ppo":
                self.trainers[brain_name] = PPOTrainer(
                    sess, self.env, brain_name,
                    trainer_parameters_dict[brain_name],
                    self.train_model, self.seed, self.run_id)
            else:
                raise UnityEnvironmentException('The trainer config contains '
                                                'an unknown trainer type for '
                                                'brain {}'
                                                .format(brain_name))

    def _load_config(self):
        try:
            with open(self.trainer_config_path) as data_file:
                trainer_config = yaml.load(data_file)
                return trainer_config
        except IOError:
            raise UnityEnvironmentException('Parameter file could not be found '
                                            'here {}. Will use default Hyper '
                                            'parameters.'
                                            .format(self.trainer_config_path))
        except UnicodeDecodeError:
            raise UnityEnvironmentException('There was an error decoding '
                                            'Trainer Config from this path : {}'
                                            .format(self.trainer_config_path))

    @staticmethod
    def _create_model_path(model_path):
        try:
            if not os.path.exists(model_path):
                os.makedirs(model_path)
        except Exception:
            raise UnityEnvironmentException('The folder {} containing the '
                                            'generated model could not be '
                                            'accessed. Please make sure the '
                                            'permissions are set correctly.'
                                            .format(model_path))

    def _increment_lessons_and_reset_env(self):
        """Increments the lessons of curriculums if there is a metacurriculum
        and resets the environment.

        Returns:
            A Data structure corresponding to the initial reset state of the
            environment.
        """
        if self.meta_curriculum is not None:
            self.meta_curriculum.increment_lessons(self._get_progresses())
            return self.env.reset(config=self.meta_curriculum.get_config(),
                                       train_mode=self.fast_simulation)
        else:
            return self.env.reset(train_mode=self.fast_simulation)

    def start_learning(self):
        # TODO: Should be able to start learning at different lesson numbers
        # for each curriculum.
        if self.meta_curriculum is not None:
            self.meta_curriculum.set_all_curriculums_to_lesson_num(self.lesson)
        trainer_config = self._load_config()
        self._create_model_path(self.model_path)

        tf.reset_default_graph()

        with tf.Session() as sess:
            self._initialize_trainers(trainer_config, sess)
            for _, t in self.trainers.items():
                self.logger.info(t)
            init = tf.global_variables_initializer()
            saver = tf.train.Saver(max_to_keep=self.keep_checkpoints)
            # Instantiate model parameters
            if self.load_model:
                self.logger.info('Loading Model...')
                ckpt = tf.train.get_checkpoint_state(self.model_path)
                if ckpt is None:
                    self.logger.info('The model {0} could not be found. Make '
                                     'sure you specified the right '
                                     '--run-id'
                                     .format(self.model_path))
                saver.restore(sess, ckpt.model_checkpoint_path)
            else:
                sess.run(init)
            global_step = 0  # This is only for saving the model
            curr_info = self._increment_lessons_and_reset_env()
            if self.train_model:
                for brain_name, trainer in self.trainers.items():
                    trainer.write_tensorboard_text('Hyperparameters',
                                                   trainer.parameters)
            try:
                while any([t.get_step <= t.get_max_steps \
                           for k, t in self.trainers.items()]) \
                      or not self.train_model:
                    if self.env.global_done:
                        curr_info = self._increment_lessons_and_reset_env()
                        for brain_name, trainer in self.trainers.items():
                            trainer.end_episode()
                    # Decide and take an action
                    take_action_vector, \
                    take_action_memories, \
                    take_action_text, \
                    take_action_value, \
                    take_action_outputs \
                        = {}, {}, {}, {}, {}
                    for brain_name, trainer in self.trainers.items():
                        (take_action_vector[brain_name],
                         take_action_memories[brain_name],
                         take_action_text[brain_name],
                         take_action_value[brain_name],
                         take_action_outputs[brain_name]) = \
                            trainer.take_action(curr_info)
                    new_info = self.env.step(vector_action=take_action_vector,
                                             memory=take_action_memories,
                                             text_action=take_action_text,
                                             value=take_action_value)
                    for brain_name, trainer in self.trainers.items():
                        trainer.add_experiences(curr_info, new_info,
                            take_action_outputs[brain_name])
                        trainer.process_experiences(curr_info, new_info)
                        if trainer.is_ready_update() and self.train_model \
                           and trainer.get_step <= trainer.get_max_steps:
                            # Perform gradient descent with experience buffer
                            trainer.update_model()
                        # Write training statistics to Tensorboard.
                        if self.meta_curriculum is not None:
                            trainer.write_summary(
                                global_step,
                                lesson_num=self.meta_curriculum
                                           .brains_to_curriculums[brain_name]
                                           .lesson_num)
                        else:
                            trainer.write_summary(global_step)
                        if self.train_model \
                           and trainer.get_step <= trainer.get_max_steps:
                            trainer.increment_step_and_update_last_reward()
                    if self.train_model:
                        global_step += 1
                    if global_step % self.save_freq == 0 and global_step != 0 \
                       and self.train_model:
                        # Save Tensorflow model
                        self._save_model(sess, steps=global_step, saver=saver)
                    curr_info = new_info
                # Final save Tensorflow model
                if global_step != 0 and self.train_model:
                    self._save_model(sess, steps=global_step, saver=saver)
            except KeyboardInterrupt:
                print('--------------------------Now saving model--------------'
                      '-----------')
                if self.train_model:
                    self.logger.info('Learning was interrupted. Please wait '
                                     'while the graph is generated.')
                    self._save_model(sess, steps=global_step, saver=saver)
                pass
        self.env.close()
        if self.train_model:
            self._export_graph()