vanilla imitation learning

README.md

@@ -25,6 +25,7 @@
 - [Proximal Policy Optimization (PPO)](https://arxiv.org/pdf/1707.06347.pdf)
 - [Twin Delayed DDPG (TD3)](https://arxiv.org/pdf/1802.09477.pdf)
 - [Soft Actor-Critic (SAC)](https://arxiv.org/pdf/1812.05905.pdf)
+- Vanilla Imitation Learning
 
 Tianshou supports parallel workers for all algorithms as well. All of these algorithms are reformatted as replay-buffer based algorithms. Our team is working on supporting more algorithms and more scenarios on Tianshou in this period of development.
 

docs/contributing.rst

@@ -43,7 +43,7 @@ This command will run automatic tests in the main directory
 Test by GitHub Actions
 ----------------------
 
-1. Click the `Actions` button in your own repo:
+1. Click the ``Actions`` button in your own repo:
 
 .. image:: _static/images/action1.jpg
     :align: center

docs/index.rst

@@ -16,6 +16,7 @@ Welcome to Tianshou!
 * :class:`~tianshou.policy.PPOPolicy` `Proximal Policy Optimization <https://arxiv.org/pdf/1707.06347.pdf>`_
 * :class:`~tianshou.policy.TD3Policy` `Twin Delayed DDPG <https://arxiv.org/pdf/1802.09477.pdf>`_
 * :class:`~tianshou.policy.SACPolicy` `Soft Actor-Critic <https://arxiv.org/pdf/1812.05905.pdf>`_
+* :class:`~tianshou.policy.ImitationPolicy`
 
 
 Tianshou supports parallel workers for all algorithms as well. All of these algorithms are reformatted as replay-buffer based algorithms.

test/continuous/net.py

@@ -18,7 +18,8 @@ class Actor(nn.Module):
         self._max = max_action
 
     def forward(self, s, **kwargs):
-        s = torch.tensor(s, device=self.device, dtype=torch.float)
+        if not isinstance(s, torch.Tensor):
+            s = torch.tensor(s, device=self.device, dtype=torch.float)
         batch = s.shape[0]
         s = s.view(batch, -1)
         logits = self.model(s)

test/continuous/test_sac_with_il.py

@@ -7,14 +7,14 @@ import numpy as np
 from torch.utils.tensorboard import SummaryWriter
 
 from tianshou.env import VectorEnv
-from tianshou.policy import SACPolicy
 from tianshou.trainer import offpolicy_trainer
 from tianshou.data import Collector, ReplayBuffer
+from tianshou.policy import SACPolicy, ImitationPolicy
 
 if __name__ == '__main__':
-    from net import ActorProb, Critic
+    from net import Actor, ActorProb, Critic
 else:  # pytest
-    from test.continuous.net import ActorProb, Critic
+    from test.continuous.net import Actor, ActorProb, Critic
 
 
 def get_args():
@@ -24,6 +24,7 @@ def get_args():
     parser.add_argument('--buffer-size', type=int, default=20000)
     parser.add_argument('--actor-lr', type=float, default=3e-4)
     parser.add_argument('--critic-lr', type=float, default=1e-3)
+    parser.add_argument('--il-lr', type=float, default=1e-3)
     parser.add_argument('--gamma', type=float, default=0.99)
     parser.add_argument('--tau', type=float, default=0.005)
     parser.add_argument('--alpha', type=float, default=0.2)
@@ -43,7 +44,7 @@ def get_args():
     return args
 
 
-def test_sac(args=get_args()):
+def test_sac_with_il(args=get_args()):
     torch.set_num_threads(1)  # we just need only one thread for NN
     env = gym.make(args.task)
     if args.task == 'Pendulum-v0':
@@ -103,7 +104,6 @@ def test_sac(args=get_args()):
         args.step_per_epoch, args.collect_per_step, args.test_num,
         args.batch_size, stop_fn=stop_fn, save_fn=save_fn, writer=writer)
     assert stop_fn(result['best_reward'])
-    train_collector.close()
     test_collector.close()
     if __name__ == '__main__':
         pprint.pprint(result)
@@ -114,6 +114,31 @@ def test_sac(args=get_args()):
         print(f'Final reward: {result["rew"]}, length: {result["len"]}')
         collector.close()
 
+    # here we define an imitation collector with a trivial policy
+    if args.task == 'Pendulum-v0':
+        env.spec.reward_threshold = -300  # lower the goal
+    net = Actor(1, args.state_shape, args.action_shape,
+                args.max_action, args.device).to(args.device)
+    optim = torch.optim.Adam(net.parameters(), lr=args.il_lr)
+    il_policy = ImitationPolicy(net, optim)
+    il_test_collector = Collector(il_policy, test_envs)
+    train_collector.reset()
+    result = offpolicy_trainer(
+        il_policy, train_collector, il_test_collector, args.epoch,
+        args.step_per_epoch, args.collect_per_step, args.test_num,
+        args.batch_size, stop_fn=stop_fn, save_fn=save_fn, writer=writer)
+    assert stop_fn(result['best_reward'])
+    train_collector.close()
+    il_test_collector.close()
+    if __name__ == '__main__':
+        pprint.pprint(result)
+        # Let's watch its performance!
+        env = gym.make(args.task)
+        collector = Collector(il_policy, env)
+        result = collector.collect(n_episode=1, render=args.render)
+        print(f'Final reward: {result["rew"]}, length: {result["len"]}')
+        collector.close()
+
 
 if __name__ == '__main__':
-    test_sac()
+    test_sac_with_il()

tianshou/data/collector.py

@@ -97,12 +97,20 @@ class Collector(object):
                     ListReplayBuffer() for _ in range(self.env_num)]
             else:
                 raise TypeError('The buffer in data collector is invalid!')
+        self.stat_size = stat_size
+        self.reset()
+
+    def reset(self):
+        """Reset all related variables in the collector."""
         self.reset_env()
         self.reset_buffer()
         # state over batch is either a list, an np.ndarray, or a torch.Tensor
         self.state = None
-        self.step_speed = MovAvg(stat_size)
+        self.step_speed = MovAvg(self.stat_size)
-        self.episode_speed = MovAvg(stat_size)
+        self.episode_speed = MovAvg(self.stat_size)
+        self.collect_step = 0
+        self.collect_episode = 0
+        self.collect_time = 0
 
     def reset_buffer(self):
         """Reset the main data buffer."""

tianshou/policy/__init__.py

@@ -1,4 +1,5 @@
 from tianshou.policy.base import BasePolicy
+from tianshou.policy.imitation import ImitationPolicy
 from tianshou.policy.modelfree.dqn import DQNPolicy
 from tianshou.policy.modelfree.pg import PGPolicy
 from tianshou.policy.modelfree.a2c import A2CPolicy
@@ -9,6 +10,7 @@ from tianshou.policy.modelfree.sac import SACPolicy
 
 __all__ = [
     'BasePolicy',
+    'ImitationPolicy',
     'DQNPolicy',
     'PGPolicy',
     'A2CPolicy',

tianshou/policy/imitation.py

@@ -0,0 +1,36 @@
+import torch
+import torch.nn.functional as F
+
+from tianshou.data import Batch
+from tianshou.policy import BasePolicy
+
+
+class ImitationPolicy(BasePolicy):
+    """Implementation of vanilla imitation learning (for continuous action space).
+
+    :param torch.nn.Module model: a model following the rules in
+        :class:`~tianshou.policy.BasePolicy`. (s -> a)
+    :param torch.optim.Optimizer optim: a torch.optim for optimizing the model.
+
+    .. seealso::
+
+        Please refer to :class:`~tianshou.policy.BasePolicy` for more detailed
+        explanation.
+    """
+    def __init__(self, model, optim):
+        super().__init__()
+        self.model = model
+        self.optim = optim
+
+    def forward(self, batch, state=None):
+        a, h = self.model(batch.obs, state=state, info=batch.info)
+        return Batch(act=a, state=h)
+
+    def learn(self, batch, **kwargs):
+        self.optim.zero_grad()
+        a = self(batch).act
+        a_ = torch.tensor(batch.act, dtype=torch.float, device=a.device)
+        loss = F.mse_loss(a, a_)
+        loss.backward()
+        self.optim.step()
+        return {'loss': loss.item()}

tianshou/trainer/offpolicy.py

@@ -52,6 +52,7 @@ def offpolicy_trainer(policy, train_collector, test_collector, max_epoch,
     best_epoch, best_reward = -1, -1
     stat = {}
     start_time = time.time()
+    test_in_train = train_collector.policy == policy
     for epoch in range(1, 1 + max_epoch):
         # train
         policy.train()
@@ -63,7 +64,7 @@ def offpolicy_trainer(policy, train_collector, test_collector, max_epoch,
                 result = train_collector.collect(n_step=collect_per_step,
                                                  log_fn=log_fn)
                 data = {}
-                if stop_fn and stop_fn(result['rew']):
+                if test_in_train and stop_fn and stop_fn(result['rew']):
                     test_result = test_episode(
                         policy, test_collector, test_fn,
                         epoch, episode_per_test)

tianshou/trainer/onpolicy.py

@@ -56,6 +56,7 @@ def onpolicy_trainer(policy, train_collector, test_collector, max_epoch,
     best_epoch, best_reward = -1, -1
     stat = {}
     start_time = time.time()
+    test_in_train = train_collector.policy == policy
     for epoch in range(1, 1 + max_epoch):
         # train
         policy.train()
@@ -67,7 +68,7 @@ def onpolicy_trainer(policy, train_collector, test_collector, max_epoch,
                 result = train_collector.collect(n_episode=collect_per_step,
                                                  log_fn=log_fn)
                 data = {}
-                if stop_fn and stop_fn(result['rew']):
+                if test_in_train and stop_fn and stop_fn(result['rew']):
                     test_result = test_episode(
                         policy, test_collector, test_fn,
                         epoch, episode_per_test)