utils.py

# 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.
import functools

import numpy as np
import torch

# Environment import from BricksRL
from bricksrl.environments.walker_v0.WalkerEnvSim import WalkerEnvSim_v0

from tensordict.nn import InteractionType, TensorDictModule
from tensordict.nn.distributions import NormalParamExtractor
from torch import nn, optim
from torchrl.collectors import SyncDataCollector
from torchrl.data import TensorDictPrioritizedReplayBuffer, TensorDictReplayBuffer
from torchrl.data.replay_buffers.storages import LazyMemmapStorage
from torchrl.envs import (
    CatFrames,
    Compose,
    DeviceCastTransform,
    DMControlEnv,
    DoubleToFloat,
    EnvCreator,
    ObservationNorm,
    ParallelEnv,
    TransformedEnv,
)
from torchrl.envs.libs.gym import GymEnv, GymWrapper, set_gym_backend
from torchrl.envs.transforms import InitTracker, RewardSum, StepCounter
from torchrl.envs.utils import ExplorationType, set_exploration_type
from torchrl.modules import MLP, ProbabilisticActor, ValueOperator
from torchrl.modules.distributions import TanhNormal
from torchrl.objectives import SoftUpdate
from torchrl.objectives.sac import SACLoss
from torchrl.record import VideoRecorder

# ====================================================================
# Make BricksRL Environment
# -----------------


def env_maker(cfg, device="cpu", from_pixels=False):
    # We use the WalkerEnvSim_v0 environment from BricksRL as an example
    # as it is easy to test as it does not require a robot at hand or to connect to the hub.
    # Users can replace this with any other environment from BricksRL or custom environments.
    env = WalkerEnvSim_v0(max_episode_steps=cfg.env.max_episode_steps)
    observation_keys = [key for key in env.observation_spec.keys()]

    transforms = []
    if cfg.env.frame_stack > 1:
        transforms.append(
            CatFrames(
                N=cfg.env.frame_stack,
                in_keys=observation_keys,
                out_key=observation_keys,
            )
        )
    normalize_keys = [key for key in observation_keys if key != "pixels"]
    obs_ranges = np.array(list(env.observation_ranges.values()))
    obs_mean = obs_ranges.mean(axis=-1)
    obs_std = obs_ranges.std(axis=-1)
    transforms.append(
        ObservationNorm(
            in_keys=normalize_keys, loc=obs_mean, scale=obs_std, standard_normal=True
        )
    )
    transforms.append(DeviceCastTransform(device))
    return TransformedEnv(env, Compose(*transforms))


def apply_env_transforms(env, max_episode_steps=1000):
    transformed_env = TransformedEnv(
        env,
        Compose(
            InitTracker(),
            StepCounter(max_episode_steps),
            DoubleToFloat(),
            RewardSum(),
        ),
    )
    return transformed_env


def make_environment(cfg, logger=None):
    """Make environments for training and evaluation."""
    partial = functools.partial(env_maker, cfg=cfg)
    parallel_env = ParallelEnv(
        cfg.collector.env_per_collector,
        EnvCreator(partial),
        serial_for_single=True,
    )
    parallel_env.set_seed(cfg.env.seed)

    train_env = apply_env_transforms(parallel_env, cfg.env.max_episode_steps)

    partial = functools.partial(env_maker, cfg=cfg, from_pixels=cfg.logger.video)
    trsf_clone = train_env.transform.clone()
    if cfg.logger.video:
        trsf_clone.insert(
            0, VideoRecorder(logger, tag="rendering/test", in_keys=["pixels"])
        )
    eval_env = TransformedEnv(
        ParallelEnv(
            cfg.collector.env_per_collector,
            EnvCreator(partial),
            serial_for_single=True,
        ),
        trsf_clone,
    )
    return train_env, eval_env


# ====================================================================
# Collector and replay buffer
# ---------------------------


def make_collector(cfg, train_env, actor_model_explore):
    """Make collector."""
    collector = SyncDataCollector(
        train_env,
        actor_model_explore,
        init_random_frames=cfg.collector.init_random_frames,
        frames_per_batch=cfg.collector.frames_per_batch,
        total_frames=cfg.collector.total_frames,
        device=cfg.collector.device,
    )
    collector.set_seed(cfg.env.seed)
    return collector


def make_replay_buffer(
    batch_size,
    prb=False,
    buffer_size=1000000,
    scratch_dir=None,
    device="cpu",
    prefetch=3,
):
    if prb:
        replay_buffer = TensorDictPrioritizedReplayBuffer(
            alpha=0.7,
            beta=0.5,
            pin_memory=False,
            prefetch=prefetch,
            storage=LazyMemmapStorage(
                buffer_size,
                scratch_dir=scratch_dir,
                device=device,
            ),
            batch_size=batch_size,
        )
    else:
        replay_buffer = TensorDictReplayBuffer(
            pin_memory=False,
            prefetch=prefetch,
            storage=LazyMemmapStorage(
                buffer_size,
                scratch_dir=scratch_dir,
                device=device,
            ),
            batch_size=batch_size,
        )
    return replay_buffer


# ====================================================================
# Model
# -----


def make_sac_agent(cfg, train_env, eval_env, device):
    """Make SAC agent."""
    # Define Actor Network
    in_keys = ["observation"]
    action_spec = train_env.action_spec
    if train_env.batch_size:
        action_spec = action_spec[(0,) * len(train_env.batch_size)]
    actor_net_kwargs = {
        "num_cells": cfg.network.hidden_sizes,
        "out_features": 2 * action_spec.shape[-1],
        "activation_class": get_activation(cfg),
    }

    actor_net = MLP(**actor_net_kwargs)

    dist_class = TanhNormal
    dist_kwargs = {
        "low": action_spec.space.low,
        "high": action_spec.space.high,
        "tanh_loc": False,
    }

    actor_extractor = NormalParamExtractor(
        scale_mapping=f"biased_softplus_{cfg.network.default_policy_scale}",
        scale_lb=cfg.network.scale_lb,
    )
    actor_net = nn.Sequential(actor_net, actor_extractor)

    in_keys_actor = in_keys
    actor_module = TensorDictModule(
        actor_net,
        in_keys=in_keys_actor,
        out_keys=[
            "loc",
            "scale",
        ],
    )
    actor = ProbabilisticActor(
        spec=action_spec,
        in_keys=["loc", "scale"],
        module=actor_module,
        distribution_class=dist_class,
        distribution_kwargs=dist_kwargs,
        default_interaction_type=InteractionType.RANDOM,
        return_log_prob=False,
    )

    # Define Critic Network
    qvalue_net_kwargs = {
        "num_cells": cfg.network.hidden_sizes,
        "out_features": 1,
        "activation_class": get_activation(cfg),
    }

    qvalue_net = MLP(
        **qvalue_net_kwargs,
    )

    qvalue = ValueOperator(
        in_keys=["action"] + in_keys,
        module=qvalue_net,
    )

    model = nn.ModuleList([actor, qvalue]).to(device)

    # init nets
    with torch.no_grad(), set_exploration_type(ExplorationType.RANDOM):
        td = eval_env.fake_tensordict()
        td = td.to(device)
        for net in model:
            net(td)
    return model, model[0]


# ====================================================================
# SAC Loss
# ---------


def make_loss_module(cfg, model):
    """Make loss module and target network updater."""
    # Create SAC loss
    loss_module = SACLoss(
        actor_network=model[0],
        qvalue_network=model[1],
        num_qvalue_nets=2,
        loss_function=cfg.optim.loss_function,
        delay_actor=False,
        delay_qvalue=True,
        alpha_init=cfg.optim.alpha_init,
    )
    loss_module.make_value_estimator(gamma=cfg.optim.gamma)

    # Define Target Network Updater
    target_net_updater = SoftUpdate(loss_module, eps=cfg.optim.target_update_polyak)
    return loss_module, target_net_updater


def split_critic_params(critic_params):
    critic1_params = []
    critic2_params = []

    for param in critic_params:
        data1, data2 = param.data.chunk(2, dim=0)
        critic1_params.append(nn.Parameter(data1))
        critic2_params.append(nn.Parameter(data2))
    return critic1_params, critic2_params


def make_sac_optimizer(cfg, loss_module):
    critic_params = list(loss_module.qvalue_network_params.flatten_keys().values())
    actor_params = list(loss_module.actor_network_params.flatten_keys().values())

    optimizer_actor = optim.Adam(
        actor_params,
        lr=cfg.optim.lr,
        weight_decay=cfg.optim.weight_decay,
        eps=cfg.optim.adam_eps,
    )
    optimizer_critic = optim.Adam(
        critic_params,
        lr=cfg.optim.lr,
        weight_decay=cfg.optim.weight_decay,
        eps=cfg.optim.adam_eps,
    )
    optimizer_alpha = optim.Adam(
        [loss_module.log_alpha],
        lr=3.0e-4,
    )
    return optimizer_actor, optimizer_critic, optimizer_alpha


# ====================================================================
# General utils
# ---------


def log_metrics(logger, metrics, step):
    for metric_name, metric_value in metrics.items():
        logger.log_scalar(metric_name, metric_value, step)


def get_activation(cfg):
    if cfg.network.activation == "relu":
        return nn.ReLU
    elif cfg.network.activation == "tanh":
        return nn.Tanh
    elif cfg.network.activation == "leaky_relu":
        return nn.LeakyReLU
    else:
        raise NotImplementedError


def dump_video(module):
    if isinstance(module, VideoRecorder):
        module.dump()