examples/atari/atari_sac.py

import argparse
import datetime
import os
import pprint
import sys

import numpy as np
import torch
from atari_network import DQN
from atari_wrapper import make_atari_env

from tianshou.data import Collector, VectorReplayBuffer
from tianshou.highlevel.logger import LoggerFactoryDefault
from tianshou.policy import DiscreteSACPolicy, ICMPolicy
from tianshou.policy.base import BasePolicy
from tianshou.trainer import OffpolicyTrainer
from tianshou.utils.net.discrete import Actor, Critic, IntrinsicCuriosityModule


def get_args() -> argparse.Namespace:
    parser = argparse.ArgumentParser()
    parser.add_argument("--task", type=str, default="PongNoFrameskip-v4")
    parser.add_argument("--seed", type=int, default=4213)
    parser.add_argument("--scale-obs", type=int, default=0)
    parser.add_argument("--buffer-size", type=int, default=100000)
    parser.add_argument("--actor-lr", type=float, default=1e-5)
    parser.add_argument("--critic-lr", type=float, default=1e-5)
    parser.add_argument("--gamma", type=float, default=0.99)
    parser.add_argument("--n-step", type=int, default=3)
    parser.add_argument("--tau", type=float, default=0.005)
    parser.add_argument("--alpha", type=float, default=0.05)
    parser.add_argument("--auto-alpha", action="store_true", default=False)
    parser.add_argument("--alpha-lr", type=float, default=3e-4)
    parser.add_argument("--epoch", type=int, default=100)
    parser.add_argument("--step-per-epoch", type=int, default=100000)
    parser.add_argument("--step-per-collect", type=int, default=10)
    parser.add_argument("--update-per-step", type=float, default=0.1)
    parser.add_argument("--batch-size", type=int, default=64)
    parser.add_argument("--hidden-size", type=int, default=512)
    parser.add_argument("--training-num", type=int, default=10)
    parser.add_argument("--test-num", type=int, default=10)
    parser.add_argument("--rew-norm", type=int, default=False)
    parser.add_argument("--logdir", type=str, default="log")
    parser.add_argument("--render", type=float, default=0.0)
    parser.add_argument(
        "--device",
        type=str,
        default="cuda" if torch.cuda.is_available() else "cpu",
    )
    parser.add_argument("--frames-stack", type=int, default=4)
    parser.add_argument("--resume-path", type=str, default=None)
    parser.add_argument("--resume-id", type=str, default=None)
    parser.add_argument(
        "--logger",
        type=str,
        default="tensorboard",
        choices=["tensorboard", "wandb"],
    )
    parser.add_argument("--wandb-project", type=str, default="atari.benchmark")
    parser.add_argument(
        "--watch",
        default=False,
        action="store_true",
        help="watch the play of pre-trained policy only",
    )
    parser.add_argument("--save-buffer-name", type=str, default=None)
    parser.add_argument(
        "--icm-lr-scale",
        type=float,
        default=0.0,
        help="use intrinsic curiosity module with this lr scale",
    )
    parser.add_argument(
        "--icm-reward-scale",
        type=float,
        default=0.01,
        help="scaling factor for intrinsic curiosity reward",
    )
    parser.add_argument(
        "--icm-forward-loss-weight",
        type=float,
        default=0.2,
        help="weight for the forward model loss in ICM",
    )
    return parser.parse_args()


def test_discrete_sac(args: argparse.Namespace = get_args()) -> None:
    env, train_envs, test_envs = make_atari_env(
        args.task,
        args.seed,
        args.training_num,
        args.test_num,
        scale=args.scale_obs,
        frame_stack=args.frames_stack,
    )
    args.state_shape = env.observation_space.shape or env.observation_space.n
    args.action_shape = env.action_space.shape or env.action_space.n
    # should be N_FRAMES x H x W
    print("Observations shape:", args.state_shape)
    print("Actions shape:", args.action_shape)
    # seed
    np.random.seed(args.seed)
    torch.manual_seed(args.seed)
    # define model
    net = DQN(
        *args.state_shape,
        args.action_shape,
        device=args.device,
        features_only=True,
        output_dim_added_layer=args.hidden_size,
    )
    actor = Actor(net, args.action_shape, device=args.device, softmax_output=False)
    actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
    critic1 = Critic(net, last_size=args.action_shape, device=args.device)
    critic1_optim = torch.optim.Adam(critic1.parameters(), lr=args.critic_lr)
    critic2 = Critic(net, last_size=args.action_shape, device=args.device)
    critic2_optim = torch.optim.Adam(critic2.parameters(), lr=args.critic_lr)

    # define policy
    if args.auto_alpha:
        target_entropy = 0.98 * np.log(np.prod(args.action_shape))
        log_alpha = torch.zeros(1, requires_grad=True, device=args.device)
        alpha_optim = torch.optim.Adam([log_alpha], lr=args.alpha_lr)
        args.alpha = (target_entropy, log_alpha, alpha_optim)

    policy: DiscreteSACPolicy | ICMPolicy
    policy = DiscreteSACPolicy(
        actor=actor,
        actor_optim=actor_optim,
        critic=critic1,
        critic_optim=critic1_optim,
        critic2=critic2,
        critic2_optim=critic2_optim,
        action_space=env.action_space,
        tau=args.tau,
        gamma=args.gamma,
        alpha=args.alpha,
        estimation_step=args.n_step,
    ).to(args.device)
    if args.icm_lr_scale > 0:
        feature_net = DQN(*args.state_shape, args.action_shape, args.device, features_only=True)
        action_dim = np.prod(args.action_shape)
        feature_dim = feature_net.output_dim
        icm_net = IntrinsicCuriosityModule(
            feature_net.net,
            feature_dim,
            action_dim,
            hidden_sizes=[args.hidden_size],
            device=args.device,
        )
        icm_optim = torch.optim.Adam(icm_net.parameters(), lr=args.actor_lr)
        policy = ICMPolicy(
            policy=policy,
            model=icm_net,
            optim=icm_optim,
            action_space=env.action_space,
            lr_scale=args.icm_lr_scale,
            reward_scale=args.icm_reward_scale,
            forward_loss_weight=args.icm_forward_loss_weight,
        ).to(args.device)
    # load a previous policy
    if args.resume_path:
        policy.load_state_dict(torch.load(args.resume_path, map_location=args.device))
        print("Loaded agent from: ", args.resume_path)
    # replay buffer: `save_last_obs` and `stack_num` can be removed together
    # when you have enough RAM
    buffer = VectorReplayBuffer(
        args.buffer_size,
        buffer_num=len(train_envs),
        ignore_obs_next=True,
        save_only_last_obs=True,
        stack_num=args.frames_stack,
    )
    # collector
    train_collector = Collector(policy, train_envs, buffer, exploration_noise=True)
    test_collector = Collector(policy, test_envs, exploration_noise=True)

    # log
    now = datetime.datetime.now().strftime("%y%m%d-%H%M%S")
    args.algo_name = "discrete_sac_icm" if args.icm_lr_scale > 0 else "discrete_sac"
    log_name = os.path.join(args.task, args.algo_name, str(args.seed), now)
    log_path = os.path.join(args.logdir, log_name)

    # logger
    logger_factory = LoggerFactoryDefault()
    if args.logger == "wandb":
        logger_factory.logger_type = "wandb"
        logger_factory.wandb_project = args.wandb_project
    else:
        logger_factory.logger_type = "tensorboard"

    logger = logger_factory.create_logger(
        log_dir=log_path,
        experiment_name=log_name,
        run_id=args.resume_id,
        config_dict=vars(args),
    )

    def save_best_fn(policy: BasePolicy) -> None:
        torch.save(policy.state_dict(), os.path.join(log_path, "policy.pth"))

    def stop_fn(mean_rewards: float) -> bool:
        if env.spec.reward_threshold:
            return mean_rewards >= env.spec.reward_threshold
        if "Pong" in args.task:
            return mean_rewards >= 20
        return False

    def save_checkpoint_fn(epoch: int, env_step: int, gradient_step: int) -> str:
        # see also: https://pytorch.org/tutorials/beginner/saving_loading_models.html
        ckpt_path = os.path.join(log_path, "checkpoint.pth")
        torch.save({"model": policy.state_dict()}, ckpt_path)
        return ckpt_path

    # watch agent's performance
    def watch() -> None:
        print("Setup test envs ...")
        test_envs.seed(args.seed)
        if args.save_buffer_name:
            print(f"Generate buffer with size {args.buffer_size}")
            buffer = VectorReplayBuffer(
                args.buffer_size,
                buffer_num=len(test_envs),
                ignore_obs_next=True,
                save_only_last_obs=True,
                stack_num=args.frames_stack,
            )
            collector = Collector(policy, test_envs, buffer, exploration_noise=True)
            result = collector.collect(n_step=args.buffer_size)
            print(f"Save buffer into {args.save_buffer_name}")
            # Unfortunately, pickle will cause oom with 1M buffer size
            buffer.save_hdf5(args.save_buffer_name)
        else:
            print("Testing agent ...")
            test_collector.reset()
            result = test_collector.collect(n_episode=args.test_num, render=args.render)
        result.pprint_asdict()

    if args.watch:
        watch()
        sys.exit(0)

    # test train_collector and start filling replay buffer
    train_collector.reset()
    train_collector.collect(n_step=args.batch_size * args.training_num)
    # trainer
    result = OffpolicyTrainer(
        policy=policy,
        train_collector=train_collector,
        test_collector=test_collector,
        max_epoch=args.epoch,
        step_per_epoch=args.step_per_epoch,
        step_per_collect=args.step_per_collect,
        episode_per_test=args.test_num,
        batch_size=args.batch_size,
        stop_fn=stop_fn,
        save_best_fn=save_best_fn,
        logger=logger,
        update_per_step=args.update_per_step,
        test_in_train=False,
        resume_from_log=args.resume_id is not None,
        save_checkpoint_fn=save_checkpoint_fn,
    ).run()

    pprint.pprint(result)
    watch()


if __name__ == "__main__":
    test_discrete_sac(get_args())