compare new/old buffers

tdmpc2/common/buffer.py

@@ -2,7 +2,6 @@ from pathlib import Path
 import torch
 from tensordict.tensordict import TensorDict
 from torchrl.data.replay_buffers import ReplayBuffer, LazyTensorStorage
-from torchrl.envs import RandomCropTensorDict, Transform, Compose
 
 from common.logger import make_dir
 from common.samplers import SliceSampler
@@ -19,7 +18,6 @@ class Buffer():
 		self._device = torch.device('cuda')
 		self._batch_size = self.cfg.batch_size * (self.cfg.horizon+1)
 		self._capacity = min(cfg.buffer_size, cfg.steps)
-		self._num_steps = 0
 		self._num_eps = 0
 
 	@property
@@ -27,11 +25,6 @@ class Buffer():
 		"""Return the capacity of the buffer."""
 		return self._capacity
 	
-	@property
-	def num_steps(self):
-		"""Return the number of steps in the buffer."""
-		return self._num_steps
-
 	@property
 	def num_eps(self):
 		"""Return the number of episodes in the buffer."""
@@ -45,7 +38,8 @@ class Buffer():
 			storage=storage,
 			sampler=SliceSampler(
 				slice_len=self.cfg.horizon+1,
-				end_key='done',
+				end_key=None,
+				traj_key='episode',
 				truncated_key=None,
 			),
 			pin_memory=True,
@@ -53,12 +47,16 @@ class Buffer():
 			batch_size=self.cfg.batch_size,
 		)
 
-	def _init(self, td):
+	def _init(self, tds):
 		"""Initialize the replay buffer. Use the first episode to estimate storage requirements."""
 		mem_free, _ = torch.cuda.mem_get_info()
-		bytes_per_step = sum([x.numel()*x.element_size() for x in td[0].values()])
+		bytes_per_ep = sum([
-		print(f'Bytes per step: {bytes_per_step:,}')
+				(v.numel()*v.element_size() if not isinstance(v, TensorDict) \
-		total_bytes = bytes_per_step*self._capacity
+				else sum([x.numel()*x.element_size() for x in v.values()])) \
+			for k,v in tds.items()
+		])		
+		print(f'Bytes per episode: {bytes_per_ep:,}')
+		total_bytes = bytes_per_ep*self._capacity
 		print(f'Storage required: {total_bytes/1e9:.2f} GB')
 		# Heuristic: decide whether to use CUDA or CPU memory
 		if 2.5*total_bytes > mem_free: # Insufficient CUDA memory
@@ -72,23 +70,20 @@ class Buffer():
 				LazyTensorStorage(self._capacity, device=torch.device('cuda'))
 			)
 
-	def add(self, td):
+	def add(self, tds):
 		"""Add a step to the buffer."""
-		done = bool(td['done'].any())
+		tds['episode'] = torch.ones_like(tds['reward'], dtype=torch.int64) * self._num_eps
-		if done:
+		tds['step'] = torch.arange(0, len(tds))
-			self._num_eps +=1
+		if self._num_eps == 0:
-		td['episode'] = torch.ones_like(td['done']) * self._num_eps
+			self._buffer = self._init(tds)
-		td['step'] = torch.arange(0, len(td))
+		self._buffer.extend(tds)
-		if self._num_steps == 0:
+		self._num_eps += 1
-			self._buffer = self._init(td)
+		return self._num_eps
-		self._buffer.extend(td)
-		self._num_steps += 1
-		return self._num_steps
 
 	def sample(self):
 		"""Sample a batch of sub-trajectories from the buffer."""
 		td = self._buffer.sample(batch_size=self._batch_size) \
-			.reshape(-1, self.cfg.horizon+1).permute(1, 0)
+			.view(-1, self.cfg.horizon+1).permute(1, 0)
 		obs = td['obs'].to(self._device, non_blocking=True)
 		action = td['action'][1:].to(self._device, non_blocking=True)
 		reward = td['reward'][1:].unsqueeze(-1).to(self._device, non_blocking=True)

tdmpc2/common/legacy_buffer.py

@@ -0,0 +1,115 @@
+from pathlib import Path
+import torch
+from tensordict.tensordict import TensorDict
+from torchrl.data.replay_buffers import ReplayBuffer, LazyTensorStorage
+from torchrl.data.replay_buffers.samplers import RandomSampler
+from torchrl.envs import RandomCropTensorDict, Transform, Compose
+
+from common.logger import make_dir
+
+
+class DataPrepTransform(Transform):
+	"""
+	Preprocesses data for TD-MPC2 training.
+	Replay data is expected to be a TensorDict with the following keys:
+		obs: observations
+		action: actions
+		reward: rewards
+		task: task IDs (optional)
+	A TensorDict with T time steps has T+1 observations and T actions and rewards.
+	The first actions and rewards in each TensorDict are dummies and should be ignored.
+	"""
+
+	def __init__(self):
+		super().__init__([])
+	
+	def forward(self, td):
+		td = td.permute(1,0)
+		return td['obs'], td['action'][1:], td['reward'][1:].unsqueeze(-1), (td['task'][0] if 'task' in td.keys() else None)
+
+
+class Buffer():
+	"""
+	Create a replay buffer for TD-MPC2 training.
+	Uses CUDA memory if available, and CPU memory otherwise.
+	"""
+
+	def __init__(self, cfg):
+		self.cfg = cfg
+		self._device = torch.device('cuda')
+		self._capacity = min(cfg.buffer_size, cfg.steps)//cfg.episode_length
+		self._num_eps = 0
+
+	@property
+	def capacity(self):
+		"""Return the capacity of the buffer."""
+		return self._capacity
+	
+	@property
+	def num_eps(self):
+		"""Return the number of episodes in the buffer."""
+		return self._num_eps
+
+	def _reserve_buffer(self, storage):
+		"""
+		Reserve a buffer with the given storage.
+		Uses the RandomSampler to sample trajectories,
+		and the RandomCropTensorDict transform to crop trajectories to the desired length.
+		DataPrepTransform is used to preprocess data to the expected format in TD-MPC2 updates.
+		"""
+		return ReplayBuffer(
+			storage=storage,
+			sampler=RandomSampler(),
+			pin_memory=True,
+			prefetch=1,
+			transform=Compose(
+				RandomCropTensorDict(self.cfg.horizon+1, -1),
+				DataPrepTransform(),
+			),
+			batch_size=self.cfg.batch_size,
+		)
+
+	def _init(self, tds):
+		"""Initialize the replay buffer. Use the first episode to estimate storage requirements."""
+		mem_free, _ = torch.cuda.mem_get_info()
+		bytes_per_ep = sum([
+				(v.numel()*v.element_size() if not isinstance(v, TensorDict) \
+				else sum([x.numel()*x.element_size() for x in v.values()])) \
+			for k,v in tds.items()
+		])		
+		print(f'Bytes per episode: {bytes_per_ep:,}')
+		total_bytes = bytes_per_ep*self._capacity
+		print(f'Storage required: {total_bytes/1e9:.2f} GB')
+		# Heuristic: decide whether to use CUDA or CPU memory
+		if 2.5*total_bytes > mem_free: # Insufficient CUDA memory
+			print('Using CPU memory for storage.')
+			return self._reserve_buffer(
+				LazyTensorStorage(self._capacity, device=torch.device('cpu'))
+			)
+		else: # Sufficient CUDA memory
+			print('Using CUDA memory for storage.')
+			return self._reserve_buffer(
+				LazyTensorStorage(self._capacity, device=torch.device('cuda'))
+			)
+
+	def add(self, tds):
+		"""Add an episode to the buffer. All episodes are expected to have the same length."""
+		if self._num_eps == 0:
+			self._buffer = self._init(tds)
+		self._buffer.add(tds)
+		self._num_eps += 1
+		return self._num_eps
+
+	def sample(self):
+		"""Sample a batch of sub-trajectories from the buffer."""
+		obs, action, reward, task = self._buffer.sample(batch_size=self.cfg.batch_size)
+		return obs.to(self._device, non_blocking=True), \
+			   action.to(self._device, non_blocking=True), \
+			   reward.to(self._device, non_blocking=True), \
+			   task.to(self._device, non_blocking=True) if task is not None else None
+
+	def save(self):
+		"""Save the buffer to disk. Useful for storing offline datasets."""
+		td = self._buffer._storage._storage.cpu()
+		fp = make_dir(Path(self.cfg.buffer_dir) / self.cfg.task / str(self.cfg.seed)) / f'{self._num_eps}.pt'
+		torch.save(td, fp)

tdmpc2/train.py

@@ -1,5 +1,6 @@
 import os
 os.environ['MUJOCO_GL'] = 'egl'
+os.environ['LAZY_LEGACY_OP'] = 0
 import warnings
 warnings.filterwarnings('ignore')
 import torch
@@ -10,6 +11,7 @@ from termcolor import colored
 from common.parser import parse_cfg
 from common.seed import set_seed
 from common.buffer import Buffer
+# from common.legacy_buffer import Buffer
 from envs import make_env
 from tdmpc2 import TDMPC2
 from trainer.offline_trainer import OfflineTrainer

tdmpc2/trainer/online_trainer.py

@@ -14,7 +14,6 @@ class OnlineTrainer(Trainer):
 		super().__init__(*args, **kwargs)
 		self._step = 0
 		self._ep_idx = 0
-		self._ep_reward = 0
 		self._start_time = time()
 
 	def common_metrics(self):
@@ -22,7 +21,6 @@ class OnlineTrainer(Trainer):
 		return dict(
 			step=self._step,
 			episode=self._ep_idx,
-			episode_reward=self._ep_reward,
 			total_time=time() - self._start_time,
 		)
 
@@ -49,24 +47,20 @@ class OnlineTrainer(Trainer):
 			episode_success=np.nanmean(ep_successes),
 		)
 
-	def to_td(self, obs, action=None, reward=None, done=None):
+	def to_td(self, obs, action=None, reward=None):
 		"""Creates a TensorDict for a new episode."""
 		if isinstance(obs, dict):
-			obs = TensorDict({k: v for k,v in obs.items()}, batch_size=()).cpu()
+			obs = TensorDict({k: v.unsqueeze(0) for k,v in obs.items()}, batch_size=(1,)).cpu()
 		else:
-			obs = obs.cpu()
+			obs = obs.unsqueeze(0).cpu()
 		if action is None:
 			action = torch.empty_like(self.env.rand_act())
 		if reward is None:
 			reward = torch.tensor(float('nan'))
-		if done is None:
-			done = False
-		done = torch.tensor(done)
 		td = TensorDict(dict(
-			obs=obs.unsqueeze(0),
+			obs=obs,
 			action=action.unsqueeze(0),
 			reward=reward.unsqueeze(0),
-			done=done.unsqueeze(0),
 		), batch_size=(1,))
 		return td				
 
@@ -89,16 +83,15 @@ class OnlineTrainer(Trainer):
 
 				if self._step > 0:
 					train_metrics.update(
+						episode_reward=torch.tensor([td['reward'] for td in self._tds[1:]]).sum(),
 						episode_success=info['success'],
 					)
 					train_metrics.update(self.common_metrics())
 					self.logger.log(train_metrics, 'train')
-					self._ep_idx += 1
+					self._ep_idx = self.buffer.add(torch.cat(self._tds))
-					self.buffer.add(torch.cat(self._tds))
 
 				obs = self.env.reset()
 				self._tds = [self.to_td(obs)]
-				self._ep_reward = 0
 
 			# Collect experience
 			if self._step > self.cfg.seed_steps:
@@ -106,8 +99,7 @@ class OnlineTrainer(Trainer):
 			else:
 				action = self.env.rand_act()
 			obs, reward, done, info = self.env.step(action)
-			self._tds.append(self.to_td(obs, action, reward, done))
+			self._tds.append(self.to_td(obs, action, reward))
-			self._ep_reward += reward
 
 			# Update agent
 			if self._step >= self.cfg.seed_steps: