Source code for ray.rllib.models.catalog

from functools import partial
import gym
import logging
import numpy as np
import tree
from typing import List, Optional, Type, Union

from ray.tune.registry import RLLIB_MODEL, RLLIB_PREPROCESSOR, \
    RLLIB_ACTION_DIST, _global_registry
from ray.rllib.models.action_dist import ActionDistribution
from ray.rllib.models.modelv2 import ModelV2
from ray.rllib.models.preprocessors import get_preprocessor, Preprocessor
from ray.rllib.models.tf.recurrent_net import LSTMWrapper
from ray.rllib.models.tf.tf_action_dist import Categorical, \
    Deterministic, DiagGaussian, Dirichlet, \
    MultiActionDistribution, MultiCategorical
from ray.rllib.models.torch.torch_action_dist import TorchCategorical, \
    TorchDeterministic, TorchDiagGaussian, \
    TorchMultiActionDistribution, TorchMultiCategorical
from ray.rllib.utils.annotations import DeveloperAPI, PublicAPI
from ray.rllib.utils.error import UnsupportedSpaceException
from ray.rllib.utils.framework import try_import_tf
from ray.rllib.utils.spaces.simplex import Simplex
from ray.rllib.utils.spaces.space_utils import flatten_space
from ray.rllib.utils.typing import ModelConfigDict, TensorType

tf1, tf, tfv = try_import_tf()

logger = logging.getLogger(__name__)

# yapf: disable
# __sphinx_doc_begin__
MODEL_DEFAULTS: ModelConfigDict = {
    # === Built-in options ===
    # Number of hidden layers for fully connected net
    "fcnet_hiddens": [256, 256],
    # Nonlinearity for fully connected net (tanh, relu)
    "fcnet_activation": "tanh",
    # Filter config. List of [out_channels, kernel, stride] for each filter
    "conv_filters": None,
    # Nonlinearity for built-in convnet
    "conv_activation": "relu",
    # For DiagGaussian action distributions, make the second half of the model
    # outputs floating bias variables instead of state-dependent. This only
    # has an effect is using the default fully connected net.
    "free_log_std": False,
    # Whether to skip the final linear layer used to resize the hidden layer
    # outputs to size `num_outputs`. If True, then the last hidden layer
    # should already match num_outputs.
    "no_final_linear": False,
    # Whether layers should be shared for the value function.
    "vf_share_layers": True,

    # == LSTM ==
    # Whether to wrap the model with an LSTM.
    "use_lstm": False,
    # Max seq len for training the LSTM, defaults to 20.
    "max_seq_len": 20,
    # Size of the LSTM cell.
    "lstm_cell_size": 256,
    # Whether to feed a_{t-1}, r_{t-1} to LSTM.
    "lstm_use_prev_action_reward": False,
    # Experimental (only works with `_use_trajectory_view_api`=True):
    # Whether the LSTM is time-major (TxBx..) or batch-major (BxTx..).
    "_time_major": False,

    # == Atari ==
    # Whether to enable framestack for Atari envs
    "framestack": True,
    # Final resized frame dimension
    "dim": 84,
    # (deprecated) Converts ATARI frame to 1 Channel Grayscale image
    "grayscale": False,
    # (deprecated) Changes frame to range from [-1, 1] if true
    "zero_mean": True,

    # === Options for custom models ===
    # Name of a custom model to use
    "custom_model": None,
    # Extra options to pass to the custom classes. These will be available to
    # the Model's constructor in the model_config field. Also, they will be
    # attempted to be passed as **kwargs to ModelV2 models. For an example,
    # see rllib/models/[tf|torch]/attention_net.py.
    "custom_model_config": {},
    # Name of a custom action distribution to use.
    "custom_action_dist": None,
    # Custom preprocessors are deprecated. Please use a wrapper class around
    # your environment instead to preprocess observations.
    "custom_preprocessor": None,
}
# __sphinx_doc_end__
# yapf: enable


[docs]@PublicAPI class ModelCatalog: """Registry of models, preprocessors, and action distributions for envs. Examples: >>> prep = ModelCatalog.get_preprocessor(env) >>> observation = prep.transform(raw_observation) >>> dist_class, dist_dim = ModelCatalog.get_action_dist( ... env.action_space, {}) >>> model = ModelCatalog.get_model_v2( ... obs_space, action_space, num_outputs, options) >>> dist = dist_class(model.outputs, model) >>> action = dist.sample() """
[docs] @staticmethod @DeveloperAPI def get_action_dist( action_space: gym.Space, config: ModelConfigDict, dist_type: Optional[Union[str, Type[ActionDistribution]]] = None, framework: str = "tf", **kwargs) -> (type, int): """Returns a distribution class and size for the given action space. Args: action_space (Space): Action space of the target gym env. config (Optional[dict]): Optional model config. dist_type (Optional[Union[str, Type[ActionDistribution]]]): Identifier of the action distribution (str) interpreted as a hint or the actual ActionDistribution class to use. framework (str): One of "tf", "tfe", or "torch". kwargs (dict): Optional kwargs to pass on to the Distribution's constructor. Returns: Tuple: - dist_class (ActionDistribution): Python class of the distribution. - dist_dim (int): The size of the input vector to the distribution. """ dist_cls = None config = config or MODEL_DEFAULTS # Custom distribution given. if config.get("custom_action_dist"): action_dist_name = config["custom_action_dist"] logger.debug( "Using custom action distribution {}".format(action_dist_name)) dist_cls = _global_registry.get(RLLIB_ACTION_DIST, action_dist_name) dist_cls = ModelCatalog._get_multi_action_distribution( dist_cls, action_space, {}, framework) # Dist_type is given directly as a class. elif type(dist_type) is type and \ issubclass(dist_type, ActionDistribution) and \ dist_type not in ( MultiActionDistribution, TorchMultiActionDistribution): dist_cls = dist_type # Box space -> DiagGaussian OR Deterministic. elif isinstance(action_space, gym.spaces.Box): if len(action_space.shape) > 1: raise UnsupportedSpaceException( "Action space has multiple dimensions " "{}. ".format(action_space.shape) + "Consider reshaping this into a single dimension, " "using a custom action distribution, " "using a Tuple action space, or the multi-agent API.") # TODO(sven): Check for bounds and return SquashedNormal, etc.. if dist_type is None: dist_cls = TorchDiagGaussian if framework == "torch" \ else DiagGaussian elif dist_type == "deterministic": dist_cls = TorchDeterministic if framework == "torch" \ else Deterministic # Discrete Space -> Categorical. elif isinstance(action_space, gym.spaces.Discrete): dist_cls = (TorchCategorical if framework == "torch" else Categorical) # Tuple/Dict Spaces -> MultiAction. elif dist_type in (MultiActionDistribution, TorchMultiActionDistribution) or \ isinstance(action_space, (gym.spaces.Tuple, gym.spaces.Dict)): return ModelCatalog._get_multi_action_distribution( (MultiActionDistribution if framework == "tf" else TorchMultiActionDistribution), action_space, config, framework) # Simplex -> Dirichlet. elif isinstance(action_space, Simplex): if framework == "torch": # TODO(sven): implement raise NotImplementedError( "Simplex action spaces not supported for torch.") dist_cls = Dirichlet # MultiDiscrete -> MultiCategorical. elif isinstance(action_space, gym.spaces.MultiDiscrete): dist_cls = TorchMultiCategorical if framework == "torch" else \ MultiCategorical return partial(dist_cls, input_lens=action_space.nvec), \ int(sum(action_space.nvec)) # Unknown type -> Error. else: raise NotImplementedError("Unsupported args: {} {}".format( action_space, dist_type)) return dist_cls, dist_cls.required_model_output_shape( action_space, config)
[docs] @staticmethod @DeveloperAPI def get_action_shape(action_space: gym.Space) -> (np.dtype, List[int]): """Returns action tensor dtype and shape for the action space. Args: action_space (Space): Action space of the target gym env. Returns: (dtype, shape): Dtype and shape of the actions tensor. """ if isinstance(action_space, gym.spaces.Discrete): return (action_space.dtype, (None, )) elif isinstance(action_space, (gym.spaces.Box, Simplex)): return (tf.float32, (None, ) + action_space.shape) elif isinstance(action_space, gym.spaces.MultiDiscrete): return (tf.as_dtype(action_space.dtype), (None, ) + action_space.shape) elif isinstance(action_space, (gym.spaces.Tuple, gym.spaces.Dict)): flat_action_space = flatten_space(action_space) size = 0 all_discrete = True for i in range(len(flat_action_space)): if isinstance(flat_action_space[i], gym.spaces.Discrete): size += 1 else: all_discrete = False size += np.product(flat_action_space[i].shape) size = int(size) return (tf.int64 if all_discrete else tf.float32, (None, size)) else: raise NotImplementedError( "Action space {} not supported".format(action_space))
[docs] @staticmethod @DeveloperAPI def get_action_placeholder(action_space: gym.Space, name: str = "action") -> TensorType: """Returns an action placeholder consistent with the action space Args: action_space (Space): Action space of the target gym env. name (str): An optional string to name the placeholder by. Default: "action". Returns: action_placeholder (Tensor): A placeholder for the actions """ dtype, shape = ModelCatalog.get_action_shape(action_space) return tf1.placeholder(dtype, shape=shape, name=name)
[docs] @staticmethod @DeveloperAPI def get_model_v2(obs_space: gym.Space, action_space: gym.Space, num_outputs: int, model_config: ModelConfigDict, framework: str = "tf", name: str = "default_model", model_interface: type = None, default_model: type = None, **model_kwargs) -> ModelV2: """Returns a suitable model compatible with given spaces and output. Args: obs_space (Space): Observation space of the target gym env. This may have an `original_space` attribute that specifies how to unflatten the tensor into a ragged tensor. action_space (Space): Action space of the target gym env. num_outputs (int): The size of the output vector of the model. framework (str): One of "tf", "tfe", or "torch". name (str): Name (scope) for the model. model_interface (cls): Interface required for the model default_model (cls): Override the default class for the model. This only has an effect when not using a custom model model_kwargs (dict): args to pass to the ModelV2 constructor Returns: model (ModelV2): Model to use for the policy. """ if model_config.get("custom_model"): # Allow model kwargs to be overridden / augmented by # custom_model_config. customized_model_kwargs = dict( model_kwargs, **model_config.get("custom_model_config", {})) if isinstance(model_config["custom_model"], type): model_cls = model_config["custom_model"] else: model_cls = _global_registry.get(RLLIB_MODEL, model_config["custom_model"]) if not issubclass(model_cls, ModelV2): raise ValueError( "`model_cls` must be a ModelV2 sub-class, but is" " {}!".format(model_cls)) logger.info("Wrapping {} as {}".format(model_cls, model_interface)) model_cls = ModelCatalog._wrap_if_needed(model_cls, model_interface) if framework in ["tf2", "tf", "tfe"]: # Track and warn if vars were created but not registered. created = set() def track_var_creation(next_creator, **kw): v = next_creator(**kw) created.add(v) return v with tf.variable_creator_scope(track_var_creation): # Try calling with kwargs first (custom ModelV2 should # accept these as kwargs, not get them from # config["custom_model_config"] anymore). try: instance = model_cls(obs_space, action_space, num_outputs, model_config, name, **customized_model_kwargs) except TypeError as e: # Keyword error: Try old way w/o kwargs. if "__init__() got an unexpected " in e.args[0]: instance = model_cls(obs_space, action_space, num_outputs, model_config, name, **model_kwargs) logger.warning( "Custom ModelV2 should accept all custom " "options as **kwargs, instead of expecting" " them in config['custom_model_config']!") # Other error -> re-raise. else: raise e registered = set(instance.variables()) not_registered = set() for var in created: if var not in registered: not_registered.add(var) if not_registered: raise ValueError( "It looks like variables {} were created as part " "of {} but does not appear in model.variables() " "({}). Did you forget to call " "model.register_variables() on the variables in " "question?".format(not_registered, instance, registered)) else: # PyTorch automatically tracks nn.Modules inside the parent # nn.Module's constructor. # Try calling with kwargs first (custom ModelV2 should # accept these as kwargs, not get them from # config["custom_model_config"] anymore). try: instance = model_cls(obs_space, action_space, num_outputs, model_config, name, **customized_model_kwargs) except TypeError as e: # Keyword error: Try old way w/o kwargs. if "__init__() got an unexpected " in e.args[0]: instance = model_cls(obs_space, action_space, num_outputs, model_config, name, **model_kwargs) logger.warning( "Custom ModelV2 should accept all custom " "options as **kwargs, instead of expecting" " them in config['custom_model_config']!") # Other error -> re-raise. else: raise e return instance if framework in ["tf", "tfe", "tf2"]: v2_class = None # Try to get a default v2 model. if not model_config.get("custom_model"): v2_class = default_model or ModelCatalog._get_v2_model_class( obs_space, model_config, framework=framework) if not v2_class: raise ValueError("ModelV2 class could not be determined!") if model_config.get("use_lstm"): wrapped_cls = v2_class forward = wrapped_cls.forward v2_class = ModelCatalog._wrap_if_needed( wrapped_cls, LSTMWrapper) v2_class._wrapped_forward = forward # Wrap in the requested interface. wrapper = ModelCatalog._wrap_if_needed(v2_class, model_interface) return wrapper(obs_space, action_space, num_outputs, model_config, name, **model_kwargs) elif framework == "torch": v2_class = \ default_model or ModelCatalog._get_v2_model_class( obs_space, model_config, framework=framework) if model_config.get("use_lstm"): from ray.rllib.models.torch.recurrent_net import LSTMWrapper \ as TorchLSTMWrapper wrapped_cls = v2_class forward = wrapped_cls.forward v2_class = ModelCatalog._wrap_if_needed( wrapped_cls, TorchLSTMWrapper) v2_class._wrapped_forward = forward # Wrap in the requested interface. wrapper = ModelCatalog._wrap_if_needed(v2_class, model_interface) return wrapper(obs_space, action_space, num_outputs, model_config, name, **model_kwargs) else: raise NotImplementedError( "`framework` must be 'tf2|tf|tfe|torch', but is " "{}!".format(framework))
[docs] @staticmethod @DeveloperAPI def get_preprocessor(env: gym.Env, options: Optional[dict] = None) -> Preprocessor: """Returns a suitable preprocessor for the given env. This is a wrapper for get_preprocessor_for_space(). """ return ModelCatalog.get_preprocessor_for_space(env.observation_space, options)
[docs] @staticmethod @DeveloperAPI def get_preprocessor_for_space(observation_space: gym.Space, options: dict = None) -> Preprocessor: """Returns a suitable preprocessor for the given observation space. Args: observation_space (Space): The input observation space. options (dict): Options to pass to the preprocessor. Returns: preprocessor (Preprocessor): Preprocessor for the observations. """ options = options or MODEL_DEFAULTS for k in options.keys(): if k not in MODEL_DEFAULTS: raise Exception("Unknown config key `{}`, all keys: {}".format( k, list(MODEL_DEFAULTS))) if options.get("custom_preprocessor"): preprocessor = options["custom_preprocessor"] logger.info("Using custom preprocessor {}".format(preprocessor)) logger.warning( "DeprecationWarning: Custom preprocessors are deprecated, " "since they sometimes conflict with the built-in " "preprocessors for handling complex observation spaces. " "Please use wrapper classes around your environment " "instead of preprocessors.") prep = _global_registry.get(RLLIB_PREPROCESSOR, preprocessor)( observation_space, options) else: cls = get_preprocessor(observation_space) prep = cls(observation_space, options) logger.debug("Created preprocessor {}: {} -> {}".format( prep, observation_space, prep.shape)) return prep
[docs] @staticmethod @PublicAPI def register_custom_preprocessor(preprocessor_name: str, preprocessor_class: type) -> None: """Register a custom preprocessor class by name. The preprocessor can be later used by specifying {"custom_preprocessor": preprocesor_name} in the model config. Args: preprocessor_name (str): Name to register the preprocessor under. preprocessor_class (type): Python class of the preprocessor. """ _global_registry.register(RLLIB_PREPROCESSOR, preprocessor_name, preprocessor_class)
[docs] @staticmethod @PublicAPI def register_custom_model(model_name: str, model_class: type) -> None: """Register a custom model class by name. The model can be later used by specifying {"custom_model": model_name} in the model config. Args: model_name (str): Name to register the model under. model_class (type): Python class of the model. """ _global_registry.register(RLLIB_MODEL, model_name, model_class)
[docs] @staticmethod @PublicAPI def register_custom_action_dist(action_dist_name: str, action_dist_class: type) -> None: """Register a custom action distribution class by name. The model can be later used by specifying {"custom_action_dist": action_dist_name} in the model config. Args: model_name (str): Name to register the action distribution under. model_class (type): Python class of the action distribution. """ _global_registry.register(RLLIB_ACTION_DIST, action_dist_name, action_dist_class)
@staticmethod def _wrap_if_needed(model_cls: type, model_interface: type) -> type: assert issubclass(model_cls, ModelV2), model_cls if not model_interface or issubclass(model_cls, model_interface): return model_cls class wrapper(model_interface, model_cls): pass name = "{}_as_{}".format(model_cls.__name__, model_interface.__name__) wrapper.__name__ = name wrapper.__qualname__ = name return wrapper @staticmethod def _get_v2_model_class(input_space, model_config, framework="tf"): if framework == "torch": from ray.rllib.models.torch.fcnet import (FullyConnectedNetwork as FCNet) from ray.rllib.models.torch.visionnet import (VisionNetwork as VisionNet) else: from ray.rllib.models.tf.fcnet import \ FullyConnectedNetwork as FCNet from ray.rllib.models.tf.visionnet import \ VisionNetwork as VisionNet # Discrete/1D obs-spaces. if isinstance(input_space, gym.spaces.Discrete) or \ len(input_space.shape) <= 2: return FCNet # Default Conv2D net. else: return VisionNet @staticmethod def _get_multi_action_distribution(dist_class, action_space, config, framework): # In case the custom distribution is a child of MultiActionDistr. # If users want to completely ignore the suggested child # distributions, they should simply do so in their custom class' # constructor. if issubclass(dist_class, (MultiActionDistribution, TorchMultiActionDistribution)): flat_action_space = flatten_space(action_space) child_dists_and_in_lens = tree.map_structure( lambda s: ModelCatalog.get_action_dist( s, config, framework=framework), flat_action_space) child_dists = [e[0] for e in child_dists_and_in_lens] input_lens = [int(e[1]) for e in child_dists_and_in_lens] return partial( dist_class, action_space=action_space, child_distributions=child_dists, input_lens=input_lens), int(sum(input_lens)) return dist_class