692 lines
25 KiB
Python
692 lines
25 KiB
Python
import os
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import sys
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os.environ["TORCHDYNAMO_INLINE_INBUILT_NN_MODULES"] = "1"
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os.environ["OMP_NUM_THREADS"] = "1"
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if sys.platform != "darwin":
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os.environ["MUJOCO_GL"] = "egl"
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else:
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os.environ["MUJOCO_GL"] = "glfw"
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os.environ["XLA_PYTHON_CLIENT_PREALLOCATE"] = "false"
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os.environ["JAX_DEFAULT_MATMUL_PRECISION"] = "highest"
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import math
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import random
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import time
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import numpy as np
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import tqdm
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import wandb
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try:
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# Required for avoiding IsaacGym import error
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import isaacgym
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except ImportError:
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pass
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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 torch.optim as optim
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from reppo_alg.torchrl.reppo import (
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EmpiricalNormalization,
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PerTaskRewardNormalizer,
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RewardNormalizer,
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SimpleReplayBuffer,
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save_params,
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)
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from hyperparams import get_args
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from tensordict import TensorDict
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from torch.amp import GradScaler, autocast
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torch.set_float32_matmul_precision("high")
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def main():
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args = get_args()
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print(args)
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run_name = f"{args.env_name}__{args.exp_name}__{args.seed}"
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amp_enabled = args.amp and args.cuda and torch.cuda.is_available()
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amp_device_type = (
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"cuda"
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if args.cuda and torch.cuda.is_available()
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else "mps"
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if args.cuda and torch.backends.mps.is_available()
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else "cpu"
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)
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amp_dtype = torch.bfloat16 if args.amp_dtype == "bf16" else torch.float16
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scaler = GradScaler(enabled=amp_enabled and amp_dtype == torch.float16)
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if args.use_wandb:
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wandb.init(
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project=args.project,
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name=run_name,
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config=vars(args),
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save_code=True,
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)
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random.seed(args.seed)
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np.random.seed(args.seed)
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torch.manual_seed(args.seed)
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torch.backends.cudnn.deterministic = args.torch_deterministic
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if not args.cuda:
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device = torch.device("cpu")
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else:
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if torch.cuda.is_available():
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device = torch.device(f"cuda:{args.device_rank}")
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elif torch.backends.mps.is_available():
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device = torch.device(f"mps:{args.device_rank}")
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else:
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raise ValueError("No GPU available")
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print(f"Using device: {device}")
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if args.env_name.startswith("h1hand-") or args.env_name.startswith("h1-"):
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from reppo_alg.env_utils.torch_wrappers.humanoid_bench_env import (
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HumanoidBenchEnv,
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)
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env_type = "humanoid_bench"
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envs = HumanoidBenchEnv(args.env_name, args.num_envs, device=device)
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eval_envs = envs
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elif args.env_name.startswith("Isaac-"):
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from reppo_alg.env_utils.torch_wrappers.isaaclab_env import IsaacLabEnv
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env_type = "isaaclab"
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envs = IsaacLabEnv(
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args.env_name,
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device.type,
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args.num_envs,
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args.seed,
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action_bounds=args.action_bounds,
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)
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eval_envs = envs
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elif args.env_name.startswith("MTBench-"):
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from reppo_alg.env_utils.torch_wrappers.mtbench_env import MTBenchEnv
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env_name = "-".join(args.env_name.split("-")[1:])
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env_type = "mtbench"
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envs = MTBenchEnv(env_name, args.device_rank, args.num_envs, args.seed)
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eval_envs = envs
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else:
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from reppo_alg.env_utils.torch_wrappers.mujoco_playground_env import make_env
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# TODO: Check if re-using same envs for eval could reduce memory usage
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env_type = "mujoco_playground"
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envs, eval_envs = make_env(
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args.env_name,
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args.seed,
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args.num_envs,
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args.num_eval_envs,
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args.device_rank,
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use_tuned_reward=args.use_tuned_reward,
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use_domain_randomization=args.use_domain_randomization,
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use_push_randomization=args.use_push_randomization,
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)
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n_act = envs.num_actions
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n_obs = envs.num_obs if isinstance(envs.num_obs, int) else envs.num_obs[0]
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if envs.asymmetric_obs:
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n_critic_obs = (
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envs.num_privileged_obs
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if isinstance(envs.num_privileged_obs, int)
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else envs.num_privileged_obs[0]
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)
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else:
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n_critic_obs = n_obs
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action_low, action_high = -1.0, 1.0
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if args.obs_normalization:
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obs_normalizer = EmpiricalNormalization(shape=n_obs, device=device)
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critic_obs_normalizer = EmpiricalNormalization(
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shape=n_critic_obs, device=device
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)
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else:
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obs_normalizer = nn.Identity()
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critic_obs_normalizer = nn.Identity()
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if args.reward_normalization:
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if env_type in ["mtbench"]:
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reward_normalizer = PerTaskRewardNormalizer(
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num_tasks=envs.num_tasks,
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gamma=args.gamma,
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device=device,
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g_max=min(abs(args.v_min), abs(args.v_max)),
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)
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else:
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reward_normalizer = RewardNormalizer(
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gamma=args.gamma,
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device=device,
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g_max=min(abs(args.v_min), abs(args.v_max)),
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)
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else:
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reward_normalizer = nn.Identity()
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actor_kwargs = {
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"n_obs": n_obs,
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"n_act": n_act,
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"num_envs": args.num_envs,
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"device": device,
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"init_scale": args.init_scale,
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"hidden_dim": args.actor_hidden_dim,
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}
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critic_kwargs = {
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"n_obs": n_critic_obs,
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"n_act": n_act,
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"num_atoms": args.num_atoms,
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"v_min": args.v_min,
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"v_max": args.v_max,
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"hidden_dim": args.critic_hidden_dim,
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"device": device,
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}
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if env_type == "mtbench":
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actor_kwargs["n_obs"] = n_obs - envs.num_tasks + args.task_embedding_dim
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critic_kwargs["n_obs"] = n_critic_obs - envs.num_tasks + args.task_embedding_dim
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actor_kwargs["num_tasks"] = envs.num_tasks
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actor_kwargs["task_embedding_dim"] = args.task_embedding_dim
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critic_kwargs["num_tasks"] = envs.num_tasks
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critic_kwargs["task_embedding_dim"] = args.task_embedding_dim
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if args.agent == "fasttd3":
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if env_type in ["mtbench"]:
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from reppo_alg.network_utils.fast_td3_nets import (
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MultiTaskActor,
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MultiTaskCritic,
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)
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actor_cls = MultiTaskActor
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critic_cls = MultiTaskCritic
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else:
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from reppo_alg.network_utils.fast_td3_nets import Actor, Critic
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actor_cls = Actor
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critic_cls = Critic
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print("Using FastTD3")
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elif args.agent == "fasttd3_simbav2":
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if env_type in ["mtbench"]:
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from reppo_alg.network_utils.fast_td3_nets_simbav2 import (
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MultiTaskActor,
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MultiTaskCritic,
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)
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actor_cls = MultiTaskActor
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critic_cls = MultiTaskCritic
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else:
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from reppo_alg.network_utils.fast_td3_nets_simbav2 import Actor, Critic
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actor_cls = Actor
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critic_cls = Critic
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print("Using FastTD3 + SimbaV2")
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actor_kwargs.pop("init_scale")
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actor_kwargs.update(
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{
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"scaler_init": math.sqrt(2.0 / args.actor_hidden_dim),
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"scaler_scale": math.sqrt(2.0 / args.actor_hidden_dim),
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"alpha_init": 1.0 / (args.actor_num_blocks + 1),
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"alpha_scale": 1.0 / math.sqrt(args.actor_hidden_dim),
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"expansion": 4,
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"c_shift": 3.0,
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"num_blocks": args.actor_num_blocks,
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}
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)
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critic_kwargs.update(
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{
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"scaler_init": math.sqrt(2.0 / args.critic_hidden_dim),
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"scaler_scale": math.sqrt(2.0 / args.critic_hidden_dim),
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"alpha_init": 1.0 / (args.critic_num_blocks + 1),
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"alpha_scale": 1.0 / math.sqrt(args.critic_hidden_dim),
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"num_blocks": args.critic_num_blocks,
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"expansion": 4,
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"c_shift": 3.0,
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}
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)
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else:
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raise ValueError(f"Agent {args.agent} not supported")
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actor = actor_cls(**actor_kwargs)
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if env_type in ["mtbench"]:
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# Python 3.8 doesn't support 'from_module' in tensordict
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policy = actor.explore
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else:
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from tensordict import from_module
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actor_detach = actor_cls(**actor_kwargs)
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# Copy params to actor_detach without grad
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from_module(actor).data.to_module(actor_detach)
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policy = actor_detach.explore
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qnet = critic_cls(**critic_kwargs)
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qnet_target = critic_cls(**critic_kwargs)
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qnet_target.load_state_dict(qnet.state_dict())
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q_optimizer = optim.AdamW(
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list(qnet.parameters()),
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lr=torch.tensor(args.critic_learning_rate, device=device),
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weight_decay=args.weight_decay,
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)
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actor_optimizer = optim.AdamW(
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list(actor.parameters()),
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lr=torch.tensor(args.actor_learning_rate, device=device),
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weight_decay=args.weight_decay,
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)
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# Add learning rate schedulers
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q_scheduler = optim.lr_scheduler.CosineAnnealingLR(
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q_optimizer,
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T_max=args.total_timesteps,
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eta_min=torch.tensor(args.critic_learning_rate_end, device=device),
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)
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actor_scheduler = optim.lr_scheduler.CosineAnnealingLR(
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actor_optimizer,
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T_max=args.total_timesteps,
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eta_min=torch.tensor(args.actor_learning_rate_end, device=device),
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)
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rb = SimpleReplayBuffer(
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n_env=args.num_envs,
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buffer_size=args.buffer_size,
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n_obs=n_obs,
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n_act=n_act,
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n_critic_obs=n_critic_obs,
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asymmetric_obs=envs.asymmetric_obs,
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playground_mode=env_type == "mujoco_playground",
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n_steps=args.num_steps,
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gamma=args.gamma,
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device=device,
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)
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policy_noise = args.policy_noise
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noise_clip = args.noise_clip
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def evaluate():
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obs_normalizer.eval()
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num_eval_envs = eval_envs.num_envs
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episode_returns = torch.zeros(num_eval_envs, device=device)
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episode_lengths = torch.zeros(num_eval_envs, device=device)
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done_masks = torch.zeros(num_eval_envs, dtype=torch.bool, device=device)
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if env_type == "isaaclab":
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obs = eval_envs.reset(random_start_init=False)
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else:
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obs = eval_envs.reset()
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# Run for a fixed number of steps
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for i in range(eval_envs.max_episode_steps):
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with (
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torch.no_grad(),
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autocast(
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device_type=amp_device_type, dtype=amp_dtype, enabled=amp_enabled
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),
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):
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obs = normalize_obs(obs)
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actions = actor(obs)
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next_obs, rewards, dones, _, infos = eval_envs.step(actions.float())
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if env_type == "mtbench":
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# We only report success rate in MTBench evaluation
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rewards = (
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infos["episode"]["success"].float() if "episode" in infos else 0.0
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)
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episode_returns = torch.where(
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~done_masks, episode_returns + rewards, episode_returns
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)
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episode_lengths = torch.where(
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~done_masks, episode_lengths + 1, episode_lengths
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)
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if env_type == "mtbench" and "episode" in infos:
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dones = dones | infos["episode"]["success"]
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done_masks = torch.logical_or(done_masks, dones)
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if done_masks.all():
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break
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obs = next_obs
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obs_normalizer.train()
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return episode_returns.mean().item(), episode_lengths.mean().item()
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def update_main(data, logs_dict):
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with autocast(
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device_type=amp_device_type, dtype=amp_dtype, enabled=amp_enabled
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):
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observations = data["observations"]
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next_observations = data["next"]["observations"]
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if envs.asymmetric_obs:
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critic_observations = data["critic_observations"]
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next_critic_observations = data["next"]["critic_observations"]
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else:
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critic_observations = observations
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next_critic_observations = next_observations
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actions = data["actions"]
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rewards = data["next"]["rewards"]
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dones = data["next"]["dones"].bool()
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truncations = data["next"]["truncations"].bool()
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if args.disable_bootstrap:
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bootstrap = (~dones).float()
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else:
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bootstrap = (truncations | ~dones).float()
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clipped_noise = torch.randn_like(actions)
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clipped_noise = clipped_noise.mul(policy_noise).clamp(
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-noise_clip, noise_clip
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)
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next_state_actions = (actor(next_observations) + clipped_noise).clamp(
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action_low, action_high
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)
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discount = args.gamma ** data["next"]["effective_n_steps"]
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with torch.no_grad():
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qf1_next_target_projected, qf2_next_target_projected = (
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qnet_target.projection(
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next_critic_observations,
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next_state_actions,
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rewards,
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bootstrap,
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discount,
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)
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)
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qf1_next_target_value = qnet_target.get_value(qf1_next_target_projected)
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qf2_next_target_value = qnet_target.get_value(qf2_next_target_projected)
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if args.use_cdq:
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qf_next_target_dist = torch.where(
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qf1_next_target_value.unsqueeze(1)
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< qf2_next_target_value.unsqueeze(1),
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qf1_next_target_projected,
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qf2_next_target_projected,
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)
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qf1_next_target_dist = qf2_next_target_dist = qf_next_target_dist
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else:
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qf1_next_target_dist, qf2_next_target_dist = (
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qf1_next_target_projected,
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qf2_next_target_projected,
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)
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qf1, qf2 = qnet(critic_observations, actions)
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qf1_loss = -torch.sum(
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qf1_next_target_dist * F.log_softmax(qf1, dim=1), dim=1
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).mean()
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qf2_loss = -torch.sum(
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qf2_next_target_dist * F.log_softmax(qf2, dim=1), dim=1
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).mean()
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qf_loss = qf1_loss + qf2_loss
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q_optimizer.zero_grad(set_to_none=True)
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scaler.scale(qf_loss).backward()
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scaler.unscale_(q_optimizer)
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critic_grad_norm = torch.nn.utils.clip_grad_norm_(
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qnet.parameters(),
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max_norm=args.max_grad_norm if args.max_grad_norm > 0 else float("inf"),
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)
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scaler.step(q_optimizer)
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scaler.update()
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q_scheduler.step()
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logs_dict["critic_grad_norm"] = critic_grad_norm.detach()
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logs_dict["qf_loss"] = qf_loss.detach()
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logs_dict["qf_max"] = qf1_next_target_value.max().detach()
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logs_dict["qf_min"] = qf1_next_target_value.min().detach()
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return logs_dict
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def update_pol(data, logs_dict):
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with autocast(
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device_type=amp_device_type, dtype=amp_dtype, enabled=amp_enabled
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):
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critic_observations = (
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data["critic_observations"]
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if envs.asymmetric_obs
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else data["observations"]
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)
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qf1, qf2 = qnet(critic_observations, actor(data["observations"]))
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qf1_value = qnet.get_value(F.softmax(qf1, dim=1))
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qf2_value = qnet.get_value(F.softmax(qf2, dim=1))
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if args.use_cdq:
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qf_value = torch.minimum(qf1_value, qf2_value)
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else:
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qf_value = (qf1_value + qf2_value) / 2.0
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actor_loss = -qf_value.mean()
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actor_optimizer.zero_grad(set_to_none=True)
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scaler.scale(actor_loss).backward()
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scaler.unscale_(actor_optimizer)
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actor_grad_norm = torch.nn.utils.clip_grad_norm_(
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actor.parameters(),
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max_norm=args.max_grad_norm if args.max_grad_norm > 0 else float("inf"),
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)
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scaler.step(actor_optimizer)
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scaler.update()
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actor_scheduler.step()
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logs_dict["actor_grad_norm"] = actor_grad_norm.detach()
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logs_dict["actor_loss"] = actor_loss.detach()
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return logs_dict
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if args.compile:
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mode = None
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update_main = torch.compile(update_main, mode=mode)
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update_pol = torch.compile(update_pol, mode=mode)
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policy = torch.compile(policy, mode=mode)
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normalize_obs = torch.compile(obs_normalizer.forward, mode=mode)
|
|
normalize_critic_obs = torch.compile(critic_obs_normalizer.forward, mode=mode)
|
|
if args.reward_normalization:
|
|
update_stats = torch.compile(reward_normalizer.update_stats, mode=mode)
|
|
normalize_reward = torch.compile(reward_normalizer.forward, mode=mode)
|
|
else:
|
|
normalize_obs = obs_normalizer.forward
|
|
normalize_critic_obs = critic_obs_normalizer.forward
|
|
if args.reward_normalization:
|
|
update_stats = reward_normalizer.update_stats
|
|
normalize_reward = reward_normalizer.forward
|
|
|
|
if envs.asymmetric_obs:
|
|
obs, critic_obs = envs.reset_with_critic_obs()
|
|
critic_obs = torch.as_tensor(critic_obs, device=device, dtype=torch.float)
|
|
else:
|
|
obs = envs.reset()
|
|
if args.checkpoint_path:
|
|
# Load checkpoint if specified
|
|
torch_checkpoint = torch.load(
|
|
f"{args.checkpoint_path}", map_location=device, weights_only=False
|
|
)
|
|
actor.load_state_dict(torch_checkpoint["actor_state_dict"])
|
|
obs_normalizer.load_state_dict(torch_checkpoint["obs_normalizer_state"])
|
|
critic_obs_normalizer.load_state_dict(
|
|
torch_checkpoint["critic_obs_normalizer_state"]
|
|
)
|
|
qnet.load_state_dict(torch_checkpoint["qnet_state_dict"])
|
|
qnet_target.load_state_dict(torch_checkpoint["qnet_target_state_dict"])
|
|
global_step = torch_checkpoint["global_step"]
|
|
else:
|
|
global_step = 0
|
|
|
|
dones = None
|
|
pbar = tqdm.tqdm(total=args.total_timesteps, initial=global_step)
|
|
start_time = None
|
|
desc = ""
|
|
|
|
while global_step < args.total_timesteps:
|
|
logs_dict = TensorDict()
|
|
if (
|
|
start_time is None
|
|
and global_step >= args.measure_burnin + args.learning_starts
|
|
):
|
|
start_time = time.time()
|
|
measure_burnin = global_step
|
|
|
|
with (
|
|
torch.no_grad(),
|
|
autocast(device_type=amp_device_type, dtype=amp_dtype, enabled=amp_enabled),
|
|
):
|
|
norm_obs = normalize_obs(obs)
|
|
actions = policy(obs=norm_obs, dones=dones)
|
|
|
|
next_obs, rewards, dones, _, infos = envs.step(actions.float())
|
|
print(infos["time_outs"])
|
|
truncations = infos["time_outs"]
|
|
|
|
if args.reward_normalization:
|
|
if env_type == "mtbench":
|
|
task_ids_one_hot = obs[..., -envs.num_tasks :]
|
|
task_indices = torch.argmax(task_ids_one_hot, dim=1)
|
|
update_stats(rewards, dones.float(), task_ids=task_indices)
|
|
else:
|
|
update_stats(rewards, dones.float())
|
|
|
|
if envs.asymmetric_obs:
|
|
next_critic_obs = infos["observations"]["critic"]
|
|
|
|
# Compute 'true' next_obs and next_critic_obs for saving
|
|
true_next_obs = torch.where(
|
|
dones[:, None] > 0, infos["observations"]["raw"]["obs"], next_obs
|
|
)
|
|
if envs.asymmetric_obs:
|
|
true_next_critic_obs = torch.where(
|
|
dones[:, None] > 0,
|
|
infos["observations"]["raw"]["critic_obs"],
|
|
next_critic_obs,
|
|
)
|
|
transition = TensorDict(
|
|
{
|
|
"observations": obs,
|
|
"actions": torch.as_tensor(actions, device=device, dtype=torch.float),
|
|
"next": {
|
|
"observations": true_next_obs,
|
|
"rewards": torch.as_tensor(
|
|
rewards, device=device, dtype=torch.float
|
|
),
|
|
"truncations": truncations.long(),
|
|
"dones": dones.long(),
|
|
},
|
|
},
|
|
batch_size=(envs.num_envs,),
|
|
device=device,
|
|
)
|
|
if envs.asymmetric_obs:
|
|
transition["critic_observations"] = critic_obs
|
|
transition["next"]["critic_observations"] = true_next_critic_obs
|
|
|
|
obs = next_obs
|
|
if envs.asymmetric_obs:
|
|
critic_obs = next_critic_obs
|
|
|
|
rb.extend(transition)
|
|
|
|
batch_size = args.batch_size // args.num_envs
|
|
if global_step > args.learning_starts:
|
|
for i in range(args.num_updates):
|
|
data = rb.sample(batch_size)
|
|
data["observations"] = normalize_obs(data["observations"])
|
|
data["next"]["observations"] = normalize_obs(
|
|
data["next"]["observations"]
|
|
)
|
|
raw_rewards = data["next"]["rewards"]
|
|
if env_type in ["mtbench"] and args.reward_normalization:
|
|
# Multi-task reward normalization
|
|
task_ids_one_hot = data["observations"][..., -envs.num_tasks :]
|
|
task_indices = torch.argmax(task_ids_one_hot, dim=1)
|
|
data["next"]["rewards"] = normalize_reward(
|
|
raw_rewards, task_ids=task_indices
|
|
)
|
|
else:
|
|
data["next"]["rewards"] = normalize_reward(raw_rewards)
|
|
if envs.asymmetric_obs:
|
|
data["critic_observations"] = normalize_critic_obs(
|
|
data["critic_observations"]
|
|
)
|
|
data["next"]["critic_observations"] = normalize_critic_obs(
|
|
data["next"]["critic_observations"]
|
|
)
|
|
logs_dict = update_main(data, logs_dict)
|
|
if args.num_updates > 1:
|
|
if i % args.policy_frequency == 1:
|
|
logs_dict = update_pol(data, logs_dict)
|
|
else:
|
|
if global_step % args.policy_frequency == 0:
|
|
logs_dict = update_pol(data, logs_dict)
|
|
|
|
for param, target_param in zip(
|
|
qnet.parameters(), qnet_target.parameters()
|
|
):
|
|
target_param.data.copy_(
|
|
args.tau * param.data + (1 - args.tau) * target_param.data
|
|
)
|
|
|
|
if global_step % 100 == 0 and start_time is not None:
|
|
speed = (global_step - measure_burnin) / (time.time() - start_time)
|
|
pbar.set_description(f"{speed: 4.4f} sps, " + desc)
|
|
with torch.no_grad():
|
|
logs = {
|
|
"actor_loss": logs_dict["actor_loss"].mean(),
|
|
"qf_loss": logs_dict["qf_loss"].mean(),
|
|
"qf_max": logs_dict["qf_max"].mean(),
|
|
"qf_min": logs_dict["qf_min"].mean(),
|
|
"actor_grad_norm": logs_dict["actor_grad_norm"].mean(),
|
|
"critic_grad_norm": logs_dict["critic_grad_norm"].mean(),
|
|
"env_rewards": rewards.mean(),
|
|
"buffer_rewards": raw_rewards.mean(),
|
|
}
|
|
|
|
if args.eval_interval > 0 and global_step % args.eval_interval == 0:
|
|
print(f"Evaluating at global step {global_step}")
|
|
eval_avg_return, eval_avg_length = evaluate()
|
|
if env_type in ["humanoid_bench", "isaaclab", "mtbench"]:
|
|
# NOTE: Hacky way of evaluating performance, but just works
|
|
obs = envs.reset()
|
|
logs["eval_avg_return"] = eval_avg_return
|
|
logs["eval_avg_length"] = eval_avg_length
|
|
|
|
if args.use_wandb:
|
|
wandb.log(
|
|
{
|
|
"speed": speed,
|
|
"frame": global_step * args.num_envs,
|
|
"critic_lr": q_scheduler.get_last_lr()[0],
|
|
"actor_lr": actor_scheduler.get_last_lr()[0],
|
|
**logs,
|
|
},
|
|
step=global_step,
|
|
)
|
|
|
|
if (
|
|
args.save_interval > 0
|
|
and global_step > 0
|
|
and global_step % args.save_interval == 0
|
|
):
|
|
print(f"Saving model at global step {global_step}")
|
|
save_params(
|
|
global_step,
|
|
actor,
|
|
qnet,
|
|
qnet_target,
|
|
obs_normalizer,
|
|
critic_obs_normalizer,
|
|
args,
|
|
f"models/{run_name}_{global_step}.pt",
|
|
)
|
|
|
|
global_step += 1
|
|
pbar.update(1)
|
|
|
|
save_params(
|
|
global_step,
|
|
actor,
|
|
qnet,
|
|
qnet_target,
|
|
obs_normalizer,
|
|
critic_obs_normalizer,
|
|
args,
|
|
f"models/{run_name}_final.pt",
|
|
)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|