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Source code for torchrl.objectives.redq

# Copyright (c) Meta Platforms, Inc. and affiliates.
#
# This source code is licensed under the MIT license found in the
# LICENSE file in the root directory of this source tree.
from __future__ import annotations

import math
from dataclasses import dataclass
from numbers import Number
from typing import Union

import torch
from tensordict import TensorDict, TensorDictBase

from tensordict.nn import dispatch, TensorDictModule, TensorDictSequential
from tensordict.utils import NestedKey
from torch import Tensor

from torchrl.data.tensor_specs import CompositeSpec
from torchrl.envs.utils import ExplorationType, set_exploration_type, step_mdp
from torchrl.objectives.common import LossModule

from torchrl.objectives.utils import (
    _cache_values,
    _GAMMA_LMBDA_DEPREC_ERROR,
    _reduce,
    _vmap_func,
    default_value_kwargs,
    distance_loss,
    ValueEstimators,
)
from torchrl.objectives.value import TD0Estimator, TD1Estimator, TDLambdaEstimator


[docs]class REDQLoss(LossModule): """REDQ Loss module. REDQ (RANDOMIZED ENSEMBLED DOUBLE Q-LEARNING: LEARNING FAST WITHOUT A MODEL https://openreview.net/pdf?id=AY8zfZm0tDd) generalizes the idea of using an ensemble of Q-value functions to train a SAC-like algorithm. Args: actor_network (TensorDictModule): the actor to be trained qvalue_network (TensorDictModule): a single Q-value network that will be multiplicated as many times as needed. Keyword Args: num_qvalue_nets (int, optional): Number of Q-value networks to be trained. Default is ``10``. sub_sample_len (int, optional): number of Q-value networks to be subsampled to evaluate the next state value Default is ``2``. loss_function (str, optional): loss function to be used for the Q-value. Can be one of ``"smooth_l1"``, ``"l2"``, ``"l1"``, Default is ``"smooth_l1"``. alpha_init (float, optional): initial entropy multiplier. Default is ``1.0``. min_alpha (float, optional): min value of alpha. Default is ``0.1``. max_alpha (float, optional): max value of alpha. Default is ``10.0``. action_spec (TensorSpec, optional): the action tensor spec. If not provided and the target entropy is ``"auto"``, it will be retrieved from the actor. fixed_alpha (bool, optional): whether alpha should be trained to match a target entropy. Default is ``False``. target_entropy (Union[str, Number], optional): Target entropy for the stochastic policy. Default is "auto". delay_qvalue (bool, optional): Whether to separate the target Q value networks from the Q value networks used for data collection. Default is ``False``. gSDE (bool, optional): Knowing if gSDE is used is necessary to create random noise variables. Default is ``False``. priority_key (str, optional): [Deprecated, use .set_keys() instead] Key where to write the priority value for prioritized replay buffers. Default is ``"td_error"``. separate_losses (bool, optional): if ``True``, shared parameters between policy and critic will only be trained on the policy loss. Defaults to ``False``, ie. gradients are propagated to shared parameters for both policy and critic losses. reduction (str, optional): Specifies the reduction to apply to the output: ``"none"`` | ``"mean"`` | ``"sum"``. ``"none"``: no reduction will be applied, ``"mean"``: the sum of the output will be divided by the number of elements in the output, ``"sum"``: the output will be summed. Default: ``"mean"``. Examples: >>> import torch >>> from torch import nn >>> from torchrl.data import BoundedTensorSpec >>> from torchrl.modules.distributions.continuous import NormalParamWrapper, TanhNormal >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator >>> from torchrl.modules.tensordict_module.common import SafeModule >>> from torchrl.objectives.redq import REDQLoss >>> from tensordict import TensorDict >>> n_act, n_obs = 4, 3 >>> spec = BoundedTensorSpec(-torch.ones(n_act), torch.ones(n_act), (n_act,)) >>> net = NormalParamWrapper(nn.Linear(n_obs, 2 * n_act)) >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"]) >>> actor = ProbabilisticActor( ... module=module, ... in_keys=["loc", "scale"], ... spec=spec, ... distribution_class=TanhNormal) >>> class ValueClass(nn.Module): ... def __init__(self): ... super().__init__() ... self.linear = nn.Linear(n_obs + n_act, 1) ... def forward(self, obs, act): ... return self.linear(torch.cat([obs, act], -1)) >>> module = ValueClass() >>> qvalue = ValueOperator( ... module=module, ... in_keys=['observation', 'action']) >>> loss = REDQLoss(actor, qvalue) >>> batch = [2, ] >>> action = spec.rand(batch) >>> data = TensorDict({ ... "observation": torch.randn(*batch, n_obs), ... "action": action, ... ("next", "done"): torch.zeros(*batch, 1, dtype=torch.bool), ... ("next", "terminated"): torch.zeros(*batch, 1, dtype=torch.bool), ... ("next", "reward"): torch.randn(*batch, 1), ... ("next", "observation"): torch.randn(*batch, n_obs), ... }, batch) >>> loss(data) TensorDict( fields={ action_log_prob_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), alpha: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), entropy: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), loss_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), loss_alpha: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), loss_qvalue: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), next.state_value: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), state_action_value_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False), target_value: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False)}, batch_size=torch.Size([]), device=None, is_shared=False) This class is compatible with non-tensordict based modules too and can be used without recurring to any tensordict-related primitive. In this case, the expected keyword arguments are: ``["action", "next_reward", "next_done", "next_terminated"]`` + in_keys of the actor and qvalue network The return value is a tuple of tensors in the following order: ``["loss_actor", "loss_qvalue", "loss_alpha", "alpha", "entropy", "state_action_value_actor", "action_log_prob_actor", "next.state_value", "target_value",]``. Examples: >>> import torch >>> from torch import nn >>> from torchrl.data import BoundedTensorSpec >>> from torchrl.modules.distributions.continuous import NormalParamWrapper, TanhNormal >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator >>> from torchrl.modules.tensordict_module.common import SafeModule >>> from torchrl.objectives.redq import REDQLoss >>> n_act, n_obs = 4, 3 >>> spec = BoundedTensorSpec(-torch.ones(n_act), torch.ones(n_act), (n_act,)) >>> net = NormalParamWrapper(nn.Linear(n_obs, 2 * n_act)) >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"]) >>> actor = ProbabilisticActor( ... module=module, ... in_keys=["loc", "scale"], ... spec=spec, ... distribution_class=TanhNormal) >>> class ValueClass(nn.Module): ... def __init__(self): ... super().__init__() ... self.linear = nn.Linear(n_obs + n_act, 1) ... def forward(self, obs, act): ... return self.linear(torch.cat([obs, act], -1)) >>> module = ValueClass() >>> qvalue = ValueOperator( ... module=module, ... in_keys=['observation', 'action']) >>> loss = REDQLoss(actor, qvalue) >>> batch = [2, ] >>> action = spec.rand(batch) >>> # filter output keys to "loss_actor", and "loss_qvalue" >>> _ = loss.select_out_keys("loss_actor", "loss_qvalue") >>> loss_actor, loss_qvalue = loss( ... observation=torch.randn(*batch, n_obs), ... action=action, ... next_done=torch.zeros(*batch, 1, dtype=torch.bool), ... next_terminated=torch.zeros(*batch, 1, dtype=torch.bool), ... next_reward=torch.randn(*batch, 1), ... next_observation=torch.randn(*batch, n_obs)) >>> loss_actor.backward() """ @dataclass class _AcceptedKeys: """Maintains default values for all configurable tensordict keys. This class defines which tensordict keys can be set using '.set_keys(key_name=key_value)' and their default values Attributes: value (NestedKey): The input tensordict key where the state value is expected. Will be used for the underlying value estimator. Defaults to ``"state_value"``. action (NestedKey): The input tensordict key where the action is expected. Defaults to ``"action"``. sample_log_prob (NestedKey): The input tensordict key where the sample log probability is expected. Defaults to ``"sample_log_prob"``. priority (NestedKey): The input tensordict key where the target priority is written to. Defaults to ``"td_error"``. state_action_value (NestedKey): The input tensordict key where the state action value is expected. Defaults to ``"state_action_value"``. reward (NestedKey): The input tensordict key where the reward is expected. Will be used for the underlying value estimator. Defaults to ``"reward"``. done (NestedKey): The key in the input TensorDict that indicates whether a trajectory is done. Will be used for the underlying value estimator. Defaults to ``"done"``. terminated (NestedKey): The key in the input TensorDict that indicates whether a trajectory is terminated. Will be used for the underlying value estimator. Defaults to ``"terminated"``. """ action: NestedKey = "action" value: NestedKey = "state_value" sample_log_prob: NestedKey = "sample_log_prob" priority: NestedKey = "td_error" state_action_value: NestedKey = "state_action_value" reward: NestedKey = "reward" done: NestedKey = "done" terminated: NestedKey = "terminated" default_keys = _AcceptedKeys() delay_actor: bool = False default_value_estimator = ValueEstimators.TD0 out_keys = [ "loss_actor", "loss_qvalue", "loss_alpha", "alpha", "entropy", "state_action_value_actor", "action_log_prob_actor", "next.state_value", "target_value", ] def __init__( self, actor_network: TensorDictModule, qvalue_network: TensorDictModule, *, num_qvalue_nets: int = 10, sub_sample_len: int = 2, loss_function: str = "smooth_l1", alpha_init: float = 1.0, min_alpha: float = 0.1, max_alpha: float = 10.0, action_spec=None, fixed_alpha: bool = False, target_entropy: Union[str, Number] = "auto", delay_qvalue: bool = True, gSDE: bool = False, gamma: float = None, priority_key: str = None, separate_losses: bool = False, reduction: str = None, ): if reduction is None: reduction = "mean" super().__init__() self._in_keys = None self._set_deprecated_ctor_keys(priority_key=priority_key) self.convert_to_functional( actor_network, "actor_network", create_target_params=self.delay_actor, ) # let's make sure that actor_network has `return_log_prob` set to True self.actor_network.return_log_prob = True if separate_losses: # we want to make sure there are no duplicates in the params: the # params of critic must be refs to actor if they're shared policy_params = list(actor_network.parameters()) else: policy_params = None self.delay_qvalue = delay_qvalue self.convert_to_functional( qvalue_network, "qvalue_network", num_qvalue_nets, create_target_params=self.delay_qvalue, compare_against=policy_params, ) self.num_qvalue_nets = num_qvalue_nets self.sub_sample_len = max(1, min(sub_sample_len, num_qvalue_nets - 1)) self.loss_function = loss_function try: device = next(self.parameters()).device except AttributeError: device = torch.device("cpu") self.register_buffer("alpha_init", torch.tensor(alpha_init, device=device)) self.register_buffer( "min_log_alpha", torch.tensor(min_alpha, device=device).log() ) self.register_buffer( "max_log_alpha", torch.tensor(max_alpha, device=device).log() ) self.fixed_alpha = fixed_alpha if fixed_alpha: self.register_buffer( "log_alpha", torch.tensor(math.log(alpha_init), device=device) ) else: self.register_parameter( "log_alpha", torch.nn.Parameter(torch.tensor(math.log(alpha_init), device=device)), ) self._target_entropy = target_entropy self._action_spec = action_spec self.target_entropy_buffer = None self.reduction = reduction self.gSDE = gSDE if gamma is not None: raise TypeError(_GAMMA_LMBDA_DEPREC_ERROR) self._vmap_qvalue_network00 = _vmap_func( self.qvalue_network, randomness=self.vmap_randomness ) self._vmap_getdist = _vmap_func( self.actor_network, func="get_dist_params", randomness=self.vmap_randomness ) @property def target_entropy(self): target_entropy = self.target_entropy_buffer if target_entropy is None: delattr(self, "target_entropy_buffer") target_entropy = self._target_entropy action_spec = self._action_spec actor_network = self.actor_network device = next(self.parameters()).device if target_entropy == "auto": action_spec = ( action_spec if action_spec is not None else getattr(actor_network, "spec", None) ) if action_spec is None: raise RuntimeError( "Cannot infer the dimensionality of the action. Consider providing " "the target entropy explicitely or provide the spec of the " "action tensor in the actor network." ) if not isinstance(action_spec, CompositeSpec): action_spec = CompositeSpec({self.tensor_keys.action: action_spec}) if ( isinstance(self.tensor_keys.action, tuple) and len(self.tensor_keys.action) > 1 ): action_container_shape = action_spec[ self.tensor_keys.action[:-1] ].shape else: action_container_shape = action_spec.shape target_entropy = -float( action_spec[self.tensor_keys.action] .shape[len(action_container_shape) :] .numel() ) self.register_buffer( "target_entropy_buffer", torch.tensor(target_entropy, device=device) ) return self.target_entropy_buffer return target_entropy def _forward_value_estimator_keys(self, **kwargs) -> None: if self._value_estimator is not None: self._value_estimator.set_keys( value=self._tensor_keys.value, reward=self.tensor_keys.reward, done=self.tensor_keys.done, terminated=self.tensor_keys.terminated, ) self._set_in_keys() @property def alpha(self): self.log_alpha.data.clamp_(self.min_log_alpha, self.max_log_alpha) with torch.no_grad(): alpha = self.log_alpha.exp() return alpha def _set_in_keys(self): keys = [ self.tensor_keys.action, self.tensor_keys.sample_log_prob, ("next", self.tensor_keys.reward), ("next", self.tensor_keys.done), ("next", self.tensor_keys.terminated), *self.actor_network.in_keys, *[("next", key) for key in self.actor_network.in_keys], *self.qvalue_network.in_keys, ] self._in_keys = list(set(keys)) @property def in_keys(self): if self._in_keys is None: self._set_in_keys() return self._in_keys @in_keys.setter def in_keys(self, values): self._in_keys = values @property @_cache_values def _cached_detach_qvalue_network_params(self): return self.qvalue_network_params.detach() def _qvalue_params_cat(self, selected_q_params): qvalue_params = torch.cat( [ self._cached_detach_qvalue_network_params, selected_q_params, self.qvalue_network_params, ], 0, ) return qvalue_params
[docs] @dispatch def forward(self, tensordict: TensorDictBase) -> TensorDictBase: obs_keys = self.actor_network.in_keys tensordict_select = tensordict.clone(False).select( "next", *obs_keys, self.tensor_keys.action, strict=False ) selected_models_idx = torch.randperm(self.num_qvalue_nets)[ : self.sub_sample_len ].sort()[0] selected_q_params = self.target_qvalue_network_params[selected_models_idx] actor_params = torch.stack( [self.actor_network_params, self.target_actor_network_params], 0 ) tensordict_actor_grad = tensordict_select.select( *obs_keys, strict=False ) # to avoid overwriting keys next_td_actor = step_mdp(tensordict_select).select( *self.actor_network.in_keys, strict=False ) # next_observation -> tensordict_actor = torch.stack([tensordict_actor_grad, next_td_actor], 0) # tensordict_actor = tensordict_actor.contiguous() with set_exploration_type(ExplorationType.RANDOM): if self.gSDE: tensordict_actor.set( "_eps_gSDE", torch.zeros(tensordict_actor.shape, device=tensordict_actor.device), ) # vmap doesn't support sampling, so we take it out from the vmap td_params = self._vmap_getdist( tensordict_actor, actor_params, ) if isinstance(self.actor_network, TensorDictSequential): sample_key = self.tensor_keys.action tensordict_actor_dist = self.actor_network.build_dist_from_params( td_params ) else: sample_key = self.tensor_keys.action tensordict_actor_dist = self.actor_network.build_dist_from_params( td_params ) tensordict_actor.set(sample_key, tensordict_actor_dist.rsample()) tensordict_actor.set( self.tensor_keys.sample_log_prob, tensordict_actor_dist.log_prob(tensordict_actor.get(sample_key)), ) # repeat tensordict_actor to match the qvalue size _actor_loss_td = ( tensordict_actor[0] .select(*self.qvalue_network.in_keys) .expand(self.num_qvalue_nets, *tensordict_actor[0].batch_size) ) # for actor loss _qval_td = tensordict_select.select(*self.qvalue_network.in_keys).expand( self.num_qvalue_nets, *tensordict_select.select(*self.qvalue_network.in_keys).batch_size, ) # for qvalue loss _next_val_td = ( tensordict_actor[1] .select(*self.qvalue_network.in_keys) .expand(self.sub_sample_len, *tensordict_actor[1].batch_size) ) # for next value estimation tensordict_qval = torch.cat( [ _actor_loss_td, _next_val_td, _qval_td, ], 0, ) # cat params tensordict_qval = self._vmap_qvalue_network00( tensordict_qval, self._qvalue_params_cat(selected_q_params), ) state_action_value = tensordict_qval.get( self.tensor_keys.state_action_value ).squeeze(-1) ( state_action_value_actor, next_state_action_value_qvalue, state_action_value_qvalue, ) = state_action_value.split( [self.num_qvalue_nets, self.sub_sample_len, self.num_qvalue_nets], dim=0, ) sample_log_prob = tensordict_actor.get( self.tensor_keys.sample_log_prob ).squeeze(-1) ( action_log_prob_actor, next_action_log_prob_qvalue, ) = sample_log_prob.unbind(0) loss_actor = -(state_action_value_actor - self.alpha * action_log_prob_actor) next_state_value = ( next_state_action_value_qvalue - self.alpha * next_action_log_prob_qvalue ) next_state_value = next_state_value.min(0)[0] tensordict_select.set( ("next", self.tensor_keys.value), next_state_value.unsqueeze(-1) ) target_value = self.value_estimator.value_estimate(tensordict_select).squeeze( -1 ) pred_val = state_action_value_qvalue td_error = (pred_val - target_value).pow(2) loss_qval = distance_loss( pred_val, target_value.expand_as(pred_val), loss_function=self.loss_function, ) tensordict.set(self.tensor_keys.priority, td_error.detach().max(0)[0]) loss_alpha = self._loss_alpha(sample_log_prob) if not loss_qval.shape == loss_actor.shape: raise RuntimeError( f"QVal and actor loss have different shape: {loss_qval.shape} and {loss_actor.shape}" ) td_out = TensorDict( { "loss_actor": loss_actor, "loss_qvalue": loss_qval, "loss_alpha": loss_alpha, "alpha": self.alpha.detach(), "entropy": -sample_log_prob.detach().mean(), "state_action_value_actor": state_action_value_actor.detach(), "action_log_prob_actor": action_log_prob_actor.detach(), "next.state_value": next_state_value.detach(), "target_value": target_value.detach(), }, [], ) td_out = td_out.named_apply( lambda name, value: _reduce(value, reduction=self.reduction) if name.startswith("loss_") else value, batch_size=[], ) return td_out
def _loss_alpha(self, log_pi: Tensor) -> Tensor: if torch.is_grad_enabled() and not log_pi.requires_grad: raise RuntimeError( "expected log_pi to require gradient for the alpha loss)" ) if self.target_entropy is not None: # we can compute this loss even if log_alpha is not a parameter alpha_loss = -self.log_alpha.exp() * (log_pi.detach() + self.target_entropy) else: # placeholder alpha_loss = torch.zeros_like(log_pi) return alpha_loss
[docs] def make_value_estimator(self, value_type: ValueEstimators = None, **hyperparams): if value_type is None: value_type = self.default_value_estimator self.value_type = value_type hp = dict(default_value_kwargs(value_type)) if hasattr(self, "gamma"): hp["gamma"] = self.gamma hp.update(hyperparams) # we do not need a value network bc the next state value is already passed if value_type == ValueEstimators.TD1: self._value_estimator = TD1Estimator(value_network=None, **hp) elif value_type == ValueEstimators.TD0: self._value_estimator = TD0Estimator(value_network=None, **hp) elif value_type == ValueEstimators.GAE: raise NotImplementedError( f"Value type {value_type} it not implemented for loss {type(self)}." ) elif value_type == ValueEstimators.TDLambda: self._value_estimator = TDLambdaEstimator(value_network=None, **hp) else: raise NotImplementedError(f"Unknown value type {value_type}") tensor_keys = { "value": self.tensor_keys.value, "reward": self.tensor_keys.reward, "done": self.tensor_keys.done, "terminated": self.tensor_keys.terminated, } self._value_estimator.set_keys(**tensor_keys)

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