[Algorithm] Update TD3 Example

examples/td3/config.yaml

@@ -1,47 +1,49 @@
-# Environment
+# task and env
 env:
   name: HalfCheetah-v3
   task: ""
-  exp_name: "HalfCheetah-TD3"
+  exp_name: "HalfCheetah-TD3-ICLR"
   library: gym
   frame_skip: 1
   seed: 42
 
-# Collection
+# collector
 collector:
-  total_frames: 1000000
-  init_random_frames: 10000
+  total_frames: 3000000
+  init_random_frames: 25_000
   init_env_steps: 1000
-  frames_per_batch: 1000
+  frames_per_batch: 1
   max_frames_per_traj: 1000
   async_collection: 1
   collector_device: cpu
   env_per_collector: 1
   num_workers: 1
 
-# Replay Buffer
+# replay buffer
 replay_buffer:
   prb: 0 # use prioritized experience replay
   size: 1000000
 
-# Optimization
-optimization:
+# optim
+optim:
   utd_ratio: 1.0
   gamma: 0.99
   loss_function: l2
-  lr: 3e-4
-  weight_decay: 2e-4
+  lr: 3.0e-4
+  weight_decay: 0.0
   batch_size: 256
   target_update_polyak: 0.995
   policy_update_delay: 2
+  policy_noise: 0.2
+  noise_clip: 0.5
 
-# Network
+# network
 network:
   hidden_sizes: [256, 256]
   activation: relu
   device: "cuda:0"
 
-# Logging
+# logging
 logger:
   backend: wandb
   mode: online

examples/td3/td3.py

@@ -11,8 +11,9 @@
 The helper functions are coded in the utils.py associated with this script.
 """
 
-import hydra
+import time
 
+import hydra
 import numpy as np
 import torch
 import torch.cuda
@@ -35,6 +36,7 @@
 def main(cfg: "DictConfig"):  # noqa: F821
     device = torch.device(cfg.network.device)
 
+    # Create logger
     exp_name = generate_exp_name("TD3", cfg.env.exp_name)
     logger = None
     if cfg.logger.backend:
@@ -45,140 +47,156 @@ def main(cfg: "DictConfig"):  # noqa: F821
             wandb_kwargs={"mode": cfg.logger.mode, "config": cfg},
         )
 
+    # Set seeds
     torch.manual_seed(cfg.env.seed)
     np.random.seed(cfg.env.seed)
 
-    # Create Environments
+    # Create environments
     train_env, eval_env = make_environment(cfg)
 
-    # Create Agent
+    # Create agent
     model, exploration_policy = make_td3_agent(cfg, train_env, eval_env, device)
 
     # Create TD3 loss
     loss_module, target_net_updater = make_loss_module(cfg, model)
 
-    # Make Off-Policy Collector
+    # Create off-policy collector
     collector = make_collector(cfg, train_env, exploration_policy)
 
-    # Make Replay Buffer
+    # Create replay buffer
     replay_buffer = make_replay_buffer(
-        batch_size=cfg.optimization.batch_size,
+        batch_size=cfg.optim.batch_size,
         prb=cfg.replay_buffer.prb,
         buffer_size=cfg.replay_buffer.size,
         device=device,
     )
 
-    # Make Optimizers
+    # Create optimizers
     optimizer_actor, optimizer_critic = make_optimizer(cfg, loss_module)
 
-    rewards = []
-    rewards_eval = []
-
     # Main loop
+    start_time = time.time()
     collected_frames = 0
     pbar = tqdm.tqdm(total=cfg.collector.total_frames)
-    r0 = None
-    q_loss = None
 
     init_random_frames = cfg.collector.init_random_frames
     num_updates = int(
         cfg.collector.env_per_collector
         * cfg.collector.frames_per_batch
-        * cfg.optimization.utd_ratio
+        * cfg.optim.utd_ratio
     )
-    delayed_updates = cfg.optimization.policy_update_delay
+    delayed_updates = cfg.optim.policy_update_delay
     prb = cfg.replay_buffer.prb
-    env_per_collector = cfg.collector.env_per_collector
     eval_rollout_steps = cfg.collector.max_frames_per_traj // cfg.env.frame_skip
     eval_iter = cfg.logger.eval_iter
     frames_per_batch, frame_skip = cfg.collector.frames_per_batch, cfg.env.frame_skip
+    update_counter = 0
 
-    for i, tensordict in enumerate(collector):
+    sampling_start = time.time()
+    for tensordict in collector:
+        sampling_time = time.time() - sampling_start
         exploration_policy.step(tensordict.numel())
-        # update weights of the inference policy
+
+        # Update weights of the inference policy
         collector.update_policy_weights_()
 
-        if r0 is None:
-            r0 = tensordict["next", "reward"].sum(-1).mean().item()
         pbar.update(tensordict.numel())
 
         tensordict = tensordict.reshape(-1)
         current_frames = tensordict.numel()
+        # Add to replay buffer
         replay_buffer.extend(tensordict.cpu())
         collected_frames += current_frames
 
-        # optimization steps
+        # Optimization steps
+        training_start = time.time()
         if collected_frames >= init_random_frames:
             (
                 actor_losses,
                 q_losses,
             ) = ([], [])
-            for j in range(num_updates):
-                # sample from replay buffer
+            for _ in range(num_updates):
+                update_counter += 1
+                # Sample from replay buffer
                 sampled_tensordict = replay_buffer.sample().clone()
 
+                # Compute loss
                 loss_td = loss_module(sampled_tensordict)
 
                 actor_loss = loss_td["loss_actor"]
                 q_loss = loss_td["loss_qvalue"]
 
+                # Update critic
                 optimizer_critic.zero_grad()
-                update_actor = j % delayed_updates == 0
+                update_actor = update_counter % delayed_updates == 0
                 q_loss.backward(retain_graph=update_actor)
                 optimizer_critic.step()
                 q_losses.append(q_loss.item())
 
+                # Update actor
                 if update_actor:
                     optimizer_actor.zero_grad()
                     actor_loss.backward()
                     optimizer_actor.step()
+
                     actor_losses.append(actor_loss.item())
 
-                    # update qnet_target params
+                    # Update target params
                     target_net_updater.step()
 
-                # update priority
+                # Update priority
                 if prb:
                     replay_buffer.update_priority(sampled_tensordict)
 
-        rewards.append(
-            (i, tensordict["next", "reward"].sum().item() / env_per_collector)
-        )
-        train_log = {
-            "train_reward": rewards[-1][1],
-            "collected_frames": collected_frames,
-        }
-        if q_loss is not None:
-            train_log.update(
-                {
-                    "actor_loss": np.mean(actor_losses),
-                    "q_loss": np.mean(q_losses),
-                }
+        training_time = time.time() - training_start
+        episode_rewards = tensordict["next", "episode_reward"][
+            tensordict["next", "done"]
+        ]
+
+        # Logging
+        if len(episode_rewards) > 0:
+            episode_length = tensordict["next", "step_count"][
+                tensordict["next", "done"]
+            ]
+            logger.log_scalar(
+                "train/reward", episode_rewards.mean().item(), collected_frames
+            )
+            logger.log_scalar(
+                "train/episode_length",
+                episode_length.sum().item() / len(episode_length),
+                collected_frames,
             )
-        if logger is not None:
-            for key, value in train_log.items():
-                logger.log_scalar(key, value, step=collected_frames)
+
+        if collected_frames >= init_random_frames:
+            logger.log_scalar("train/q_loss", np.mean(q_losses), step=collected_frames)
+            if update_actor:
+                logger.log_scalar(
+                    "train/a_loss", np.mean(actor_losses), step=collected_frames
+                )
+            logger.log_scalar("train/sampling_time", sampling_time, collected_frames)
+            logger.log_scalar("train/training_time", training_time, collected_frames)
+
+        # Evaluation
         if abs(collected_frames % eval_iter) < frames_per_batch * frame_skip:
             with set_exploration_type(ExplorationType.MODE), torch.no_grad():
+                eval_start = time.time()
                 eval_rollout = eval_env.rollout(
                     eval_rollout_steps,
                     exploration_policy,
                     auto_cast_to_device=True,
                     break_when_any_done=True,
                 )
+                eval_time = time.time() - eval_start
                 eval_reward = eval_rollout["next", "reward"].sum(-2).mean().item()
-                rewards_eval.append((i, eval_reward))
-                eval_str = f"eval cumulative reward: {rewards_eval[-1][1]: 4.4f} (init: {rewards_eval[0][1]: 4.4f})"
-                if logger is not None:
-                    logger.log_scalar(
-                        "evaluation_reward", rewards_eval[-1][1], step=collected_frames
-                    )
-        if len(rewards_eval):
-            pbar.set_description(
-                f"reward: {rewards[-1][1]: 4.4f} (r0 = {r0: 4.4f})," + eval_str
-            )
+                logger.log_scalar("eval/reward", eval_reward, step=collected_frames)
+                logger.log_scalar("eval/time", eval_time, step=collected_frames)
+
+        sampling_start = time.time()
 
     collector.shutdown()
+    end_time = time.time()
+    execution_time = end_time - start_time
+    print(f"Training took {execution_time:.2f} seconds to finish")
 
 
 if __name__ == "__main__":

examples/td3/utils.py

@@ -10,6 +10,7 @@
     EnvCreator,
     InitTracker,
     ParallelEnv,
+    RewardSum,
     TransformedEnv,
 )
 from torchrl.envs.libs.gym import GymEnv
@@ -43,7 +44,8 @@ def apply_env_transforms(env, reward_scaling=1.0):
         Compose(
             InitTracker(),
             RewardScaling(loc=0.0, scale=reward_scaling),
-            DoubleToFloat(),
+            DoubleToFloat("observation"),
+            RewardSum(),
         ),
     )
     return transformed_env
@@ -79,6 +81,7 @@ def make_collector(cfg, train_env, actor_model_explore):
     collector = SyncDataCollector(
         train_env,
         actor_model_explore,
+        init_random_frames=cfg.collector.init_random_frames,
         frames_per_batch=cfg.collector.frames_per_batch,
         max_frames_per_traj=cfg.collector.max_frames_per_traj,
         total_frames=cfg.collector.total_frames,
@@ -222,17 +225,18 @@ def make_loss_module(cfg, model):
         actor_network=model[0],
         qvalue_network=model[1],
         num_qvalue_nets=2,
-        loss_function=cfg.optimization.loss_function,
+        loss_function=cfg.optim.loss_function,
         delay_actor=True,
         delay_qvalue=True,
+        gamma=cfg.optim.gamma,
         action_spec=model[0][1].spec,
+        policy_noise=cfg.optim.policy_noise,
+        noise_clip=cfg.optim.noise_clip,
     )
-    loss_module.make_value_estimator(gamma=cfg.optimization.gamma)
+    loss_module.make_value_estimator(gamma=cfg.optim.gamma)
 
     # Define Target Network Updater
-    target_net_updater = SoftUpdate(
-        loss_module, eps=cfg.optimization.target_update_polyak
-    )
+    target_net_updater = SoftUpdate(loss_module, eps=cfg.optim.target_update_polyak)
     return loss_module, target_net_updater
 
 
@@ -241,11 +245,11 @@ def make_optimizer(cfg, loss_module):
     actor_params = list(loss_module.actor_network_params.flatten_keys().values())
 
     optimizer_actor = optim.Adam(
-        actor_params, lr=cfg.optimization.lr, weight_decay=cfg.optimization.weight_decay
+        actor_params, lr=cfg.optim.lr, weight_decay=cfg.optim.weight_decay
     )
     optimizer_critic = optim.Adam(
         critic_params,
-        lr=cfg.optimization.lr,
-        weight_decay=cfg.optimization.weight_decay,
+        lr=cfg.optim.lr,
+        weight_decay=cfg.optim.weight_decay,
     )
     return optimizer_actor, optimizer_critic