diff --git a/lerobot/common/policies/sac/modeling_sac.py b/lerobot/common/policies/sac/modeling_sac.py index 62725ce1d..9243c3e69 100644 --- a/lerobot/common/policies/sac/modeling_sac.py +++ b/lerobot/common/policies/sac/modeling_sac.py @@ -57,12 +57,20 @@ def __init__( ) else: self.normalize_inputs = nn.Identity() + # HACK: we need to pass the dataset_stats to the normalization functions + dataset_stats = dataset_stats or { + "action": { + "min": torch.tensor([-1.0, -1.0, -1.0, -1.0]), + "max": torch.tensor([1.0, 1.0, 1.0, 1.0]), + } + } self.normalize_targets = Normalize( config.output_shapes, config.output_normalization_modes, dataset_stats ) self.unnormalize_outputs = Unnormalize( config.output_shapes, config.output_normalization_modes, dataset_stats ) + encoder_critic = SACObservationEncoder(config) encoder_actor = SACObservationEncoder(config) # Define networks @@ -78,7 +86,8 @@ def __init__( critic_nets.append(critic_net) self.critic_ensemble = create_critic_ensemble(critic_nets, config.num_critics) - self.critic_target = deepcopy(self.critic_ensemble) + self.critic_target = create_critic_ensemble(target_critic_nets, config.num_critics) + self.critic_target.load_state_dict(self.critic_ensemble.state_dict()) self.actor = Policy( encoder=encoder_actor, @@ -136,10 +145,15 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor | float]: Returns a dictionary with loss as a tensor, and other information as native floats. """ + # We have to actualize the value of the temperature because in the previous + self.temperature = self.log_alpha.exp().item() + temperature = self.temperature + batch = self.normalize_inputs(batch) - # batch shape is (b, 2, ...) where index 1 returns the current observation and - # the next observation for calculating the right td index. - actions = batch["action"][:, 0] + # batch shape is (b, 2, ...) where index 1 returns the current observation and + # the next observation for calculating the right td index. + # actions = batch["action"][:, 0] + actions = batch["action"] rewards = batch["next.reward"][:, 0] observations = {} next_observations = {} @@ -147,8 +161,7 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor | float]: if k.startswith("observation."): observations[k] = batch[k][:, 0] next_observations[k] = batch[k][:, 1] - - # perform image augmentation + done = batch["next.done"] # reward bias from HIL-SERL code base # add_or_replace={"rewards": batch["rewards"] + self.config["reward_bias"]} in reward_batch @@ -166,11 +179,11 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor | float]: indices = indices[:self.config.num_subsample_critics] q_targets = q_targets[indices] - # critics subsample size - min_q, _ = q_targets.min(dim=0) # Get values from min operation - - # compute td target - td_target = rewards + self.config.discount * min_q #+ self.config.discount * self.temperature() * log_probs # add entropy term + # critics subsample size + min_q, _ = q_targets.min(dim=0) # Get values from min operation + if self.config.use_backup_entropy: + min_q -= self.temperature * next_log_probs + td_target = rewards + self.config.discount * min_q * ~done # 3- compute predicted qs q_preds = self.critic_forward(observations, actions, use_target=False) @@ -183,33 +196,10 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor | float]: reduction="none" ).sum(0).mean() - # critics_loss = ( - # F.mse_loss( - # q_preds, - # einops.repeat(td_target, "b -> e b", e=q_preds.shape[0]), - # reduction="none", - # ).sum(0) # sum over ensemble - # # `q_preds_ensemble` depends on the first observation and the actions. - # * ~batch["observation.state_is_pad"][0] - # * ~batch["action_is_pad"] - # # q_targets depends on the reward and the next observations. - # * ~batch["next.reward_is_pad"] - # * ~batch["observation.state_is_pad"][1:] - # ).sum(0).mean() - - # calculate actors loss - # 1- temperature - temperature = self.temperature() - # 2- get actions (batch_size, action_dim) and log probs (batch_size,) - actions, log_probs = self.actor(observations) - # 3- get q-value predictions + actions_pi, log_probs, _ = self.actor(observations) with torch.inference_mode(): - q_preds = self.critic_forward(observations, actions, use_target=False) - actor_loss = ( - -(q_preds - temperature * log_probs).mean() - # * ~batch["observation.state_is_pad"][0] - # * ~batch["action_is_pad"] - ).mean() + q_preds = self.critic_forward(observations, actions_pi, use_target=False) + min_q_preds = q_preds.min(dim=0)[0] # calculate temperature loss @@ -223,29 +213,91 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor | float]: loss = critics_loss + actor_loss + temperature_loss return { - "critics_loss": critics_loss.item(), - "actor_loss": actor_loss.item(), - "temperature_loss": temperature_loss.item(), - "temperature": temperature.item(), - "entropy": entropy.item(), - "loss": loss, - } - - def update(self): - # TODO: implement UTD update - # First update only critics for utd_ratio-1 times - #for critic_step in range(self.config.utd_ratio - 1): - # only update critic and critic target - # Then update critic, critic target, actor and temperature + "critics_loss": critics_loss.item(), + "actor_loss": actor_loss.item(), + "mean_q_predicts": min_q_preds.mean().item(), + "min_q_predicts": min_q_preds.min().item(), + "max_q_predicts": min_q_preds.max().item(), + "temperature_loss": temperature_loss.item(), + "temperature": temperature, + "mean_log_probs": log_probs.mean().item(), + "min_log_probs": log_probs.min().item(), + "max_log_probs": log_probs.max().item(), + "td_target_mean": td_target.mean().item(), + "td_target_max": td_target.max().item(), + "action_mean": actions.mean().item(), + "entropy": log_probs.mean().item(), + "loss": loss, + } + + def update_target_networks(self): """Update target networks with exponential moving average""" + for target_critic, critic in zip(self.critic_target, self.critic_ensemble, strict=False): + for target_param, param in zip(target_critic.parameters(), critic.parameters(), strict=False): + target_param.data.copy_( + param.data * self.config.critic_target_update_weight + + target_param.data * (1.0 - self.config.critic_target_update_weight) + ) + + def compute_loss_critic(self, observations, actions, rewards, next_observations, done) -> Tensor: + temperature = self.log_alpha.exp().item() + with torch.no_grad(): + next_action_preds, next_log_probs, _ = self.actor(next_observations) + + # 2- compute q targets + q_targets = self.critic_forward( + observations=next_observations, actions=next_action_preds, use_target=True + ) + + # subsample critics to prevent overfitting if use high UTD (update to date) + if self.config.num_subsample_critics is not None: + indices = torch.randperm(self.config.num_critics) + indices = indices[: self.config.num_subsample_critics] + q_targets = q_targets[indices] + + # critics subsample size + min_q, _ = q_targets.min(dim=0) # Get values from min operation + if self.config.use_backup_entropy: + min_q = min_q - (temperature * next_log_probs) + + td_target = rewards + (1 - done) * self.config.discount * min_q + + # 3- compute predicted qs + q_preds = self.critic_forward(observations, actions, use_target=False) + + # 4- Calculate loss + # Compute state-action value loss (TD loss) for all of the Q functions in the ensemble. + td_target_duplicate = einops.repeat(td_target, "b -> e b", e=q_preds.shape[0]) + # You compute the mean loss of the batch for each critic and then to compute the final loss you sum them up + critics_loss = ( + F.mse_loss( + input=q_preds, + target=td_target_duplicate, + reduction="none", + ).mean(1) + ).sum() + return critics_loss + + def compute_loss_temperature(self, observations) -> Tensor: + """Compute the temperature loss""" + # calculate temperature loss with torch.no_grad(): - for target_critic, critic in zip(self.critic_target, self.critic_ensemble, strict=False): - for target_param, param in zip(target_critic.parameters(), critic.parameters(), strict=False): - target_param.data.copy_( - target_param.data * self.config.critic_target_update_weight + - param.data * (1.0 - self.config.critic_target_update_weight) - ) - + _, log_probs, _ = self.actor(observations) + temperature_loss = (-self.log_alpha.exp() * (log_probs + self.config.target_entropy)).mean() + return temperature_loss + + def compute_loss_actor(self, observations) -> Tensor: + temperature = self.log_alpha.exp().item() + + actions_pi, log_probs, _ = self.actor(observations) + + q_preds = self.critic_forward(observations, actions_pi, use_target=False) + min_q_preds = q_preds.min(dim=0)[0] + + actor_loss = ((temperature * log_probs) - min_q_preds).mean() + return actor_loss + + class MLP(nn.Module): def __init__( self, diff --git a/lerobot/scripts/train_sac.py b/lerobot/scripts/train_sac.py new file mode 100644 index 000000000..942a19abc --- /dev/null +++ b/lerobot/scripts/train_sac.py @@ -0,0 +1,1112 @@ +#!/usr/bin/env python + +# Copyright 2024 The HuggingFace Inc. team. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +import logging +import time +from contextlib import nullcontext +from copy import deepcopy +from pathlib import Path +from pprint import pformat +import random +from typing import Optional, Sequence, TypedDict + +import hydra +import numpy as np +import torch +from deepdiff import DeepDiff +from omegaconf import DictConfig, ListConfig, OmegaConf +from termcolor import colored +from torch import nn +from torch.cuda.amp import GradScaler +from tqdm import tqdm + +from lerobot.common.datasets.factory import make_dataset, resolve_delta_timestamps +from lerobot.common.datasets.lerobot_dataset import MultiLeRobotDataset, LeRobotDataset +from lerobot.common.datasets.online_buffer import OnlineBuffer, compute_sampler_weights +from lerobot.common.datasets.sampler import EpisodeAwareSampler +from lerobot.common.datasets.utils import cycle +from lerobot.common.envs.factory import make_env +from lerobot.common.envs.utils import preprocess_observation +from lerobot.common.logger import Logger, log_output_dir +from lerobot.common.policies.factory import make_policy +from lerobot.common.policies.policy_protocol import PolicyWithUpdate +from lerobot.common.policies.sac.modeling_sac import SACPolicy +from lerobot.common.policies.utils import get_device_from_parameters +from lerobot.common.utils.utils import ( + format_big_number, + get_safe_torch_device, + init_hydra_config, + init_logging, + set_global_seed, +) +from lerobot.scripts.eval import eval_policy + + +def make_optimizers_and_scheduler(cfg, policy): + optimizer_actor = torch.optim.Adam( + params=policy.actor.parameters(), + lr=policy.config.actor_lr, + ) + optimizer_critic = torch.optim.Adam( + params=policy.critic_ensemble.parameters(), lr=policy.config.critic_lr + ) + # We wrap policy log temperature in list because this is a torch tensor and not a nn.Module + optimizer_temperature = torch.optim.Adam(params=[policy.log_alpha], lr=policy.config.critic_lr) + lr_scheduler = None + optimizers = { + "actor": optimizer_actor, + "critic": optimizer_critic, + "temperature": optimizer_temperature, + } + return optimizers, lr_scheduler + + +# def update_policy(policy, batch, optimizers, grad_clip_norm): + +# NOTE: This is temporary, online buffer or query lerobot dataset is not performant enough yet + + +class Transition(TypedDict): + state: dict[str, torch.Tensor] + action: torch.Tensor + reward: float + next_state: dict[str, torch.Tensor] + done: bool + complementary_info: dict[str, torch.Tensor] = None + + +class BatchTransition(TypedDict): + state: dict[str, torch.Tensor] + action: torch.Tensor + reward: torch.Tensor + next_state: dict[str, torch.Tensor] + done: torch.Tensor + + +class ReplayBuffer: + def __init__(self, capacity: int, device: str = "cuda:0", state_keys: Optional[Sequence[str]] = None): + """ + Args: + capacity (int): Maximum number of transitions to store in the buffer. + device (str): The device where the tensors will be moved ("cuda:0" or "cpu"). + state_keys (List[str]): The list of keys that appear in `state` and `next_state`. + """ + self.capacity = capacity + self.device = device + self.memory: list[Transition] = [] + self.position = 0 + + # If no state_keys provided, default to an empty list + # (you can handle this differently if needed) + self.state_keys = state_keys if state_keys is not None else [] + + def add( + self, + state: dict[str, torch.Tensor], + action: torch.Tensor, + reward: float, + next_state: dict[str, torch.Tensor], + done: bool, + complementary_info: Optional[dict[str, torch.Tensor]] = None, + ): + """Saves a transition.""" + if len(self.memory) < self.capacity: + self.memory.append(None) + + # Create and store the Transition + self.memory[self.position] = Transition( + state=state, + action=action, + reward=reward, + next_state=next_state, + done=done, + complementary_info=complementary_info, + ) + self.position = (self.position + 1) % self.capacity + + @classmethod + def from_lerobot_dataset( + cls, + lerobot_dataset: LeRobotDataset, + device: str = "cuda:0", + state_keys: Optional[Sequence[str]] = None, + ) -> "ReplayBuffer": + replay_buffer = cls(capacity=len(lerobot_dataset), device=device, state_keys=state_keys) + list_transition = cls._lerobotdataset_to_transitions(dataset=lerobot_dataset, state_keys=state_keys) + for data in list_transition: + replay_buffer.add( + state=data["state"], + action=data["action"], + reward=data["reward"], + next_state=data["next_state"], + done=data["done"], + ) + return replay_buffer + + @staticmethod + def _lerobotdataset_to_transitions( + dataset: LeRobotDataset, + state_keys: Optional[Sequence[str]] = None, + ) -> list[Transition]: + """ + Convert a LeRobotDataset into a list of RL (s, a, r, s', done) transitions. + + Args: + dataset (LeRobotDataset): + The dataset to convert. Each item in the dataset is expected to have + at least the following keys: + { + "action": ... + "next.reward": ... + "next.done": ... + "episode_index": ... + } + plus whatever your 'state_keys' specify. + + state_keys (Optional[Sequence[str]]): + The dataset keys to include in 'state' and 'next_state'. Their names + will be kept as-is in the output transitions. E.g. + ["observation.state", "observation.environment_state"]. + If None, you must handle or define default keys. + + Returns: + transitions (List[Transition]): + A list of Transition dictionaries with the same length as `dataset`. + """ + + # If not provided, you can either raise an error or define a default: + if state_keys is None: + raise ValueError("You must provide a list of keys in `state_keys` that define your 'state'.") + + transitions: list[Transition] = [] + num_frames = len(dataset) + + for i in tqdm(range(num_frames)): + current_sample = dataset[i] + + # ----- 1) Current state ----- + current_state: dict[str, torch.Tensor] = {} + for key in state_keys: + val = current_sample[key] + current_state[key] = val.unsqueeze(0) # Add batch dimension + + # ----- 2) Action ----- + action = current_sample["action"].unsqueeze(0) # Add batch dimension + + # ----- 3) Reward and done ----- + reward = float(current_sample["next.reward"].item()) # ensure float + done = bool(current_sample["next.done"].item()) # ensure bool + + # ----- 4) Next state ----- + # If not done and the next sample is in the same episode, we pull the next sample's state. + # Otherwise (done=True or next sample crosses to a new episode), next_state = current_state. + next_state = current_state # default + if not done and (i < num_frames - 1): + next_sample = dataset[i + 1] + if next_sample["episode_index"] == current_sample["episode_index"]: + # Build next_state from the same keys + next_state_data: dict[str, torch.Tensor] = {} + for key in state_keys: + val = next_sample[key] + next_state_data[key] = val.unsqueeze(0) # Add batch dimension + next_state = next_state_data + + # ----- Construct the Transition ----- + transition = Transition( + state=current_state, + action=action, + reward=reward, + next_state=next_state, + done=done, + ) + transitions.append(transition) + + return transitions + + def sample(self, batch_size: int) -> BatchTransition: + """Sample a random batch of transitions and collate them into batched tensors.""" + list_of_transitions = random.sample(self.memory, batch_size) + + # -- Build batched states -- + batch_state = {} + for key in self.state_keys: + batch_state[key] = torch.cat([t["state"][key] for t in list_of_transitions], dim=0).to( + self.device + ) + + # -- Build batched actions -- + batch_actions = torch.cat([t["action"] for t in list_of_transitions]).to(self.device) + + # -- Build batched rewards -- + batch_rewards = torch.tensor([t["reward"] for t in list_of_transitions], dtype=torch.float32).to( + self.device + ) + + # -- Build batched next states -- + batch_next_state = {} + for key in self.state_keys: + batch_next_state[key] = torch.cat([t["next_state"][key] for t in list_of_transitions], dim=0).to( + self.device + ) + + # -- Build batched dones -- + batch_dones = torch.tensor([t["done"] for t in list_of_transitions], dtype=torch.float32).to( + self.device + ) + + # Return a BatchTransition typed dict + return BatchTransition( + state=batch_state, + action=batch_actions, + reward=batch_rewards, + next_state=batch_next_state, + done=batch_dones, + ) + + +def concatenate_batch_transitions( + left_batch_transitions: BatchTransition, right_batch_transition: BatchTransition +) -> BatchTransition: + """Be careful it change the left_batch_transitions in place""" + left_batch_transitions["state"] = { + key: torch.cat([left_batch_transitions["state"][key], right_batch_transition["state"][key]], dim=0) + for key in left_batch_transitions["state"] + } + left_batch_transitions["action"] = torch.cat( + [left_batch_transitions["action"], right_batch_transition["action"]], dim=0 + ) + left_batch_transitions["reward"] = torch.cat( + [left_batch_transitions["reward"], right_batch_transition["reward"]], dim=0 + ) + left_batch_transitions["next_state"] = { + key: torch.cat( + [left_batch_transitions["next_state"][key], right_batch_transition["next_state"][key]], dim=0 + ) + for key in left_batch_transitions["next_state"] + } + left_batch_transitions["done"] = torch.cat( + [left_batch_transitions["done"], right_batch_transition["done"]], dim=0 + ) + return left_batch_transitions + + +def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = None): + if out_dir is None: + raise NotImplementedError() + if job_name is None: + raise NotImplementedError() + + init_logging() + logging.info(pformat(OmegaConf.to_container(cfg))) + + # Create an env dedicated to online episodes collection from policy rollout. + # online_env = make_env(cfg, n_envs=cfg.training.online_rollout_batch_size) + # NOTE: Off policy algorithm are efficient enought to use a single environment + logging.info("make_env online") + online_env = make_env(cfg, n_envs=1) + + if cfg.training.eval_freq > 0: + logging.info("make_env eval") + eval_env = make_env(cfg, n_envs=1) + + # TODO: Add a way to resume training + + # log metrics to terminal and wandb + logger = Logger(cfg, out_dir, wandb_job_name=job_name) + + set_global_seed(cfg.seed) + + # Check device is available + device = get_safe_torch_device(cfg.device, log=True) + + torch.backends.cudnn.benchmark = True + torch.backends.cuda.matmul.allow_tf32 = True + + logging.info("make_policy") + # TODO: At some point we should just need make sac policy + policy: SACPolicy = make_policy( + hydra_cfg=cfg, + # dataset_stats=offline_dataset.meta.stats if not cfg.resume else None, + # Hack: But if we do online traning, we do not need dataset_stats + dataset_stats=None, + pretrained_policy_name_or_path=str(logger.last_pretrained_model_dir) if cfg.resume else None, + ) + assert isinstance(policy, nn.Module) + + optimizers, lr_scheduler = make_optimizers_and_scheduler(cfg, policy) + + step = 0 # number of policy updates (forward + backward + optim) + + # TODO: Handle resume + + num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad) + num_total_params = sum(p.numel() for p in policy.parameters()) + + log_output_dir(out_dir) + logging.info(f"{cfg.env.task=}") + # TODO: Handle offline steps + # logging.info(f"{cfg.training.offline_steps=} ({format_big_number(cfg.training.offline_steps)})") + logging.info(f"{cfg.training.online_steps=}") + # logging.info(f"{offline_dataset.num_frames=} ({format_big_number(offline_dataset.num_frames)})") + # logging.info(f"{offline_dataset.num_episodes=}") + logging.info(f"{num_learnable_params=} ({format_big_number(num_learnable_params)})") + logging.info(f"{num_total_params=} ({format_big_number(num_total_params)})") + + obs, info = online_env.reset() + + obs = preprocess_observation(obs) + obs = {key: obs[key].to(device, non_blocking=True) for key in obs} + + replay_buffer = ReplayBuffer( + capacity=cfg.training.online_buffer_capacity, device=device, state_keys=cfg.policy.input_shapes.keys() + ) + + breakpoint() + batch_size = cfg.training.batch_size + # if cfg.training.online_steps > 0 and isinstance(cfg.dataset_repo_id, ListConfig): + # raise NotImplementedError("Online training with LeRobotMultiDataset is not implemented.") + if cfg.dataset_repo_id is not None: + logging.info("make_dataset offline buffer") + offline_dataset = make_dataset(cfg) + logging.info("Convertion to a offline replay buffer") + offline_replay_buffer = ReplayBuffer.from_lerobot_dataset( + offline_dataset, device=device, state_keys=cfg.policy.input_shapes.keys() + ) + batch_size: int = batch_size // 2 # We will sample from both replay buffer + + # NOTE: For the moment we will solely handle the case of a single environment + sum_reward_episode = 0 + + for interaction_step in range(cfg.training.online_steps): + # NOTE: At some point we should use a wrapper to handle the observation + + if interaction_step >= cfg.training.online_step_before_learning: + action = policy.select_action(batch=obs) + next_obs, reward, done, truncated, info = online_env.step(action.cpu().numpy()) + else: + action = online_env.action_space.sample() + next_obs, reward, done, truncated, info = online_env.step(action) + # HACK + action = torch.tensor(action, dtype=torch.float32).to(device, non_blocking=True) + + next_obs = preprocess_observation(next_obs) + next_obs = {key: next_obs[key].to(device, non_blocking=True) for key in obs} + sum_reward_episode += float(reward[0]) + # Because we are using a single environment + # we can safely assume that the episode is done + if done[0] or truncated[0]: + logging.info(f"Global step {interaction_step}: Episode reward: {sum_reward_episode}") + logger.log_dict({"Sum episode reward": sum_reward_episode}, interaction_step) + sum_reward_episode = 0 + + replay_buffer.add( + state=obs, + action=action, + reward=float(reward[0]), + next_state=next_obs, + done=done[0], + ) + obs = next_obs + + if interaction_step >= cfg.training.online_step_before_learning: + for _ in range(cfg.policy.utd_ratio - 1): + batch = replay_buffer.sample(batch_size) + if cfg.dataset_repo_id is not None: + batch_offline = offline_replay_buffer.sample(batch_size) + batch = concatenate_batch_transitions(batch, batch_offline) + + actions = batch["action"] + rewards = batch["reward"] + observations = batch["state"] + next_observations = batch["next_state"] + done = batch["done"] + + loss_critic = policy.compute_loss_critic( + observations=observations, + actions=actions, + rewards=rewards, + next_observations=next_observations, + done=done, + ) + optimizers["critic"].zero_grad() + loss_critic.backward() + optimizers["critic"].step() + + batch = replay_buffer.sample(batch_size) + if cfg.dataset_repo_id is not None: + batch_offline = offline_replay_buffer.sample(batch_size) + batch = concatenate_batch_transitions(batch, batch_offline) + # 'observation.state', 'action', 'next.reward', 'next.done' + # TODO: (azouitine) interface to refine + # TODO: At some point we should find a way to normalize the inputs + # batch = policy.normalize_inputs(batch) + + actions = batch["action"] + rewards = batch["reward"] + observations = batch["state"] + next_observations = batch["next_state"] + done = batch["done"] + + loss_critic = policy.compute_loss_critic( + observations=observations, + actions=actions, + rewards=rewards, + next_observations=next_observations, + done=done, + ) + optimizers["critic"].zero_grad() + loss_critic.backward() + optimizers["critic"].step() + + training_infos = {} + training_infos["loss_critic"] = loss_critic.item() + + if interaction_step % cfg.training.policy_update_freq == 0: + # TD3 Trick + for _ in range(cfg.training.policy_update_freq): + loss_actor = policy.compute_loss_actor(observations=observations) + + optimizers["actor"].zero_grad() + loss_actor.backward() + optimizers["actor"].step() + + training_infos["loss_actor"] = loss_actor.item() + + loss_temperature = policy.compute_loss_temperature(observations=observations) + optimizers["temperature"].zero_grad() + loss_temperature.backward() + optimizers["temperature"].step() + + training_infos["loss_temperature"] = loss_temperature.item() + + if interaction_step % cfg.training.log_freq == 0: + logger.log_dict(training_infos, interaction_step, mode="train") + + policy.update_target_networks() + + +def clip_grad_norm(loss, clip_grad_norm_value, parameters): + grad_norm = torch.nn.utils.clip_grad_norm_( + parameters=parameters, + max_norm=clip_grad_norm_value, + error_if_nonfinite=False, + ) + return grad_norm + + +def update_policy( + policy, + batch, + optimizer, + grad_clip_norm, + grad_scaler: GradScaler, + lr_scheduler=None, + use_amp: bool = False, + lock=None, +): + """Returns a dictionary of items for logging.""" + start_time = time.perf_counter() + device = get_device_from_parameters(policy) + policy.train() + with torch.autocast(device_type=device.type) if use_amp else nullcontext(): + output_dict = policy.forward(batch) + # TODO(rcadene): policy.unnormalize_outputs(out_dict) + loss = output_dict["loss"] + grad_scaler.scale(loss).backward() + + # Unscale the graident of the optimzer's assigned params in-place **prior to gradient clipping**. + grad_scaler.unscale_(optimizer) + + grad_norm = torch.nn.utils.clip_grad_norm_( + policy.parameters(), + grad_clip_norm, + error_if_nonfinite=False, + ) + + # Optimizer's gradients are already unscaled, so scaler.step does not unscale them, + # although it still skips optimizer.step() if the gradients contain infs or NaNs. + with lock if lock is not None else nullcontext(): + grad_scaler.step(optimizer) + # Updates the scale for next iteration. + grad_scaler.update() + + optimizer.zero_grad() + + if lr_scheduler is not None: + lr_scheduler.step() + + if isinstance(policy, PolicyWithUpdate): + # To possibly update an internal buffer (for instance an Exponential Moving Average like in TDMPC). + policy.update() + + info = { + "loss": loss.item(), + "grad_norm": float(grad_norm), + "lr": optimizer.param_groups[0]["lr"], + "update_s": time.perf_counter() - start_time, + **{k: v for k, v in output_dict.items() if k != "loss"}, + } + info.update({k: v for k, v in output_dict.items() if k not in info}) + + return info + + +def log_train_info(logger: Logger, info, step, cfg, dataset, is_online): + loss = info["loss"] + grad_norm = info["grad_norm"] + lr = info["lr"] + update_s = info["update_s"] + dataloading_s = info["dataloading_s"] + + # A sample is an (observation,action) pair, where observation and action + # can be on multiple timestamps. In a batch, we have `batch_size`` number of samples. + num_samples = (step + 1) * cfg.training.batch_size + avg_samples_per_ep = dataset.num_frames / dataset.num_episodes + num_episodes = num_samples / avg_samples_per_ep + num_epochs = num_samples / dataset.num_frames + log_items = [ + f"step:{format_big_number(step)}", + # number of samples seen during training + f"smpl:{format_big_number(num_samples)}", + # number of episodes seen during training + f"ep:{format_big_number(num_episodes)}", + # number of time all unique samples are seen + f"epch:{num_epochs:.2f}", + f"loss:{loss:.3f}", + f"grdn:{grad_norm:.3f}", + f"lr:{lr:0.1e}", + # in seconds + f"updt_s:{update_s:.3f}", + f"data_s:{dataloading_s:.3f}", # if not ~0, you are bottlenecked by cpu or io + ] + logging.info(" ".join(log_items)) + + info["step"] = step + info["num_samples"] = num_samples + info["num_episodes"] = num_episodes + info["num_epochs"] = num_epochs + info["is_online"] = is_online + + logger.log_dict(info, step, mode="train") + + +def log_eval_info(logger, info, step, cfg, dataset, is_online): + eval_s = info["eval_s"] + avg_sum_reward = info["avg_sum_reward"] + pc_success = info["pc_success"] + + # A sample is an (observation,action) pair, where observation and action + # can be on multiple timestamps. In a batch, we have `batch_size`` number of samples. + num_samples = (step + 1) * cfg.training.batch_size + avg_samples_per_ep = dataset.num_frames / dataset.num_episodes + num_episodes = num_samples / avg_samples_per_ep + num_epochs = num_samples / dataset.num_frames + log_items = [ + f"step:{format_big_number(step)}", + # number of samples seen during training + f"smpl:{format_big_number(num_samples)}", + # number of episodes seen during training + f"ep:{format_big_number(num_episodes)}", + # number of time all unique samples are seen + f"epch:{num_epochs:.2f}", + f"∑rwrd:{avg_sum_reward:.3f}", + f"success:{pc_success:.1f}%", + f"eval_s:{eval_s:.3f}", + ] + logging.info(" ".join(log_items)) + + info["step"] = step + info["num_samples"] = num_samples + info["num_episodes"] = num_episodes + info["num_epochs"] = num_epochs + info["is_online"] = is_online + + logger.log_dict(info, step, mode="eval") + + +# def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = None): +# if out_dir is None: +# raise NotImplementedError() +# if job_name is None: +# raise NotImplementedError() + +# init_logging() +# logging.info(pformat(OmegaConf.to_container(cfg))) + +# if cfg.training.online_steps > 0 and isinstance(cfg.dataset_repo_id, ListConfig): +# raise NotImplementedError("Online training with LeRobotMultiDataset is not implemented.") + +# # Create an env dedicated to online episodes collection from policy rollout. +# online_env = make_env(cfg, n_envs=cfg.training.online_rollout_batch_size) + +# if cfg.training.eval_freq > 0: +# logging.info("make_env") +# eval_env = make_env(cfg) + +# # If we are resuming a run, we need to check that a checkpoint exists in the log directory, and we need +# # to check for any differences between the provided config and the checkpoint's config. +# if cfg.resume: +# if not Logger.get_last_checkpoint_dir(out_dir).exists(): +# raise RuntimeError( +# "You have set resume=True, but there is no model checkpoint in " +# f"{Logger.get_last_checkpoint_dir(out_dir)}" +# ) +# checkpoint_cfg_path = str(Logger.get_last_pretrained_model_dir(out_dir) / "config.yaml") +# logging.info( +# colored( +# "You have set resume=True, indicating that you wish to resume a run", +# color="yellow", +# attrs=["bold"], +# ) +# ) +# # Get the configuration file from the last checkpoint. +# checkpoint_cfg = init_hydra_config(checkpoint_cfg_path) +# # Check for differences between the checkpoint configuration and provided configuration. +# # Hack to resolve the delta_timestamps ahead of time in order to properly diff. +# resolve_delta_timestamps(cfg) +# diff = DeepDiff(OmegaConf.to_container(checkpoint_cfg), OmegaConf.to_container(cfg)) +# # Ignore the `resume` and parameters. +# if "values_changed" in diff and "root['resume']" in diff["values_changed"]: +# del diff["values_changed"]["root['resume']"] +# # Log a warning about differences between the checkpoint configuration and the provided +# # configuration. +# if len(diff) > 0: +# logging.warning( +# "At least one difference was detected between the checkpoint configuration and " +# f"the provided configuration: \n{pformat(diff)}\nNote that the checkpoint configuration " +# "takes precedence.", +# ) +# # Use the checkpoint config instead of the provided config (but keep `resume` parameter). +# cfg = checkpoint_cfg +# cfg.resume = True +# elif Logger.get_last_checkpoint_dir(out_dir).exists(): +# raise RuntimeError( +# f"The configured output directory {Logger.get_last_checkpoint_dir(out_dir)} already exists. If " +# "you meant to resume training, please use `resume=true` in your command or yaml configuration." +# ) + +# if cfg.eval.batch_size > cfg.eval.n_episodes: +# raise ValueError( +# "The eval batch size is greater than the number of eval episodes " +# f"({cfg.eval.batch_size} > {cfg.eval.n_episodes}). As a result, {cfg.eval.batch_size} " +# f"eval environments will be instantiated, but only {cfg.eval.n_episodes} will be used. " +# "This might significantly slow down evaluation. To fix this, you should update your command " +# f"to increase the number of episodes to match the batch size (e.g. `eval.n_episodes={cfg.eval.batch_size}`), " +# f"or lower the batch size (e.g. `eval.batch_size={cfg.eval.n_episodes}`)." +# ) + +# # log metrics to terminal and wandb +# logger = Logger(cfg, out_dir, wandb_job_name=job_name) + +# set_global_seed(cfg.seed) + +# # Check device is available +# device = get_safe_torch_device(cfg.device, log=True) + +# torch.backends.cudnn.benchmark = True +# torch.backends.cuda.matmul.allow_tf32 = True + +# logging.info("make_dataset") +# # offline_dataset = make_dataset(cfg) +# # TODO (michel-aractingi): temporary fix to avoid datasets with task_index key that doesn't exist in online environment +# # i.e., pusht +# # if "task_index" in offline_dataset.hf_dataset[0]: +# # offline_dataset.hf_dataset = offline_dataset.hf_dataset.remove_columns(["task_index"]) + +# # if isinstance(offline_dataset, MultiLeRobotDataset): +# # logging.info( +# # "Multiple datasets were provided. Applied the following index mapping to the provided datasets: " +# # f"{pformat(offline_dataset.repo_id_to_index , indent=2)}" +# # ) + +# # Create environment used for evaluating checkpoints during training on simulation data. +# # On real-world data, no need to create an environment as evaluations are done outside train.py, +# # using the eval.py instead, with gym_dora environment and dora-rs. +# eval_env = None +# if cfg.training.eval_freq > 0: +# logging.info("make_env") +# eval_env = make_env(cfg) + +# logging.info("make_policy") +# policy = make_policy( +# hydra_cfg=cfg, +# # dataset_stats=offline_dataset.meta.stats if not cfg.resume else None, +# # Hack: But if we do online traning, we do not need dataset_stats +# dataset_stats=None, +# pretrained_policy_name_or_path=str(logger.last_pretrained_model_dir) if cfg.resume else None, +# ) +# assert isinstance(policy, nn.Module) +# # Create optimizer and scheduler +# # Temporary hack to move optimizer out of policy +# optimizer, lr_scheduler = make_optimizer_and_scheduler(cfg, policy) +# grad_scaler = GradScaler(enabled=cfg.use_amp) + +# step = 0 # number of policy updates (forward + backward + optim) + +# if cfg.resume: +# step = logger.load_last_training_state(optimizer, lr_scheduler) + +# num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad) +# num_total_params = sum(p.numel() for p in policy.parameters()) + +# log_output_dir(out_dir) +# logging.info(f"{cfg.env.task=}") +# logging.info(f"{cfg.training.offline_steps=} ({format_big_number(cfg.training.offline_steps)})") +# logging.info(f"{cfg.training.online_steps=}") +# # logging.info(f"{offline_dataset.num_frames=} ({format_big_number(offline_dataset.num_frames)})") +# # logging.info(f"{offline_dataset.num_episodes=}") +# logging.info(f"{num_learnable_params=} ({format_big_number(num_learnable_params)})") +# logging.info(f"{num_total_params=} ({format_big_number(num_total_params)})") + +# # Note: this helper will be used in offline and online training loops. +# def evaluate_and_checkpoint_if_needed(step, is_online): +# _num_digits = max(6, len(str(cfg.training.offline_steps + cfg.training.online_steps))) +# step_identifier = f"{step:0{_num_digits}d}" + +# if cfg.training.eval_freq > 0 and step % cfg.training.eval_freq == 0: +# logging.info(f"Eval policy at step {step}") +# with torch.no_grad(), torch.autocast(device_type=device.type) if cfg.use_amp else nullcontext(): +# assert eval_env is not None +# eval_info = eval_policy( +# eval_env, +# policy, +# cfg.eval.n_episodes, +# videos_dir=Path(out_dir) / "eval" / f"videos_step_{step_identifier}", +# max_episodes_rendered=4, +# start_seed=cfg.seed, +# ) +# # log_eval_info(logger, eval_info["aggregated"], step, cfg, offline_dataset, is_online=is_online) +# log_eval_info(logger, eval_info["aggregated"], step, cfg, online_dataset, is_online=is_online) +# if cfg.wandb.enable: +# logger.log_video(eval_info["video_paths"][0], step, mode="eval") +# logging.info("Resume training") + +# if cfg.training.save_checkpoint and ( +# step % cfg.training.save_freq == 0 +# or step == cfg.training.offline_steps + cfg.training.online_steps +# ): +# logging.info(f"Checkpoint policy after step {step}") +# # Note: Save with step as the identifier, and format it to have at least 6 digits but more if +# # needed (choose 6 as a minimum for consistency without being overkill). +# logger.save_checkpoint( +# step, +# policy, +# optimizer, +# lr_scheduler, +# identifier=step_identifier, +# ) +# logging.info("Resume training") + +# # create dataloader for offline training +# # if cfg.training.get("drop_n_last_frames"): +# # shuffle = False +# # sampler = EpisodeAwareSampler( +# # offline_dataset.episode_data_index, +# # drop_n_last_frames=cfg.training.drop_n_last_frames, +# # shuffle=True, +# # ) +# # else: +# # shuffle = True +# # sampler = None +# # dataloader = torch.utils.data.DataLoader( +# # offline_dataset, +# # num_workers=cfg.training.num_workers, +# # batch_size=cfg.training.batch_size, +# # shuffle=shuffle, +# # sampler=sampler, +# # pin_memory=device.type != "cpu", +# # drop_last=False, +# # ) +# # dl_iter = cycle(dataloader) + +# policy.train() +# # offline_step = 0 +# # for _ in range(step, cfg.training.offline_steps): +# # if offline_step == 0: +# # logging.info("Start offline training on a fixed dataset") + +# # start_time = time.perf_counter() +# # batch = next(dl_iter) +# # dataloading_s = time.perf_counter() - start_time + +# # for key in batch: +# # batch[key] = batch[key].to(device, non_blocking=True) + +# # train_info = update_policy( +# # policy, +# # batch, +# # optimizer, +# # cfg.training.grad_clip_norm, +# # grad_scaler=grad_scaler, +# # lr_scheduler=lr_scheduler, +# # use_amp=cfg.use_amp, +# # ) + +# # train_info["dataloading_s"] = dataloading_s + +# # if step % cfg.training.log_freq == 0: +# # log_train_info(logger, train_info, step, cfg, offline_dataset, is_online=False) + +# # # Note: evaluate_and_checkpoint_if_needed happens **after** the `step`th training update has completed, +# # # so we pass in step + 1. +# # evaluate_and_checkpoint_if_needed(step + 1, is_online=False) + +# # step += 1 +# # offline_step += 1 # noqa: SIM113 + +# # if cfg.training.online_steps == 0: +# # if eval_env: +# # eval_env.close() +# # logging.info("End of training") +# # return + +# # Online training. + +# # Create an env dedicated to online episodes collection from policy rollout. +# online_env = make_env(cfg, n_envs=cfg.training.online_rollout_batch_size) +# resolve_delta_timestamps(cfg) +# online_buffer_path = logger.log_dir / "online_buffer" +# if cfg.resume and not online_buffer_path.exists(): +# # If we are resuming a run, we default to the data shapes and buffer capacity from the saved online +# # buffer. +# logging.warning( +# "When online training is resumed, we load the latest online buffer from the prior run, " +# "and this might not coincide with the state of the buffer as it was at the moment the checkpoint " +# "was made. This is because the online buffer is updated on disk during training, independently " +# "of our explicit checkpointing mechanisms." +# ) +# online_dataset = OnlineBuffer( +# online_buffer_path, +# data_spec={ +# **{k: {"shape": v, "dtype": np.dtype("float32")} for k, v in policy.config.input_shapes.items()}, +# **{k: {"shape": v, "dtype": np.dtype("float32")} for k, v in policy.config.output_shapes.items()}, +# "next.reward": {"shape": (), "dtype": np.dtype("float32")}, +# "next.done": {"shape": (), "dtype": np.dtype("?")}, +# "next.success": {"shape": (), "dtype": np.dtype("?")}, +# }, +# buffer_capacity=cfg.training.online_buffer_capacity, +# fps=online_env.unwrapped.metadata["render_fps"], +# delta_timestamps=cfg.training.delta_timestamps, +# ) + +# # If we are doing online rollouts asynchronously, deepcopy the policy to use for online rollouts (this +# # makes it possible to do online rollouts in parallel with training updates). +# online_rollout_policy = deepcopy(policy) if cfg.training.do_online_rollout_async else policy + +# # Create dataloader for online training. +# # concat_dataset = torch.utils.data.ConcatDataset([offline_dataset, online_dataset]) +# # sampler_weights = compute_sampler_weights( +# # offline_dataset, +# # offline_drop_n_last_frames=cfg.training.get("drop_n_last_frames", 0), +# # online_dataset=online_dataset, +# # # +1 because online rollouts return an extra frame for the "final observation". Note: we don't have +# # # this final observation in the offline datasets, but we might add them in future. +# # online_drop_n_last_frames=cfg.training.get("drop_n_last_frames", 0) + 1, +# # online_sampling_ratio=cfg.training.online_sampling_ratio, +# # ) +# # sampler = torch.utils.data.WeightedRandomSampler( +# # sampler_weights, +# # num_samples=len(concat_dataset), +# # replacement=True, +# # ) +# # dataloader = torch.utils.data.DataLoader( +# # concat_dataset, +# # batch_size=cfg.training.batch_size, +# # num_workers=cfg.training.num_workers, +# # sampler=sampler, +# # pin_memory=device.type != "cpu", +# # drop_last=True, +# # ) + +# dataloader = torch.utils.data.DataLoader( +# online_dataset, +# batch_size=cfg.training.batch_size, +# # num_workers=cfg.training.num_workers, +# num_workers=0, +# # sampler=sampler, +# pin_memory=device.type != "cpu", +# drop_last=True, +# ) +# dl_iter = cycle(dataloader) + +# # Lock and thread pool executor for asynchronous online rollouts. When asynchronous mode is disabled, +# # these are still used but effectively do nothing. +# # Hack: Comment the lock +# # lock = Lock() +# # Note: 1 worker because we only ever want to run one set of online rollouts at a time. Batch +# # parallelization of rollouts is handled within the job. + +# # Hack: ThreadPoolExecutor +# # executor = ThreadPoolExecutor(max_workers=1) + +# online_step = 0 +# online_rollout_s = 0 # time take to do online rollout +# update_online_buffer_s = 0 # time taken to update the online buffer with the online rollout data +# # Time taken waiting for the online buffer to finish being updated. This is relevant when using the async +# # online rollout option. +# await_update_online_buffer_s = 0 +# rollout_start_seed = cfg.training.online_env_seed + +# while True: +# if online_step == cfg.training.online_steps: +# break + +# if online_step == 0: +# logging.info("Start online training by interacting with environment") + +# def sample_trajectory_and_update_buffer(): +# nonlocal rollout_start_seed +# # with lock: +# online_rollout_policy.load_state_dict(policy.state_dict()) + +# online_rollout_policy.eval() +# start_rollout_time = time.perf_counter() +# with torch.no_grad(): +# eval_info = eval_policy( +# online_env, +# online_rollout_policy, +# n_episodes=cfg.training.online_rollout_n_episodes, +# max_episodes_rendered=min(10, cfg.training.online_rollout_n_episodes), +# videos_dir=logger.log_dir / "online_rollout_videos", +# return_episode_data=True, +# start_seed=( +# rollout_start_seed := (rollout_start_seed + cfg.training.batch_size) % 1000000 +# ), +# ) +# online_rollout_s = time.perf_counter() - start_rollout_time + +# # with lock: +# start_update_buffer_time = time.perf_counter() +# online_dataset.add_data(eval_info["episodes"]) + +# # Update the concatenated dataset length used during sampling. +# # concat_dataset.cumulative_sizes = concat_dataset.cumsum(concat_dataset.datasets) +# # HACK: We do only online training, so we don't need update dataset length because +# # we do not concatenate offline and online datasets. +# # online_dataset.cumulative_sizes = online_dataset.cumsum(online_dataset.datasets) + +# # Update the sampling weights. +# # sampler.weights = compute_sampler_weights( +# # offline_dataset, +# # offline_drop_n_last_frames=cfg.training.get("drop_n_last_frames", 0), +# # online_dataset=online_dataset, +# # # +1 because online rollouts return an extra frame for the "final observation". Note: we don't have +# # # this final observation in the offline datasets, but we might add them in future. +# # online_drop_n_last_frames=cfg.training.get("drop_n_last_frames", 0) + 1, +# # online_sampling_ratio=cfg.training.online_sampling_ratio, +# # ) +# # sampler.num_frames = len(concat_dataset) + +# update_online_buffer_s = time.perf_counter() - start_update_buffer_time + +# return online_rollout_s, update_online_buffer_s + +# # Hack:Comment it +# # future = executor.submit(sample_trajectory_and_update_buffer) +# # sample_trajectory_and_update_buffer() +# # If we aren't doing async rollouts, or if we haven't yet gotten enough examples in our buffer, wait +# # here until the rollout and buffer update is done, before proceeding to the policy update steps. +# if ( +# not cfg.training.do_online_rollout_async +# or len(online_dataset) <= cfg.training.online_buffer_seed_size +# ): +# # online_rollout_s, update_online_buffer_s = future.result() +# online_rollout_s, update_online_buffer_s = sample_trajectory_and_update_buffer() + +# if len(online_dataset) <= cfg.training.online_buffer_seed_size: +# logging.info( +# f"Seeding online buffer: {len(online_dataset)}/{cfg.training.online_buffer_seed_size}" +# ) +# continue + +# policy.train() +# for _ in range(cfg.training.online_steps_between_rollouts): +# # Hack: Comment the lock and reindent +# # with lock: +# start_time = time.perf_counter() +# batch = next(dl_iter) +# dataloading_s = time.perf_counter() - start_time + +# for key in batch: +# batch[key] = batch[key].to(cfg.device, non_blocking=True) + +# train_info = update_policy( +# policy, +# batch, +# optimizer, +# cfg.training.grad_clip_norm, +# grad_scaler=grad_scaler, +# lr_scheduler=lr_scheduler, +# use_amp=cfg.use_amp, +# # lock=lock, +# # Hack: Comment the lock +# lock=None, +# ) + +# train_info["dataloading_s"] = dataloading_s +# train_info["online_rollout_s"] = online_rollout_s +# train_info["update_online_buffer_s"] = update_online_buffer_s +# train_info["await_update_online_buffer_s"] = await_update_online_buffer_s +# # Hack: Comment the lock and reindent +# # with lock: +# train_info["online_buffer_size"] = len(online_dataset) + +# if step % cfg.training.log_freq == 0: +# log_train_info(logger, train_info, step, cfg, online_dataset, is_online=True) + +# # Note: evaluate_and_checkpoint_if_needed happens **after** the `step`th training update has completed, +# # so we pass in step + 1. +# evaluate_and_checkpoint_if_needed(step + 1, is_online=True) + +# step += 1 +# online_step += 1 + +# # If we're doing async rollouts, we should now wait until we've completed them before proceeding +# # to do the next batch of rollouts. +# # Hack: comment it +# # if future.running(): +# start = time.perf_counter() +# # online_rollout_s, update_online_buffer_s = future.result() +# online_rollout_s, update_online_buffer_s = sample_trajectory_and_update_buffer() +# await_update_online_buffer_s = time.perf_counter() - start + +# if online_step >= cfg.training.online_steps: +# break + +# if eval_env: +# eval_env.close() +# logging.info("End of training") + + +@hydra.main(version_base="1.2", config_name="default", config_path="../configs") +def train_cli(cfg: dict): + train( + cfg, + out_dir=hydra.core.hydra_config.HydraConfig.get().run.dir, + job_name=hydra.core.hydra_config.HydraConfig.get().job.name, + ) + + +def train_notebook(out_dir=None, job_name=None, config_name="default", config_path="../configs"): + from hydra import compose, initialize + + hydra.core.global_hydra.GlobalHydra.instance().clear() + initialize(config_path=config_path) + cfg = compose(config_name=config_name) + train(cfg, out_dir=out_dir, job_name=job_name) + + +if __name__ == "__main__": + train_cli()