507 lines
18 KiB
Python
507 lines
18 KiB
Python
# %%
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from src.discriminator import CnnDiscriminator, CnnDiscriminatorFlatAction
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from src.policies import OptionsCnnPolicy
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from imitation.algorithms import adversarial
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from imitation.util import logger
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import imitation.data.rollout as rollout
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import stable_baselines3
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from stable_baselines3.common.env_util import make_vec_env
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import torch
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import torch.utils.data
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from torch.distributions import Categorical
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import numpy as np
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import itertools
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import gym
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import pickle
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import tempfile
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import pathlib
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from tqdm import tqdm
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from intersim.envs.intersimple import NRasterized, NRasterizedRandomAgent, NRasterizedIncrementingAgent
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from intersim.collisions import state_to_polygon
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ALL_OPTIONS = [(v,t) for v in [0,2,4,6,8] for t in [5, 10, 20]] # option 0 is safe fallback
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class OptionsEnv(gym.Wrapper):
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"""
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Wrap an intersimple environment with an options generator
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"""
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def __init__(self, env, *args, **kwargs):
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"""
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Initialize wrapped environment and set high-level action and observation spaces
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"""
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super().__init__(env, *args, **kwargs)
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num_hl_options = len(ALL_OPTIONS)
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self.action_space = gym.spaces.Discrete(num_hl_options)
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self.observation_space = gym.spaces.Dict({
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'obs': env.observation_space,
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'mask': gym.spaces.Box(low=0, high=1, shape=(num_hl_options,)),
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})
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def _after_choice(self):
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pass
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def _after_step(self):
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pass
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def _transitions(self):
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raise NotImplementedError('Use `LLOptions` or `HLOptions` for sampling.')
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def sample(self, generator):
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"""
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yield transitions using a generator
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Args:
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generator (sb3.PPO)
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Yields:
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"""
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self.done = True
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while True:
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self.episode_start = False
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if self.done:
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self.s = self.env.reset()
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self.done = False
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self.episode_start = True
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self.m = available_actions(self.env)
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self.ch, self.value, self.log_prob = generator.policy.predict({
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'obs': torch.tensor(self.s).unsqueeze(0).to(generator.policy.device),
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'mask': torch.tensor(self.m).unsqueeze(0).to(generator.policy.device),
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})
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self.plan = list(map(float, generate_plan(self.env, self.ch)))
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self._after_choice()
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assert not self.done
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assert self.plan
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#assert feasible(self.env, self.plan, self.ch)
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while not self.done and self.plan and feasible(self.env, self.plan, self.ch):
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self.a, self.plan = self.plan[0], self.plan[1:]
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self.a = self.env._normalize(self.a)
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self.nexts, _, self.done, _ = self.env.step(self.a)
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self._after_step()
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self.s = self.nexts
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yield from self._transitions()
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class LLOptions(OptionsEnv):
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"""Sample low-level (state, action) tuples for discriminator training."""
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def __init__(self, *args, **kwargs):
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"""
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LLOption uses the true LL observations
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"""
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super().__init__(*args, **kwargs)
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# overwrite observation space to just output obs directly
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self.observation_space = self.observation_space['obs']
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def _after_choice(self):
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"""
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After each option choice, initialize/reset the transition buffer
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"""
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self._transition_buffer = []
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def _after_step(self):
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"""
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After each ll action, append s, s', a, done to transition buffer
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"""
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self._transition_buffer.append({
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'obs': self.s,
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'next_obs': self.nexts,
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'acts': np.array((self.a,)),
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'dones': np.array(self.done),
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})
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def _transitions(self):
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"""
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Yield from the transition buffer
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"""
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yield from self._transition_buffer
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def sample_ll(self, policy):
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"""
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Args:
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policy
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Returns:
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gen: iterable which samples low-level transitions from the environment
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"""
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return self.sample(policy)
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class HLOptions(OptionsEnv):
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"""Sample high-level (state, action, reward) tuples for generator training."""
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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def _after_choice(self):
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"""
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After an option selection, initialize total reward and number of steps
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"""
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self.obs = {'obs': np.copy(self.s), 'mask': np.copy(self.m)}
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self.r = 0
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self.steps = 0
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def _after_step(self):
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"""
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After each low-level action, add the discounted discriminated reward score (given a discriminator)
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"""
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self.r += self.discount**self.steps * self.discriminator.discrim_net.reward_train(
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state=torch.tensor(self.s).unsqueeze(0).to(self.discriminator.discrim_net.device()),
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action=torch.tensor([[self.a]]).to(self.discriminator.discrim_net.device()),
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next_state=torch.tensor(self.s).unsqueeze(0).to(self.discriminator.discrim_net.device()), # unused
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done=torch.tensor(self.done).unsqueeze(0).to(self.discriminator.discrim_net.device()), # unused
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)
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self.steps += 1
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def _transitions(self):
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"""
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Yield a single dictionary per high-level selected action
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Fields:
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obs: high-level state and mask at selection
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action: chosen high-level action
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reward: accumulated option reward
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episode_start: whether the action was chosen at the episode start
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value: the value estimate from the starting state
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log_prob: the log_prob of the selected action from the starting state
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done: whether the episode has ended
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"""
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yield {
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'obs': self.obs,
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'action': self.ch,
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'reward': self.r.detach(),
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'episode_start': self.episode_start,
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'value': self.value.detach(),
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'log_prob': self.log_prob.detach(),
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'done': self.done,
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}
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def sample_hl(self, policy, discriminator):
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"""
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Args:
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policy
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discriminator: function with which to score rewards
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Returns:
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gen: iterable which samples high-level transitions from the environment
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"""
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self.discriminator = discriminator
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return self.sample(policy)
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class RenderOptions(LLOptions):
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def _after_step(self):
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"""
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Render the environment after each low-level step
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"""
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super()._after_step()
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self.env.render()
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def close(self, *args, **kwargs):
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"""
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On 'close', close the environment
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"""
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self.env.close(*args, **kwargs)
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def available_actions(env):
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"""Return mask of available actions given current `env` state."""
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valid = np.array([feasible(env, generate_plan(env, i), i) for i in range(len(ALL_OPTIONS))])
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return valid
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def target_velocity_plan(current_v: float, target_v: float, t: int, dt: float):
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"""Smoothly target a velocity in a given number of steps"""
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# for now, constant acceleration
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a = (target_v - current_v) / (t * dt)
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return a*np.ones((t,))
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def generate_plan(env, i):
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"""Generate input profile for high-level action `i`.
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Args:
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env (gym.Env): current environment state
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i (int): high-level action `i`
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Returns:
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plan (np.array): length T array of acceleration values
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"""
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assert i < len(ALL_OPTIONS), "Invalid option index {i}"
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target_v, t = ALL_OPTIONS[i]
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current_v = env._env.state[env._agent, 1].item() # extract from env
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plan = target_velocity_plan(current_v, target_v, t, env._env._dt)
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assert len(plan) == t, "incorrect plan length"
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return plan
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def check_future_collisions_circle(env, actions):
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"""Compute collision information for circular vehicle approximations
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Args:
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env (gym.Env): current environment state
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actions (list of torch.Tensor): list of B (T, nv, adims) T-length action profiles
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Returns:
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states (torch.Tensor): tensor of shape (B, T, nv, 5) of future states based on the action profiles
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collision_tensor (torch.Tensor): tensor of shape (B, T, nv) of bools indicating which plan collides with which vehicles in which time frame
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false: colliding, true: not colliding
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"""
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B, (T, nv, _) = len(actions), actions[0].shape
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states = torch.stack(env._env.propagate_action_profile(actions), axis=0)
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assert states.shape == (B, T, nv, 5)
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distance = ((states[:, :, :, :2] - states[:, :, env._agent:env._agent+1, :2])**2).sum(-1).sqrt()
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distance = torch.where(distance.isnan(), np.inf*torch.ones_like(distance), distance) # only collide with spawned agents
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distance[:, :, env._agent] = np.inf # cannot collide with itself
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assert distance.shape == (B, T, nv)
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radius = (env._env._lengths**2 + env._env._widths**2).sqrt() / 2
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min_distance = radius[env._agent] + radius
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min_distance = min_distance.unsqueeze(0).unsqueeze(0)
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assert min_distance.shape == (1, 1, nv)
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collision_tensor = distance > min_distance
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assert collision_tensor.shape == (B, T, nv)
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return states, collision_tensor
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def check_future_collisions_fast(env, actions):
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"""Checks whether `env._agent` would collide with other agents assuming `actions` as input.
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Vehicles are (over-)approximated by single circles.
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Args:
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env (gym.Env): current environment state
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actions (list of torch.Tensor): list of B (T, nv, adims) T-length action profiles
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Returns:
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feasible (torch.Tensor): tensor of shape (B,) indicating whether the respective action profiles are collision-free
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"""
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_, collision_tensor = check_future_collisions_circle(env, actions)
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return collision_tensor.all(-1).all(-1)
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def check_future_collisions_exact(env, actions):
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"""
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Checks whether `env._agent` would collide with other agents assuming `actions` as input.
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Args:
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env (gym.Env): current environment state
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actions (list of torch.Tensor): list of B (T, nv, adims) T-length action profiles
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Returns:
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feasible (torch.Tensor): tensor of shape (B,) indicating whether the respective action profiles are collision-free
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"""
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# First check with simple circle collision check
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states, collision_tensor = check_future_collisions_circle(env, actions)
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(B, T, nv, _) = states.shape
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# For those that have colliding circles, check exactly
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colliding_mask = ~collision_tensor
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ego_states = states[:, :, env._agent:env._agent+1, :].expand(states.shape)
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assert ego_states.shape == states.shape
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# get dimensions
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lengths = env._env._lengths.expand(states.shape[:3])
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widths = env._env._widths.expand(states.shape[:3])
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ego_lengths = lengths[:, :, env._agent:env._agent+1].expand(lengths.shape)
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ego_widths = widths[:, :, env._agent:env._agent+1].expand(widths.shape)
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assert lengths.shape == widths.shape == ego_lengths.shape == ego_widths.shape == (B, T, nv)
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# For every collision instance between ego and other vehicle, check whether rectangles intersect
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exact_collisions = torch.zeros_like(collision_tensor[colliding_mask])
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for i, (ego_state, ego_length, ego_width, other_state, other_length, other_width) in enumerate(zip(
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ego_states[colliding_mask], ego_lengths[colliding_mask], ego_widths[colliding_mask],
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states[colliding_mask], lengths[colliding_mask], widths[colliding_mask]
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)):
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assert ego_state.shape == other_state.shape == (5,)
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assert ego_length.shape == ego_width.shape == other_length.shape == other_width.shape == ()
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p_ego = state_to_polygon(ego_state, ego_length, ego_width)
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p_other = state_to_polygon(other_state, other_length, other_width)
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exact_collisions[i] = p_ego.intersects(p_other)
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collision_tensor[colliding_mask] = ~exact_collisions
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return collision_tensor.all(-1).all(-1)
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def feasible(env, plan, ch):
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"""Check if input profile is feasible given current `env` state. Action `ch=0` is safe fallback."""
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if ch == 0:
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return True
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# zero pad plan - Take (T,) np plan and convert it to (T, nv, 1) torch.Tensor
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full_plan = torch.zeros(len(plan), env._env._nv, 1)
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full_plan[:, env._agent, 0] = torch.tensor(plan)
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# valid = check_future_collisions_fast(env, [full_plan]) # check_future_collisions_fast takes in B-list and outputs (B,) bool tensor
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valid = check_future_collisions_exact(env, [full_plan]) # check_future_collisions_fast takes in B-list and outputs (B,) bool tensor
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return valid.item()
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def flatten_transitions(transitions):
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return {
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'obs': np.stack(list(t['obs'] for t in transitions), axis=0),
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'next_obs': np.stack(list(t['next_obs'] for t in transitions), axis=0),
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'acts': np.stack(list(t['acts'] for t in transitions), axis=0),
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'dones': np.stack(list(t['dones'] for t in transitions), axis=0),
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}
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def train_discriminator(env, generator, discriminator, num_samples):
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transitions = list(itertools.islice(env.sample_ll(generator), num_samples))
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generator_samples = flatten_transitions(transitions)
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discriminator.train_disc(gen_samples=generator_samples)
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def train_generator(env, generator, discriminator, num_samples):
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generator_samples = list(itertools.islice(env.sample_hl(generator, discriminator), num_samples+1))
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generator.rollout_buffer.reset()
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for s in generator_samples[:-1]:
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generator.rollout_buffer.add(
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obs=s['obs'],
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action=s['action'].cpu(),
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reward=s['reward'].cpu(),
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episode_start=s['episode_start'],
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value=s['value'],
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log_prob=s['log_prob'],
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)
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generator.rollout_buffer.compute_returns_and_advantage(
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last_values=generator_samples[-1]['value'],
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dones=generator_samples[-1]['done'],
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)
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generator.train()
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def train(expert_data, env_class=NRasterizedRandomAgent, env_settings={}, epochs=10, discrim_batch_size=32, generator_steps=2048, discount=0.99):
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"""
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Args:
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expert_data: list of transitions
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env_class: environment class
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env_settings: environment settings
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epochs: number of epochs to train for
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discrim_batch_size: discriminator batch size
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generator_steps: number of steps taken in generator
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discount: discount factor
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Returns:
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generator (stable_baselines3.PPO): options policy
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"""
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env = env_class(**env_settings)
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env.discount = discount
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tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
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tempdir_path = pathlib.Path(tempdir.name)
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logger.configure(tempdir_path / "GAIL/")
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print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
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venv = make_vec_env(env_class, n_envs=1, env_kwargs=env_settings)
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discriminator = adversarial.GAIL(
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expert_data=expert_data,
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expert_batch_size=discrim_batch_size,
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discrim_kwargs={'discrim_net': CnnDiscriminatorFlatAction(venv)},
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#discrim_kwargs={'discrim_net': CnnDiscriminator(venv)},
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venv=venv, # unused
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gen_algo=stable_baselines3.PPO("CnnPolicy", venv), # unused
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)
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generator = stable_baselines3.PPO(
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OptionsCnnPolicy,
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OptionsEnv(env),
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verbose=1,
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n_steps=generator_steps,
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)
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# PPO.train requires logger as set up in
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# PPO._setup_learn (called by PPO.learn)
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generator._logger = stable_baselines3.common.utils.configure_logger(
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generator.verbose,
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generator.tensorboard_log,
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)
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for _ in tqdm(range(epochs)):
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train_discriminator(LLOptions(env), generator, discriminator, num_samples=discrim_batch_size)
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train_generator(HLOptions(env), generator, discriminator, num_samples=generator_steps)
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return generator
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# %%
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if __name__ == '__main__':
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# %%
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model_name = 'gail_options_image'
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env_class = NRasterizedRandomAgent
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env_settings = {'width': 36, 'height': 36, 'm_per_px': 2}
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#env_class = NRasterized
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#env_settings = {'agent': 51, 'width': 36, 'height': 36, 'm_per_px': 2}
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with open("data/NormalizedIntersimpleExpertMu.001_NRasterizedAgent51w36h36mppx2.pkl", "rb") as f:
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trajectories = pickle.load(f)
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transitions = rollout.flatten_trajectories(trajectories)
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generator = train(
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transitions,
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env_class=env_class,
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env_settings=env_settings,
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epochs=10,
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discrim_batch_size=32,
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generator_steps=2048,
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discount=0.99
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))
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generator.save(model_name)
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# %%
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model = stable_baselines3.PPO.load(model_name)
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env = RenderOptions(NRasterizedRandomAgent(**env_args))
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for s in env.sample_ll(model):
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if s['dones']:
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break
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env.close(filestr='render/'+model_name)
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# %% Tests
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def test_ll_expert_data():
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with open("data/NormalizedIntersimpleExpertMu.001_NRasterizedAgent51w36h36mppx2.pkl", "rb") as f:
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expert_trajectories = pickle.load(f)
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expert_transitions = rollout.flatten_trajectories(expert_trajectories)
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env = LLOptions(NRasterized(agent=51, width=36, height=36, m_per_px=2))
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gen_transitions = list(itertools.islice(env.sample_ll(
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policy=stable_baselines3.PPO(
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OptionsCnnPolicy,
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OptionsEnv(env),
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verbose=1,
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)
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), 10))
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gen_transitions = flatten_transitions(gen_transitions)
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assert expert_transitions[:10].obs.shape == gen_transitions['obs'].shape
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assert expert_transitions[:10].next_obs.shape == gen_transitions['next_obs'].shape
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assert expert_transitions[:10].acts.shape == gen_transitions['acts'].shape
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assert expert_transitions[:10].dones.shape == gen_transitions['dones'].shape
|
|
|
|
def test_ll_states():
|
|
env = NRasterized()
|
|
policy = stable_baselines3.PPO(
|
|
OptionsCnnPolicy,
|
|
OptionsEnv(env),
|
|
verbose=1,
|
|
)
|
|
llenv = LLOptions(env)
|
|
transitions = list(itertools.islice(llenv.sample_ll(policy=policy), 100))
|
|
|
|
env2 = NRasterized()
|
|
s2 = env2.reset()
|
|
for i, t in enumerate(transitions):
|
|
assert i == 0 or np.array_equal(t['obs'], transitions[i-1]['next_obs'])
|
|
assert np.array_equal(t['obs'], s2)
|
|
assert t['acts'].shape == (1,)
|
|
|
|
nexts2, _, done2, _ = env2.step(t['acts'])
|
|
assert np.array_equal(t['next_obs'], nexts2)
|
|
assert np.array_equal(t['dones'], done2)
|
|
|
|
if done2:
|
|
break
|
|
|
|
s2 = nexts2
|
|
|
|
def test_hl_transitions():
|
|
pass
|