e94a5c04cf
Adjusted notebooks, log messages and docs accordingly. Removed now obsolete in_eval_mode and the private context manager in Trainer
695 lines
28 KiB
Python
695 lines
28 KiB
Python
import logging
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import time
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from abc import ABC, abstractmethod
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from collections import defaultdict, deque
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from collections.abc import Callable
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from dataclasses import asdict
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import numpy as np
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import tqdm
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from tianshou.data import (
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AsyncCollector,
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CollectStats,
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EpochStats,
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InfoStats,
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ReplayBuffer,
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SequenceSummaryStats,
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)
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from tianshou.data.collector import BaseCollector, CollectStatsBase
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from tianshou.policy import BasePolicy
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from tianshou.policy.base import TrainingStats
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from tianshou.trainer.utils import gather_info, test_episode
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from tianshou.utils import (
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BaseLogger,
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DummyTqdm,
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LazyLogger,
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MovAvg,
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tqdm_config,
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)
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from tianshou.utils.logging import set_numerical_fields_to_precision
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from tianshou.utils.torch_utils import policy_within_training_step
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log = logging.getLogger(__name__)
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class BaseTrainer(ABC):
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"""An iterator base class for trainers.
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Returns an iterator that yields a 3-tuple (epoch, stats, info) of train results
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on every epoch.
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:param policy: an instance of the :class:`~tianshou.policy.BasePolicy` class.
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:param batch_size: the batch size of sample data, which is going to feed in
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the policy network. If None, will use the whole buffer in each gradient step.
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:param train_collector: the collector used for training.
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:param test_collector: the collector used for testing. If it's None,
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then no testing will be performed.
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:param buffer: the replay buffer used for off-policy algorithms or for pre-training.
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If a policy overrides the ``process_buffer`` method, the replay buffer will
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be pre-processed before training.
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:param max_epoch: the maximum number of epochs for training. The training
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process might be finished before reaching ``max_epoch`` if ``stop_fn``
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is set.
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:param step_per_epoch: the number of transitions collected per epoch.
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:param repeat_per_collect: the number of repeat time for policy learning,
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for example, set it to 2 means the policy needs to learn each given batch
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data twice. Only used in on-policy algorithms
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:param episode_per_test: the number of episodes for one policy evaluation.
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:param update_per_step: only used in off-policy algorithms.
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How many gradient steps to perform per step in the environment
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(i.e., per sample added to the buffer).
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:param step_per_collect: the number of transitions the collector would
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collect before the network update, i.e., trainer will collect
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"step_per_collect" transitions and do some policy network update repeatedly
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in each epoch.
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:param episode_per_collect: the number of episodes the collector would
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collect before the network update, i.e., trainer will collect
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"episode_per_collect" episodes and do some policy network update repeatedly
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in each epoch.
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:param train_fn: a hook called at the beginning of training in each
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epoch. It can be used to perform custom additional operations, with the
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signature ``f(num_epoch: int, step_idx: int) -> None``.
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:param test_fn: a hook called at the beginning of testing in each
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epoch. It can be used to perform custom additional operations, with the
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signature ``f(num_epoch: int, step_idx: int) -> None``.
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:param save_best_fn: a hook called when the undiscounted average mean
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reward in evaluation phase gets better, with the signature
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``f(policy: BasePolicy) -> None``.
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:param save_checkpoint_fn: a function to save training process and
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return the saved checkpoint path, with the signature ``f(epoch: int,
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env_step: int, gradient_step: int) -> str``; you can save whatever you want.
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:param resume_from_log: resume env_step/gradient_step and other metadata
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from existing tensorboard log.
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:param stop_fn: a function with signature ``f(mean_rewards: float) ->
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bool``, receives the average undiscounted returns of the testing result,
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returns a boolean which indicates whether reaching the goal.
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:param reward_metric: a function with signature
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``f(rewards: np.ndarray with shape (num_episode, agent_num)) -> np.ndarray
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with shape (num_episode,)``, used in multi-agent RL. We need to return a
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single scalar for each episode's result to monitor training in the
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multi-agent RL setting. This function specifies what is the desired metric,
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e.g., the reward of agent 1 or the average reward over all agents.
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:param logger: A logger that logs statistics during
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training/testing/updating. To not log anything, keep the default logger.
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:param verbose: whether to print status information to stdout.
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If set to False, status information will still be logged (provided that
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logging is enabled via the `logging` module).
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:param show_progress: whether to display a progress bar when training.
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:param test_in_train: whether to test in the training phase.
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"""
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__doc__: str
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@staticmethod
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def gen_doc(learning_type: str) -> str:
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"""Document string for subclass trainer."""
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step_means = f'The "step" in {learning_type} trainer means '
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if learning_type != "offline":
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step_means += "an environment step (a.k.a. transition)."
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else: # offline
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step_means += "a gradient step."
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trainer_name = learning_type.capitalize() + "Trainer"
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return f"""An iterator class for {learning_type} trainer procedure.
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Returns an iterator that yields a 3-tuple (epoch, stats, info) of
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train results on every epoch.
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{step_means}
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Example usage:
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::
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trainer = {trainer_name}(...)
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for epoch, epoch_stat, info in trainer:
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print("Epoch:", epoch)
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print(epoch_stat)
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print(info)
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do_something_with_policy()
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query_something_about_policy()
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make_a_plot_with(epoch_stat)
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display(info)
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- epoch int: the epoch number
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- epoch_stat dict: a large collection of metrics of the current epoch
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- info dict: result returned from :func:`~tianshou.trainer.gather_info`
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You can even iterate on several trainers at the same time:
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::
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trainer1 = {trainer_name}(...)
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trainer2 = {trainer_name}(...)
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for result1, result2, ... in zip(trainer1, trainer2, ...):
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compare_results(result1, result2, ...)
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"""
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def __init__(
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self,
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policy: BasePolicy,
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max_epoch: int,
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batch_size: int | None,
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train_collector: BaseCollector | None = None,
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test_collector: BaseCollector | None = None,
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buffer: ReplayBuffer | None = None,
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step_per_epoch: int | None = None,
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repeat_per_collect: int | None = None,
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episode_per_test: int | None = None,
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update_per_step: float = 1.0,
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step_per_collect: int | None = None,
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episode_per_collect: int | None = None,
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train_fn: Callable[[int, int], None] | None = None,
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test_fn: Callable[[int, int | None], None] | None = None,
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stop_fn: Callable[[float], bool] | None = None,
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save_best_fn: Callable[[BasePolicy], None] | None = None,
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save_checkpoint_fn: Callable[[int, int, int], str] | None = None,
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resume_from_log: bool = False,
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reward_metric: Callable[[np.ndarray], np.ndarray] | None = None,
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logger: BaseLogger = LazyLogger(),
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verbose: bool = True,
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show_progress: bool = True,
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test_in_train: bool = True,
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):
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self.policy = policy
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if buffer is not None:
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buffer = policy.process_buffer(buffer)
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self.buffer = buffer
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self.train_collector = train_collector
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self.test_collector = test_collector
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self.logger = logger
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self.start_time = time.time()
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self.stat: defaultdict[str, MovAvg] = defaultdict(MovAvg)
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self.best_reward = 0.0
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self.best_reward_std = 0.0
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self.start_epoch = 0
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# This is only used for logging but creeps into the implementations
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# of the trainers. I believe it would be better to remove
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self._gradient_step = 0
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self.env_step = 0
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self.policy_update_time = 0.0
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self.max_epoch = max_epoch
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self.step_per_epoch = step_per_epoch
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# either on of these two
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self.step_per_collect = step_per_collect
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self.episode_per_collect = episode_per_collect
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self.update_per_step = update_per_step
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self.repeat_per_collect = repeat_per_collect
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self.episode_per_test = episode_per_test
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self.batch_size = batch_size
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self.train_fn = train_fn
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self.test_fn = test_fn
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self.stop_fn = stop_fn
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self.save_best_fn = save_best_fn
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self.save_checkpoint_fn = save_checkpoint_fn
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self.reward_metric = reward_metric
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self.verbose = verbose
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self.show_progress = show_progress
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self.test_in_train = test_in_train
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self.resume_from_log = resume_from_log
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self.is_run = False
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self.last_rew, self.last_len = 0.0, 0.0
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self.epoch = self.start_epoch
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self.best_epoch = self.start_epoch
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self.stop_fn_flag = False
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self.iter_num = 0
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def _reset_collectors(self, reset_buffer: bool = False) -> None:
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if self.train_collector is not None:
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self.train_collector.reset(reset_buffer=reset_buffer)
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if self.test_collector is not None:
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self.test_collector.reset(reset_buffer=reset_buffer)
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def reset(self, reset_collectors: bool = True, reset_buffer: bool = False) -> None:
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"""Initialize or reset the instance to yield a new iterator from zero."""
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self.is_run = False
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self.env_step = 0
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if self.resume_from_log:
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(
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self.start_epoch,
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self.env_step,
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self._gradient_step,
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) = self.logger.restore_data()
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self.last_rew, self.last_len = 0.0, 0.0
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self.start_time = time.time()
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if reset_collectors:
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self._reset_collectors(reset_buffer=reset_buffer)
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if self.train_collector is not None and (
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self.train_collector.policy != self.policy or self.test_collector is None
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):
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self.test_in_train = False
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if self.test_collector is not None:
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assert self.episode_per_test is not None
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assert not isinstance(self.test_collector, AsyncCollector) # Issue 700
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test_result = test_episode(
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self.test_collector,
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self.test_fn,
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self.start_epoch,
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self.episode_per_test,
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self.logger,
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self.env_step,
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self.reward_metric,
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)
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assert test_result.returns_stat is not None # for mypy
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self.best_epoch = self.start_epoch
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self.best_reward, self.best_reward_std = (
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test_result.returns_stat.mean,
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test_result.returns_stat.std,
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)
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if self.save_best_fn:
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self.save_best_fn(self.policy)
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self.epoch = self.start_epoch
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self.stop_fn_flag = False
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self.iter_num = 0
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def __iter__(self): # type: ignore
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self.reset(reset_collectors=True, reset_buffer=False)
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return self
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def __next__(self) -> EpochStats:
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"""Perform one epoch (both train and eval)."""
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self.epoch += 1
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self.iter_num += 1
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if self.iter_num > 1:
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# iterator exhaustion check
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if self.epoch > self.max_epoch:
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raise StopIteration
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# exit flag 1, when stop_fn succeeds in train_step or test_step
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if self.stop_fn_flag:
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raise StopIteration
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progress = tqdm.tqdm if self.show_progress else DummyTqdm
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# perform n step_per_epoch
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with progress(total=self.step_per_epoch, desc=f"Epoch #{self.epoch}", **tqdm_config) as t:
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train_stat: CollectStatsBase
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while t.n < t.total and not self.stop_fn_flag:
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train_stat, update_stat, self.stop_fn_flag = self.training_step()
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if isinstance(train_stat, CollectStats):
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pbar_data_dict = {
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"env_step": str(self.env_step),
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"rew": f"{self.last_rew:.2f}",
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"len": str(int(self.last_len)),
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"n/ep": str(train_stat.n_collected_episodes),
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"n/st": str(train_stat.n_collected_steps),
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}
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t.update(train_stat.n_collected_steps)
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else:
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pbar_data_dict = {}
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t.update()
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pbar_data_dict = set_numerical_fields_to_precision(pbar_data_dict)
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pbar_data_dict["gradient_step"] = str(self._gradient_step)
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t.set_postfix(**pbar_data_dict)
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if self.stop_fn_flag:
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break
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if t.n <= t.total and not self.stop_fn_flag:
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t.update()
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# for offline RL
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if self.train_collector is None:
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assert self.buffer is not None
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batch_size = self.batch_size or len(self.buffer)
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self.env_step = self._gradient_step * batch_size
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test_stat = None
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if not self.stop_fn_flag:
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self.logger.save_data(
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self.epoch,
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self.env_step,
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self._gradient_step,
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self.save_checkpoint_fn,
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)
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# test
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if self.test_collector is not None:
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test_stat, self.stop_fn_flag = self.test_step()
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info_stat = gather_info(
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start_time=self.start_time,
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policy_update_time=self.policy_update_time,
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gradient_step=self._gradient_step,
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best_reward=self.best_reward,
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best_reward_std=self.best_reward_std,
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train_collector=self.train_collector,
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test_collector=self.test_collector,
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)
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self.logger.log_info_data(asdict(info_stat), self.epoch)
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# in case trainer is used with run(), epoch_stat will not be returned
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return EpochStats(
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epoch=self.epoch,
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train_collect_stat=train_stat,
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test_collect_stat=test_stat,
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training_stat=update_stat,
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info_stat=info_stat,
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)
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def test_step(self) -> tuple[CollectStats, bool]:
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"""Perform one testing step."""
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assert self.episode_per_test is not None
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assert self.test_collector is not None
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stop_fn_flag = False
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test_stat = test_episode(
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self.test_collector,
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self.test_fn,
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self.epoch,
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self.episode_per_test,
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self.logger,
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self.env_step,
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self.reward_metric,
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)
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assert test_stat.returns_stat is not None # for mypy
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rew, rew_std = test_stat.returns_stat.mean, test_stat.returns_stat.std
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if self.best_epoch < 0 or self.best_reward < rew:
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self.best_epoch = self.epoch
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self.best_reward = float(rew)
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self.best_reward_std = rew_std
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if self.save_best_fn:
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self.save_best_fn(self.policy)
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log_msg = (
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f"Epoch #{self.epoch}: test_reward: {rew:.6f} ± {rew_std:.6f},"
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f" best_reward: {self.best_reward:.6f} ± "
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f"{self.best_reward_std:.6f} in #{self.best_epoch}"
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)
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log.info(log_msg)
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if self.verbose:
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print(log_msg, flush=True)
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if self.stop_fn and self.stop_fn(self.best_reward):
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stop_fn_flag = True
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return test_stat, stop_fn_flag
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def training_step(self) -> tuple[CollectStatsBase, TrainingStats | None, bool]:
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"""Perform one training iteration.
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A training iteration includes collecting data (for online RL), determining whether to stop training,
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and performing a policy update if the training iteration should continue.
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:return: the iteration's collect stats, training stats, and a flag indicating whether to stop training.
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If training is to be stopped, no gradient steps will be performed and the training stats will be `None`.
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"""
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with policy_within_training_step(self.policy):
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should_stop_training = False
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collect_stats: CollectStatsBase | CollectStats
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if self.train_collector is not None:
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collect_stats = self._collect_training_data()
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should_stop_training = self._update_best_reward_and_return_should_stop_training(
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collect_stats,
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)
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else:
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assert self.buffer is not None, "Either train_collector or buffer must be provided."
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collect_stats = CollectStatsBase(
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n_collected_episodes=len(self.buffer),
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)
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if not should_stop_training:
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training_stats = self.policy_update_fn(collect_stats)
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else:
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training_stats = None
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return collect_stats, training_stats, should_stop_training
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def _collect_training_data(self) -> CollectStats:
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"""Performs training data collection.
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:return: the data collection stats
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"""
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assert self.episode_per_test is not None
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assert self.train_collector is not None
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if self.train_fn:
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self.train_fn(self.epoch, self.env_step)
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collect_stats = self.train_collector.collect(
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n_step=self.step_per_collect,
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n_episode=self.episode_per_collect,
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)
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self.env_step += collect_stats.n_collected_steps
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if collect_stats.n_collected_episodes > 0:
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assert collect_stats.returns_stat is not None # for mypy
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assert collect_stats.lens_stat is not None # for mypy
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self.last_rew = collect_stats.returns_stat.mean
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self.last_len = collect_stats.lens_stat.mean
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if self.reward_metric: # TODO: move inside collector
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rew = self.reward_metric(collect_stats.returns)
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collect_stats.returns = rew
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collect_stats.returns_stat = SequenceSummaryStats.from_sequence(rew)
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self.logger.log_train_data(asdict(collect_stats), self.env_step)
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return collect_stats
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# TODO (maybe): separate out side effect, simplify name?
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def _update_best_reward_and_return_should_stop_training(
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self,
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collect_stats: CollectStats,
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) -> bool:
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"""If `test_in_train` and `stop_fn` are set, will compute the `stop_fn` on the mean return of the training data.
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Then, if the `stop_fn` is True there, will collect test data also compute the stop_fn of the mean return
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on it.
|
|
Finally, if the latter is also True, will return True.
|
|
|
|
**NOTE:** has a side effect of updating the best reward and corresponding std.
|
|
|
|
|
|
:param collect_stats: the data collection stats
|
|
:return: flag indicating whether to stop training
|
|
"""
|
|
should_stop_training = False
|
|
|
|
# Because we need to evaluate the policy, we need to temporarily leave the "is_training_step" semantics
|
|
with policy_within_training_step(self.policy, enabled=False):
|
|
if (
|
|
collect_stats.n_collected_episodes > 0
|
|
and self.test_in_train
|
|
and self.stop_fn
|
|
and self.stop_fn(collect_stats.returns_stat.mean) # type: ignore
|
|
):
|
|
assert self.test_collector is not None
|
|
assert self.episode_per_test is not None and self.episode_per_test > 0
|
|
test_result = test_episode(
|
|
self.test_collector,
|
|
self.test_fn,
|
|
self.epoch,
|
|
self.episode_per_test,
|
|
self.logger,
|
|
self.env_step,
|
|
)
|
|
assert test_result.returns_stat is not None # for mypy
|
|
if self.stop_fn(test_result.returns_stat.mean):
|
|
should_stop_training = True
|
|
self.best_reward = test_result.returns_stat.mean
|
|
self.best_reward_std = test_result.returns_stat.std
|
|
|
|
return should_stop_training
|
|
|
|
# TODO: move moving average computation and logging into its own logger
|
|
# TODO: maybe think about a command line logger instead of always printing data dict
|
|
def _update_moving_avg_stats_and_log_update_data(self, update_stat: TrainingStats) -> None:
|
|
"""Log losses, update moving average stats, and also modify the smoothed_loss in update_stat."""
|
|
cur_losses_dict = update_stat.get_loss_stats_dict()
|
|
update_stat.smoothed_loss = self._update_moving_avg_stats_and_get_averaged_data(
|
|
cur_losses_dict,
|
|
)
|
|
self.logger.log_update_data(asdict(update_stat), self._gradient_step)
|
|
|
|
# TODO: seems convoluted, there should be a better way of dealing with the moving average stats
|
|
def _update_moving_avg_stats_and_get_averaged_data(
|
|
self,
|
|
data: dict[str, float],
|
|
) -> dict[str, float]:
|
|
"""Add entries to the moving average object in the trainer and retrieve the averaged results.
|
|
|
|
:param data: any entries to be tracked in the moving average object.
|
|
:return: A dictionary containing the averaged values of the tracked entries.
|
|
|
|
"""
|
|
smoothed_data = {}
|
|
for key, loss_item in data.items():
|
|
self.stat[key].add(loss_item)
|
|
smoothed_data[key] = self.stat[key].get()
|
|
return smoothed_data
|
|
|
|
@abstractmethod
|
|
def policy_update_fn(
|
|
self,
|
|
collect_stats: CollectStatsBase,
|
|
) -> TrainingStats:
|
|
"""Policy update function for different trainer implementation.
|
|
|
|
:param collect_stats: provides info about the most recent collection. In the offline case, this will contain
|
|
stats of the whole dataset
|
|
"""
|
|
|
|
def run(self, reset_prior_to_run: bool = True) -> InfoStats:
|
|
"""Consume iterator.
|
|
|
|
See itertools - recipes. Use functions that consume iterators at C speed
|
|
(feed the entire iterator into a zero-length deque).
|
|
"""
|
|
if reset_prior_to_run:
|
|
self.reset()
|
|
try:
|
|
self.is_run = True
|
|
deque(self, maxlen=0) # feed the entire iterator into a zero-length deque
|
|
info = gather_info(
|
|
start_time=self.start_time,
|
|
policy_update_time=self.policy_update_time,
|
|
gradient_step=self._gradient_step,
|
|
best_reward=self.best_reward,
|
|
best_reward_std=self.best_reward_std,
|
|
train_collector=self.train_collector,
|
|
test_collector=self.test_collector,
|
|
)
|
|
finally:
|
|
self.is_run = False
|
|
|
|
return info
|
|
|
|
def _sample_and_update(self, buffer: ReplayBuffer) -> TrainingStats:
|
|
"""Sample a mini-batch, perform one gradient step, and update the _gradient_step counter."""
|
|
self._gradient_step += 1
|
|
# Note: since sample_size=batch_size, this will perform
|
|
# exactly one gradient step. This is why we don't need to calculate the
|
|
# number of gradient steps, like in the on-policy case.
|
|
update_stat = self.policy.update(sample_size=self.batch_size, buffer=buffer)
|
|
self._update_moving_avg_stats_and_log_update_data(update_stat)
|
|
return update_stat
|
|
|
|
|
|
class OfflineTrainer(BaseTrainer):
|
|
"""Offline trainer, samples mini-batches from buffer and passes them to update.
|
|
|
|
Uses a buffer directly and usually does not have a collector.
|
|
"""
|
|
|
|
# for mypy
|
|
assert isinstance(BaseTrainer.__doc__, str)
|
|
__doc__ += BaseTrainer.gen_doc("offline") + "\n".join(BaseTrainer.__doc__.split("\n")[1:])
|
|
|
|
def policy_update_fn(
|
|
self,
|
|
collect_stats: CollectStatsBase | None = None,
|
|
) -> TrainingStats:
|
|
"""Perform one off-line policy update."""
|
|
assert self.buffer
|
|
update_stat = self._sample_and_update(self.buffer)
|
|
# logging
|
|
self.policy_update_time += update_stat.train_time
|
|
return update_stat
|
|
|
|
|
|
class OffpolicyTrainer(BaseTrainer):
|
|
"""Offpolicy trainer, samples mini-batches from buffer and passes them to update.
|
|
|
|
Note that with this trainer, it is expected that the policy's `learn` method
|
|
does not perform additional mini-batching but just updates params from the received
|
|
mini-batch.
|
|
"""
|
|
|
|
# for mypy
|
|
assert isinstance(BaseTrainer.__doc__, str)
|
|
__doc__ += BaseTrainer.gen_doc("offpolicy") + "\n".join(BaseTrainer.__doc__.split("\n")[1:])
|
|
|
|
def policy_update_fn(
|
|
self,
|
|
# TODO: this is the only implementation where collect_stats is actually needed. Maybe change interface?
|
|
collect_stats: CollectStatsBase,
|
|
) -> TrainingStats:
|
|
"""Perform `update_per_step * n_collected_steps` gradient steps by sampling mini-batches from the buffer.
|
|
|
|
:param collect_stats: the :class:`~TrainingStats` instance returned by the last gradient step. Some values
|
|
in it will be replaced by their moving averages.
|
|
"""
|
|
assert self.train_collector is not None
|
|
n_collected_steps = collect_stats.n_collected_steps
|
|
n_gradient_steps = round(self.update_per_step * n_collected_steps)
|
|
if n_gradient_steps == 0:
|
|
raise ValueError(
|
|
f"n_gradient_steps is 0, n_collected_steps={n_collected_steps}, "
|
|
f"update_per_step={self.update_per_step}",
|
|
)
|
|
for _ in range(n_gradient_steps):
|
|
update_stat = self._sample_and_update(self.train_collector.buffer)
|
|
|
|
# logging
|
|
self.policy_update_time += update_stat.train_time
|
|
# TODO: only the last update_stat is returned, should be improved
|
|
return update_stat
|
|
|
|
|
|
class OnpolicyTrainer(BaseTrainer):
|
|
"""On-policy trainer, passes the entire buffer to .update and resets it after.
|
|
|
|
Note that it is expected that the learn method of a policy will perform
|
|
batching when using this trainer.
|
|
"""
|
|
|
|
# for mypy
|
|
assert isinstance(BaseTrainer.__doc__, str)
|
|
__doc__ = BaseTrainer.gen_doc("onpolicy") + "\n".join(BaseTrainer.__doc__.split("\n")[1:])
|
|
|
|
def policy_update_fn(
|
|
self,
|
|
result: CollectStatsBase | None = None,
|
|
) -> TrainingStats:
|
|
"""Perform one on-policy update by passing the entire buffer to the policy's update method."""
|
|
assert self.train_collector is not None
|
|
training_stat = self.policy.update(
|
|
sample_size=0,
|
|
buffer=self.train_collector.buffer,
|
|
# Note: sample_size is None, so the whole buffer is used for the update.
|
|
# The kwargs are in the end passed to the .learn method, which uses
|
|
# batch_size to iterate through the buffer in mini-batches
|
|
# Off-policy algos typically don't use the batch_size kwarg at all
|
|
batch_size=self.batch_size,
|
|
repeat=self.repeat_per_collect,
|
|
)
|
|
|
|
# just for logging, no functional role
|
|
self.policy_update_time += training_stat.train_time
|
|
# TODO: remove the gradient step counting in trainers? Doesn't seem like
|
|
# it's important and it adds complexity
|
|
self._gradient_step += 1
|
|
if self.batch_size is None:
|
|
self._gradient_step += 1
|
|
elif self.batch_size > 0:
|
|
self._gradient_step += int((len(self.train_collector.buffer) - 0.1) // self.batch_size)
|
|
|
|
# Note: this is the main difference to the off-policy trainer!
|
|
# The second difference is that batches of data are sampled without replacement
|
|
# during training, whereas in off-policy or offline training, the batches are
|
|
# sampled with replacement (and potentially custom prioritization).
|
|
self.train_collector.reset_buffer(keep_statistics=True)
|
|
|
|
# The step is the number of mini-batches used for the update, so essentially
|
|
self._update_moving_avg_stats_and_log_update_data(training_stat)
|
|
|
|
return training_stat
|