from abc import abstractmethod
from typing import Any, List, Optional, Sequence, Union
import numpy as np
from ..algos import AlgoBase
from ..argument_utility import check_encoder, EncoderArg
from ..argument_utility import check_use_gpu, UseGPUArg
from ..argument_utility import check_q_func, QFuncArg
from ..argument_utility import ScalerArg, ActionScalerArg
from ..dataset import TransitionMiniBatch
from ..models.encoders import EncoderFactory
from ..models.optimizers import OptimizerFactory, AdamFactory
from ..models.q_functions import QFunctionFactory
from ..gpu import Device
from .torch.fqe_impl import FQEBaseImpl, FQEImpl, DiscreteFQEImpl
from ..constants import IMPL_NOT_INITIALIZED_ERROR, ALGO_NOT_GIVEN_ERROR
class _FQEBase(AlgoBase):
_algo: Optional[AlgoBase]
_learning_rate: float
_optim_factory: OptimizerFactory
_encoder_factory: EncoderFactory
_q_func_factory: QFunctionFactory
_bootstrap: bool
_n_critics: int
_share_encoder: bool
_target_update_interval: int
_use_gpu: Optional[Device]
_impl: Optional[FQEBaseImpl]
def __init__(
self,
*,
algo: Optional[AlgoBase] = None,
learning_rate: float = 1e-4,
optim_factory: OptimizerFactory = AdamFactory(),
encoder_factory: EncoderArg = "default",
q_func_factory: QFuncArg = "mean",
batch_size: int = 100,
n_frames: int = 1,
n_steps: int = 1,
gamma: float = 0.99,
n_critics: int = 1,
bootstrap: bool = False,
share_encoder: bool = False,
target_update_interval: int = 100,
use_gpu: UseGPUArg = False,
scaler: ScalerArg = None,
action_scaler: ActionScalerArg = None,
impl: Optional[FQEBaseImpl] = None,
**kwargs: Any
):
super().__init__(
batch_size=batch_size,
n_frames=n_frames,
n_steps=n_steps,
gamma=gamma,
scaler=scaler,
action_scaler=action_scaler,
generator=None,
)
self._algo = algo
self._learning_rate = learning_rate
self._optim_factory = optim_factory
self._encoder_factory = check_encoder(encoder_factory)
self._q_func_factory = check_q_func(q_func_factory)
self._bootstrap = bootstrap
self._n_critics = n_critics
self._share_encoder = share_encoder
self._target_update_interval = target_update_interval
self._use_gpu = check_use_gpu(use_gpu)
self._impl = impl
def save_policy(self, fname: str, as_onnx: bool = False) -> None:
assert self._algo is not None, ALGO_NOT_GIVEN_ERROR
self._algo.save_policy(fname, as_onnx)
def predict(self, x: Union[np.ndarray, List[Any]]) -> np.ndarray:
assert self._algo is not None, ALGO_NOT_GIVEN_ERROR
return self._algo.predict(x)
def sample_action(self, x: Union[np.ndarray, List[Any]]) -> np.ndarray:
assert self._algo is not None, ALGO_NOT_GIVEN_ERROR
return self._algo.sample_action(x)
@abstractmethod
def create_impl(
self, observation_shape: Sequence[int], action_size: int
) -> None:
pass
def update(
self, epoch: int, total_step: int, batch: TransitionMiniBatch
) -> List[Optional[float]]:
assert self._algo is not None, ALGO_NOT_GIVEN_ERROR
assert self._impl is not None, IMPL_NOT_INITIALIZED_ERROR
next_actions = self._algo.predict(batch.observations)
loss = self._impl.update(
batch.observations,
batch.actions,
batch.next_rewards,
next_actions,
batch.next_observations,
batch.terminals,
batch.n_steps,
)
if total_step % self._target_update_interval == 0:
self._impl.update_target()
return [loss]
def get_loss_labels(self) -> List[str]:
return ["value_loss"]
[docs]class FQE(_FQEBase):
r"""Fitted Q Evaluation.
FQE is an off-policy evaluation method that approximates a Q function
:math:`Q_\theta (s, a)` with the trained policy :math:`\pi_\phi(s)`.
.. math::
L(\theta) = \mathbb{E}_{s_t, a_t, r_{t+1} s_{t+1} \sim D}
[(Q_\theta(s_t, a_t) - r_{t+1}
- \gamma Q_{\theta'}(s_{t+1}, \pi_\phi(s_{t+1})))^2]
The trained Q function in FQE will estimate evaluation metrics more
accurately than learned Q function during training.
References:
* `Le et al., Batch Policy Learning under Constraints.
<https://arxiv.org/abs/1903.08738>`_
Args:
algo (d3rlpy.algos.base.AlgoBase): algorithm to evaluate.
learning_rate (float): learning rate.
optim_factory (d3rlpy.models.optimizers.OptimizerFactory or str):
optimizer factory.
encoder_factory (d3rlpy.models.encoders.EncoderFactory or str):
encoder factory.
q_func_factory (d3rlpy.models.q_functions.QFunctionFactory or str):
Q function factory.
batch_size (int): mini-batch size.
n_frames (int): the number of frames to stack for image observation.
n_steps (int): N-step TD calculation.
gamma (float): discount factor.
n_critics (int): the number of Q functions for ensemble.
bootstrap (bool): flag to bootstrap Q functions.
share_encoder (bool): flag to share encoder network.
target_update_interval (int): interval to update the target network.
use_gpu (bool, int or d3rlpy.gpu.Device):
flag to use GPU, device ID or device.
scaler (d3rlpy.preprocessing.Scaler or str): preprocessor.
The available options are `['pixel', 'min_max', 'standard']`.
action_scaler (d3rlpy.preprocessing.ActionScaler or str):
action preprocessor. The available options are ``['min_max']``.
impl (d3rlpy.metrics.ope.torch.FQEImpl): algorithm implementation.
"""
_impl: Optional[FQEImpl]
[docs] def create_impl(
self, observation_shape: Sequence[int], action_size: int
) -> None:
self._impl = FQEImpl(
observation_shape=observation_shape,
action_size=action_size,
learning_rate=self._learning_rate,
optim_factory=self._optim_factory,
encoder_factory=self._encoder_factory,
q_func_factory=self._q_func_factory,
gamma=self._gamma,
n_critics=self._n_critics,
bootstrap=self._bootstrap,
share_encoder=self._share_encoder,
use_gpu=self._use_gpu,
scaler=self._scaler,
action_scaler=self._action_scaler,
)
self._impl.build()
[docs]class DiscreteFQE(_FQEBase):
r"""Fitted Q Evaluation for discrete action-space.
FQE is an off-policy evaluation method that approximates a Q function
:math:`Q_\theta (s, a)` with the trained policy :math:`\pi_\phi(s)`.
.. math::
L(\theta) = \mathbb{E}_{s_t, a_t, r_{t+1} s_{t+1} \sim D}
[(Q_\theta(s_t, a_t) - r_{t+1}
- \gamma Q_{\theta'}(s_{t+1}, \pi_\phi(s_{t+1})))^2]
The trained Q function in FQE will estimate evaluation metrics more
accurately than learned Q function during training.
References:
* `Le et al., Batch Policy Learning under Constraints.
<https://arxiv.org/abs/1903.08738>`_
Args:
algo (d3rlpy.algos.base.AlgoBase): algorithm to evaluate.
learning_rate (float): learning rate.
optim_factory (d3rlpy.models.optimizers.OptimizerFactory or str):
optimizer factory.
encoder_factory (d3rlpy.models.encoders.EncoderFactory or str):
encoder factory.
q_func_factory (d3rlpy.models.q_functions.QFunctionFactory or str):
Q function factory.
batch_size (int): mini-batch size.
n_frames (int): the number of frames to stack for image observation.
n_steps (int): N-step TD calculation.
gamma (float): discount factor.
n_critics (int): the number of Q functions for ensemble.
bootstrap (bool): flag to bootstrap Q functions.
share_encoder (bool): flag to share encoder network.
target_update_interval (int): interval to update the target network.
use_gpu (bool, int or d3rlpy.gpu.Device):
flag to use GPU, device ID or device.
scaler (d3rlpy.preprocessing.Scaler or str): preprocessor.
The available options are `['pixel', 'min_max', 'standard']`
augmentation (d3rlpy.augmentation.AugmentationPipeline or list(str)):
augmentation pipeline.
impl (d3rlpy.metrics.ope.torch.FQEImpl): algorithm implementation.
"""
_impl: Optional[DiscreteFQEImpl]
[docs] def create_impl(
self, observation_shape: Sequence[int], action_size: int
) -> None:
self._impl = DiscreteFQEImpl(
observation_shape=observation_shape,
action_size=action_size,
learning_rate=self._learning_rate,
optim_factory=self._optim_factory,
encoder_factory=self._encoder_factory,
q_func_factory=self._q_func_factory,
gamma=self._gamma,
n_critics=self._n_critics,
bootstrap=self._bootstrap,
share_encoder=self._share_encoder,
use_gpu=self._use_gpu,
scaler=self._scaler,
action_scaler=None,
)
self._impl.build()