51c55d4a8a
- Change in isaaclab_env wrapper to explicitly state GPU for each simulation - Removing jax cache to support multi-gpu environment launch in MuJoCo Playground - Removing .train() and .eval() in evaluation and rendering to avoid deadlock in multi-gpu training - Supporting synchronous normalization for multi-gpu training
553 lines
17 KiB
Python
553 lines
17 KiB
Python
import torch
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import torch.nn as nn
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import torch.nn.functional as F
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import math
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def l2normalize(
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tensor: torch.Tensor, axis: int = -1, eps: float = 1e-8
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) -> torch.Tensor:
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"""Computes L2 normalization of a tensor."""
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return tensor / (torch.linalg.norm(tensor, ord=2, dim=axis, keepdim=True) + eps)
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class Scaler(nn.Module):
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"""
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A learnable scaling layer.
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"""
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def __init__(
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self,
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dim: int,
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init: float = 1.0,
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scale: float = 1.0,
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device: torch.device = None,
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):
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super().__init__()
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self.scaler = nn.Parameter(torch.full((dim,), init * scale, device=device))
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self.forward_scaler = init / scale
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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return self.scaler.to(x.dtype) * self.forward_scaler * x
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class HyperDense(nn.Module):
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"""
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A dense layer without bias and with orthogonal initialization.
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"""
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def __init__(self, in_dim: int, hidden_dim: int, device: torch.device = None):
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super().__init__()
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self.w = nn.Linear(in_dim, hidden_dim, bias=False, device=device)
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nn.init.orthogonal_(self.w.weight, gain=1.0)
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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return self.w(x)
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class HyperMLP(nn.Module):
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"""
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A small MLP with a specific architecture using HyperDense and Scaler.
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"""
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def __init__(
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self,
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in_dim: int,
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hidden_dim: int,
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out_dim: int,
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scaler_init: float,
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scaler_scale: float,
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eps: float = 1e-8,
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device: torch.device = None,
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):
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super().__init__()
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self.w1 = HyperDense(in_dim, hidden_dim, device=device)
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self.scaler = Scaler(hidden_dim, scaler_init, scaler_scale, device=device)
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self.w2 = HyperDense(hidden_dim, out_dim, device=device)
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self.eps = eps
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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x = self.w1(x)
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x = self.scaler(x)
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# `eps` is required to prevent zero vector.
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x = F.relu(x) + self.eps
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x = self.w2(x)
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x = l2normalize(x, axis=-1)
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return x
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class HyperEmbedder(nn.Module):
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"""
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Embeds input by concatenating a constant, normalizing, and applying layers.
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"""
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def __init__(
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self,
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in_dim: int,
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hidden_dim: int,
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scaler_init: float,
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scaler_scale: float,
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c_shift: float,
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device: torch.device = None,
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):
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super().__init__()
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# The input dimension to the dense layer is in_dim + 1
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self.w = HyperDense(in_dim + 1, hidden_dim, device=device)
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self.scaler = Scaler(hidden_dim, scaler_init, scaler_scale, device=device)
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self.c_shift = c_shift
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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new_axis = torch.full(
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(*x.shape[:-1], 1), self.c_shift, device=x.device, dtype=x.dtype
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)
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x = torch.cat([x, new_axis], dim=-1)
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x = l2normalize(x, axis=-1)
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x = self.w(x)
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x = self.scaler(x)
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x = l2normalize(x, axis=-1)
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return x
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class HyperLERPBlock(nn.Module):
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"""
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A residual block using Linear Interpolation (LERP).
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"""
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def __init__(
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self,
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hidden_dim: int,
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scaler_init: float,
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scaler_scale: float,
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alpha_init: float,
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alpha_scale: float,
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expansion: int = 4,
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device: torch.device = None,
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):
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super().__init__()
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self.mlp = HyperMLP(
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in_dim=hidden_dim,
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hidden_dim=hidden_dim * expansion,
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out_dim=hidden_dim,
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scaler_init=scaler_init / math.sqrt(expansion),
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scaler_scale=scaler_scale / math.sqrt(expansion),
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device=device,
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)
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self.alpha_scaler = Scaler(
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dim=hidden_dim,
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init=alpha_init,
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scale=alpha_scale,
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device=device,
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)
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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residual = x
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mlp_out = self.mlp(x)
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# The original paper uses (x - residual) but x is the residual here.
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# This is interpreted as alpha * (mlp_output - residual_input)
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x = residual + self.alpha_scaler(mlp_out - residual)
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x = l2normalize(x, axis=-1)
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return x
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class HyperTanhPolicy(nn.Module):
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"""
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A policy that outputs a Tanh action.
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"""
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def __init__(
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self,
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hidden_dim: int,
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action_dim: int,
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scaler_init: float,
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scaler_scale: float,
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device: torch.device = None,
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):
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super().__init__()
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self.mean_w1 = HyperDense(hidden_dim, hidden_dim, device=device)
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self.mean_scaler = Scaler(hidden_dim, scaler_init, scaler_scale, device=device)
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self.mean_w2 = HyperDense(hidden_dim, action_dim, device=device)
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self.mean_bias = nn.Parameter(torch.zeros(action_dim, device=device))
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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# Mean path
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mean = self.mean_w1(x)
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mean = self.mean_scaler(mean)
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mean = self.mean_w2(mean) + self.mean_bias.to(mean.dtype)
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mean = torch.tanh(mean)
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return mean
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class HyperCategoricalValue(nn.Module):
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"""
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A value function that predicts a categorical distribution over a range of values.
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"""
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def __init__(
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self,
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hidden_dim: int,
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num_bins: int,
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scaler_init: float,
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scaler_scale: float,
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device: torch.device = None,
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):
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super().__init__()
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self.w1 = HyperDense(hidden_dim, hidden_dim, device=device)
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self.scaler = Scaler(hidden_dim, scaler_init, scaler_scale, device=device)
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self.w2 = HyperDense(hidden_dim, num_bins, device=device)
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self.bias = nn.Parameter(torch.zeros(num_bins, device=device))
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def forward(self, x: torch.Tensor) -> torch.Tensor:
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logits = self.w1(x)
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logits = self.scaler(logits)
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logits = self.w2(logits) + self.bias.to(logits.dtype)
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return logits
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class DistributionalQNetwork(nn.Module):
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def __init__(
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self,
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n_obs: int,
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n_act: int,
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num_atoms: int,
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v_min: float,
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v_max: float,
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hidden_dim: int,
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scaler_init: float,
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scaler_scale: float,
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alpha_init: float,
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alpha_scale: float,
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num_blocks: int,
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c_shift: float,
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expansion: int,
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device: torch.device = None,
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):
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super().__init__()
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self.embedder = HyperEmbedder(
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in_dim=n_obs + n_act,
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hidden_dim=hidden_dim,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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c_shift=c_shift,
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device=device,
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)
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self.encoder = nn.Sequential(
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*[
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HyperLERPBlock(
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hidden_dim=hidden_dim,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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alpha_init=alpha_init,
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alpha_scale=alpha_scale,
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expansion=expansion,
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device=device,
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)
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for _ in range(num_blocks)
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]
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)
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self.predictor = HyperCategoricalValue(
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hidden_dim=hidden_dim,
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num_bins=num_atoms,
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scaler_init=1.0,
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scaler_scale=1.0,
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device=device,
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)
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self.v_min = v_min
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self.v_max = v_max
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self.num_atoms = num_atoms
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def forward(self, obs: torch.Tensor, actions: torch.Tensor) -> torch.Tensor:
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x = torch.cat([obs, actions], 1)
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x = self.embedder(x)
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x = self.encoder(x)
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x = self.predictor(x)
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return x
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def projection(
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self,
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obs: torch.Tensor,
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actions: torch.Tensor,
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rewards: torch.Tensor,
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bootstrap: torch.Tensor,
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discount: float,
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q_support: torch.Tensor,
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device: torch.device,
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) -> torch.Tensor:
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delta_z = (self.v_max - self.v_min) / (self.num_atoms - 1)
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batch_size = rewards.shape[0]
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target_z = (
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rewards.unsqueeze(1)
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+ bootstrap.unsqueeze(1) * discount.unsqueeze(1) * q_support
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)
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target_z = target_z.clamp(self.v_min, self.v_max)
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b = (target_z - self.v_min) / delta_z
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l = torch.floor(b).long()
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u = torch.ceil(b).long()
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l_mask = torch.logical_and((u > 0), (l == u))
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u_mask = torch.logical_and((l < (self.num_atoms - 1)), (l == u))
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l = torch.where(l_mask, l - 1, l)
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u = torch.where(u_mask, u + 1, u)
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next_dist = F.softmax(self.forward(obs, actions), dim=1)
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proj_dist = torch.zeros_like(next_dist)
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offset = (
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torch.linspace(
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0, (batch_size - 1) * self.num_atoms, batch_size, device=device
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)
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.unsqueeze(1)
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.expand(batch_size, self.num_atoms)
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.long()
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)
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proj_dist.view(-1).index_add_(
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0, (l + offset).view(-1), (next_dist * (u.float() - b)).view(-1)
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)
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proj_dist.view(-1).index_add_(
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0, (u + offset).view(-1), (next_dist * (b - l.float())).view(-1)
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)
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return proj_dist
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class Critic(nn.Module):
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def __init__(
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self,
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n_obs: int,
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n_act: int,
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num_atoms: int,
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v_min: float,
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v_max: float,
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hidden_dim: int,
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scaler_init: float,
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scaler_scale: float,
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alpha_init: float,
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alpha_scale: float,
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num_blocks: int,
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c_shift: float,
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expansion: int,
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device: torch.device = None,
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):
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super().__init__()
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self.qnet1 = DistributionalQNetwork(
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n_obs=n_obs,
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n_act=n_act,
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num_atoms=num_atoms,
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v_min=v_min,
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v_max=v_max,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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alpha_init=alpha_init,
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alpha_scale=alpha_scale,
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num_blocks=num_blocks,
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c_shift=c_shift,
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expansion=expansion,
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hidden_dim=hidden_dim,
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device=device,
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)
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self.qnet2 = DistributionalQNetwork(
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n_obs=n_obs,
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n_act=n_act,
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num_atoms=num_atoms,
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v_min=v_min,
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v_max=v_max,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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alpha_init=alpha_init,
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alpha_scale=alpha_scale,
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num_blocks=num_blocks,
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c_shift=c_shift,
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expansion=expansion,
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hidden_dim=hidden_dim,
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device=device,
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)
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self.register_buffer(
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"q_support", torch.linspace(v_min, v_max, num_atoms, device=device)
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)
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self.device = device
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def forward(self, obs: torch.Tensor, actions: torch.Tensor) -> torch.Tensor:
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return self.qnet1(obs, actions), self.qnet2(obs, actions)
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def projection(
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self,
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obs: torch.Tensor,
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actions: torch.Tensor,
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rewards: torch.Tensor,
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bootstrap: torch.Tensor,
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discount: float,
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) -> torch.Tensor:
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"""Projection operation that includes q_support directly"""
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q1_proj = self.qnet1.projection(
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obs,
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actions,
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rewards,
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bootstrap,
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discount,
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self.q_support,
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self.q_support.device,
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)
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q2_proj = self.qnet2.projection(
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obs,
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actions,
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rewards,
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bootstrap,
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discount,
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self.q_support,
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self.q_support.device,
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)
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return q1_proj, q2_proj
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def get_value(self, probs: torch.Tensor) -> torch.Tensor:
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"""Calculate value from logits using support"""
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return torch.sum(probs * self.q_support, dim=1)
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class Actor(nn.Module):
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def __init__(
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self,
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n_obs: int,
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n_act: int,
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num_envs: int,
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hidden_dim: int,
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scaler_init: float,
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scaler_scale: float,
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alpha_init: float,
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alpha_scale: float,
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expansion: int,
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c_shift: float,
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num_blocks: int,
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std_min: float = 0.05,
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std_max: float = 0.8,
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device: torch.device = None,
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):
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super().__init__()
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self.n_act = n_act
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self.embedder = HyperEmbedder(
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in_dim=n_obs,
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hidden_dim=hidden_dim,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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c_shift=c_shift,
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device=device,
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)
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self.encoder = nn.Sequential(
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*[
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HyperLERPBlock(
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hidden_dim=hidden_dim,
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scaler_init=scaler_init,
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scaler_scale=scaler_scale,
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alpha_init=alpha_init,
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alpha_scale=alpha_scale,
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expansion=expansion,
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device=device,
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)
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for _ in range(num_blocks)
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]
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)
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self.predictor = HyperTanhPolicy(
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hidden_dim=hidden_dim,
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action_dim=n_act,
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scaler_init=1.0,
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scaler_scale=1.0,
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device=device,
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)
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noise_scales = (
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torch.rand(num_envs, 1, device=device) * (std_max - std_min) + std_min
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)
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self.register_buffer("noise_scales", noise_scales)
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self.register_buffer("std_min", torch.as_tensor(std_min, device=device))
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self.register_buffer("std_max", torch.as_tensor(std_max, device=device))
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self.n_envs = num_envs
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self.device = device
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def forward(self, obs: torch.Tensor) -> torch.Tensor:
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x = obs
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x = self.embedder(x)
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x = self.encoder(x)
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x = self.predictor(x)
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return x
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def explore(
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self, obs: torch.Tensor, dones: torch.Tensor = None, deterministic: bool = False
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) -> torch.Tensor:
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# If dones is provided, resample noise for environments that are done
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if dones is not None and dones.sum() > 0:
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# Generate new noise scales for done environments (one per environment)
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new_scales = (
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torch.rand(self.n_envs, 1, device=obs.device)
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* (self.std_max - self.std_min)
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+ self.std_min
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)
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# Update only the noise scales for environments that are done
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dones_view = dones.view(-1, 1) > 0
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self.noise_scales.copy_(
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torch.where(dones_view, new_scales, self.noise_scales)
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)
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act = self(obs)
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if deterministic:
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return act
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noise = torch.randn_like(act) * self.noise_scales
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return act + noise
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class MultiTaskActor(Actor):
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def __init__(self, num_tasks: int, task_embedding_dim: int, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.num_tasks = num_tasks
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self.task_embedding_dim = task_embedding_dim
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self.task_embedding = nn.Embedding(
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num_tasks, task_embedding_dim, max_norm=1.0, device=self.device
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)
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def forward(self, obs: torch.Tensor) -> torch.Tensor:
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# TODO: Optimize the code to be compatible with cudagraphs
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# Currently in-place creation of task_indices is not compatible with cudagraphs
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task_ids_one_hot = obs[..., -self.num_tasks :]
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task_indices = torch.argmax(task_ids_one_hot, dim=1)
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task_embeddings = self.task_embedding(task_indices)
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obs = torch.cat([obs[..., : -self.num_tasks], task_embeddings], dim=-1)
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return super().forward(obs)
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class MultiTaskCritic(Critic):
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def __init__(self, num_tasks: int, task_embedding_dim: int, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.num_tasks = num_tasks
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self.task_embedding_dim = task_embedding_dim
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self.task_embedding = nn.Embedding(
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num_tasks, task_embedding_dim, max_norm=1.0, device=self.device
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)
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def forward(self, obs: torch.Tensor, actions: torch.Tensor) -> torch.Tensor:
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# TODO: Optimize the code to be compatible with cudagraphs
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# Currently in-place creation of task_indices is not compatible with cudagraphs
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task_ids_one_hot = obs[..., -self.num_tasks :]
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task_indices = torch.argmax(task_ids_one_hot, dim=1)
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task_embeddings = self.task_embedding(task_indices)
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obs = torch.cat([obs[..., : -self.num_tasks], task_embeddings], dim=-1)
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return super().forward(obs, actions)
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def projection(
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self,
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obs: torch.Tensor,
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actions: torch.Tensor,
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rewards: torch.Tensor,
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bootstrap: torch.Tensor,
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discount: float,
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) -> torch.Tensor:
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task_ids_one_hot = obs[..., -self.num_tasks :]
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task_indices = torch.argmax(task_ids_one_hot, dim=1)
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task_embeddings = self.task_embedding(task_indices)
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obs = torch.cat([obs[..., : -self.num_tasks], task_embeddings], dim=-1)
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return super().projection(obs, actions, rewards, bootstrap, discount)
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