clean up discrete planning
This commit is contained in:
Nicklas Hansen
101
tdmpc2/tdmpc2.py
101
tdmpc2/tdmpc2.py
@@ -106,9 +106,8 @@ class TDMPC2(torch.nn.Module):
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action = self.plan(obs, t0=t0, eval_mode=eval_mode, task=task)
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else:
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z = self.model.encode(obs, task)
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action = self.model.pi(z, task)[int(not eval_mode)][0]
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if self.cfg.action_space == 'discrete':
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action = action.squeeze(0) # TODO: this is a bit hacky
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select_idx = int(not eval_mode or self.cfg.action_space == 'discrete')
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action = self.model.pi(z, task)[select_idx][0]
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return action.cpu()
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@torch.no_grad()
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@@ -126,6 +125,33 @@ class TDMPC2(torch.nn.Module):
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pi = pi.squeeze(1) # TODO: this is a bit hacky
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return G + discount * self.model.Q(z, pi, task, return_type='avg')
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@torch.no_grad()
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def _sample_policy(self, z, task):
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"""Sample trajectories from the policy prior."""
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pi_actions = torch.empty(self.cfg.horizon, self.cfg.num_pi_trajs, self.cfg.action_dim, device=self.device)
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for t in range(self.cfg.horizon-1):
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action = self.model.pi(z, task)[1]
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if self.cfg.action_space == 'discrete':
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action = action.squeeze(1)
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pi_actions[t] = action
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z = self.model.next(z, pi_actions[t], task)
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action = self.model.pi(z, task)[1]
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if self.cfg.action_space == 'discrete':
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action = action.squeeze(1)
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pi_actions[-1] = action
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return pi_actions
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@torch.no_grad()
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def _sample_actions(self, n, mean=None, std=None):
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"""Sample actions from a Gaussian or Categorical distribution."""
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if self.cfg.action_space == 'discrete':
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actions = torch.randint(0, self.cfg.action_dim, (self.cfg.horizon, n), device=self.device)
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actions = math.int_to_one_hot(actions, self.cfg.action_dim)
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else:
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r = torch.randn(self.cfg.horizon, self.cfg.num_samples-self.cfg.num_pi_trajs, self.cfg.action_dim, device=std.device)
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actions = (mean.unsqueeze(1) + std.unsqueeze(1) * r).clamp(-1, 1)
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return actions
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@torch.no_grad()
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def _plan(self, obs, t0=False, eval_mode=False, task=None):
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"""
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@@ -140,88 +166,61 @@ class TDMPC2(torch.nn.Module):
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Returns:
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torch.Tensor: Action to take in the environment.
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"""
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# Sample policy trajectories
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# Encode observation
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z = self.model.encode(obs, task)
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if self.cfg.num_pi_trajs > 0:
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pi_actions = torch.empty(self.cfg.horizon, self.cfg.num_pi_trajs, self.cfg.action_dim, device=self.device)
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_z = z.repeat(self.cfg.num_pi_trajs, 1)
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for t in range(self.cfg.horizon-1):
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action = self.model.pi(_z, task)[1]
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if self.cfg.action_space == 'discrete':
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action = action.squeeze(1)
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pi_actions[t] = action
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_z = self.model.next(_z, pi_actions[t], task)
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action = self.model.pi(_z, task)[1]
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if self.cfg.action_space == 'discrete':
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action = action.squeeze(1)
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pi_actions[-1] = action
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# Initialize state and parameters
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z = z.repeat(self.cfg.num_samples, 1)
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# Initialize parameters
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if self.cfg.action_space == 'continuous':
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mean = torch.zeros(self.cfg.horizon, self.cfg.action_dim, device=self.device)
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std = torch.full((self.cfg.horizon, self.cfg.action_dim), self.cfg.max_std, dtype=torch.float, device=self.device)
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if not t0:
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mean[:-1] = self._prev_mean[1:]
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else:
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mean, std = None, None
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actions = torch.empty(self.cfg.horizon, self.cfg.num_samples, self.cfg.action_dim, device=self.device)
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# Sample policy trajectories
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if self.cfg.num_pi_trajs > 0:
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actions[:, :self.cfg.num_pi_trajs] = pi_actions
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# Random shooting
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if self.cfg.action_space == 'discrete':
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# Sample actions
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actions_sample = torch.randint(0, self.cfg.action_dim, (self.cfg.horizon, self.cfg.num_samples-self.cfg.num_pi_trajs), device=actions.device)
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actions[:, self.cfg.num_pi_trajs:] = math.int_to_one_hot(actions_sample, self.cfg.action_dim)
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# Compute elite actions
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value = self._estimate_value(z, actions, task).nan_to_num(0)
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elite_idxs = torch.topk(value.squeeze(1), self.cfg.num_elites, dim=0).indices
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elite_value, elite_actions = value[elite_idxs], actions[:, elite_idxs]
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# Sample action according to score
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max_value = elite_value.max(0).values
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score = torch.exp(self.cfg.temperature*(elite_value - max_value))
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score = score / score.sum(0)
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rand_idx = math.gumbel_softmax_sample(score.squeeze(1)) # gumbel_softmax_sample is compatible with cuda graphs
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actions = torch.index_select(elite_actions, 1, rand_idx).squeeze(1)
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return actions[0]
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actions[:, :self.cfg.num_pi_trajs] = self._sample_policy(z[:self.cfg.num_pi_trajs], task)
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# Iterate MPPI
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for _ in range(self.cfg.iterations):
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# Sample actions
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r = torch.randn(self.cfg.horizon, self.cfg.num_samples-self.cfg.num_pi_trajs, self.cfg.action_dim, device=std.device)
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actions_sample = mean.unsqueeze(1) + std.unsqueeze(1) * r
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actions_sample = actions_sample.clamp(-1, 1)
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actions[:, self.cfg.num_pi_trajs:] = actions_sample
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# Sample random actions
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actions[:, self.cfg.num_pi_trajs:] = self._sample_actions(self.cfg.num_samples-self.cfg.num_pi_trajs, mean, std)
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if self.cfg.multitask:
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actions = actions * self.model._action_masks[task]
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# Compute elite actions
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# Select elites and compute scores
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value = self._estimate_value(z, actions, task).nan_to_num(0)
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elite_idxs = torch.topk(value.squeeze(1), self.cfg.num_elites, dim=0).indices
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elite_value, elite_actions = value[elite_idxs], actions[:, elite_idxs]
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# Update parameters
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max_value = elite_value.max(0).values
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score = torch.exp(self.cfg.temperature*(elite_value - max_value))
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score = score / score.sum(0)
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# Update parameters
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if self.cfg.action_space == 'continuous':
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mean = (score.unsqueeze(0) * elite_actions).sum(dim=1) / (score.sum(0) + 1e-9)
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std = ((score.unsqueeze(0) * (elite_actions - mean.unsqueeze(1)) ** 2).sum(dim=1) / (score.sum(0) + 1e-9)).sqrt()
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std = std.clamp(self.cfg.min_std, self.cfg.max_std)
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if self.cfg.multitask:
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mean = mean * self.model._action_masks[task]
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std = std * self.model._action_masks[task]
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else:
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break
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# Select action
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rand_idx = math.gumbel_softmax_sample(score.squeeze(1)) # gumbel_softmax_sample is compatible with cuda graphs
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actions = torch.index_select(elite_actions, 1, rand_idx).squeeze(1)
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a, std = actions[0], std[0]
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action = torch.index_select(elite_actions, 1, rand_idx).squeeze(1)[0]
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if self.cfg.action_space == 'continuous':
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if not eval_mode:
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a = a + std * torch.randn(self.cfg.action_dim, device=std.device)
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action = action + std[0] * torch.randn(self.cfg.action_dim, device=std.device)
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self._prev_mean.copy_(mean)
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action = action.clamp(-1, 1)
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return a.clamp(-1, 1)
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return action
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def update_pi(self, zs, task):
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"""
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