appo.py

"""Asynchronous Proximal Policy Optimization (APPO)

The algorithm is described in [1] (under the name of "IMPACT"):

Detailed documentation:
https://docs.ray.io/en/master/rllib-algorithms.html#appo

[1] IMPACT: Importance Weighted Asynchronous Architectures with Clipped Target Networks.
Luo et al. 2020
https://arxiv.org/pdf/1912.00167
"""

from typing import Optional, Type
import logging

from ray.rllib.algorithms.algorithm_config import AlgorithmConfig, NotProvided
from ray.rllib.algorithms.impala.impala import IMPALA, IMPALAConfig
from ray.rllib.core.rl_module.rl_module import RLModuleSpec
from ray.rllib.policy.policy import Policy
from ray.rllib.utils.annotations import override
from ray.rllib.utils.deprecation import DEPRECATED_VALUE, deprecation_warning
from ray.rllib.utils.metrics import (
    LAST_TARGET_UPDATE_TS,
    NUM_AGENT_STEPS_SAMPLED,
    NUM_ENV_STEPS_SAMPLED,
    NUM_TARGET_UPDATES,
)
from ray.rllib.utils.metrics import LEARNER_STATS_KEY

logger = logging.getLogger(__name__)


LEARNER_RESULTS_KL_KEY = "mean_kl_loss"
LEARNER_RESULTS_CURR_KL_COEFF_KEY = "curr_kl_coeff"
OLD_ACTION_DIST_KEY = "old_action_dist"


class APPOConfig(IMPALAConfig):
    """Defines a configuration class from which an APPO Algorithm can be built.

    .. testcode::

        from ray.rllib.algorithms.appo import APPOConfig
        config = (
            APPOConfig()
            .training(lr=0.01, grad_clip=30.0, train_batch_size_per_learner=50)
        )
        config = config.learners(num_learners=1)
        config = config.env_runners(num_env_runners=1)
        config = config.environment("CartPole-v1")

        # Build an Algorithm object from the config and run 1 training iteration.
        algo = config.build()
        algo.train()
        del algo

    .. testcode::

        from ray.rllib.algorithms.appo import APPOConfig
        from ray import tune

        config = APPOConfig()
        # Update the config object.
        config = config.training(lr=tune.grid_search([0.001,]))
        # Set the config object's env.
        config = config.environment(env="CartPole-v1")
        # Use to_dict() to get the old-style python config dict when running with tune.
        tune.Tuner(
            "APPO",
            run_config=tune.RunConfig(
                stop={"training_iteration": 1},
                verbose=0,
            ),
            param_space=config.to_dict(),

        ).fit()

    .. testoutput::
        :hide:

        ...
    """

    def __init__(self, algo_class=None):
        """Initializes a APPOConfig instance."""
        self.exploration_config = {
            # The Exploration class to use. In the simplest case, this is the name
            # (str) of any class present in the `rllib.utils.exploration` package.
            # You can also provide the python class directly or the full location
            # of your class (e.g. "ray.rllib.utils.exploration.epsilon_greedy.
            # EpsilonGreedy").
            "type": "StochasticSampling",
            # Add constructor kwargs here (if any).
        }

        super().__init__(algo_class=algo_class or APPO)

        # fmt: off
        # __sphinx_doc_begin__
        # APPO specific settings:
        self.vtrace = True
        self.use_gae = True
        self.lambda_ = 1.0
        self.clip_param = 0.4
        self.use_kl_loss = False
        self.kl_coeff = 1.0
        self.kl_target = 0.01
        self.target_worker_clipping = 2.0

        # Circular replay buffer settings.
        # Used in [1] for discrete action tasks:
        # `circular_buffer_num_batches=4` and `circular_buffer_iterations_per_batch=2`
        # For cont. action tasks:
        # `circular_buffer_num_batches=16` and `circular_buffer_iterations_per_batch=20`
        self.circular_buffer_num_batches = 4
        self.circular_buffer_iterations_per_batch = 2

        # Override some of IMPALAConfig's default values with APPO-specific values.
        self.num_env_runners = 2
        self.target_network_update_freq = 2
        self.broadcast_interval = 1
        self.grad_clip = 40.0
        # Note: Only when using enable_rl_module_and_learner=True can the clipping mode
        # be configured by the user. On the old API stack, RLlib will always clip by
        # global_norm, no matter the value of `grad_clip_by`.
        self.grad_clip_by = "global_norm"

        self.opt_type = "adam"
        self.lr = 0.0005
        self.decay = 0.99
        self.momentum = 0.0
        self.epsilon = 0.1
        self.vf_loss_coeff = 0.5
        self.entropy_coeff = 0.01
        self.tau = 1.0
        # __sphinx_doc_end__
        # fmt: on

        self.lr_schedule = None  # @OldAPIStack
        self.entropy_coeff_schedule = None  # @OldAPIStack
        self.num_gpus = 0  # @OldAPIStack
        self.num_multi_gpu_tower_stacks = 1  # @OldAPIStack
        self.minibatch_buffer_size = 1  # @OldAPIStack
        self.replay_proportion = 0.0  # @OldAPIStack
        self.replay_buffer_num_slots = 100  # @OldAPIStack
        self.learner_queue_size = 16  # @OldAPIStack
        self.learner_queue_timeout = 300  # @OldAPIStack

        # Deprecated keys.
        self.target_update_frequency = DEPRECATED_VALUE
        self.use_critic = DEPRECATED_VALUE

    @override(IMPALAConfig)
    def training(
        self,
        *,
        vtrace: Optional[bool] = NotProvided,
        use_gae: Optional[bool] = NotProvided,
        lambda_: Optional[float] = NotProvided,
        clip_param: Optional[float] = NotProvided,
        use_kl_loss: Optional[bool] = NotProvided,
        kl_coeff: Optional[float] = NotProvided,
        kl_target: Optional[float] = NotProvided,
        target_network_update_freq: Optional[int] = NotProvided,
        tau: Optional[float] = NotProvided,
        target_worker_clipping: Optional[float] = NotProvided,
        circular_buffer_num_batches: Optional[int] = NotProvided,
        circular_buffer_iterations_per_batch: Optional[int] = NotProvided,
        # Deprecated keys.
        target_update_frequency=DEPRECATED_VALUE,
        use_critic=DEPRECATED_VALUE,
        **kwargs,
    ) -> "APPOConfig":
        """Sets the training related configuration.

        Args:
            vtrace: Whether to use V-trace weighted advantages. If false, PPO GAE
                advantages will be used instead.
            use_gae: If true, use the Generalized Advantage Estimator (GAE)
                with a value function, see https://arxiv.org/pdf/1506.02438.pdf.
                Only applies if vtrace=False.
            lambda_: GAE (lambda) parameter.
            clip_param: PPO surrogate slipping parameter.
            use_kl_loss: Whether to use the KL-term in the loss function.
            kl_coeff: Coefficient for weighting the KL-loss term.
            kl_target: Target term for the KL-term to reach (via adjusting the
                `kl_coeff` automatically).
            target_network_update_freq: NOTE: This parameter is only applicable on
                the new API stack. The frequency with which to update the target
                policy network from the main trained policy network. The metric
                used is `NUM_ENV_STEPS_TRAINED_LIFETIME` and the unit is `n` (see [1]
                4.1.1), where: `n = [circular_buffer_num_batches (N)] *
                [circular_buffer_iterations_per_batch (K)] * [train batch size]`
                For example, if you set `target_network_update_freq=2`, and N=4, K=2,
                and `train_batch_size_per_learner=500`, then the target net is updated
                every 2*4*2*500=8000 trained env steps (every 16 batch updates on each
                learner).
                The authors in [1] suggests that this setting is robust to a range of
                choices (try values between 0.125 and 4).
            target_network_update_freq: The frequency to update the target policy and
                tune the kl loss coefficients that are used during training. After
                setting this parameter, the algorithm waits for at least
                `target_network_update_freq` number of environment samples to be trained
                on before updating the target networks and tune the kl loss
                coefficients. NOTE: This parameter is only applicable when using the
                Learner API (enable_rl_module_and_learner=True).
            tau: The factor by which to update the target policy network towards
                the current policy network. Can range between 0 and 1.
                e.g. updated_param = tau * current_param + (1 - tau) * target_param
            target_worker_clipping: The maximum value for the target-worker-clipping
                used for computing the IS ratio, described in [1]
                IS = min(π(i) / π(target), ρ) * (π / π(i))
            circular_buffer_num_batches: The number of train batches that fit
                into the circular buffer. Each such train batch can be sampled for
                training max. `circular_buffer_iterations_per_batch` times.
            circular_buffer_iterations_per_batch: The number of times any train
                batch in the circular buffer can be sampled for training. A batch gets
                evicted from the buffer either if it's the oldest batch in the buffer
                and a new batch is added OR if the batch reaches this max. number of
                being sampled.

        Returns:
            This updated AlgorithmConfig object.
        """
        if target_update_frequency != DEPRECATED_VALUE:
            deprecation_warning(
                old="target_update_frequency",
                new="target_network_update_freq",
                error=True,
            )
        if use_critic != DEPRECATED_VALUE:
            deprecation_warning(
                old="use_critic",
                help="`use_critic` no longer supported! APPO always uses a value "
                "function (critic).",
                error=True,
            )

        # Pass kwargs onto super's `training()` method.
        super().training(**kwargs)

        if vtrace is not NotProvided:
            self.vtrace = vtrace
        if use_gae is not NotProvided:
            self.use_gae = use_gae
        if lambda_ is not NotProvided:
            self.lambda_ = lambda_
        if clip_param is not NotProvided:
            self.clip_param = clip_param
        if use_kl_loss is not NotProvided:
            self.use_kl_loss = use_kl_loss
        if kl_coeff is not NotProvided:
            self.kl_coeff = kl_coeff
        if kl_target is not NotProvided:
            self.kl_target = kl_target
        if target_network_update_freq is not NotProvided:
            self.target_network_update_freq = target_network_update_freq
        if tau is not NotProvided:
            self.tau = tau
        if target_worker_clipping is not NotProvided:
            self.target_worker_clipping = target_worker_clipping
        if circular_buffer_num_batches is not NotProvided:
            self.circular_buffer_num_batches = circular_buffer_num_batches
        if circular_buffer_iterations_per_batch is not NotProvided:
            self.circular_buffer_iterations_per_batch = (
                circular_buffer_iterations_per_batch
            )

        return self

    @override(IMPALAConfig)
    def validate(self) -> None:
        super().validate()

        # On new API stack, circular buffer should be used, not `minibatch_buffer_size`.
        if self.enable_rl_module_and_learner:
            if self.minibatch_buffer_size != 1 or self.replay_proportion != 0.0:
                self._value_error(
                    "`minibatch_buffer_size/replay_proportion` not valid on new API "
                    "stack with APPO! "
                    "Use `circular_buffer_num_batches` for the number of train batches "
                    "in the circular buffer. To change the maximum number of times "
                    "any batch may be sampled, set "
                    "`circular_buffer_iterations_per_batch`."
                )
            if self.num_multi_gpu_tower_stacks != 1:
                self._value_error(
                    "`num_multi_gpu_tower_stacks` not supported on new API stack with "
                    "APPO! In order to train on multi-GPU, use "
                    "`config.learners(num_learners=[number of GPUs], "
                    "num_gpus_per_learner=1)`. To scale the throughput of batch-to-GPU-"
                    "pre-loading on each of your `Learners`, set "
                    "`num_gpu_loader_threads` to a higher number (recommended values: "
                    "1-8)."
                )
            if self.learner_queue_size != 16:
                self._value_error(
                    "`learner_queue_size` not supported on new API stack with "
                    "APPO! In order set the size of the circular buffer (which acts as "
                    "a 'learner queue'), use "
                    "`config.training(circular_buffer_num_batches=..)`. To change the "
                    "maximum number of times any batch may be sampled, set "
                    "`config.training(circular_buffer_iterations_per_batch=..)`."
                )

    @override(IMPALAConfig)
    def get_default_learner_class(self):
        if self.framework_str == "torch":
            from ray.rllib.algorithms.appo.torch.appo_torch_learner import (
                APPOTorchLearner,
            )

            return APPOTorchLearner
        elif self.framework_str in ["tf2", "tf"]:
            raise ValueError(
                "TensorFlow is no longer supported on the new API stack! "
                "Use `framework='torch'`."
            )
        else:
            raise ValueError(
                f"The framework {self.framework_str} is not supported. "
                "Use `framework='torch'`."
            )

    @override(IMPALAConfig)
    def get_default_rl_module_spec(self) -> RLModuleSpec:
        if self.framework_str == "torch":
            from ray.rllib.algorithms.appo.torch.appo_torch_rl_module import (
                APPOTorchRLModule as RLModule,
            )
        else:
            raise ValueError(
                f"The framework {self.framework_str} is not supported. "
                "Use either 'torch' or 'tf2'."
            )

        return RLModuleSpec(module_class=RLModule)

    @property
    @override(AlgorithmConfig)
    def _model_config_auto_includes(self):
        return super()._model_config_auto_includes | {"vf_share_layers": False}


class APPO(IMPALA):
    def __init__(self, config, *args, **kwargs):
        """Initializes an APPO instance."""
        super().__init__(config, *args, **kwargs)

        # After init: Initialize target net.

        # TODO(avnishn): Does this need to happen in __init__? I think we can move it
        #  to setup()
        if not self.config.enable_rl_module_and_learner:
            self.env_runner.foreach_policy_to_train(lambda p, _: p.update_target())

    @override(IMPALA)
    def training_step(self) -> None:
        if self.config.enable_rl_module_and_learner:
            return super().training_step()

        train_results = super().training_step()
        # Update the target network and the KL coefficient for the APPO-loss.
        # The target network update frequency is calculated automatically by the product
        # of `num_epochs` setting (usually 1 for APPO) and `minibatch_buffer_size`.
        last_update = self._counters[LAST_TARGET_UPDATE_TS]
        cur_ts = self._counters[
            (
                NUM_AGENT_STEPS_SAMPLED
                if self.config.count_steps_by == "agent_steps"
                else NUM_ENV_STEPS_SAMPLED
            )
        ]
        target_update_freq = self.config.num_epochs * self.config.minibatch_buffer_size
        if cur_ts - last_update > target_update_freq:
            self._counters[NUM_TARGET_UPDATES] += 1
            self._counters[LAST_TARGET_UPDATE_TS] = cur_ts

            # Update our target network.
            self.env_runner.foreach_policy_to_train(lambda p, _: p.update_target())

            # Also update the KL-coefficient for the APPO loss, if necessary.
            if self.config.use_kl_loss:

                def update(pi, pi_id):
                    assert LEARNER_STATS_KEY not in train_results, (
                        "{} should be nested under policy id key".format(
                            LEARNER_STATS_KEY
                        ),
                        train_results,
                    )
                    if pi_id in train_results:
                        kl = train_results[pi_id][LEARNER_STATS_KEY].get("kl")
                        assert kl is not None, (train_results, pi_id)
                        # Make the actual `Policy.update_kl()` call.
                        pi.update_kl(kl)
                    else:
                        logger.warning("No data for {}, not updating kl".format(pi_id))

                # Update KL on all trainable policies within the local (trainer)
                # Worker.
                self.env_runner.foreach_policy_to_train(update)

        return train_results

    @classmethod
    @override(IMPALA)
    def get_default_config(cls) -> AlgorithmConfig:
        return APPOConfig()

    @classmethod
    @override(IMPALA)
    def get_default_policy_class(
        cls, config: AlgorithmConfig
    ) -> Optional[Type[Policy]]:
        if config["framework"] == "torch":
            from ray.rllib.algorithms.appo.appo_torch_policy import APPOTorchPolicy

            return APPOTorchPolicy
        elif config["framework"] == "tf":
            if config.enable_rl_module_and_learner:
                raise ValueError(
                    "RLlib's RLModule and Learner API is not supported for"
                    " tf1. Use "
                    "framework='tf2' instead."
                )
            from ray.rllib.algorithms.appo.appo_tf_policy import APPOTF1Policy

            return APPOTF1Policy
        else:
            from ray.rllib.algorithms.appo.appo_tf_policy import APPOTF2Policy

            return APPOTF2Policy