ml-agents/ml-agents/mlagents/trainers/optimizer/torch_optimizer.py

from typing import Dict, Optional, Tuple, List
from mlagents.torch_utils import torch
import numpy as np
from collections import defaultdict

from mlagents.trainers.buffer import AgentBuffer, AgentBufferField
from mlagents.trainers.trajectory import ObsUtil
from mlagents.trainers.torch.components.bc.module import BCModule
from mlagents.trainers.torch.components.reward_providers import create_reward_provider

from mlagents.trainers.policy.torch_policy import TorchPolicy
from mlagents.trainers.optimizer import Optimizer
from mlagents.trainers.settings import (
    TrainerSettings,
    RewardSignalSettings,
    RewardSignalType,
)
from mlagents.trainers.torch.utils import ModelUtils


class TorchOptimizer(Optimizer):
    def __init__(self, policy: TorchPolicy, trainer_settings: TrainerSettings):
        super().__init__()
        self.policy = policy
        self.trainer_settings = trainer_settings
        self.update_dict: Dict[str, torch.Tensor] = {}
        self.value_heads: Dict[str, torch.Tensor] = {}
        self.memory_in: torch.Tensor = None
        self.memory_out: torch.Tensor = None
        self.m_size: int = 0
        self.global_step = torch.tensor(0)
        self.bc_module: Optional[BCModule] = None
        self.create_reward_signals(trainer_settings.reward_signals)
        self.critic_memory_dict: Dict[str, torch.Tensor] = {}
        if trainer_settings.behavioral_cloning is not None:
            self.bc_module = BCModule(
                self.policy,
                trainer_settings.behavioral_cloning,
                policy_learning_rate=trainer_settings.hyperparameters.learning_rate,
                default_batch_size=trainer_settings.hyperparameters.batch_size,
                default_num_epoch=3,
            )

    @property
    def critic(self):
        raise NotImplementedError

    def update(self, batch: AgentBuffer, num_sequences: int) -> Dict[str, float]:
        pass

    def create_reward_signals(
        self, reward_signal_configs: Dict[RewardSignalType, RewardSignalSettings]
    ) -> None:
        """
        Create reward signals
        :param reward_signal_configs: Reward signal config.
        """
        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_provider(
                reward_signal, self.policy.behavior_spec, settings
            )

    def _evaluate_by_sequence(
        self, tensor_obs: List[torch.Tensor], initial_memory: torch.Tensor
    ) -> Tuple[Dict[str, torch.Tensor], AgentBufferField, torch.Tensor]:
        """
        Evaluate a trajectory sequence-by-sequence, assembling the result. This enables us to get the
        intermediate memories for the critic.
        :param tensor_obs: A List of tensors of shape (trajectory_len, <obs_dim>) that are the agent's
            observations for this trajectory.
        :param initial_memory: The memory that preceeds this trajectory. Of shape (1,1,<mem_size>), i.e.
            what is returned as the output of a MemoryModules.
        :return: A Tuple of the value estimates as a Dict of [name, tensor], an AgentBufferField of the initial
            memories to be used during value function update, and the final memory at the end of the trajectory.
        """
        num_experiences = tensor_obs[0].shape[0]
        all_next_memories = AgentBufferField()
        # When using LSTM, we need to divide the trajectory into sequences of equal length. Sometimes,
        # that division isn't even, and we must pad the leftover sequence.
        # When it is added to the buffer, the last sequence will be padded. So if seq_len = 3 and
        # trajectory is of length 10, the last sequence is [obs,pad,pad] once it is added to the buffer.
        # Compute the number of elements in this sequence that will end up being padded.
        leftover_seq_len = num_experiences % self.policy.sequence_length

        all_values: Dict[str, List[np.ndarray]] = defaultdict(list)
        _mem = initial_memory
        # Evaluate other trajectories, carrying over _mem after each
        # trajectory
        for seq_num in range(num_experiences // self.policy.sequence_length):
            seq_obs = []
            for _ in range(self.policy.sequence_length):
                all_next_memories.append(ModelUtils.to_numpy(_mem.squeeze()))
            start = seq_num * self.policy.sequence_length
            end = (seq_num + 1) * self.policy.sequence_length

            for _obs in tensor_obs:
                seq_obs.append(_obs[start:end])
            values, _mem = self.critic.critic_pass(
                seq_obs, _mem, sequence_length=self.policy.sequence_length
            )
            for signal_name, _val in values.items():
                all_values[signal_name].append(_val)

        # Compute values for the potentially truncated last sequence. Note that this
        # sequence isn't padded yet, but will be.
        seq_obs = []

        if leftover_seq_len > 0:
            for _obs in tensor_obs:
                last_seq_obs = _obs[-leftover_seq_len:]
                seq_obs.append(last_seq_obs)

            # For the last sequence, the initial memory should be the one at the
            # end of this trajectory.
            for _ in range(leftover_seq_len):
                all_next_memories.append(ModelUtils.to_numpy(_mem.squeeze()))

            last_values, _mem = self.critic.critic_pass(
                seq_obs, _mem, sequence_length=leftover_seq_len
            )
            for signal_name, _val in last_values.items():
                all_values[signal_name].append(_val)

        # Create one tensor per reward signal
        all_value_tensors = {
            signal_name: torch.cat(value_list, dim=0)
            for signal_name, value_list in all_values.items()
        }
        next_mem = _mem
        return all_value_tensors, all_next_memories, next_mem

    def get_trajectory_value_estimates(
        self,
        batch: AgentBuffer,
        next_obs: List[np.ndarray],
        done: bool,
        agent_id: str = "",
    ) -> Tuple[Dict[str, np.ndarray], Dict[str, float], Optional[AgentBufferField]]:
        """
        Get value estimates and memories for a trajectory, in batch form.
        :param batch: An AgentBuffer that consists of a trajectory.
        :param next_obs: the next observation (after the trajectory). Used for boostrapping
            if this is not a termiinal trajectory.
        :param done: Set true if this is a terminal trajectory.
        :param agent_id: Agent ID of the agent that this trajectory belongs to.
        :returns: A Tuple of the Value Estimates as a Dict of [name, np.ndarray(trajectory_len)],
            the final value estimate as a Dict of [name, float], and optionally (if using memories)
            an AgentBufferField of initial critic memories to be used during update.
        """
        n_obs = len(self.policy.behavior_spec.observation_specs)

        if agent_id in self.critic_memory_dict:
            memory = self.critic_memory_dict[agent_id]
        else:
            memory = (
                torch.zeros((1, 1, self.critic.memory_size))
                if self.policy.use_recurrent
                else None
            )

        # Convert to tensors
        current_obs = [
            ModelUtils.list_to_tensor(obs) for obs in ObsUtil.from_buffer(batch, n_obs)
        ]
        next_obs = [ModelUtils.list_to_tensor(obs) for obs in next_obs]

        next_obs = [obs.unsqueeze(0) for obs in next_obs]

        # If we're using LSTM, we want to get all the intermediate memories.
        all_next_memories: Optional[AgentBufferField] = None

        # To prevent memory leak and improve performance, evaluate with no_grad.
        with torch.no_grad():
            if self.policy.use_recurrent:
                (
                    value_estimates,
                    all_next_memories,
                    next_memory,
                ) = self._evaluate_by_sequence(current_obs, memory)
            else:
                value_estimates, next_memory = self.critic.critic_pass(
                    current_obs, memory, sequence_length=batch.num_experiences
                )

        # Store the memory for the next trajectory. This should NOT have a gradient.
        self.critic_memory_dict[agent_id] = next_memory

        next_value_estimate, _ = self.critic.critic_pass(
            next_obs, next_memory, sequence_length=1
        )

        for name, estimate in value_estimates.items():
            value_estimates[name] = ModelUtils.to_numpy(estimate)
            next_value_estimate[name] = ModelUtils.to_numpy(next_value_estimate[name])

        if done:
            for k in next_value_estimate:
                if not self.reward_signals[k].ignore_done:
                    next_value_estimate[k] = 0.0
            if agent_id in self.critic_memory_dict:
                self.critic_memory_dict.pop(agent_id)
        return value_estimates, next_value_estimate, all_next_memories