Tianshou/test/pettingzoo/pistonball_continuous.py

import argparse
import os
from typing import Any, Dict, List, Optional, Tuple, Union

import gym
import numpy as np
import pettingzoo.butterfly.pistonball_v6 as pistonball_v6
import torch
import torch.nn as nn
from torch.distributions import Independent, Normal
from torch.utils.tensorboard import SummaryWriter

from tianshou.data import Collector, VectorReplayBuffer
from tianshou.env import DummyVectorEnv
from tianshou.env.pettingzoo_env import PettingZooEnv
from tianshou.policy import BasePolicy, MultiAgentPolicyManager, PPOPolicy
from tianshou.trainer import onpolicy_trainer
from tianshou.utils import TensorboardLogger
from tianshou.utils.net.continuous import ActorProb, Critic


class DQN(nn.Module):
    """Reference: Human-level control through deep reinforcement learning.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        c: int,
        h: int,
        w: int,
        device: Union[str, int, torch.device] = "cpu",
    ) -> None:
        super().__init__()
        self.device = device
        self.c = c
        self.h = h
        self.w = w
        self.net = nn.Sequential(
            nn.Conv2d(c, 32, kernel_size=8, stride=4), nn.ReLU(inplace=True),
            nn.Conv2d(32, 64, kernel_size=4, stride=2), nn.ReLU(inplace=True),
            nn.Conv2d(64, 64, kernel_size=3, stride=1), nn.ReLU(inplace=True),
            nn.Flatten()
        )
        with torch.no_grad():
            self.output_dim = np.prod(self.net(torch.zeros(1, c, h, w)).shape[1:])

    def forward(
        self,
        x: Union[np.ndarray, torch.Tensor],
        state: Optional[Any] = None,
        info: Dict[str, Any] = {},
    ) -> Tuple[torch.Tensor, Any]:
        r"""Mapping: x -> Q(x, \*)."""
        x = torch.as_tensor(x, device=self.device, dtype=torch.float32)
        return self.net(x.reshape(-1, self.c, self.w, self.h)), state


def get_parser() -> argparse.ArgumentParser:
    parser = argparse.ArgumentParser()
    parser.add_argument('--seed', type=int, default=1626)
    parser.add_argument('--eps-test', type=float, default=0.05)
    parser.add_argument('--eps-train', type=float, default=0.1)
    parser.add_argument('--buffer-size', type=int, default=2000)
    parser.add_argument('--lr', type=float, default=1e-3)
    parser.add_argument(
        '--gamma', type=float, default=0.9, help='a smaller gamma favors earlier win'
    )
    parser.add_argument(
        '--n-pistons',
        type=int,
        default=3,
        help='Number of pistons(agents) in the env'
    )
    parser.add_argument('--n-step', type=int, default=100)
    parser.add_argument('--target-update-freq', type=int, default=320)
    parser.add_argument('--epoch', type=int, default=5)
    parser.add_argument('--step-per-epoch', type=int, default=500)
    parser.add_argument('--step-per-collect', type=int, default=10)
    parser.add_argument('--episode-per-collect', type=int, default=16)
    parser.add_argument('--repeat-per-collect', type=int, default=2)
    parser.add_argument('--update-per-step', type=float, default=0.1)
    parser.add_argument('--batch-size', type=int, default=32)
    parser.add_argument('--hidden-sizes', type=int, nargs='*', default=[64, 64])
    parser.add_argument('--training-num', type=int, default=10)
    parser.add_argument('--test-num', type=int, default=10)
    parser.add_argument('--logdir', type=str, default='log')

    parser.add_argument(
        '--watch',
        default=False,
        action='store_true',
        help='no training, '
        'watch the play of pre-trained models'
    )
    parser.add_argument(
        '--device', type=str, default='cuda' if torch.cuda.is_available() else 'cpu'
    )
    # ppo special
    parser.add_argument('--vf-coef', type=float, default=0.25)
    parser.add_argument('--ent-coef', type=float, default=0.0)
    parser.add_argument('--eps-clip', type=float, default=0.2)
    parser.add_argument('--max-grad-norm', type=float, default=0.5)
    parser.add_argument('--gae-lambda', type=float, default=0.95)
    parser.add_argument('--rew-norm', type=int, default=1)
    parser.add_argument('--dual-clip', type=float, default=None)
    parser.add_argument('--value-clip', type=int, default=1)
    parser.add_argument('--norm-adv', type=int, default=1)
    parser.add_argument('--recompute-adv', type=int, default=0)
    parser.add_argument('--resume', action="store_true")
    parser.add_argument("--save-interval", type=int, default=4)
    parser.add_argument('--render', type=float, default=0.0)

    return parser


def get_args() -> argparse.Namespace:
    parser = get_parser()
    return parser.parse_known_args()[0]


def get_env(args: argparse.Namespace = get_args()):
    return PettingZooEnv(pistonball_v6.env(continuous=True, n_pistons=args.n_pistons))


def get_agents(
    args: argparse.Namespace = get_args(),
    agents: Optional[List[BasePolicy]] = None,
    optims: Optional[List[torch.optim.Optimizer]] = None,
) -> Tuple[BasePolicy, List[torch.optim.Optimizer], List]:
    env = get_env()
    observation_space = env.observation_space['observation'] if isinstance(
        env.observation_space, gym.spaces.Dict
    ) else env.observation_space
    args.state_shape = observation_space.shape or observation_space.n
    args.action_shape = env.action_space.shape or env.action_space.n
    args.max_action = env.action_space.high[0]

    if agents is None:
        agents = []
        optims = []
        for _ in range(args.n_pistons):
            # model
            net = DQN(
                observation_space.shape[2],
                observation_space.shape[1],
                observation_space.shape[0],
                device=args.device
            ).to(args.device)

            actor = ActorProb(
                net, args.action_shape, max_action=args.max_action, device=args.device
            ).to(args.device)
            net2 = DQN(
                observation_space.shape[2],
                observation_space.shape[1],
                observation_space.shape[0],
                device=args.device
            ).to(args.device)
            critic = Critic(net2, device=args.device).to(args.device)
            for m in set(actor.modules()).union(critic.modules()):
                if isinstance(m, torch.nn.Linear):
                    torch.nn.init.orthogonal_(m.weight)
                    torch.nn.init.zeros_(m.bias)
            optim = torch.optim.Adam(
                set(actor.parameters()).union(critic.parameters()), lr=args.lr
            )

            def dist(*logits):
                return Independent(Normal(*logits), 1)

            agent = PPOPolicy(
                actor,
                critic,
                optim,
                dist,
                discount_factor=args.gamma,
                max_grad_norm=args.max_grad_norm,
                eps_clip=args.eps_clip,
                vf_coef=args.vf_coef,
                ent_coef=args.ent_coef,
                reward_normalization=args.rew_norm,
                advantage_normalization=args.norm_adv,
                recompute_advantage=args.recompute_adv,
                # dual_clip=args.dual_clip,
                # dual clip cause monotonically increasing log_std :)
                value_clip=args.value_clip,
                gae_lambda=args.gae_lambda,
                action_space=env.action_space
            )

            agents.append(agent)
            optims.append(optim)

    policy = MultiAgentPolicyManager(
        agents, env, action_scaling=True, action_bound_method='clip'
    )
    return policy, optims, env.agents


def train_agent(
    args: argparse.Namespace = get_args(),
    agents: Optional[List[BasePolicy]] = None,
    optims: Optional[List[torch.optim.Optimizer]] = None,
) -> Tuple[dict, BasePolicy]:
    train_envs = DummyVectorEnv([get_env for _ in range(args.training_num)])
    test_envs = DummyVectorEnv([get_env for _ in range(args.test_num)])
    # seed
    np.random.seed(args.seed)
    torch.manual_seed(args.seed)
    train_envs.seed(args.seed)
    test_envs.seed(args.seed)

    policy, optim, agents = get_agents(args, agents=agents, optims=optims)

    # collector
    train_collector = Collector(
        policy,
        train_envs,
        VectorReplayBuffer(args.buffer_size, len(train_envs)),
        exploration_noise=False  # True
    )
    test_collector = Collector(policy, test_envs)
    # train_collector.collect(n_step=args.batch_size * args.training_num)
    # log
    log_path = os.path.join(args.logdir, 'pistonball', 'dqn')
    writer = SummaryWriter(log_path)
    writer.add_text("args", str(args))
    logger = TensorboardLogger(writer)

    def save_best_fn(policy):
        pass

    def stop_fn(mean_rewards):
        return False

    def train_fn(epoch, env_step):
        [agent.set_eps(args.eps_train) for agent in policy.policies.values()]

    def test_fn(epoch, env_step):
        [agent.set_eps(args.eps_test) for agent in policy.policies.values()]

    def reward_metric(rews):
        return rews[:, 0]

    # trainer
    result = onpolicy_trainer(
        policy,
        train_collector,
        test_collector,
        args.epoch,
        args.step_per_epoch,
        args.repeat_per_collect,
        args.test_num,
        args.batch_size,
        episode_per_collect=args.episode_per_collect,
        stop_fn=stop_fn,
        save_best_fn=save_best_fn,
        logger=logger,
        resume_from_log=args.resume
    )

    return result, policy


def watch(
    args: argparse.Namespace = get_args(), policy: Optional[BasePolicy] = None
) -> None:
    env = DummyVectorEnv([get_env])
    policy.eval()
    collector = Collector(policy, env)
    result = collector.collect(n_episode=1, render=args.render)
    rews, lens = result["rews"], result["lens"]
    print(f"Final reward: {rews[:, 0].mean()}, length: {lens.mean()}")