e605bdea94
Releasing Tianshou's SOTA benchmark of 9 out of 13 environments from the MuJoCo Gym task suite.
179 lines
7.2 KiB
Python
179 lines
7.2 KiB
Python
import torch
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import numpy as np
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from copy import deepcopy
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from torch.distributions import Independent, Normal
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from typing import Any, Dict, Tuple, Union, Optional
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from tianshou.policy import DDPGPolicy
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from tianshou.exploration import BaseNoise
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from tianshou.data import Batch, ReplayBuffer
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class SACPolicy(DDPGPolicy):
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"""Implementation of Soft Actor-Critic. arXiv:1812.05905.
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:param torch.nn.Module actor: the actor network following the rules in
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:class:`~tianshou.policy.BasePolicy`. (s -> logits)
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:param torch.optim.Optimizer actor_optim: the optimizer for actor network.
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:param torch.nn.Module critic1: the first critic network. (s, a -> Q(s, a))
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:param torch.optim.Optimizer critic1_optim: the optimizer for the first
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critic network.
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:param torch.nn.Module critic2: the second critic network. (s, a -> Q(s, a))
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:param torch.optim.Optimizer critic2_optim: the optimizer for the second
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critic network.
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:param action_range: the action range (minimum, maximum).
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:type action_range: Tuple[float, float]
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:param float tau: param for soft update of the target network. Default to 0.005.
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:param float gamma: discount factor, in [0, 1]. Default to 0.99.
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:param (float, torch.Tensor, torch.optim.Optimizer) or float alpha: entropy
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regularization coefficient. Default to 0.2.
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If a tuple (target_entropy, log_alpha, alpha_optim) is provided, then
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alpha is automatatically tuned.
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:param bool reward_normalization: normalize the reward to Normal(0, 1).
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Default to False.
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:param BaseNoise exploration_noise: add a noise to action for exploration.
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Default to None. This is useful when solving hard-exploration problem.
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:param bool deterministic_eval: whether to use deterministic action (mean
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of Gaussian policy) instead of stochastic action sampled by the policy.
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Default to True.
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.. seealso::
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Please refer to :class:`~tianshou.policy.BasePolicy` for more detailed
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explanation.
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"""
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def __init__(
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self,
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actor: torch.nn.Module,
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actor_optim: torch.optim.Optimizer,
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critic1: torch.nn.Module,
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critic1_optim: torch.optim.Optimizer,
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critic2: torch.nn.Module,
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critic2_optim: torch.optim.Optimizer,
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action_range: Tuple[float, float],
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tau: float = 0.005,
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gamma: float = 0.99,
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alpha: Union[float, Tuple[float, torch.Tensor, torch.optim.Optimizer]] = 0.2,
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reward_normalization: bool = False,
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estimation_step: int = 1,
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exploration_noise: Optional[BaseNoise] = None,
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deterministic_eval: bool = True,
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**kwargs: Any,
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) -> None:
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super().__init__(None, None, None, None, action_range, tau, gamma,
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exploration_noise, reward_normalization,
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estimation_step, **kwargs)
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self.actor, self.actor_optim = actor, actor_optim
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self.critic1, self.critic1_old = critic1, deepcopy(critic1)
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self.critic1_old.eval()
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self.critic1_optim = critic1_optim
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self.critic2, self.critic2_old = critic2, deepcopy(critic2)
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self.critic2_old.eval()
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self.critic2_optim = critic2_optim
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self._is_auto_alpha = False
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self._alpha: Union[float, torch.Tensor]
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if isinstance(alpha, tuple):
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self._is_auto_alpha = True
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self._target_entropy, self._log_alpha, self._alpha_optim = alpha
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assert alpha[1].shape == torch.Size([1]) and alpha[1].requires_grad
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self._alpha = self._log_alpha.detach().exp()
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else:
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self._alpha = alpha
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self._deterministic_eval = deterministic_eval
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self.__eps = np.finfo(np.float32).eps.item()
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def train(self, mode: bool = True) -> "SACPolicy":
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self.training = mode
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self.actor.train(mode)
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self.critic1.train(mode)
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self.critic2.train(mode)
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return self
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def sync_weight(self) -> None:
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for o, n in zip(self.critic1_old.parameters(), self.critic1.parameters()):
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o.data.copy_(o.data * (1.0 - self._tau) + n.data * self._tau)
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for o, n in zip(self.critic2_old.parameters(), self.critic2.parameters()):
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o.data.copy_(o.data * (1.0 - self._tau) + n.data * self._tau)
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def forward( # type: ignore
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self,
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batch: Batch,
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state: Optional[Union[dict, Batch, np.ndarray]] = None,
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input: str = "obs",
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**kwargs: Any,
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) -> Batch:
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obs = batch[input]
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logits, h = self.actor(obs, state=state, info=batch.info)
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assert isinstance(logits, tuple)
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dist = Independent(Normal(*logits), 1)
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if self._deterministic_eval and not self.training:
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x = logits[0]
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else:
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x = dist.rsample()
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y = torch.tanh(x)
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act = y * self._action_scale + self._action_bias
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# __eps is used to avoid log of zero/negative number.
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y = self._action_scale * (1 - y.pow(2)) + self.__eps
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# Compute logprob from Gaussian, and then apply correction for Tanh squashing.
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# You can check out the original SAC paper (arXiv 1801.01290): Eq 21.
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# in appendix C to get some understanding of this equation.
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log_prob = dist.log_prob(x).unsqueeze(-1)
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log_prob = log_prob - torch.log(y).sum(-1, keepdim=True)
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return Batch(logits=logits, act=act, state=h, dist=dist, log_prob=log_prob)
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def _target_q(
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self, buffer: ReplayBuffer, indice: np.ndarray
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) -> torch.Tensor:
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batch = buffer[indice] # batch.obs: s_{t+n}
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obs_next_result = self(batch, input='obs_next')
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a_ = obs_next_result.act
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target_q = torch.min(
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self.critic1_old(batch.obs_next, a_),
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self.critic2_old(batch.obs_next, a_),
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) - self._alpha * obs_next_result.log_prob
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return target_q
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def learn(self, batch: Batch, **kwargs: Any) -> Dict[str, float]:
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# critic 1&2
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td1, critic1_loss = self._mse_optimizer(
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batch, self.critic1, self.critic1_optim)
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td2, critic2_loss = self._mse_optimizer(
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batch, self.critic2, self.critic2_optim)
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batch.weight = (td1 + td2) / 2.0 # prio-buffer
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# actor
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obs_result = self(batch)
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a = obs_result.act
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current_q1a = self.critic1(batch.obs, a).flatten()
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current_q2a = self.critic2(batch.obs, a).flatten()
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actor_loss = (self._alpha * obs_result.log_prob.flatten()
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- torch.min(current_q1a, current_q2a)).mean()
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self.actor_optim.zero_grad()
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actor_loss.backward()
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self.actor_optim.step()
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if self._is_auto_alpha:
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log_prob = obs_result.log_prob.detach() + self._target_entropy
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alpha_loss = -(self._log_alpha * log_prob).mean()
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self._alpha_optim.zero_grad()
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alpha_loss.backward()
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self._alpha_optim.step()
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self._alpha = self._log_alpha.detach().exp()
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self.sync_weight()
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result = {
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"loss/actor": actor_loss.item(),
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"loss/critic1": critic1_loss.item(),
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"loss/critic2": critic2_loss.item(),
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}
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if self._is_auto_alpha:
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result["loss/alpha"] = alpha_loss.item()
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result["alpha"] = self._alpha.item() # type: ignore
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return result
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