sac.py

#  Code from spinning-up repository: https://github.com/openai/spinningup

from copy import deepcopy
import itertools
import numpy as np
import torch
from torch.optim import Adam
import gym
import time
import core as core
import torch.nn.functional as F

device = torch.device("cuda" if torch.cuda.is_available() else "cpu")

class ReplayBuffer:
    """
    A simple FIFO experience replay buffer for SAC agents.
    """

    def __init__(self, obs_dim, act_dim, size=int(1e6)):
        self.state = np.zeros(core.combined_shape(size, obs_dim), dtype=np.float32)
        self.next_state = np.zeros(core.combined_shape(size, obs_dim), dtype=np.float32)
        self.action = np.zeros(core.combined_shape(size, act_dim), dtype=np.float32)
        self.reward = np.zeros(size, dtype=np.float32)
        self.cost = np.zeros(size, dtype=np.float32)
        self.done = np.zeros(size, dtype=np.float32)
        self.ptr, self.size, self.max_size = 0, 0, size

    def store(self, obs, act, rew, next_obs, done, cost=None):
        self.state[self.ptr] = obs
        self.next_state[self.ptr] = next_obs
        self.action[self.ptr] = act
        self.reward[self.ptr] = rew
        if cost is not None:
            self.cost[self.ptr] = cost
        self.done[self.ptr] = done
        self.ptr = (self.ptr+1) % self.max_size
        self.size = min(self.size+1, self.max_size)

    def sample_batch(self, batch_size=32):
        if batch_size == None:
            idxs = np.arange(self.size)
        else:
            idxs = np.random.randint(0, self.size, size=batch_size)
        batch = dict(obs=self.state[idxs],
                     obs2=self.next_state[idxs],
                     act=self.action[idxs],
                     rew=self.reward[idxs],
                     cost=self.cost[idxs],
                     done=self.done[idxs])
        return_dict = {k: torch.as_tensor(v, dtype=torch.float32).to(device) for k,v in batch.items()}
        return_dict['idx']=idxs
        return return_dict

        


class SAC:

    def __init__(self,env, models,replay_buffer, termination_function,actor_critic=core.MLPActorCritic, ac_kwargs=dict(), seed=0, 
            steps_per_epoch=4000, epochs=100, replay_size=int(1e6), gamma=0.99, 
            polyak=0.995, lr=1e-3, alpha=0.2, batch_size=256, start_steps=10000, 
            update_after=1000, update_every=50, num_test_episodes=10, max_ep_len=1000,automatic_alpha_tuning=True, 
            save_freq=1, A2=False):
        """
        Soft Actor-Critic (SAC)


        Args:
            env_fn : A function which creates a copy of the environment.
                The environment must satisfy the OpenAI Gym API.

            actor_critic: The constructor method for a PyTorch Module with an ``act`` 
                method, a ``pi`` module, a ``q1`` module, and a ``q2`` module.
                The ``act`` method and ``pi`` module should accept batches of 
                observations as inputs, and ``q1`` and ``q2`` should accept a batch 
                of observations and a batch of actions as inputs. When called, 
                ``act``, ``q1``, and ``q2`` should return:

                ===========  ================  ======================================
                Call         Output Shape      Description
                ===========  ================  ======================================
                ``act``      (batch, act_dim)  | Numpy array of actions for each 
                                            | observation.
                ``q1``       (batch,)          | Tensor containing one current estimate
                                            | of Q* for the provided observations
                                            | and actions. (Critical: make sure to
                                            | flatten this!)
                ``q2``       (batch,)          | Tensor containing the other current 
                                            | estimate of Q* for the provided observations
                                            | and actions. (Critical: make sure to
                                            | flatten this!)
                ===========  ================  ======================================

                Calling ``pi`` should return:

                ===========  ================  ======================================
                Symbol       Shape             Description
                ===========  ================  ======================================
                ``a``        (batch, act_dim)  | Tensor containing actions from policy
                                            | given observations.
                ``logp_pi``  (batch,)          | Tensor containing log probabilities of
                                            | actions in ``a``. Importantly: gradients
                                            | should be able to flow back into ``a``.
                ===========  ================  ======================================

            ac_kwargs (dict): Any kwargs appropriate for the ActorCritic object 
                you provided to SAC.

            seed (int): Seed for random number generators.

            steps_per_epoch (int): Number of steps of interaction (state-action pairs) 
                for the agent and the environment in each epoch.

            epochs (int): Number of epochs to run and train agent.

            replay_size (int): Maximum length of replay buffer.

            gamma (float): Discount factor. (Always between 0 and 1.)

            polyak (float): Interpolation factor in polyak averaging for target 
                networks. Target networks are updated towards main networks 
                according to:

                .. math:: \\theta_{\\text{targ}} \\leftarrow 
                    \\rho \\theta_{\\text{targ}} + (1-\\rho) \\theta

                where :math:`\\rho` is polyak. (Always between 0 and 1, usually 
                close to 1.)

            lr (float): Learning rate (used for both policy and value learning).

            alpha (float): Entropy regularization coefficient. (Equivalent to 
                inverse of reward scale in the original SAC paper.)

            batch_size (int): Minibatch size for SGD.

            start_steps (int): Number of steps for uniform-random action selection,
                before running real policy. Helps exploration.

            update_after (int): Number of env interactions to collect before
                starting to do gradient descent updates. Ensures replay buffer
                is full enough for useful updates.

            update_every (int): Number of env interactions that should elapse
                between gradient descent updates. Note: Regardless of how long 
                you wait between updates, the ratio of env steps to gradient steps 
                is locked to 1.

            num_test_episodes (int): Number of episodes to test the deterministic
                policy at the end of each epoch.

            max_ep_len (int): Maximum length of trajectory / episode / rollout.

            logger_kwargs (dict): Keyword args for EpochLogger.

            save_freq (int): How often (in terms of gap between epochs) to save
                the current policy and value function.

        """


        torch.manual_seed(seed)
        np.random.seed(seed)

        self.env = env
        self.test_env = self.env
        self.obs_dim = self.env.observation_space.shape
        self.act_dim = self.env.action_space.shape[0]
        self.max_ep_len=max_ep_len
        self.start_steps=start_steps
        self.batch_size=batch_size
        self.gamma=gamma
        self.alpha=alpha
        self.polyak=polyak

        self.A2= A2
        # Action limit for clamping: critically, assumes all dimensions share the same bound!
        self.act_limit = self.env.action_space.high[0]
        self.steps_per_epoch=steps_per_epoch
        self.update_after=update_after
        self.update_every=update_every
        self.num_test_episodes=num_test_episodes
        self.epochs = epochs


        # Create actor-critic module and target networks
        self.ac = actor_critic(self.env.observation_space, self.env.action_space, **ac_kwargs)
        self.ac_targ = deepcopy(self.ac)
        self.termination_func = termination_function
        self.models = models
        # Freeze target networks with respect to optimizers (only update via polyak averaging)
        for p in self.ac_targ.parameters():
            p.requires_grad = False
            
        # List of parameters for both Q-networks (save this for convenience)
        self.q_params = itertools.chain(self.ac.q1.parameters(), self.ac.q2.parameters())

        # Experience buffer
        self.replay_buffer = replay_buffer

        # Count variables (protip: try to get a feel for how different size networks behave!)
        self.var_counts = tuple(core.count_vars(module) for module in [self.ac.pi, self.ac.q1, self.ac.q2])
        # Set up optimizers for policy and q-function

        self.pi_optimizer = Adam(self.ac.pi.parameters(), lr=lr)
        self.q_optimizer = Adam(self.q_params, lr=lr)
        self.v_optimizer = Adam(self.ac.v.parameters(), lr=lr)       
        self.automatic_alpha_tuning = automatic_alpha_tuning
        if self.automatic_alpha_tuning is True:
            self.target_entropy = -torch.prod(torch.Tensor(self.env.action_space.shape).to(device)).item()
            self.log_alpha = torch.zeros(1, requires_grad=True, device=device)
            self.alpha_optim = Adam([self.log_alpha], lr=lr)
            self.alpha = self.log_alpha.exp()
        else:
            self.alpha = alpha


    # Set up function for computing SAC Q-losses
    def compute_loss_q(self,data):
        o, a, r, o2, d = data['obs'], data['act'], data['rew'], data['obs2'], data['done']
        q1 = self.ac.q1(o,a)
        q2 = self.ac.q2(o,a)
        if(self.A2):
            # Bellman backup for Q functions
            idxs = data['idx']
            next_idxs = (idxs+1)%self.replay_buffer.max_size
            with torch.no_grad():
                next_actions = torch.as_tensor(self.replay_buffer.action[next_idxs], dtype=torch.float32).to(device)
                next_obs = torch.as_tensor(self.replay_buffer.state[next_idxs], dtype=torch.float32).to(device)
                # Target actions come from *current* policy
                q1_pi_targ = self.ac_targ.q1(o2,next_actions)
                q2_pi_targ = self.ac_targ.q2(o2,next_actions)
                q_pi_targ = torch.min(q1_pi_targ, q2_pi_targ)
                backup = (((o2-next_obs).sum(1))==0).float()*(r + self.gamma*(1-d)*(q_pi_targ))    
        else:
            # Bellman backup for Q functions
            with torch.no_grad():
                # Target actions come from *current* policy
                a2, logp_a2 = self.ac.pi(o2)
                # Target Q-values
                q1_pi_targ = self.ac_targ.q1(o2, a2)
                q2_pi_targ = self.ac_targ.q2(o2, a2)
                q_pi_targ = torch.min(q1_pi_targ, q2_pi_targ)
                backup = r + self.gamma * (1 - d) * (q_pi_targ - self.alpha * logp_a2)

        # MSE loss against Bellman backup
        loss_q1 = ((q1 - backup)**2).mean()
        loss_q2 = ((q2 - backup)**2).mean()
        loss_q = loss_q1 + loss_q2


        # Useful info for logging
        q_info = dict(Q1Vals=q1.cpu().detach().numpy(),
                    Q2Vals=q2.cpu().detach().numpy())

        return loss_q, q_info



    def getQ(self, state,action):
        state = torch.FloatTensor(state.reshape(1, -1)).to(device)
        action = torch.FloatTensor(action.reshape(1, -1)).to(device)
        Q1,Q2 = self.ac.q1(state,action),self.ac.q2(state,action)
        return Q1.cpu().data.numpy(),Q2.cpu().data.numpy()


    def compute_loss_pi(self,data):

        o = data['obs']
        a = data['act']
        pi, logp_pi = self.ac.pi(o)
        q1_pi = self.ac.q1(o, pi)
        q2_pi = self.ac.q2(o, pi)
        q_pi = torch.min(q1_pi, q2_pi)
        # Entropy-regularized policy loss
        loss_pi = (self.alpha * logp_pi - q_pi).mean()

        pi_info = dict(LogPi=logp_pi.cpu().detach())

        return loss_pi, pi_info


    # Set up model saving
    def update(self,data):
        # First run one gradient descent step for Q1 and Q2
        self.q_optimizer.zero_grad()

        loss_q, q_info =  self.compute_loss_q(data)
        loss_q.backward()
        self.q_optimizer.step()        

        # Freeze Q-networks so you don't waste computational effort 
        # computing gradients for them during the policy learning step.
        for p in self.q_params:
            p.requires_grad = False
        
        # Next run one gradient descent step for pi.
        self.pi_optimizer.zero_grad()
        loss_pi, pi_info = self.compute_loss_pi(data)
        log_pi = pi_info['LogPi'] 
        loss_pi.backward()
        self.pi_optimizer.step()

        # Unfreeze Q-networks so you can optimize it at next DDPG step.
        for p in self.q_params:
            p.requires_grad = True

        if self.automatic_alpha_tuning:
            alpha_loss = -(self.log_alpha * (log_pi.to(device) + self.target_entropy)).mean()
            self.alpha_optim.zero_grad()
            alpha_loss.backward()
            self.alpha_optim.step()
            self.alpha = self.log_alpha.exp()

        # Finally, update target networks by polyak averaging.
        with torch.no_grad():
            for p, p_targ in zip(self.ac.parameters(), self.ac_targ.parameters()):
                # NB: We use an in-place operations "mul_", "add_" to update target
                # params, as opposed to "mul" and "add", which would make new tensors.
                p_targ.data.mul_(self.polyak)
                p_targ.data.add_((1 - self.polyak) * p.data)





    def get_action(self,o, deterministic=False):
        return self.ac.act(torch.as_tensor(o, dtype=torch.float32).to(device), 
                    deterministic)

    def test_agent(self):
        for j in range(self.num_test_episodes):
            o, d, ep_ret, ep_len = self.test_env.reset(), False, 0, 0
            while not(d or (ep_len == self.max_ep_len)):
                # Take deterministic actions at test time 
                o, r, d, _ = self.test_env.step(self.get_action(o, True))
                ep_ret += r
                ep_len += 1
            return ep_ret,ep_len


    def reset(self):
        pass
    
    def train(self):
        for j in range(self.update_every):
            # if np.random.uniform()<1.0:
            #     batch = self.replay_buffer.sample_batch(self.batch_size)
            # else:
            #     batch = self.mpc_replay_buffer.sample_batch(self.batch_size)
            batch = self.replay_buffer.sample_batch(self.batch_size)
            self.update(data=batch)