Add Parallel Q-Networks algorithm (PQN) (vwxyzjn#472)

benchmark/pqn.sh

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+poetry install
+OMP_NUM_THREADS=1 xvfb-run -a poetry run python -m cleanrl_utils.benchmark \
+    --env-ids CartPole-v1 Acrobot-v1 MountainCar-v0 \
+    --command "poetry run python cleanrl/pqn.py --no_cuda --track" \
+    --num-seeds 3 \
+    --workers 9 \
+    --slurm-gpus-per-task 1 \
+    --slurm-ntasks 1 \
+    --slurm-total-cpus 10 \
+    --slurm-template-path benchmark/cleanrl_1gpu.slurm_template
+
+poetry install -E envpool
+poetry run python -m cleanrl_utils.benchmark \
+    --env-ids Breakout-v5 SpaceInvaders-v5 BeamRider-v5 Pong-v5 MsPacman-v5 \
+    --command "poetry run python cleanrl/pqn_atari_envpool.py --track" \
+    --num-seeds 3 \
+    --workers 9 \
+    --slurm-gpus-per-task 1 \
+    --slurm-ntasks 1 \
+    --slurm-total-cpus 10 \
+    --slurm-template-path benchmark/cleanrl_1gpu.slurm_template
+
+poetry install -E envpool
+poetry run python -m cleanrl_utils.benchmark \
+    --env-ids Breakout-v5 SpaceInvaders-v5 BeamRider-v5 Pong-v5 MsPacman-v5 \
+    --command "poetry run python cleanrl/pqn_atari_envpool_lstm.py --track" \
+    --num-seeds 3 \
+    --workers 9 \
+    --slurm-gpus-per-task 1 \
+    --slurm-ntasks 1 \
+    --slurm-total-cpus 10 \
+    --slurm-template-path benchmark/cleanrl_1gpu.slurm_template

benchmark/pqn_plot.sh

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+
+python -m openrlbenchmark.rlops \
+    --filters '?we=rogercreus&wpn=cleanRL&ceik=env_id&cen=exp_name&metric=charts/episodic_return' \
+        'pqn?tag=pr-472&cl=CleanRL PQN' \
+    --env-ids CartPole-v1 Acrobot-v1 MountainCar-v0 \
+    --no-check-empty-runs \
+    --pc.ncols 3 \
+    --pc.ncols-legend 2 \
+    --output-filename benchmark/cleanrl/pqn \
+    --scan-history
+
+python -m openrlbenchmark.rlops \
+    --filters '?we=rogercreus&wpn=cleanRL&ceik=env_id&cen=exp_name&metric=charts/episodic_return' \
+        'pqn_atari_envpool?tag=pr-472&cl=CleanRL PQN' \
+    --env-ids Breakout-v5 SpaceInvaders-v5 BeamRider-v5 Pong-v5 MsPacman-v5 \
+    --no-check-empty-runs \
+    --pc.ncols 3 \
+    --pc.ncols-legend 3 \
+    --rliable \
+    --rc.score_normalization_method maxmin \
+    --rc.normalized_score_threshold 1.0 \
+    --rc.sample_efficiency_plots \
+    --rc.sample_efficiency_and_walltime_efficiency_method Median \
+    --rc.performance_profile_plots  \
+    --rc.aggregate_metrics_plots  \
+    --rc.sample_efficiency_num_bootstrap_reps 10 \
+    --rc.performance_profile_num_bootstrap_reps 10 \
+    --rc.interval_estimates_num_bootstrap_reps 10 \
+    --output-filename static/0compare \
+    --scan-history
+
+python -m openrlbenchmark.rlops \
+    --filters '?we=rogercreus&wpn=cleanRL&ceik=env_id&cen=exp_name&metric=charts/episodic_return' \
+        'pqn_atari_envpool_lstm?tag=pr-472&cl=CleanRL PQN' \
+    --env-ids Breakout-v5 SpaceInvaders-v5 BeamRider-v5 MsPacman-v5 \
+    --no-check-empty-runs \
+    --pc.ncols 3 \
+    --pc.ncols-legend 3 \
+    --rliable \
+    --rc.score_normalization_method maxmin \
+    --rc.normalized_score_threshold 1.0 \
+    --rc.sample_efficiency_plots \
+    --rc.sample_efficiency_and_walltime_efficiency_method Median \
+    --rc.performance_profile_plots  \
+    --rc.aggregate_metrics_plots  \
+    --rc.sample_efficiency_num_bootstrap_reps 10 \
+    --rc.performance_profile_num_bootstrap_reps 10 \
+    --rc.interval_estimates_num_bootstrap_reps 10 \
+    --output-filename static/0compare \
+    --scan-history

cleanrl/pqn.py

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+# docs and experiment results can be found at https://docs.cleanrl.dev/rl-algorithms/pqn/#pqnpy
+import os
+import random
+import time
+from dataclasses import dataclass
+
+import gymnasium as gym
+import numpy as np
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+import torch.optim as optim
+import tyro
+from torch.utils.tensorboard import SummaryWriter
+
+
+@dataclass
+class Args:
+    exp_name: str = os.path.basename(__file__)[: -len(".py")]
+    """the name of this experiment"""
+    seed: int = 1
+    """seed of the experiment"""
+    torch_deterministic: bool = True
+    """if toggled, `torch.backends.cudnn.deterministic=False`"""
+    cuda: bool = True
+    """if toggled, cuda will be enabled by default"""
+    track: bool = False
+    """if toggled, this experiment will be tracked with Weights and Biases"""
+    wandb_project_name: str = "cleanRL"
+    """the wandb's project name"""
+    wandb_entity: str = None
+    """the entity (team) of wandb's project"""
+    capture_video: bool = False
+    """whether to capture videos of the agent performances (check out `videos` folder)"""
+
+    # Algorithm specific arguments
+    env_id: str = "CartPole-v1"
+    """the id of the environment"""
+    total_timesteps: int = 500000
+    """total timesteps of the experiments"""
+    learning_rate: float = 2.5e-4
+    """the learning rate of the optimizer"""
+    num_envs: int = 4
+    """the number of parallel game environments"""
+    num_steps: int = 128
+    """the number of steps to run for each environment per update"""
+    num_minibatches: int = 4
+    """the number of mini-batches"""
+    update_epochs: int = 4
+    """the K epochs to update the policy"""
+    anneal_lr: bool = True
+    """Toggle learning rate annealing"""
+    gamma: float = 0.99
+    """the discount factor gamma"""
+    start_e: float = 1
+    """the starting epsilon for exploration"""
+    end_e: float = 0.05
+    """the ending epsilon for exploration"""
+    exploration_fraction: float = 0.5
+    """the fraction of `total_timesteps` it takes from start_e to end_e"""
+    max_grad_norm: float = 10.0
+    """the maximum norm for the gradient clipping"""
+    q_lambda: float = 0.65
+    """the lambda for Q(lambda)"""
+
+
+def make_env(env_id, seed, idx, capture_video, run_name):
+    def thunk():
+        if capture_video and idx == 0:
+            env = gym.make(env_id, render_mode="rgb_array")
+            env = gym.wrappers.RecordVideo(env, f"videos/{run_name}")
+        else:
+            env = gym.make(env_id)
+        env = gym.wrappers.RecordEpisodeStatistics(env)
+        env.action_space.seed(seed)
+
+        return env
+
+    return thunk
+
+
+def layer_init(layer, std=np.sqrt(2), bias_const=0.0):
+    torch.nn.init.orthogonal_(layer.weight, std)
+    torch.nn.init.constant_(layer.bias, bias_const)
+    return layer
+
+
+# ALGO LOGIC: initialize agent here:
+class QNetwork(nn.Module):
+    def __init__(self, env):
+        super().__init__()
+
+        self.network = nn.Sequential(
+            layer_init(nn.Linear(np.array(env.single_observation_space.shape).prod(), 120)),
+            nn.LayerNorm(120),
+            nn.ReLU(),
+            layer_init(nn.Linear(120, 84)),
+            nn.LayerNorm(84),
+            nn.ReLU(),
+            layer_init(nn.Linear(84, env.single_action_space.n)),
+        )
+
+    def forward(self, x):
+        return self.network(x)
+
+
+def linear_schedule(start_e: float, end_e: float, duration: int, t: int):
+    slope = (end_e - start_e) / duration
+    return max(slope * t + start_e, end_e)
+
+
+if __name__ == "__main__":
+    args = tyro.cli(Args)
+    args.batch_size = int(args.num_envs * args.num_steps)
+    args.minibatch_size = int(args.batch_size // args.num_minibatches)
+    args.num_iterations = args.total_timesteps // args.batch_size
+    run_name = f"{args.env_id}__{args.exp_name}__{args.seed}__{int(time.time())}"
+    if args.track:
+        import wandb
+
+        wandb.init(
+            project=args.wandb_project_name,
+            entity=args.wandb_entity,
+            sync_tensorboard=True,
+            config=vars(args),
+            name=run_name,
+            monitor_gym=True,
+            save_code=True,
+        )
+    writer = SummaryWriter(f"runs/{run_name}")
+    writer.add_text(
+        "hyperparameters",
+        "|param|value|\n|-|-|\n%s" % ("\n".join([f"|{key}|{value}|" for key, value in vars(args).items()])),
+    )
+
+    # TRY NOT TO MODIFY: seeding
+    random.seed(args.seed)
+    np.random.seed(args.seed)
+    torch.manual_seed(args.seed)
+    torch.backends.cudnn.deterministic = args.torch_deterministic
+
+    device = torch.device("cuda" if torch.cuda.is_available() and args.cuda else "cpu")
+
+    # env setup
+    envs = gym.vector.SyncVectorEnv(
+        [make_env(args.env_id, args.seed + i, i, args.capture_video, run_name) for i in range(args.num_envs)]
+    )
+    assert isinstance(envs.single_action_space, gym.spaces.Discrete), "only discrete action space is supported"
+
+    # agent setup
+    q_network = QNetwork(envs).to(device)
+    optimizer = optim.RAdam(q_network.parameters(), lr=args.learning_rate)
+
+    # storage setup
+    obs = torch.zeros((args.num_steps, args.num_envs) + envs.single_observation_space.shape).to(device)
+    actions = torch.zeros((args.num_steps, args.num_envs) + envs.single_action_space.shape).to(device)
+    rewards = torch.zeros((args.num_steps, args.num_envs)).to(device)
+    dones = torch.zeros((args.num_steps, args.num_envs)).to(device)
+    values = torch.zeros((args.num_steps, args.num_envs)).to(device)
+
+    # TRY NOT TO MODIFY: start the game
+    global_step = 0
+    start_time = time.time()
+    next_obs, _ = envs.reset(seed=args.seed)
+    next_obs = torch.Tensor(next_obs).to(device)
+    next_done = torch.zeros(args.num_envs).to(device)
+
+    for iteration in range(1, args.num_iterations + 1):
+        # Annealing the rate if instructed to do so.
+        if args.anneal_lr:
+            frac = 1.0 - (iteration - 1.0) / args.num_iterations
+            lrnow = frac * args.learning_rate
+            optimizer.param_groups[0]["lr"] = lrnow
+
+        for step in range(0, args.num_steps):
+            global_step += args.num_envs
+            obs[step] = next_obs
+            dones[step] = next_done
+
+            epsilon = linear_schedule(args.start_e, args.end_e, args.exploration_fraction * args.total_timesteps, global_step)
+            random_actions = torch.randint(0, envs.single_action_space.n, (args.num_envs,)).to(device)
+            with torch.no_grad():
+                q_values = q_network(next_obs)
+                max_actions = torch.argmax(q_values, dim=1)
+                values[step] = q_values[torch.arange(args.num_envs), max_actions].flatten()
+
+            explore = torch.rand((args.num_envs,)).to(device) < epsilon
+            action = torch.where(explore, random_actions, max_actions)
+            actions[step] = action
+
+            # TRY NOT TO MODIFY: execute the game and log data.
+            next_obs, reward, terminations, truncations, infos = envs.step(action.cpu().numpy())
+            next_done = np.logical_or(terminations, truncations)
+            rewards[step] = torch.tensor(reward).to(device).view(-1)
+            next_obs, next_done = torch.Tensor(next_obs).to(device), torch.Tensor(next_done).to(device)
+
+            if "final_info" in infos:
+                for info in infos["final_info"]:
+                    if info and "episode" in info:
+                        print(f"global_step={global_step}, episodic_return={info['episode']['r']}")
+                        writer.add_scalar("charts/episodic_return", info["episode"]["r"], global_step)
+                        writer.add_scalar("charts/episodic_length", info["episode"]["l"], global_step)
+
+        # Compute Q(lambda) targets
+        with torch.no_grad():
+            returns = torch.zeros_like(rewards).to(device)
+            for t in reversed(range(args.num_steps)):
+                if t == args.num_steps - 1:
+                    next_value, _ = torch.max(q_network(next_obs), dim=-1)
+                    nextnonterminal = 1.0 - next_done
+                    returns[t] = rewards[t] + args.gamma * next_value * nextnonterminal
+                else:
+                    nextnonterminal = 1.0 - dones[t + 1]
+                    next_value = values[t + 1]
+                    returns[t] = rewards[t] + args.gamma * (
+                        args.q_lambda * returns[t + 1] + (1 - args.q_lambda) * next_value * nextnonterminal
+                    )
+
+        # flatten the batch
+        b_obs = obs.reshape((-1,) + envs.single_observation_space.shape)
+        b_actions = actions.reshape((-1,) + envs.single_action_space.shape)
+        b_returns = returns.reshape(-1)
+
+        # Optimizing the Q-network
+        b_inds = np.arange(args.batch_size)
+        for epoch in range(args.update_epochs):
+            np.random.shuffle(b_inds)
+            for start in range(0, args.batch_size, args.minibatch_size):
+                end = start + args.minibatch_size
+                mb_inds = b_inds[start:end]
+
+                old_val = q_network(b_obs[mb_inds]).gather(1, b_actions[mb_inds].unsqueeze(-1).long()).squeeze()
+                loss = F.mse_loss(b_returns[mb_inds], old_val)
+
+                # optimize the model
+                optimizer.zero_grad()
+                loss.backward()
+                nn.utils.clip_grad_norm_(q_network.parameters(), args.max_grad_norm)
+                optimizer.step()
+
+        writer.add_scalar("losses/td_loss", loss, global_step)
+        writer.add_scalar("losses/q_values", old_val.mean().item(), global_step)
+        print("SPS:", int(global_step / (time.time() - start_time)))
+        writer.add_scalar("charts/SPS", int(global_step / (time.time() - start_time)), global_step)
+
+    envs.close()
+    writer.close()