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from collections.abc import Callable
from typing import Any, Union, cast
import numpy as np
from tianshou.data import Batch, ReplayBuffer
from tianshou.data.batch import BatchProtocol
from tianshou.data.types import RolloutBatchProtocol
class HERReplayBuffer(ReplayBuffer):
"""Implementation of Hindsight Experience Replay. arXiv:1707.01495.
HERReplayBuffer is to be used with goal-based environment where the
observation is a dictionary with keys ``observation``, ``achieved_goal`` and
``desired_goal``. Currently support only HER's future strategy, online sampling.
:param size: the size of the replay buffer.
:param compute_reward_fn: a function that takes 2 ``np.array`` arguments,
``acheived_goal`` and ``desired_goal``, and returns rewards as ``np.array``.
The two arguments are of shape (batch_size, ...original_shape) and the returned
rewards must be of shape (batch_size,).
:param horizon: the maximum number of steps in an episode.
:param future_k: the 'k' parameter introduced in the paper. In short, there
will be at most k episodes that are re-written for every 1 unaltered episode
during the sampling.
.. seealso::
Please refer to :class:`~tianshou.data.ReplayBuffer` for other APIs' usage.
"""
def __init__(
self,
size: int,
compute_reward_fn: Callable[[np.ndarray, np.ndarray], np.ndarray],
horizon: int,
future_k: float = 8.0,
**kwargs: Any,
) -> None:
super().__init__(size, **kwargs)
self.horizon = horizon
self.future_p = 1 - 1 / future_k
self.compute_reward_fn = compute_reward_fn
self._original_meta = Batch()
self._altered_indices = np.array([])
def _restore_cache(self) -> None:
"""Write cached original meta back to `self._meta`.
It's called everytime before 'writing', 'sampling' or 'saving' the buffer.
"""
if not hasattr(self, "_altered_indices"):
return
if self._altered_indices.size == 0:
return
self._meta[self._altered_indices] = self._original_meta
# Clean
self._original_meta = Batch()
self._altered_indices = np.array([])
def reset(self, keep_statistics: bool = False) -> None:
self._restore_cache()
return super().reset(keep_statistics)
def save_hdf5(self, path: str, compression: str | None = None) -> None:
self._restore_cache()
return super().save_hdf5(path, compression)
def set_batch(self, batch: RolloutBatchProtocol) -> None:
self._restore_cache()
return super().set_batch(batch)
def update(self, buffer: Union["HERReplayBuffer", "ReplayBuffer"]) -> np.ndarray:
self._restore_cache()
return super().update(buffer)
def add(
self,
batch: RolloutBatchProtocol,
buffer_ids: np.ndarray | list[int] | None = None,
) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
self._restore_cache()
return super().add(batch, buffer_ids)
def sample_indices(self, batch_size: int | None) -> np.ndarray:
"""Get a random sample of index with size = batch_size.
Return all available indices in the buffer if batch_size is 0; return an \
empty numpy array if batch_size < 0 or no available index can be sampled. \
Additionally, some episodes of the sampled transitions will be re-written \
according to HER.
"""
self._restore_cache()
indices = super().sample_indices(batch_size=batch_size)
self.rewrite_transitions(indices.copy())
return indices
def rewrite_transitions(self, indices: np.ndarray) -> None:
"""Re-write the goal of some sampled transitions' episodes according to HER.
Currently applies only HER's 'future' strategy. The new goals will be written \
directly to the internal batch data temporarily and will be restored right \
before the next sampling or when using some of the buffer's method (e.g. \
`add`, `save_hdf5`, etc.). This is to make sure that n-step returns \
calculation etc., performs correctly without additional alteration.
"""
if indices.size == 0:
return
# Sort indices keeping chronological order
indices[indices < self._index] += self.maxsize
indices = np.sort(indices)
indices[indices >= self.maxsize] -= self.maxsize
# Construct episode trajectories
indices = [indices]
for _ in range(self.horizon - 1):
indices.append(self.next(indices[-1]))
indices = np.stack(indices)
# Calculate future timestep to use
current = indices[0]
terminal = indices[-1]
episodes_len = (terminal - current + self.maxsize) % self.maxsize
future_offset = np.random.uniform(size=len(indices[0])) * episodes_len
future_offset = np.round(future_offset).astype(int)
future_t = (current + future_offset) % self.maxsize
# Compute indices
# open indices are used to find longest, unique trajectories among
# presented episodes
unique_ep_open_indices = np.sort(np.unique(terminal, return_index=True)[1])
unique_ep_indices = indices[:, unique_ep_open_indices]
# close indices are used to find max future_t among presented episodes
unique_ep_close_indices = np.hstack([(unique_ep_open_indices - 1)[1:], len(terminal) - 1])
# episode indices that will be altered
her_ep_indices = np.random.choice(
len(unique_ep_open_indices),
size=int(len(unique_ep_open_indices) * self.future_p),
replace=False,
)
# Cache original meta
self._altered_indices = unique_ep_indices.copy()
self._original_meta = self._meta[self._altered_indices].copy()
# Copy original obs, ep_rew (and obs_next), and obs of future time step
ep_obs = self[unique_ep_indices].obs
# to satisfy mypy
# TODO: add protocol covering these batches
assert isinstance(ep_obs, BatchProtocol)
ep_rew = self[unique_ep_indices].rew
if self._save_obs_next:
ep_obs_next = self[unique_ep_indices].obs_next
# to satisfy mypy
assert isinstance(ep_obs_next, BatchProtocol)
future_obs = self[future_t[unique_ep_close_indices]].obs_next
else:
future_obs = self[self.next(future_t[unique_ep_close_indices])].obs
future_obs = cast(BatchProtocol, future_obs)
# Re-assign goals and rewards via broadcast assignment
ep_obs.desired_goal[:, her_ep_indices] = future_obs.achieved_goal[None, her_ep_indices]
if self._save_obs_next:
ep_obs_next = cast(BatchProtocol, ep_obs_next)
ep_obs_next.desired_goal[:, her_ep_indices] = future_obs.achieved_goal[
None,
her_ep_indices,
]
ep_rew[:, her_ep_indices] = self._compute_reward(ep_obs_next)[:, her_ep_indices]
else:
tmp_ep_obs_next = self[self.next(unique_ep_indices)].obs
assert isinstance(tmp_ep_obs_next, BatchProtocol)
ep_rew[:, her_ep_indices] = self._compute_reward(tmp_ep_obs_next)[:, her_ep_indices]
# Sanity check
assert ep_obs.desired_goal.shape[:2] == unique_ep_indices.shape
assert ep_obs.achieved_goal.shape[:2] == unique_ep_indices.shape
assert ep_rew.shape == unique_ep_indices.shape
# Re-write meta
assert isinstance(self._meta.obs, BatchProtocol)
self._meta.obs[unique_ep_indices] = ep_obs
if self._save_obs_next:
self._meta.obs_next[unique_ep_indices] = ep_obs_next # type: ignore
self._meta.rew[unique_ep_indices] = ep_rew.astype(np.float32)
def _compute_reward(self, obs: BatchProtocol, lead_dims: int = 2) -> np.ndarray:
lead_shape = obs.observation.shape[:lead_dims]
g = obs.desired_goal.reshape(-1, *obs.desired_goal.shape[lead_dims:])
ag = obs.achieved_goal.reshape(-1, *obs.achieved_goal.shape[lead_dims:])
rewards = self.compute_reward_fn(ag, g)
return rewards.reshape(*lead_shape, *rewards.shape[1:])
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