from abc import ABC, abstractmethod
import os
import glob
import warnings
from collections import OrderedDict
import cloudpickle
import numpy as np
import gym
import tensorflow as tf
from stable_baselines.common import set_global_seeds
from stable_baselines.common.policies import get_policy_from_name, ActorCriticPolicy
from stable_baselines.common.vec_env import VecEnvWrapper, VecEnv, DummyVecEnv
from stable_baselines import logger
[docs]class BaseRLModel(ABC):
"""
The base RL model
:param policy: (BasePolicy) Policy object
:param env: (Gym environment) The environment to learn from
(if registered in Gym, can be str. Can be None for loading trained models)
:param verbose: (int) the verbosity level: 0 none, 1 training information, 2 tensorflow debug
:param requires_vec_env: (bool) Does this model require a vectorized environment
:param policy_base: (BasePolicy) the base policy used by this method
"""
def __init__(self, policy, env, verbose=0, *, requires_vec_env, policy_base, policy_kwargs=None):
if isinstance(policy, str) and policy_base is not None:
self.policy = get_policy_from_name(policy_base, policy)
else:
self.policy = policy
self.env = env
self.verbose = verbose
self._requires_vec_env = requires_vec_env
self.policy_kwargs = {} if policy_kwargs is None else policy_kwargs
self.observation_space = None
self.action_space = None
self.n_envs = None
self._vectorize_action = False
self.num_timesteps = 0
self.graph = None
self.sess = None
self.params = None
self._param_load_ops = None
if env is not None:
if isinstance(env, str):
if self.verbose >= 1:
print("Creating environment from the given name, wrapped in a DummyVecEnv.")
self.env = env = DummyVecEnv([lambda: gym.make(env)])
self.observation_space = env.observation_space
self.action_space = env.action_space
if requires_vec_env:
if isinstance(env, VecEnv):
self.n_envs = env.num_envs
else:
raise ValueError("Error: the model requires a vectorized environment, please use a VecEnv wrapper.")
else:
if isinstance(env, VecEnv):
if env.num_envs == 1:
self.env = _UnvecWrapper(env)
self._vectorize_action = True
else:
raise ValueError("Error: the model requires a non vectorized environment or a single vectorized"
" environment.")
self.n_envs = 1
[docs] def get_env(self):
"""
returns the current environment (can be None if not defined)
:return: (Gym Environment) The current environment
"""
return self.env
[docs] def set_env(self, env):
"""
Checks the validity of the environment, and if it is coherent, set it as the current environment.
:param env: (Gym Environment) The environment for learning a policy
"""
if env is None and self.env is None:
if self.verbose >= 1:
print("Loading a model without an environment, "
"this model cannot be trained until it has a valid environment.")
return
elif env is None:
raise ValueError("Error: trying to replace the current environment with None")
# sanity checking the environment
assert self.observation_space == env.observation_space, \
"Error: the environment passed must have at least the same observation space as the model was trained on."
assert self.action_space == env.action_space, \
"Error: the environment passed must have at least the same action space as the model was trained on."
if self._requires_vec_env:
assert isinstance(env, VecEnv), \
"Error: the environment passed is not a vectorized environment, however {} requires it".format(
self.__class__.__name__)
assert not self.policy.recurrent or self.n_envs == env.num_envs, \
"Error: the environment passed must have the same number of environments as the model was trained on." \
"This is due to the Lstm policy not being capable of changing the number of environments."
self.n_envs = env.num_envs
else:
# for models that dont want vectorized environment, check if they make sense and adapt them.
# Otherwise tell the user about this issue
if isinstance(env, VecEnv):
if env.num_envs == 1:
env = _UnvecWrapper(env)
self._vectorize_action = True
else:
raise ValueError("Error: the model requires a non vectorized environment or a single vectorized "
"environment.")
else:
self._vectorize_action = False
self.n_envs = 1
self.env = env
def _init_num_timesteps(self, reset_num_timesteps=True):
"""
Initialize and resets num_timesteps (total timesteps since beginning of training)
if needed. Mainly used logging and plotting (tensorboard).
:param reset_num_timesteps: (bool) Set it to false when continuing training
to not create new plotting curves in tensorboard.
:return: (bool) Whether a new tensorboard log needs to be created
"""
if reset_num_timesteps:
self.num_timesteps = 0
new_tb_log = self.num_timesteps == 0
return new_tb_log
[docs] @abstractmethod
def setup_model(self):
"""
Create all the functions and tensorflow graphs necessary to train the model
"""
pass
def _setup_learn(self, seed):
"""
check the environment, set the seed, and set the logger
:param seed: (int) the seed value
"""
if self.env is None:
raise ValueError("Error: cannot train the model without a valid environment, please set an environment with"
"set_env(self, env) method.")
if seed is not None:
set_global_seeds(seed)
[docs] @abstractmethod
def get_parameter_list(self):
"""
Get tensorflow Variables of model's parameters
This includes all variables necessary for continuing training (saving / loading).
:return: (list) List of tensorflow Variables
"""
pass
[docs] def get_parameters(self):
"""
Get current model parameters as dictionary of variable name -> ndarray.
:return: (OrderedDict) Dictionary of variable name -> ndarray of model's parameters.
"""
parameters = self.get_parameter_list()
parameter_values = self.sess.run(parameters)
return_dictionary = OrderedDict((param.name, value) for param, value in zip(parameters, parameter_values))
return return_dictionary
def _setup_load_operations(self):
"""
Create tensorflow operations for loading model parameters
"""
# Assume tensorflow graphs are static -> check
# that we only call this function once
if self._param_load_ops is not None:
raise RuntimeError("Parameter load operations have already been created")
# For each loadable parameter, create appropiate
# placeholder and an assign op, and store them to
# self.load_param_ops as dict of variable.name -> (placeholder, assign)
loadable_parameters = self.get_parameter_list()
# Use OrderedDict to store order for backwards compatibility with
# list-based params
self._param_load_ops = OrderedDict()
with self.graph.as_default():
for param in loadable_parameters:
placeholder = tf.placeholder(dtype=param.dtype, shape=param.shape)
# param.name is unique (tensorflow variables have unique names)
self._param_load_ops[param.name] = (placeholder, param.assign(placeholder))
@abstractmethod
def _get_pretrain_placeholders(self):
"""
Return the placeholders needed for the pretraining:
- obs_ph: observation placeholder
- actions_ph will be population with an action from the environement
(from the expert dataset)
- deterministic_actions_ph: e.g., in the case of a gaussian policy,
the mean.
:return: ((tf.placeholder)) (obs_ph, actions_ph, deterministic_actions_ph)
"""
pass
[docs] def pretrain(self, dataset, n_epochs=10, learning_rate=1e-4,
adam_epsilon=1e-8, val_interval=None):
"""
Pretrain a model using behavior cloning:
supervised learning given an expert dataset.
NOTE: only Box and Discrete spaces are supported for now.
:param dataset: (ExpertDataset) Dataset manager
:param n_epochs: (int) Number of iterations on the training set
:param learning_rate: (float) Learning rate
:param adam_epsilon: (float) the epsilon value for the adam optimizer
:param val_interval: (int) Report training and validation losses every n epochs.
By default, every 10th of the maximum number of epochs.
:return: (BaseRLModel) the pretrained model
"""
continuous_actions = isinstance(self.action_space, gym.spaces.Box)
discrete_actions = isinstance(self.action_space, gym.spaces.Discrete)
assert discrete_actions or continuous_actions, 'Only Discrete and Box action spaces are supported'
# Validate the model every 10% of the total number of iteration
if val_interval is None:
# Prevent modulo by zero
if n_epochs < 10:
val_interval = 1
else:
val_interval = int(n_epochs / 10)
with self.graph.as_default():
with tf.variable_scope('pretrain'):
if continuous_actions:
obs_ph, actions_ph, deterministic_actions_ph = self._get_pretrain_placeholders()
loss = tf.reduce_mean(tf.square(actions_ph - deterministic_actions_ph))
else:
obs_ph, actions_ph, actions_logits_ph = self._get_pretrain_placeholders()
# actions_ph has a shape if (n_batch,), we reshape it to (n_batch, 1)
# so no additional changes is needed in the dataloader
actions_ph = tf.expand_dims(actions_ph, axis=1)
one_hot_actions = tf.one_hot(actions_ph, self.action_space.n)
loss = tf.nn.softmax_cross_entropy_with_logits_v2(
logits=actions_logits_ph,
labels=tf.stop_gradient(one_hot_actions)
)
loss = tf.reduce_mean(loss)
optimizer = tf.train.AdamOptimizer(learning_rate=learning_rate, epsilon=adam_epsilon)
optim_op = optimizer.minimize(loss, var_list=self.params)
self.sess.run(tf.global_variables_initializer())
if self.verbose > 0:
print("Pretraining with Behavior Cloning...")
for epoch_idx in range(int(n_epochs)):
train_loss = 0.0
# Full pass on the training set
for _ in range(len(dataset.train_loader)):
expert_obs, expert_actions = dataset.get_next_batch('train')
feed_dict = {
obs_ph: expert_obs,
actions_ph: expert_actions,
}
train_loss_, _ = self.sess.run([loss, optim_op], feed_dict)
train_loss += train_loss_
train_loss /= len(dataset.train_loader)
if self.verbose > 0 and (epoch_idx + 1) % val_interval == 0:
val_loss = 0.0
# Full pass on the validation set
for _ in range(len(dataset.val_loader)):
expert_obs, expert_actions = dataset.get_next_batch('val')
val_loss_, = self.sess.run([loss], {obs_ph: expert_obs,
actions_ph: expert_actions})
val_loss += val_loss_
val_loss /= len(dataset.val_loader)
if self.verbose > 0:
print("==== Training progress {:.2f}% ====".format(100 * (epoch_idx + 1) / n_epochs))
print('Epoch {}'.format(epoch_idx + 1))
print("Training loss: {:.6f}, Validation loss: {:.6f}".format(train_loss, val_loss))
print()
# Free memory
del expert_obs, expert_actions
if self.verbose > 0:
print("Pretraining done.")
return self
[docs] @abstractmethod
def learn(self, total_timesteps, callback=None, seed=None, log_interval=100, tb_log_name="run",
reset_num_timesteps=True):
"""
Return a trained model.
:param total_timesteps: (int) The total number of samples to train on
:param seed: (int) The initial seed for training, if None: keep current seed
:param callback: (function (dict, dict)) -> boolean function called at every steps with state of the algorithm.
It takes the local and global variables. If it returns False, training is aborted.
:param log_interval: (int) The number of timesteps before logging.
:param tb_log_name: (str) the name of the run for tensorboard log
:param reset_num_timesteps: (bool) whether or not to reset the current timestep number (used in logging)
:return: (BaseRLModel) the trained model
"""
pass
[docs] @abstractmethod
def predict(self, observation, state=None, mask=None, deterministic=False):
"""
Get the model's action from an observation
:param observation: (np.ndarray) the input observation
:param state: (np.ndarray) The last states (can be None, used in recurrent policies)
:param mask: (np.ndarray) The last masks (can be None, used in recurrent policies)
:param deterministic: (bool) Whether or not to return deterministic actions.
:return: (np.ndarray, np.ndarray) the model's action and the next state (used in recurrent policies)
"""
pass
[docs] @abstractmethod
def action_probability(self, observation, state=None, mask=None, actions=None, logp=False):
"""
If ``actions`` is ``None``, then get the model's action probability distribution from a given observation.
Depending on the action space the output is:
- Discrete: probability for each possible action
- Box: mean and standard deviation of the action output
However if ``actions`` is not ``None``, this function will return the probability that the given actions are
taken with the given parameters (observation, state, ...) on this model. For discrete action spaces, it
returns the probability mass; for continuous action spaces, the probability density. This is since the
probability mass will always be zero in continuous spaces, see http://blog.christianperone.com/2019/01/
for a good explanation
:param observation: (np.ndarray) the input observation
:param state: (np.ndarray) The last states (can be None, used in recurrent policies)
:param mask: (np.ndarray) The last masks (can be None, used in recurrent policies)
:param actions: (np.ndarray) (OPTIONAL) For calculating the likelihood that the given actions are chosen by
the model for each of the given parameters. Must have the same number of actions and observations.
(set to None to return the complete action probability distribution)
:param logp: (bool) (OPTIONAL) When specified with actions, returns probability in log-space.
This has no effect if actions is None.
:return: (np.ndarray) the model's (log) action probability
"""
pass
[docs] def load_parameters(self, load_path_or_dict, exact_match=True):
"""
Load model parameters from a file or a dictionary
Dictionary keys should be tensorflow variable names, which can be obtained
with ``get_parameters`` function. If ``exact_match`` is True, dictionary
should contain keys for all model's parameters, otherwise RunTimeError
is raised. If False, only variables included in the dictionary will be updated.
This does not load agent's hyper-parameters.
.. warning::
This function does not update trainer/optimizer variables (e.g. momentum).
As such training after using this function may lead to less-than-optimal results.
:param load_path_or_dict: (str or file-like or dict) Save parameter location
or dict of parameters as variable.name -> ndarrays to be loaded.
:param exact_match: (bool) If True, expects load dictionary to contain keys for
all variables in the model. If False, loads parameters only for variables
mentioned in the dictionary. Defaults to True.
"""
# Make sure we have assign ops
if self._param_load_ops is None:
self._setup_load_operations()
params = None
if isinstance(load_path_or_dict, dict):
# Assume `load_path_or_dict` is dict of variable.name -> ndarrays we want to load
params = load_path_or_dict
elif isinstance(load_path_or_dict, list):
warnings.warn("Loading model parameters from a list. This has been replaced " +
"with parameter dictionaries with variable names and parameters. " +
"If you are loading from a file, consider re-saving the file.",
DeprecationWarning)
# Assume `load_path_or_dict` is list of ndarrays.
# Create param dictionary assuming the parameters are in same order
# as `get_parameter_list` returns them.
params = dict()
for i, param_name in enumerate(self._param_load_ops.keys()):
params[param_name] = load_path_or_dict[i]
else:
# Assume a filepath or file-like.
# Use existing deserializer to load the parameters
_, params = BaseRLModel._load_from_file(load_path_or_dict)
feed_dict = {}
param_update_ops = []
# Keep track of not-updated variables
not_updated_variables = set(self._param_load_ops.keys())
for param_name, param_value in params.items():
placeholder, assign_op = self._param_load_ops[param_name]
feed_dict[placeholder] = param_value
# Create list of tf.assign operations for sess.run
param_update_ops.append(assign_op)
# Keep track which variables are updated
not_updated_variables.remove(param_name)
# Check that we updated all parameters if exact_match=True
if exact_match and len(not_updated_variables) > 0:
raise RuntimeError("Load dictionary did not contain all variables. " +
"Missing variables: {}".format(", ".join(not_updated_variables)))
self.sess.run(param_update_ops, feed_dict=feed_dict)
[docs] @abstractmethod
def save(self, save_path):
"""
Save the current parameters to file
:param save_path: (str or file-like object) the save location
"""
raise NotImplementedError()
[docs] @classmethod
@abstractmethod
def load(cls, load_path, env=None, **kwargs):
"""
Load the model from file
:param load_path: (str or file-like) the saved parameter location
:param env: (Gym Envrionment) the new environment to run the loaded model on
(can be None if you only need prediction from a trained model)
:param kwargs: extra arguments to change the model when loading
"""
raise NotImplementedError()
@staticmethod
def _save_to_file(save_path, data=None, params=None):
if isinstance(save_path, str):
_, ext = os.path.splitext(save_path)
if ext == "":
save_path += ".pkl"
with open(save_path, "wb") as file_:
cloudpickle.dump((data, params), file_)
else:
# Here save_path is a file-like object, not a path
cloudpickle.dump((data, params), save_path)
@staticmethod
def _load_from_file(load_path):
if isinstance(load_path, str):
if not os.path.exists(load_path):
if os.path.exists(load_path + ".pkl"):
load_path += ".pkl"
else:
raise ValueError("Error: the file {} could not be found".format(load_path))
with open(load_path, "rb") as file:
data, params = cloudpickle.load(file)
else:
# Here load_path is a file-like object, not a path
data, params = cloudpickle.load(load_path)
return data, params
@staticmethod
def _softmax(x_input):
"""
An implementation of softmax.
:param x_input: (numpy float) input vector
:return: (numpy float) output vector
"""
x_exp = np.exp(x_input.T - np.max(x_input.T, axis=0))
return (x_exp / x_exp.sum(axis=0)).T
@staticmethod
def _is_vectorized_observation(observation, observation_space):
"""
For every observation type, detects and validates the shape,
then returns whether or not the observation is vectorized.
:param observation: (np.ndarray) the input observation to validate
:param observation_space: (gym.spaces) the observation space
:return: (bool) whether the given observation is vectorized or not
"""
if isinstance(observation_space, gym.spaces.Box):
if observation.shape == observation_space.shape:
return False
elif observation.shape[1:] == observation_space.shape:
return True
else:
raise ValueError("Error: Unexpected observation shape {} for ".format(observation.shape) +
"Box environment, please use {} ".format(observation_space.shape) +
"or (n_env, {}) for the observation shape."
.format(", ".join(map(str, observation_space.shape))))
elif isinstance(observation_space, gym.spaces.Discrete):
if observation.shape == (): # A numpy array of a number, has shape empty tuple '()'
return False
elif len(observation.shape) == 1:
return True
else:
raise ValueError("Error: Unexpected observation shape {} for ".format(observation.shape) +
"Discrete environment, please use (1,) or (n_env, 1) for the observation shape.")
elif isinstance(observation_space, gym.spaces.MultiDiscrete):
if observation.shape == (len(observation_space.nvec),):
return False
elif len(observation.shape) == 2 and observation.shape[1] == len(observation_space.nvec):
return True
else:
raise ValueError("Error: Unexpected observation shape {} for MultiDiscrete ".format(observation.shape) +
"environment, please use ({},) or ".format(len(observation_space.nvec)) +
"(n_env, {}) for the observation shape.".format(len(observation_space.nvec)))
elif isinstance(observation_space, gym.spaces.MultiBinary):
if observation.shape == (observation_space.n,):
return False
elif len(observation.shape) == 2 and observation.shape[1] == observation_space.n:
return True
else:
raise ValueError("Error: Unexpected observation shape {} for MultiBinary ".format(observation.shape) +
"environment, please use ({},) or ".format(observation_space.n) +
"(n_env, {}) for the observation shape.".format(observation_space.n))
else:
raise ValueError("Error: Cannot determine if the observation is vectorized with the space type {}."
.format(observation_space))
class ActorCriticRLModel(BaseRLModel):
"""
The base class for Actor critic model
:param policy: (BasePolicy) Policy object
:param env: (Gym environment) The environment to learn from
(if registered in Gym, can be str. Can be None for loading trained models)
:param verbose: (int) the verbosity level: 0 none, 1 training information, 2 tensorflow debug
:param policy_base: (BasePolicy) the base policy used by this method (default=ActorCriticPolicy)
:param requires_vec_env: (bool) Does this model require a vectorized environment
"""
def __init__(self, policy, env, _init_setup_model, verbose=0, policy_base=ActorCriticPolicy,
requires_vec_env=False, policy_kwargs=None):
super(ActorCriticRLModel, self).__init__(policy, env, verbose=verbose, requires_vec_env=requires_vec_env,
policy_base=policy_base, policy_kwargs=policy_kwargs)
self.sess = None
self.initial_state = None
self.step = None
self.proba_step = None
self.params = None
@abstractmethod
def setup_model(self):
pass
@abstractmethod
def learn(self, total_timesteps, callback=None, seed=None,
log_interval=100, tb_log_name="run", reset_num_timesteps=True):
pass
def predict(self, observation, state=None, mask=None, deterministic=False):
if state is None:
state = self.initial_state
if mask is None:
mask = [False for _ in range(self.n_envs)]
observation = np.array(observation)
vectorized_env = self._is_vectorized_observation(observation, self.observation_space)
observation = observation.reshape((-1,) + self.observation_space.shape)
actions, _, states, _ = self.step(observation, state, mask, deterministic=deterministic)
clipped_actions = actions
# Clip the actions to avoid out of bound error
if isinstance(self.action_space, gym.spaces.Box):
clipped_actions = np.clip(actions, self.action_space.low, self.action_space.high)
if not vectorized_env:
if state is not None:
raise ValueError("Error: The environment must be vectorized when using recurrent policies.")
clipped_actions = clipped_actions[0]
return clipped_actions, states
def action_probability(self, observation, state=None, mask=None, actions=None, logp=False):
if state is None:
state = self.initial_state
if mask is None:
mask = [False for _ in range(self.n_envs)]
observation = np.array(observation)
vectorized_env = self._is_vectorized_observation(observation, self.observation_space)
observation = observation.reshape((-1,) + self.observation_space.shape)
actions_proba = self.proba_step(observation, state, mask)
if len(actions_proba) == 0: # empty list means not implemented
warnings.warn("Warning: action probability is not implemented for {} action space. Returning None."
.format(type(self.action_space).__name__))
return None
if actions is not None: # comparing the action distribution, to given actions
prob = None
logprob = None
actions = np.array([actions])
if isinstance(self.action_space, gym.spaces.Discrete):
actions = actions.reshape((-1,))
assert observation.shape[0] == actions.shape[0], \
"Error: batch sizes differ for actions and observations."
prob = actions_proba[np.arange(actions.shape[0]), actions]
elif isinstance(self.action_space, gym.spaces.MultiDiscrete):
actions = actions.reshape((-1, len(self.action_space.nvec)))
assert observation.shape[0] == actions.shape[0], \
"Error: batch sizes differ for actions and observations."
# Discrete action probability, over multiple categories
actions = np.swapaxes(actions, 0, 1) # swap axis for easier categorical split
prob = np.prod([proba[np.arange(act.shape[0]), act]
for proba, act in zip(actions_proba, actions)], axis=0)
elif isinstance(self.action_space, gym.spaces.MultiBinary):
actions = actions.reshape((-1, self.action_space.n))
assert observation.shape[0] == actions.shape[0], \
"Error: batch sizes differ for actions and observations."
# Bernoulli action probability, for every action
prob = np.prod(actions_proba * actions + (1 - actions_proba) * (1 - actions), axis=1)
elif isinstance(self.action_space, gym.spaces.Box):
actions = actions.reshape((-1, ) + self.action_space.shape)
mean, logstd = actions_proba
std = np.exp(logstd)
n_elts = np.prod(mean.shape[1:]) # first dimension is batch size
log_normalizer = n_elts/2 * np.log(2 * np.pi) + 1/2 * np.sum(logstd, axis=1)
# Diagonal Gaussian action probability, for every action
logprob = -np.sum(np.square(actions - mean) / (2 * std), axis=1) - log_normalizer
else:
warnings.warn("Warning: action_probability not implemented for {} actions space. Returning None."
.format(type(self.action_space).__name__))
return None
# Return in space (log or normal) requested by user, converting if necessary
if logp:
if logprob is None:
logprob = np.log(prob)
ret = logprob
else:
if prob is None:
prob = np.exp(logprob)
ret = prob
# normalize action proba shape for the different gym spaces
ret = ret.reshape((-1, 1))
else:
ret = actions_proba
if not vectorized_env:
if state is not None:
raise ValueError("Error: The environment must be vectorized when using recurrent policies.")
ret = ret[0]
return ret
def get_parameter_list(self):
return self.params
@abstractmethod
def save(self, save_path):
pass
@classmethod
def load(cls, load_path, env=None, **kwargs):
"""
Load the model from file
:param load_path: (str or file-like) the saved parameter location
:param env: (Gym Envrionment) the new environment to run the loaded model on
(can be None if you only need prediction from a trained model)
:param kwargs: extra arguments to change the model when loading
"""
data, params = cls._load_from_file(load_path)
if 'policy_kwargs' in kwargs and kwargs['policy_kwargs'] != data['policy_kwargs']:
raise ValueError("The specified policy kwargs do not equal the stored policy kwargs. "
"Stored kwargs: {}, specified kwargs: {}".format(data['policy_kwargs'],
kwargs['policy_kwargs']))
model = cls(policy=data["policy"], env=None, _init_setup_model=False)
model.__dict__.update(data)
model.__dict__.update(kwargs)
model.set_env(env)
model.setup_model()
model.load_parameters(params)
return model
class OffPolicyRLModel(BaseRLModel):
"""
The base class for off policy RL model
:param policy: (BasePolicy) Policy object
:param env: (Gym environment) The environment to learn from
(if registered in Gym, can be str. Can be None for loading trained models)
:param replay_buffer: (ReplayBuffer) the type of replay buffer
:param verbose: (int) the verbosity level: 0 none, 1 training information, 2 tensorflow debug
:param requires_vec_env: (bool) Does this model require a vectorized environment
:param policy_base: (BasePolicy) the base policy used by this method
"""
def __init__(self, policy, env, replay_buffer=None, _init_setup_model=False, verbose=0, *,
requires_vec_env=False, policy_base=None, policy_kwargs=None):
super(OffPolicyRLModel, self).__init__(policy, env, verbose=verbose, requires_vec_env=requires_vec_env,
policy_base=policy_base, policy_kwargs=policy_kwargs)
self.replay_buffer = replay_buffer
@abstractmethod
def setup_model(self):
pass
@abstractmethod
def learn(self, total_timesteps, callback=None, seed=None,
log_interval=100, tb_log_name="run", reset_num_timesteps=True, replay_wrapper=None):
pass
@abstractmethod
def predict(self, observation, state=None, mask=None, deterministic=False):
pass
@abstractmethod
def action_probability(self, observation, state=None, mask=None, actions=None, logp=False):
pass
@abstractmethod
def save(self, save_path):
pass
@classmethod
def load(cls, load_path, env=None, **kwargs):
"""
Load the model from file
:param load_path: (str or file-like) the saved parameter location
:param env: (Gym Envrionment) the new environment to run the loaded model on
(can be None if you only need prediction from a trained model)
:param kwargs: extra arguments to change the model when loading
"""
data, params = cls._load_from_file(load_path)
if 'policy_kwargs' in kwargs and kwargs['policy_kwargs'] != data['policy_kwargs']:
raise ValueError("The specified policy kwargs do not equal the stored policy kwargs. "
"Stored kwargs: {}, specified kwargs: {}".format(data['policy_kwargs'],
kwargs['policy_kwargs']))
model = cls(policy=data["policy"], env=None, _init_setup_model=False)
model.__dict__.update(data)
model.__dict__.update(kwargs)
model.set_env(env)
model.setup_model()
model.load_parameters(params)
return model
class _UnvecWrapper(VecEnvWrapper):
def __init__(self, venv):
"""
Unvectorize a vectorized environment, for vectorized environment that only have one environment
:param venv: (VecEnv) the vectorized environment to wrap
"""
super().__init__(venv)
assert venv.num_envs == 1, "Error: cannot unwrap a environment wrapper that has more than one environment."
def __getattr__(self, attr):
if attr in self.__dict__:
return getattr(self, attr)
return getattr(self.venv, attr)
def __set_attr__(self, attr, value):
if attr in self.__dict__:
setattr(self, attr, value)
else:
setattr(self.venv, attr, value)
def compute_reward(self, achieved_goal, desired_goal, _info):
return float(self.venv.env_method('compute_reward', achieved_goal, desired_goal, _info)[0])
@staticmethod
def unvec_obs(obs):
"""
:param obs: (Union[np.ndarray, dict])
:return: (Union[np.ndarray, dict])
"""
if not isinstance(obs, dict):
return obs[0]
obs_ = OrderedDict()
for key in obs.keys():
obs_[key] = obs[key][0]
del obs
return obs_
def reset(self):
return self.unvec_obs(self.venv.reset())
def step_async(self, actions):
self.venv.step_async([actions])
def step_wait(self):
obs, rewards, dones, information = self.venv.step_wait()
return self.unvec_obs(obs), float(rewards[0]), dones[0], information[0]
def render(self, mode='human'):
return self.venv.render(mode=mode)
class SetVerbosity:
def __init__(self, verbose=0):
"""
define a region of code for certain level of verbosity
:param verbose: (int) the verbosity level: 0 none, 1 training information, 2 tensorflow debug
"""
self.verbose = verbose
def __enter__(self):
self.tf_level = os.environ.get('TF_CPP_MIN_LOG_LEVEL', '0')
self.log_level = logger.get_level()
self.gym_level = gym.logger.MIN_LEVEL
if self.verbose <= 1:
os.environ['TF_CPP_MIN_LOG_LEVEL'] = '3'
if self.verbose <= 0:
logger.set_level(logger.DISABLED)
gym.logger.set_level(gym.logger.DISABLED)
def __exit__(self, exc_type, exc_val, exc_tb):
if self.verbose <= 1:
os.environ['TF_CPP_MIN_LOG_LEVEL'] = self.tf_level
if self.verbose <= 0:
logger.set_level(self.log_level)
gym.logger.set_level(self.gym_level)
class TensorboardWriter:
def __init__(self, graph, tensorboard_log_path, tb_log_name, new_tb_log=True):
"""
Create a Tensorboard writer for a code segment, and saves it to the log directory as its own run
:param graph: (Tensorflow Graph) the model graph
:param tensorboard_log_path: (str) the save path for the log (can be None for no logging)
:param tb_log_name: (str) the name of the run for tensorboard log
:param new_tb_log: (bool) whether or not to create a new logging folder for tensorbaord
"""
self.graph = graph
self.tensorboard_log_path = tensorboard_log_path
self.tb_log_name = tb_log_name
self.writer = None
self.new_tb_log = new_tb_log
def __enter__(self):
if self.tensorboard_log_path is not None:
latest_run_id = self._get_latest_run_id()
if self.new_tb_log:
latest_run_id = latest_run_id + 1
save_path = os.path.join(self.tensorboard_log_path, "{}_{}".format(self.tb_log_name, latest_run_id))
self.writer = tf.summary.FileWriter(save_path, graph=self.graph)
return self.writer
def _get_latest_run_id(self):
"""
returns the latest run number for the given log name and log path,
by finding the greatest number in the directories.
:return: (int) latest run number
"""
max_run_id = 0
for path in glob.glob("{}/{}_[0-9]*".format(self.tensorboard_log_path, self.tb_log_name)):
file_name = path.split(os.sep)[-1]
ext = file_name.split("_")[-1]
if self.tb_log_name == "_".join(file_name.split("_")[:-1]) and ext.isdigit() and int(ext) > max_run_id:
max_run_id = int(ext)
return max_run_id
def __exit__(self, exc_type, exc_val, exc_tb):
if self.writer is not None:
self.writer.add_graph(self.graph)
self.writer.flush()