faster offline data loading

tdmpc2/common/buffer.py

@@ -65,6 +65,30 @@ class Buffer():
 			LazyTensorStorage(self._capacity, device=self._storage_device)
 		)
 
+	def load(self, td):
+		"""
+		Load a batch of episodes into the buffer. This is useful for loading data from disk,
+		and is more efficient than adding episodes one by one.
+		"""
+		num_new_eps = len(td)
+		episode_idx = torch.arange(self._num_eps, self._num_eps+num_new_eps, dtype=torch.int64)
+		td['episode'] = episode_idx.unsqueeze(-1).expand(-1, td['reward'].shape[1])
+		if self._num_eps == 0:
+			self._buffer = self._init(td[0])
+		td = td.reshape(td.shape[0]*td.shape[1])
+		self._buffer.extend(td)
+		self._num_eps += num_new_eps
+		return self._num_eps
+
+	def add(self, td):
+		"""Add an episode to the buffer."""
+		td['episode'] = torch.full_like(td['reward'], self._num_eps, dtype=torch.int64)
+		if self._num_eps == 0:
+			self._buffer = self._init(td)
+		self._buffer.extend(td)
+		self._num_eps += 1
+		return self._num_eps
+
 	def _prepare_batch(self, td):
 		"""
 		Prepare a sampled batch for training (post-processing).
@@ -79,15 +103,6 @@ class Buffer():
 			task = task[0].contiguous()
 		return obs, action, reward, task
 
-	def add(self, td):
-		"""Add an episode to the buffer."""
-		td['episode'] = torch.full_like(td['reward'], self._num_eps, dtype=torch.int64)
-		if self._num_eps == 0:
-			self._buffer = self._init(td)
-		self._buffer.extend(td)
-		self._num_eps += 1
-		return self._num_eps
-
 	def sample(self):
 		"""Sample a batch of subsequences from the buffer."""
 		td = self._buffer.sample().view(-1, self.cfg.horizon+1).permute(1, 0)

tdmpc2/common/world_model.py

@@ -137,7 +137,7 @@ class WorldModel(nn.Module):
 		eps = torch.randn_like(mean)
 
 		if self.cfg.multitask: # Mask out unused action dimensions
-			mu = mu * self._action_masks[task]
+			mean = mean * self._action_masks[task]
 			log_std = log_std * self._action_masks[task]
 			eps = eps * self._action_masks[task]
 			action_dims = self._action_masks.sum(-1)[task].unsqueeze(-1)

tdmpc2/trainer/offline_trainer.py

@@ -45,8 +45,8 @@ class OfflineTrainer(Trainer):
 		fps = sorted(glob(str(fp)))
 		assert len(fps) > 0, f'No data found at {fp}'
 		print(f'Found {len(fps)} files in {fp}')
-		assert len(fps) == (20 if self.cfg.task == 'mt80' else 4), \
-			f'Expected 20 files for mt80 task set, 4 files for mt30 task set, found {len(fps)} files.'
+		if len(fps) < (20 if self.cfg.task == 'mt80' else 4):
+			print(f'WARNING: expected 20 files for mt80 task set, 4 files for mt30 task set, found {len(fps)} files.')
 	
 		# Create buffer for sampling
 		_cfg = deepcopy(self.cfg)
@@ -59,11 +59,10 @@ class OfflineTrainer(Trainer):
 			assert td.shape[1] == _cfg.episode_length, \
 				f'Expected episode length {td.shape[1]} to match config episode length {_cfg.episode_length}, ' \
 				f'please double-check your config.'
-			for i in range(len(td)):
-				self.buffer.add(td[i])
+			self.buffer.load(td)
 		expected_episodes = _cfg.buffer_size // _cfg.episode_length
-		assert self.buffer.num_eps == expected_episodes, \
-			f'Buffer has {self.buffer.num_eps} episodes, expected {expected_episodes} episodes.'
+		if self.buffer.num_eps != expected_episodes:
+			print(f'WARNING: buffer has {self.buffer.num_eps} episodes, expected {expected_episodes} episodes for {self.cfg.task} task set.')
 
 	def train(self):
 		"""Train a TD-MPC2 agent."""