ml-agents/ml-agents/mlagents/trainers/components/reward_signals/__init__.py

import logging
from typing import Any, Dict, List
from collections import namedtuple
import numpy as np
import abc

from mlagents.tf_utils import tf

from mlagents.envs.brain import BrainInfo
from mlagents.trainers.trainer import UnityTrainerException
from mlagents.trainers.tf_policy import TFPolicy
from mlagents.trainers.models import LearningModel

logger = logging.getLogger("mlagents.trainers")

RewardSignalResult = namedtuple(
    "RewardSignalResult", ["scaled_reward", "unscaled_reward"]
)


class RewardSignal(abc.ABC):
    def __init__(
        self,
        policy: TFPolicy,
        policy_model: LearningModel,
        strength: float,
        gamma: float,
    ):
        """
        Initializes a reward signal. At minimum, you must pass in the policy it is being applied to,
        the reward strength, and the gamma (discount factor.)
        :param policy: The Policy object (e.g. PPOPolicy) that this Reward Signal will apply to.
        :param strength: The strength of the reward. The reward's raw value will be multiplied by this value.
        :param gamma: The time discounting factor used for this reward.
        :return: A RewardSignal object.
        """
        class_name = self.__class__.__name__
        short_name = class_name.replace("RewardSignal", "")
        self.stat_name = f"Policy/{short_name} Reward"
        self.value_name = f"Policy/{short_name} Value Estimate"
        # Terminate discounted reward computation at Done. Can disable to mitigate positive bias in rewards with
        # no natural end, e.g. GAIL or Curiosity
        self.use_terminal_states = True
        self.update_dict: Dict[str, tf.Tensor] = {}
        self.gamma = gamma
        self.policy = policy
        self.policy_model = policy_model
        self.strength = strength
        self.stats_name_to_update_name: Dict[str, str] = {}

    def evaluate(
        self, current_info: BrainInfo, action: np.array, next_info: BrainInfo
    ) -> RewardSignalResult:
        """
        Evaluates the reward for the agents present in current_info given the next_info
        :param current_info: The current BrainInfo.
        :param action: the action that was taken between the two infos
        :param next_info: The BrainInfo from the next timestep.
        :return: a RewardSignalResult of (scaled intrinsic reward, unscaled intrinsic reward) provided by the generator
        """
        return RewardSignalResult(
            self.strength * np.zeros(len(current_info.agents), dtype=np.float32),
            np.zeros(len(current_info.agents), dtype=np.float32),
        )

    def evaluate_batch(self, mini_batch: Dict[str, np.array]) -> RewardSignalResult:
        """
        Evaluates the reward for the data present in the Dict mini_batch. Note the distiction between
        evaluate(), which takes in two BrainInfos. This reflects the different data formats (i.e. from the Buffer
        vs. before being placed into the Buffer. Use this when evaluating a reward function drawn straight from a
        Buffer.
        :param mini_batch: A Dict of numpy arrays (the format used by our Buffer)
            when drawing from the update buffer.
        :return: a RewardSignalResult of (scaled intrinsic reward, unscaled intrinsic reward) provided by the generator
        """
        mini_batch_len = len(next(iter(mini_batch.values())))
        return RewardSignalResult(
            self.strength * np.zeros(mini_batch_len, dtype=np.float32),
            np.zeros(mini_batch_len, dtype=np.float32),
        )

    def prepare_update(
        self,
        policy_model: LearningModel,
        mini_batch: Dict[str, np.ndarray],
        num_sequences: int,
    ) -> Dict[tf.Tensor, Any]:
        """
        If the reward signal has an internal model (e.g. GAIL or Curiosity), get the feed_dict
        needed to update the buffer..
        :param update_buffer: An AgentBuffer that contains the live data from which to update.
        :param n_sequences: The number of sequences in the training buffer.
        :return: A dict that corresponds to the feed_dict needed for the update.
        """
        return {}

    @classmethod
    def check_config(
        cls, config_dict: Dict[str, Any], param_keys: List[str] = None
    ) -> None:
        """
        Check the config dict, and throw an error if there are missing hyperparameters.
        """
        param_keys = param_keys or []
        for k in param_keys:
            if k not in config_dict:
                raise UnityTrainerException(
                    "The hyper-parameter {0} could not be found for {1}.".format(
                        k, cls.__name__
                    )
                )