Merge branch 'master' of https://github.com/openai/baselines into peterz_import_internal

* import rl-algs from 2e3a166 commit

* extra import of the baselines badge

* exported commit with identity test

* proper rng seeding in the test_identity

* import internal

.gitignore

@@ -1,6 +1,8 @@
 *.swp
 *.pyc
+*.pkl
 *.py~
+.pytest_cache
 .DS_Store
 .idea
 
@@ -30,3 +32,7 @@ src
 
 *.egg-info
 .cache
+
+MUJOCO_LOG.TXT
+
+

.travis.yml

@@ -0,0 +1,14 @@
+language: python
+python:
+    - "3.6"
+
+services:
+    - docker
+
+install:
+    - pip install flake8
+    - docker build . -t baselines-test
+
+script:
+    - flake8 --select=F baselines/common
+    - docker run baselines-test pytest

Dockerfile

@@ -0,0 +1,20 @@
+FROM ubuntu:16.04
+
+RUN apt-get -y update && apt-get -y install git wget python-dev python3-dev libopenmpi-dev python-pip zlib1g-dev cmake
+ENV CODE_DIR /root/code
+ENV VENV /root/venv
+
+COPY . $CODE_DIR/baselines
+RUN \
+    pip install virtualenv && \
+    virtualenv $VENV --python=python3 && \
+    . $VENV/bin/activate && \
+    cd $CODE_DIR && \
+    pip install --upgrade pip && \
+    pip install -e baselines && \
+    pip install pytest
+
+ENV PATH=$VENV/bin:$PATH
+WORKDIR $CODE_DIR/baselines
+
+CMD /bin/bash

README.md

@@ -1,17 +1,87 @@
-<img src="data/logo.jpg" width=25% align="right" />
+<img src="data/logo.jpg" width=25% align="right" /> [![Build status](https://travis-ci.org/openai/baselines.svg?branch=master)](https://travis-ci.org/openai/baselines)
 
-# BASELINES
+# Baselines
 
-We're releasing OpenAI Baselines, a set of high-quality implementations of reinforcement learning algorithms.
+OpenAI Baselines is a set of high-quality implementations of reinforcement learning algorithms.
 
 These algorithms will make it easier for the research community to replicate, refine, and identify new ideas, and will create good baselines to build research on top of. Our DQN implementation and its variants are roughly on par with the scores in published papers. We expect they will be used as a base around which new ideas can be added, and as a tool for comparing a new approach against existing ones. 
 
-You can install it by typing:
-
+## Prerequisites 
+Baselines requires python3 (>=3.5) with the development headers. You'll also need system packages CMake, OpenMPI and zlib. Those can be installed as follows
+### Ubuntu 
+    
 ```bash
-pip install baselines
+sudo apt-get update && sudo apt-get install cmake libopenmpi-dev python3-dev zlib1g-dev
+```
+    
+### Mac OS X
+Installation of system packages on Mac requires [Homebrew](https://brew.sh). With Homebrew installed, run the follwing:
+```bash
+brew install cmake openmpi
+```
+    
+## Virtual environment
+From the general python package sanity perspective, it is a good idea to use virtual environments (virtualenvs) to make sure packages from different projects do not interfere with each other. You can install virtualenv (which is itself a pip package) via
+```bash
+pip install virtualenv
+```
+Virtualenvs are essentially folders that have copies of python executable and all python packages.
+To create a virtualenv called venv with python3, one runs 
+```bash
+virtualenv /path/to/venv --python=python3
+```
+To activate a virtualenv: 
+```
+. /path/to/venv/bin/activate
+```
+More thorough tutorial on virtualenvs and options can be found [here](https://virtualenv.pypa.io/en/stable/) 
+
+
+## Installation
+Clone the repo and cd into it:
+```bash
+git clone https://github.com/openai/baselines.git
+cd baselines
+```
+If using virtualenv, create a new virtualenv and activate it
+```bash
+    virtualenv env --python=python3
+    . env/bin/activate
+```
+Install baselines package
+```bash
+pip install -e .
+```
+### MuJoCo
+Some of the baselines examples use [MuJoCo](http://www.mujoco.org) (multi-joint dynamics in contact) physics simulator, which is proprietary and requires binaries and a license (temporary 30-day license can be obtained from [www.mujoco.org](http://www.mujoco.org)). Instructions on setting up MuJoCo can be found [here](https://github.com/openai/mujoco-py)
+
+## Testing the installation
+All unit tests in baselines can be run using pytest runner:
+```
+pip install pytest
+pytest
 ```
 
+## Subpackages
+
+- [A2C](baselines/a2c)
+- [ACER](baselines/acer)
+- [ACKTR](baselines/acktr)
+- [DDPG](baselines/ddpg)
 - [DQN](baselines/deepq)
-- [PPO](baselines/pposgd)
+- [GAIL](baselines/gail)
+- [HER](baselines/her)
+- [PPO1](baselines/ppo1) (Multi-CPU using MPI)
+- [PPO2](baselines/ppo2) (Optimized for GPU)
 - [TRPO](baselines/trpo_mpi)
+
+To cite this repository in publications:
+
+    @misc{baselines,
+      author = {Dhariwal, Prafulla and Hesse, Christopher and Klimov, Oleg and Nichol, Alex and Plappert, Matthias and Radford, Alec and Schulman, John and Sidor, Szymon and Wu, Yuhuai},
+      title = {OpenAI Baselines},
+      year = {2017},
+      publisher = {GitHub},
+      journal = {GitHub repository},
+      howpublished = {\url{https://github.com/openai/baselines}},
+    }

baselines/a2c/README.md

@@ -0,0 +1,5 @@
+# A2C
+
+- Original paper: https://arxiv.org/abs/1602.01783
+- Baselines blog post: https://blog.openai.com/baselines-acktr-a2c/
+- `python -m baselines.a2c.run_atari` runs the algorithm for 40M frames = 10M timesteps on an Atari game. See help (`-h`) for more options.

baselines/a2c/a2c.py

@@ -0,0 +1,160 @@
+import os.path as osp
+import time
+import joblib
+import numpy as np
+import tensorflow as tf
+from baselines import logger
+
+from baselines.common import set_global_seeds, explained_variance
+from baselines.common.runners import AbstractEnvRunner
+from baselines.common import tf_util
+
+from baselines.a2c.utils import discount_with_dones
+from baselines.a2c.utils import Scheduler, make_path, find_trainable_variables
+from baselines.a2c.utils import cat_entropy, mse
+
+class Model(object):
+
+    def __init__(self, policy, ob_space, ac_space, nenvs, nsteps,
+            ent_coef=0.01, vf_coef=0.5, max_grad_norm=0.5, lr=7e-4,
+            alpha=0.99, epsilon=1e-5, total_timesteps=int(80e6), lrschedule='linear'):
+
+        sess = tf_util.make_session()
+        nbatch = nenvs*nsteps
+
+        A = tf.placeholder(tf.int32, [nbatch])
+        ADV = tf.placeholder(tf.float32, [nbatch])
+        R = tf.placeholder(tf.float32, [nbatch])
+        LR = tf.placeholder(tf.float32, [])
+
+        step_model = policy(sess, ob_space, ac_space, nenvs, 1, reuse=False)
+        train_model = policy(sess, ob_space, ac_space, nenvs*nsteps, nsteps, reuse=True)
+
+        neglogpac = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=train_model.pi, labels=A)
+        pg_loss = tf.reduce_mean(ADV * neglogpac)
+        vf_loss = tf.reduce_mean(mse(tf.squeeze(train_model.vf), R))
+        entropy = tf.reduce_mean(cat_entropy(train_model.pi))
+        loss = pg_loss - entropy*ent_coef + vf_loss * vf_coef
+
+        params = find_trainable_variables("model")
+        grads = tf.gradients(loss, params)
+        if max_grad_norm is not None:
+            grads, grad_norm = tf.clip_by_global_norm(grads, max_grad_norm)
+        grads = list(zip(grads, params))
+        trainer = tf.train.RMSPropOptimizer(learning_rate=LR, decay=alpha, epsilon=epsilon)
+        _train = trainer.apply_gradients(grads)
+
+        lr = Scheduler(v=lr, nvalues=total_timesteps, schedule=lrschedule)
+
+        def train(obs, states, rewards, masks, actions, values):
+            advs = rewards - values
+            for step in range(len(obs)):
+                cur_lr = lr.value()
+            td_map = {train_model.X:obs, A:actions, ADV:advs, R:rewards, LR:cur_lr}
+            if states is not None:
+                td_map[train_model.S] = states
+                td_map[train_model.M] = masks
+            policy_loss, value_loss, policy_entropy, _ = sess.run(
+                [pg_loss, vf_loss, entropy, _train],
+                td_map
+            )
+            return policy_loss, value_loss, policy_entropy
+
+        def save(save_path):
+            ps = sess.run(params)
+            make_path(osp.dirname(save_path))
+            joblib.dump(ps, save_path)
+
+        def load(load_path):
+            loaded_params = joblib.load(load_path)
+            restores = []
+            for p, loaded_p in zip(params, loaded_params):
+                restores.append(p.assign(loaded_p))
+            sess.run(restores)
+
+        self.train = train
+        self.train_model = train_model
+        self.step_model = step_model
+        self.step = step_model.step
+        self.value = step_model.value
+        self.initial_state = step_model.initial_state
+        self.save = save
+        self.load = load
+        tf.global_variables_initializer().run(session=sess)
+
+class Runner(AbstractEnvRunner):
+
+    def __init__(self, env, model, nsteps=5, gamma=0.99):
+        super().__init__(env=env, model=model, nsteps=nsteps)
+        self.gamma = gamma
+
+    def run(self):
+        mb_obs, mb_rewards, mb_actions, mb_values, mb_dones = [],[],[],[],[]
+        mb_states = self.states
+        for n in range(self.nsteps):
+            actions, values, states, _ = self.model.step(self.obs, self.states, self.dones)
+            mb_obs.append(np.copy(self.obs))
+            mb_actions.append(actions)
+            mb_values.append(values)
+            mb_dones.append(self.dones)
+            obs, rewards, dones, _ = self.env.step(actions)
+            self.states = states
+            self.dones = dones
+            for n, done in enumerate(dones):
+                if done:
+                    self.obs[n] = self.obs[n]*0
+            self.obs = obs
+            mb_rewards.append(rewards)
+        mb_dones.append(self.dones)
+        #batch of steps to batch of rollouts
+        mb_obs = np.asarray(mb_obs, dtype=np.uint8).swapaxes(1, 0).reshape(self.batch_ob_shape)
+        mb_rewards = np.asarray(mb_rewards, dtype=np.float32).swapaxes(1, 0)
+        mb_actions = np.asarray(mb_actions, dtype=np.int32).swapaxes(1, 0)
+        mb_values = np.asarray(mb_values, dtype=np.float32).swapaxes(1, 0)
+        mb_dones = np.asarray(mb_dones, dtype=np.bool).swapaxes(1, 0)
+        mb_masks = mb_dones[:, :-1]
+        mb_dones = mb_dones[:, 1:]
+        last_values = self.model.value(self.obs, self.states, self.dones).tolist()
+        #discount/bootstrap off value fn
+        for n, (rewards, dones, value) in enumerate(zip(mb_rewards, mb_dones, last_values)):
+            rewards = rewards.tolist()
+            dones = dones.tolist()
+            if dones[-1] == 0:
+                rewards = discount_with_dones(rewards+[value], dones+[0], self.gamma)[:-1]
+            else:
+                rewards = discount_with_dones(rewards, dones, self.gamma)
+            mb_rewards[n] = rewards
+        mb_rewards = mb_rewards.flatten()
+        mb_actions = mb_actions.flatten()
+        mb_values = mb_values.flatten()
+        mb_masks = mb_masks.flatten()
+        return mb_obs, mb_states, mb_rewards, mb_masks, mb_actions, mb_values
+
+def learn(policy, env, seed, nsteps=5, total_timesteps=int(80e6), vf_coef=0.5, ent_coef=0.01, max_grad_norm=0.5, lr=7e-4, lrschedule='linear', epsilon=1e-5, alpha=0.99, gamma=0.99, log_interval=100):
+    set_global_seeds(seed)
+
+    nenvs = env.num_envs
+    ob_space = env.observation_space
+    ac_space = env.action_space
+    model = Model(policy=policy, ob_space=ob_space, ac_space=ac_space, nenvs=nenvs, nsteps=nsteps, ent_coef=ent_coef, vf_coef=vf_coef,
+        max_grad_norm=max_grad_norm, lr=lr, alpha=alpha, epsilon=epsilon, total_timesteps=total_timesteps, lrschedule=lrschedule)
+    runner = Runner(env, model, nsteps=nsteps, gamma=gamma)
+
+    nbatch = nenvs*nsteps
+    tstart = time.time()
+    for update in range(1, total_timesteps//nbatch+1):
+        obs, states, rewards, masks, actions, values = runner.run()
+        policy_loss, value_loss, policy_entropy = model.train(obs, states, rewards, masks, actions, values)
+        nseconds = time.time()-tstart
+        fps = int((update*nbatch)/nseconds)
+        if update % log_interval == 0 or update == 1:
+            ev = explained_variance(values, rewards)
+            logger.record_tabular("nupdates", update)
+            logger.record_tabular("total_timesteps", update*nbatch)
+            logger.record_tabular("fps", fps)
+            logger.record_tabular("policy_entropy", float(policy_entropy))
+            logger.record_tabular("value_loss", float(value_loss))
+            logger.record_tabular("explained_variance", float(ev))
+            logger.dump_tabular()
+    env.close()
+    return model

baselines/a2c/policies.py

@@ -0,0 +1,146 @@
+import numpy as np
+import tensorflow as tf
+from baselines.a2c.utils import conv, fc, conv_to_fc, batch_to_seq, seq_to_batch, lstm, lnlstm
+from baselines.common.distributions import make_pdtype
+from baselines.common.input import observation_input
+
+def nature_cnn(unscaled_images, **conv_kwargs):
+    """
+    CNN from Nature paper.
+    """
+    scaled_images = tf.cast(unscaled_images, tf.float32) / 255.
+    activ = tf.nn.relu
+    h = activ(conv(scaled_images, 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2),
+                   **conv_kwargs))
+    h2 = activ(conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2), **conv_kwargs))
+    h3 = activ(conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2), **conv_kwargs))
+    h3 = conv_to_fc(h3)
+    return activ(fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2)))
+
+class LnLstmPolicy(object):
+    def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, nlstm=256, reuse=False):
+        nenv = nbatch // nsteps
+        X, processed_x = observation_input(ob_space, nbatch)
+        M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
+        S = tf.placeholder(tf.float32, [nenv, nlstm*2]) #states
+        self.pdtype = make_pdtype(ac_space)
+        with tf.variable_scope("model", reuse=reuse):
+            h = nature_cnn(processed_x)
+            xs = batch_to_seq(h, nenv, nsteps)
+            ms = batch_to_seq(M, nenv, nsteps)
+            h5, snew = lnlstm(xs, ms, S, 'lstm1', nh=nlstm)
+            h5 = seq_to_batch(h5)
+            vf = fc(h5, 'v', 1)
+            self.pd, self.pi = self.pdtype.pdfromlatent(h5)
+
+        v0 = vf[:, 0]
+        a0 = self.pd.sample()
+        neglogp0 = self.pd.neglogp(a0)
+        self.initial_state = np.zeros((nenv, nlstm*2), dtype=np.float32)
+
+        def step(ob, state, mask):
+            return sess.run([a0, v0, snew, neglogp0], {X:ob, S:state, M:mask})
+
+        def value(ob, state, mask):
+            return sess.run(v0, {X:ob, S:state, M:mask})
+
+        self.X = X
+        self.M = M
+        self.S = S
+        self.vf = vf
+        self.step = step
+        self.value = value
+
+class LstmPolicy(object):
+
+    def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, nlstm=256, reuse=False):
+        nenv = nbatch // nsteps
+        self.pdtype = make_pdtype(ac_space)
+        X, processed_x = observation_input(ob_space, nbatch)
+
+        M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
+        S = tf.placeholder(tf.float32, [nenv, nlstm*2]) #states
+        with tf.variable_scope("model", reuse=reuse):
+            h = nature_cnn(X)
+            xs = batch_to_seq(h, nenv, nsteps)
+            ms = batch_to_seq(M, nenv, nsteps)
+            h5, snew = lstm(xs, ms, S, 'lstm1', nh=nlstm)
+            h5 = seq_to_batch(h5)
+            vf = fc(h5, 'v', 1)
+            self.pd, self.pi = self.pdtype.pdfromlatent(h5)
+
+        v0 = vf[:, 0]
+        a0 = self.pd.sample()
+        neglogp0 = self.pd.neglogp(a0)
+        self.initial_state = np.zeros((nenv, nlstm*2), dtype=np.float32)
+
+        def step(ob, state, mask):
+            return sess.run([a0, v0, snew, neglogp0], {X:ob, S:state, M:mask})
+
+        def value(ob, state, mask):
+            return sess.run(v0, {X:ob, S:state, M:mask})
+
+        self.X = X
+        self.M = M
+        self.S = S
+        self.vf = vf
+        self.step = step
+        self.value = value
+
+class CnnPolicy(object):
+
+    def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, reuse=False, **conv_kwargs): #pylint: disable=W0613
+        self.pdtype = make_pdtype(ac_space)
+        X, processed_x = observation_input(ob_space, nbatch)
+        with tf.variable_scope("model", reuse=reuse):
+            h = nature_cnn(processed_x, **conv_kwargs)
+            vf = fc(h, 'v', 1)[:,0]
+            self.pd, self.pi = self.pdtype.pdfromlatent(h, init_scale=0.01)
+
+        a0 = self.pd.sample()
+        neglogp0 = self.pd.neglogp(a0)
+        self.initial_state = None
+
+        def step(ob, *_args, **_kwargs):
+            a, v, neglogp = sess.run([a0, vf, neglogp0], {X:ob})
+            return a, v, self.initial_state, neglogp
+
+        def value(ob, *_args, **_kwargs):
+            return sess.run(vf, {X:ob})
+
+        self.X = X
+        self.vf = vf
+        self.step = step
+        self.value = value
+
+class MlpPolicy(object):
+    def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, reuse=False): #pylint: disable=W0613
+        self.pdtype = make_pdtype(ac_space)
+        with tf.variable_scope("model", reuse=reuse):
+            X, processed_x = observation_input(ob_space, nbatch)
+            activ = tf.tanh
+            processed_x = tf.layers.flatten(processed_x)
+            pi_h1 = activ(fc(processed_x, 'pi_fc1', nh=64, init_scale=np.sqrt(2)))
+            pi_h2 = activ(fc(pi_h1, 'pi_fc2', nh=64, init_scale=np.sqrt(2)))
+            vf_h1 = activ(fc(processed_x, 'vf_fc1', nh=64, init_scale=np.sqrt(2)))
+            vf_h2 = activ(fc(vf_h1, 'vf_fc2', nh=64, init_scale=np.sqrt(2)))
+            vf = fc(vf_h2, 'vf', 1)[:,0]
+
+            self.pd, self.pi = self.pdtype.pdfromlatent(pi_h2, init_scale=0.01)
+
+
+        a0 = self.pd.sample()
+        neglogp0 = self.pd.neglogp(a0)
+        self.initial_state = None
+
+        def step(ob, *_args, **_kwargs):
+            a, v, neglogp = sess.run([a0, vf, neglogp0], {X:ob})
+            return a, v, self.initial_state, neglogp
+
+        def value(ob, *_args, **_kwargs):
+            return sess.run(vf, {X:ob})
+
+        self.X = X
+        self.vf = vf
+        self.step = step
+        self.value = value

baselines/a2c/run_atari.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+
+from baselines import logger
+from baselines.common.cmd_util import make_atari_env, atari_arg_parser
+from baselines.common.vec_env.vec_frame_stack import VecFrameStack
+from baselines.a2c.a2c import learn
+from baselines.ppo2.policies import CnnPolicy, LstmPolicy, LnLstmPolicy
+
+def train(env_id, num_timesteps, seed, policy, lrschedule, num_env):
+    if policy == 'cnn':
+        policy_fn = CnnPolicy
+    elif policy == 'lstm':
+        policy_fn = LstmPolicy
+    elif policy == 'lnlstm':
+        policy_fn = LnLstmPolicy
+    env = VecFrameStack(make_atari_env(env_id, num_env, seed), 4)
+    learn(policy_fn, env, seed, total_timesteps=int(num_timesteps * 1.1), lrschedule=lrschedule)
+    env.close()
+
+def main():
+    parser = atari_arg_parser()
+    parser.add_argument('--policy', help='Policy architecture', choices=['cnn', 'lstm', 'lnlstm'], default='cnn')
+    parser.add_argument('--lrschedule', help='Learning rate schedule', choices=['constant', 'linear'], default='constant')
+    args = parser.parse_args()
+    logger.configure()
+    train(args.env, num_timesteps=args.num_timesteps, seed=args.seed,
+        policy=args.policy, lrschedule=args.lrschedule, num_env=16)
+
+if __name__ == '__main__':
+    main()

baselines/a2c/utils.py

@@ -0,0 +1,290 @@
+import os
+import gym
+import numpy as np
+import tensorflow as tf
+from gym import spaces
+from collections import deque
+
+def sample(logits):
+    noise = tf.random_uniform(tf.shape(logits))
+    return tf.argmax(logits - tf.log(-tf.log(noise)), 1)
+
+def cat_entropy(logits):
+    a0 = logits - tf.reduce_max(logits, 1, keep_dims=True)
+    ea0 = tf.exp(a0)
+    z0 = tf.reduce_sum(ea0, 1, keep_dims=True)
+    p0 = ea0 / z0
+    return tf.reduce_sum(p0 * (tf.log(z0) - a0), 1)
+
+def cat_entropy_softmax(p0):
+    return - tf.reduce_sum(p0 * tf.log(p0 + 1e-6), axis = 1)
+
+def mse(pred, target):
+    return tf.square(pred-target)/2.
+
+def ortho_init(scale=1.0):
+    def _ortho_init(shape, dtype, partition_info=None):
+        #lasagne ortho init for tf
+        shape = tuple(shape)
+        if len(shape) == 2:
+            flat_shape = shape
+        elif len(shape) == 4: # assumes NHWC
+            flat_shape = (np.prod(shape[:-1]), shape[-1])
+        else:
+            raise NotImplementedError
+        a = np.random.normal(0.0, 1.0, flat_shape)
+        u, _, v = np.linalg.svd(a, full_matrices=False)
+        q = u if u.shape == flat_shape else v # pick the one with the correct shape
+        q = q.reshape(shape)
+        return (scale * q[:shape[0], :shape[1]]).astype(np.float32)
+    return _ortho_init
+
+def conv(x, scope, *, nf, rf, stride, pad='VALID', init_scale=1.0, data_format='NHWC', one_dim_bias=False):
+    if data_format == 'NHWC':
+        channel_ax = 3
+        strides = [1, stride, stride, 1]
+        bshape = [1, 1, 1, nf]
+    elif data_format == 'NCHW':
+        channel_ax = 1
+        strides = [1, 1, stride, stride]
+        bshape = [1, nf, 1, 1]
+    else:
+        raise NotImplementedError
+    bias_var_shape = [nf] if one_dim_bias else [1, nf, 1, 1]
+    nin = x.get_shape()[channel_ax].value
+    wshape = [rf, rf, nin, nf]
+    with tf.variable_scope(scope):
+        w = tf.get_variable("w", wshape, initializer=ortho_init(init_scale))
+        b = tf.get_variable("b", bias_var_shape, initializer=tf.constant_initializer(0.0))
+        if not one_dim_bias and data_format == 'NHWC':
+            b = tf.reshape(b, bshape)
+        return b + tf.nn.conv2d(x, w, strides=strides, padding=pad, data_format=data_format)
+
+def fc(x, scope, nh, *, init_scale=1.0, init_bias=0.0):
+    with tf.variable_scope(scope):
+        nin = x.get_shape()[1].value
+        w = tf.get_variable("w", [nin, nh], initializer=ortho_init(init_scale))
+        b = tf.get_variable("b", [nh], initializer=tf.constant_initializer(init_bias))
+        return tf.matmul(x, w)+b
+
+def batch_to_seq(h, nbatch, nsteps, flat=False):
+    if flat:
+        h = tf.reshape(h, [nbatch, nsteps])
+    else:
+        h = tf.reshape(h, [nbatch, nsteps, -1])
+    return [tf.squeeze(v, [1]) for v in tf.split(axis=1, num_or_size_splits=nsteps, value=h)]
+
+def seq_to_batch(h, flat = False):
+    shape = h[0].get_shape().as_list()
+    if not flat:
+        assert(len(shape) > 1)
+        nh = h[0].get_shape()[-1].value
+        return tf.reshape(tf.concat(axis=1, values=h), [-1, nh])
+    else:
+        return tf.reshape(tf.stack(values=h, axis=1), [-1])
+
+def lstm(xs, ms, s, scope, nh, init_scale=1.0):
+    nbatch, nin = [v.value for v in xs[0].get_shape()]
+    nsteps = len(xs)
+    with tf.variable_scope(scope):
+        wx = tf.get_variable("wx", [nin, nh*4], initializer=ortho_init(init_scale))
+        wh = tf.get_variable("wh", [nh, nh*4], initializer=ortho_init(init_scale))
+        b = tf.get_variable("b", [nh*4], initializer=tf.constant_initializer(0.0))
+
+    c, h = tf.split(axis=1, num_or_size_splits=2, value=s)
+    for idx, (x, m) in enumerate(zip(xs, ms)):
+        c = c*(1-m)
+        h = h*(1-m)
+        z = tf.matmul(x, wx) + tf.matmul(h, wh) + b
+        i, f, o, u = tf.split(axis=1, num_or_size_splits=4, value=z)
+        i = tf.nn.sigmoid(i)
+        f = tf.nn.sigmoid(f)
+        o = tf.nn.sigmoid(o)
+        u = tf.tanh(u)
+        c = f*c + i*u
+        h = o*tf.tanh(c)
+        xs[idx] = h
+    s = tf.concat(axis=1, values=[c, h])
+    return xs, s
+
+def _ln(x, g, b, e=1e-5, axes=[1]):
+    u, s = tf.nn.moments(x, axes=axes, keep_dims=True)
+    x = (x-u)/tf.sqrt(s+e)
+    x = x*g+b
+    return x
+
+def lnlstm(xs, ms, s, scope, nh, init_scale=1.0):
+    nbatch, nin = [v.value for v in xs[0].get_shape()]
+    nsteps = len(xs)
+    with tf.variable_scope(scope):
+        wx = tf.get_variable("wx", [nin, nh*4], initializer=ortho_init(init_scale))
+        gx = tf.get_variable("gx", [nh*4], initializer=tf.constant_initializer(1.0))
+        bx = tf.get_variable("bx", [nh*4], initializer=tf.constant_initializer(0.0))
+
+        wh = tf.get_variable("wh", [nh, nh*4], initializer=ortho_init(init_scale))
+        gh = tf.get_variable("gh", [nh*4], initializer=tf.constant_initializer(1.0))
+        bh = tf.get_variable("bh", [nh*4], initializer=tf.constant_initializer(0.0))
+
+        b = tf.get_variable("b", [nh*4], initializer=tf.constant_initializer(0.0))
+
+        gc = tf.get_variable("gc", [nh], initializer=tf.constant_initializer(1.0))
+        bc = tf.get_variable("bc", [nh], initializer=tf.constant_initializer(0.0))
+
+    c, h = tf.split(axis=1, num_or_size_splits=2, value=s)
+    for idx, (x, m) in enumerate(zip(xs, ms)):
+        c = c*(1-m)
+        h = h*(1-m)
+        z = _ln(tf.matmul(x, wx), gx, bx) + _ln(tf.matmul(h, wh), gh, bh) + b
+        i, f, o, u = tf.split(axis=1, num_or_size_splits=4, value=z)
+        i = tf.nn.sigmoid(i)
+        f = tf.nn.sigmoid(f)
+        o = tf.nn.sigmoid(o)
+        u = tf.tanh(u)
+        c = f*c + i*u
+        h = o*tf.tanh(_ln(c, gc, bc))
+        xs[idx] = h
+    s = tf.concat(axis=1, values=[c, h])
+    return xs, s
+
+def conv_to_fc(x):
+    nh = np.prod([v.value for v in x.get_shape()[1:]])
+    x = tf.reshape(x, [-1, nh])
+    return x
+
+def discount_with_dones(rewards, dones, gamma):
+    discounted = []
+    r = 0
+    for reward, done in zip(rewards[::-1], dones[::-1]):
+        r = reward + gamma*r*(1.-done) # fixed off by one bug
+        discounted.append(r)
+    return discounted[::-1]
+
+def find_trainable_variables(key):
+    with tf.variable_scope(key):
+        return tf.trainable_variables()
+
+def make_path(f):
+    return os.makedirs(f, exist_ok=True)
+
+def constant(p):
+    return 1
+
+def linear(p):
+    return 1-p
+
+def middle_drop(p):
+    eps = 0.75
+    if 1-p<eps:
+        return eps*0.1
+    return 1-p
+
+def double_linear_con(p):
+    p *= 2
+    eps = 0.125
+    if 1-p<eps:
+        return eps
+    return 1-p
+
+def double_middle_drop(p):
+    eps1 = 0.75
+    eps2 = 0.25
+    if 1-p<eps1:
+        if 1-p<eps2:
+            return eps2*0.5
+        return eps1*0.1
+    return 1-p
+
+schedules = {
+    'linear':linear,
+    'constant':constant,
+    'double_linear_con': double_linear_con,
+    'middle_drop': middle_drop,
+    'double_middle_drop': double_middle_drop
+}
+
+class Scheduler(object):
+
+    def __init__(self, v, nvalues, schedule):
+        self.n = 0.
+        self.v = v
+        self.nvalues = nvalues
+        self.schedule = schedules[schedule]
+
+    def value(self):
+        current_value = self.v*self.schedule(self.n/self.nvalues)
+        self.n += 1.
+        return current_value
+
+    def value_steps(self, steps):
+        return self.v*self.schedule(steps/self.nvalues)
+
+
+class EpisodeStats:
+    def __init__(self, nsteps, nenvs):
+        self.episode_rewards = []
+        for i in range(nenvs):
+            self.episode_rewards.append([])
+        self.lenbuffer = deque(maxlen=40)  # rolling buffer for episode lengths
+        self.rewbuffer = deque(maxlen=40)  # rolling buffer for episode rewards
+        self.nsteps = nsteps
+        self.nenvs = nenvs
+
+    def feed(self, rewards, masks):
+        rewards = np.reshape(rewards, [self.nenvs, self.nsteps])
+        masks = np.reshape(masks, [self.nenvs, self.nsteps])
+        for i in range(0, self.nenvs):
+            for j in range(0, self.nsteps):
+                self.episode_rewards[i].append(rewards[i][j])
+                if masks[i][j]:
+                    l = len(self.episode_rewards[i])
+                    s = sum(self.episode_rewards[i])
+                    self.lenbuffer.append(l)
+                    self.rewbuffer.append(s)
+                    self.episode_rewards[i] = []
+
+    def mean_length(self):
+        if self.lenbuffer:
+            return np.mean(self.lenbuffer)
+        else:
+            return 0  # on the first params dump, no episodes are finished
+
+    def mean_reward(self):
+        if self.rewbuffer:
+            return np.mean(self.rewbuffer)
+        else:
+            return 0
+
+
+# For ACER
+def get_by_index(x, idx):
+    assert(len(x.get_shape()) == 2)
+    assert(len(idx.get_shape()) == 1)
+    idx_flattened = tf.range(0, x.shape[0]) * x.shape[1] + idx
+    y = tf.gather(tf.reshape(x, [-1]),  # flatten input
+                  idx_flattened)  # use flattened indices
+    return y
+
+def check_shape(ts,shapes):
+    i = 0
+    for (t,shape) in zip(ts,shapes):
+        assert t.get_shape().as_list()==shape, "id " + str(i) + " shape " + str(t.get_shape()) + str(shape)
+        i += 1
+
+def avg_norm(t):
+    return tf.reduce_mean(tf.sqrt(tf.reduce_sum(tf.square(t), axis=-1)))
+
+def gradient_add(g1, g2, param):
+    print([g1, g2, param.name])
+    assert (not (g1 is None and g2 is None)), param.name
+    if g1 is None:
+        return g2
+    elif g2 is None:
+        return g1
+    else:
+        return g1 + g2
+
+def q_explained_variance(qpred, q):
+    _, vary = tf.nn.moments(q, axes=[0, 1])
+    _, varpred = tf.nn.moments(q - qpred, axes=[0, 1])
+    check_shape([vary, varpred], [[]] * 2)
+    return 1.0 - (varpred / vary)

baselines/acer/README.md

@@ -0,0 +1,4 @@
+# ACER
+
+- Original paper: https://arxiv.org/abs/1611.01224
+- `python -m baselines.acer.run_atari` runs the algorithm for 40M frames = 10M timesteps on an Atari game. See help (`-h`) for more options.

baselines/acer/acer_simple.py

@@ -0,0 +1,348 @@
+import time
+import joblib
+import numpy as np
+import tensorflow as tf
+from baselines import logger
+
+from baselines.common import set_global_seeds
+from baselines.common.runners import AbstractEnvRunner
+
+from baselines.a2c.utils import batch_to_seq, seq_to_batch
+from baselines.a2c.utils import Scheduler, make_path, find_trainable_variables
+from baselines.a2c.utils import cat_entropy_softmax
+from baselines.a2c.utils import EpisodeStats
+from baselines.a2c.utils import get_by_index, check_shape, avg_norm, gradient_add, q_explained_variance
+from baselines.acer.buffer import Buffer
+
+import os.path as osp
+
+# remove last step
+def strip(var, nenvs, nsteps, flat = False):
+    vars = batch_to_seq(var, nenvs, nsteps + 1, flat)
+    return seq_to_batch(vars[:-1], flat)
+
+def q_retrace(R, D, q_i, v, rho_i, nenvs, nsteps, gamma):
+    """
+    Calculates q_retrace targets
+
+    :param R: Rewards
+    :param D: Dones
+    :param q_i: Q values for actions taken
+    :param v: V values
+    :param rho_i: Importance weight for each action
+    :return: Q_retrace values
+    """
+    rho_bar = batch_to_seq(tf.minimum(1.0, rho_i), nenvs, nsteps, True)  # list of len steps, shape [nenvs]
+    rs = batch_to_seq(R, nenvs, nsteps, True)  # list of len steps, shape [nenvs]
+    ds = batch_to_seq(D, nenvs, nsteps, True)  # list of len steps, shape [nenvs]
+    q_is = batch_to_seq(q_i, nenvs, nsteps, True)
+    vs = batch_to_seq(v, nenvs, nsteps + 1, True)
+    v_final = vs[-1]
+    qret = v_final
+    qrets = []
+    for i in range(nsteps - 1, -1, -1):
+        check_shape([qret, ds[i], rs[i], rho_bar[i], q_is[i], vs[i]], [[nenvs]] * 6)
+        qret = rs[i] + gamma * qret * (1.0 - ds[i])
+        qrets.append(qret)
+        qret = (rho_bar[i] * (qret - q_is[i])) + vs[i]
+    qrets = qrets[::-1]
+    qret = seq_to_batch(qrets, flat=True)
+    return qret
+
+# For ACER with PPO clipping instead of trust region
+# def clip(ratio, eps_clip):
+#     # assume 0 <= eps_clip <= 1
+#     return tf.minimum(1 + eps_clip, tf.maximum(1 - eps_clip, ratio))
+
+class Model(object):
+    def __init__(self, policy, ob_space, ac_space, nenvs, nsteps, nstack, num_procs,
+                 ent_coef, q_coef, gamma, max_grad_norm, lr,
+                 rprop_alpha, rprop_epsilon, total_timesteps, lrschedule,
+                 c, trust_region, alpha, delta):
+        config = tf.ConfigProto(allow_soft_placement=True,
+                                intra_op_parallelism_threads=num_procs,
+                                inter_op_parallelism_threads=num_procs)
+        sess = tf.Session(config=config)
+        nact = ac_space.n
+        nbatch = nenvs * nsteps
+
+        A = tf.placeholder(tf.int32, [nbatch]) # actions
+        D = tf.placeholder(tf.float32, [nbatch]) # dones
+        R = tf.placeholder(tf.float32, [nbatch]) # rewards, not returns
+        MU = tf.placeholder(tf.float32, [nbatch, nact]) # mu's
+        LR = tf.placeholder(tf.float32, [])
+        eps = 1e-6
+
+        step_model = policy(sess, ob_space, ac_space, nenvs, 1, nstack, reuse=False)
+        train_model = policy(sess, ob_space, ac_space, nenvs, nsteps + 1, nstack, reuse=True)
+
+        params = find_trainable_variables("model")
+        print("Params {}".format(len(params)))
+        for var in params:
+            print(var)
+
+        # create polyak averaged model
+        ema = tf.train.ExponentialMovingAverage(alpha)
+        ema_apply_op = ema.apply(params)
+
+        def custom_getter(getter, *args, **kwargs):
+            v = ema.average(getter(*args, **kwargs))
+            print(v.name)
+            return v
+
+        with tf.variable_scope("", custom_getter=custom_getter, reuse=True):
+            polyak_model = policy(sess, ob_space, ac_space, nenvs, nsteps + 1, nstack, reuse=True)
+
+        # Notation: (var) = batch variable, (var)s = seqeuence variable, (var)_i = variable index by action at step i
+        v = tf.reduce_sum(train_model.pi * train_model.q, axis = -1) # shape is [nenvs * (nsteps + 1)]
+
+        # strip off last step
+        f, f_pol, q = map(lambda var: strip(var, nenvs, nsteps), [train_model.pi, polyak_model.pi, train_model.q])
+        # Get pi and q values for actions taken
+        f_i = get_by_index(f, A)
+        q_i = get_by_index(q, A)
+
+        # Compute ratios for importance truncation
+        rho = f / (MU + eps)
+        rho_i = get_by_index(rho, A)
+
+        # Calculate Q_retrace targets
+        qret = q_retrace(R, D, q_i, v, rho_i, nenvs, nsteps, gamma)
+
+        # Calculate losses
+        # Entropy
+        entropy = tf.reduce_mean(cat_entropy_softmax(f))
+
+        # Policy Graident loss, with truncated importance sampling & bias correction
+        v = strip(v, nenvs, nsteps, True)
+        check_shape([qret, v, rho_i, f_i], [[nenvs * nsteps]] * 4)
+        check_shape([rho, f, q], [[nenvs * nsteps, nact]] * 2)
+
+        # Truncated importance sampling
+        adv = qret - v
+        logf = tf.log(f_i + eps)
+        gain_f = logf * tf.stop_gradient(adv * tf.minimum(c, rho_i))  # [nenvs * nsteps]
+        loss_f = -tf.reduce_mean(gain_f)
+
+        # Bias correction for the truncation
+        adv_bc = (q - tf.reshape(v, [nenvs * nsteps, 1]))  # [nenvs * nsteps, nact]
+        logf_bc = tf.log(f + eps) # / (f_old + eps)
+        check_shape([adv_bc, logf_bc], [[nenvs * nsteps, nact]]*2)
+        gain_bc = tf.reduce_sum(logf_bc * tf.stop_gradient(adv_bc * tf.nn.relu(1.0 - (c / (rho + eps))) * f), axis = 1) #IMP: This is sum, as expectation wrt f
+        loss_bc= -tf.reduce_mean(gain_bc)
+
+        loss_policy = loss_f + loss_bc
+
+        # Value/Q function loss, and explained variance
+        check_shape([qret, q_i], [[nenvs * nsteps]]*2)
+        ev = q_explained_variance(tf.reshape(q_i, [nenvs, nsteps]), tf.reshape(qret, [nenvs, nsteps]))
+        loss_q = tf.reduce_mean(tf.square(tf.stop_gradient(qret) - q_i)*0.5)
+
+        # Net loss
+        check_shape([loss_policy, loss_q, entropy], [[]] * 3)
+        loss = loss_policy + q_coef * loss_q - ent_coef * entropy
+
+        if trust_region:
+            g = tf.gradients(- (loss_policy - ent_coef * entropy) * nsteps * nenvs, f) #[nenvs * nsteps, nact]
+            # k = tf.gradients(KL(f_pol || f), f)
+            k = - f_pol / (f + eps) #[nenvs * nsteps, nact] # Directly computed gradient of KL divergence wrt f
+            k_dot_g = tf.reduce_sum(k * g, axis=-1)
+            adj = tf.maximum(0.0, (tf.reduce_sum(k * g, axis=-1) - delta) / (tf.reduce_sum(tf.square(k), axis=-1) + eps)) #[nenvs * nsteps]
+
+            # Calculate stats (before doing adjustment) for logging.
+            avg_norm_k = avg_norm(k)
+            avg_norm_g = avg_norm(g)
+            avg_norm_k_dot_g = tf.reduce_mean(tf.abs(k_dot_g))
+            avg_norm_adj = tf.reduce_mean(tf.abs(adj))
+
+            g = g - tf.reshape(adj, [nenvs * nsteps, 1]) * k
+            grads_f = -g/(nenvs*nsteps) # These are turst region adjusted gradients wrt f ie statistics of policy pi
+            grads_policy = tf.gradients(f, params, grads_f)
+            grads_q = tf.gradients(loss_q * q_coef, params)
+            grads = [gradient_add(g1, g2, param) for (g1, g2, param) in zip(grads_policy, grads_q, params)]
+
+            avg_norm_grads_f = avg_norm(grads_f) * (nsteps * nenvs)
+            norm_grads_q = tf.global_norm(grads_q)
+            norm_grads_policy = tf.global_norm(grads_policy)
+        else:
+            grads = tf.gradients(loss, params)
+
+        if max_grad_norm is not None:
+            grads, norm_grads = tf.clip_by_global_norm(grads, max_grad_norm)
+        grads = list(zip(grads, params))
+        trainer = tf.train.RMSPropOptimizer(learning_rate=LR, decay=rprop_alpha, epsilon=rprop_epsilon)
+        _opt_op = trainer.apply_gradients(grads)
+
+        # so when you call _train, you first do the gradient step, then you apply ema
+        with tf.control_dependencies([_opt_op]):
+            _train = tf.group(ema_apply_op)
+
+        lr = Scheduler(v=lr, nvalues=total_timesteps, schedule=lrschedule)
+
+        # Ops/Summaries to run, and their names for logging
+        run_ops = [_train, loss, loss_q, entropy, loss_policy, loss_f, loss_bc, ev, norm_grads]
+        names_ops = ['loss', 'loss_q', 'entropy', 'loss_policy', 'loss_f', 'loss_bc', 'explained_variance',
+                     'norm_grads']
+        if trust_region:
+            run_ops = run_ops + [norm_grads_q, norm_grads_policy, avg_norm_grads_f, avg_norm_k, avg_norm_g, avg_norm_k_dot_g,
+                                 avg_norm_adj]
+            names_ops = names_ops + ['norm_grads_q', 'norm_grads_policy', 'avg_norm_grads_f', 'avg_norm_k', 'avg_norm_g',
+                                     'avg_norm_k_dot_g', 'avg_norm_adj']
+
+        def train(obs, actions, rewards, dones, mus, states, masks, steps):
+            cur_lr = lr.value_steps(steps)
+            td_map = {train_model.X: obs, polyak_model.X: obs, A: actions, R: rewards, D: dones, MU: mus, LR: cur_lr}
+            if states != []:
+                td_map[train_model.S] = states
+                td_map[train_model.M] = masks
+                td_map[polyak_model.S] = states
+                td_map[polyak_model.M] = masks
+            return names_ops, sess.run(run_ops, td_map)[1:]  # strip off _train
+
+        def save(save_path):
+            ps = sess.run(params)
+            make_path(osp.dirname(save_path))
+            joblib.dump(ps, save_path)
+
+        self.train = train
+        self.save = save
+        self.train_model = train_model
+        self.step_model = step_model
+        self.step = step_model.step
+        self.initial_state = step_model.initial_state
+        tf.global_variables_initializer().run(session=sess)
+
+class Runner(AbstractEnvRunner):
+    def __init__(self, env, model, nsteps, nstack):
+        super().__init__(env=env, model=model, nsteps=nsteps)
+        self.nstack = nstack
+        nh, nw, nc = env.observation_space.shape
+        self.nc = nc  # nc = 1 for atari, but just in case
+        self.nenv = nenv = env.num_envs
+        self.nact = env.action_space.n
+        self.nbatch = nenv * nsteps
+        self.batch_ob_shape = (nenv*(nsteps+1), nh, nw, nc*nstack)
+        self.obs = np.zeros((nenv, nh, nw, nc * nstack), dtype=np.uint8)
+        obs = env.reset()
+        self.update_obs(obs)
+
+    def update_obs(self, obs, dones=None):
+        if dones is not None:
+            self.obs *= (1 - dones.astype(np.uint8))[:, None, None, None]
+        self.obs = np.roll(self.obs, shift=-self.nc, axis=3)
+        self.obs[:, :, :, -self.nc:] = obs[:, :, :, :]
+
+    def run(self):
+        enc_obs = np.split(self.obs, self.nstack, axis=3)  # so now list of obs steps
+        mb_obs, mb_actions, mb_mus, mb_dones, mb_rewards = [], [], [], [], []
+        for _ in range(self.nsteps):
+            actions, mus, states = self.model.step(self.obs, state=self.states, mask=self.dones)
+            mb_obs.append(np.copy(self.obs))
+            mb_actions.append(actions)
+            mb_mus.append(mus)
+            mb_dones.append(self.dones)
+            obs, rewards, dones, _ = self.env.step(actions)
+            # states information for statefull models like LSTM
+            self.states = states
+            self.dones = dones
+            self.update_obs(obs, dones)
+            mb_rewards.append(rewards)
+            enc_obs.append(obs)
+        mb_obs.append(np.copy(self.obs))
+        mb_dones.append(self.dones)
+
+        enc_obs = np.asarray(enc_obs, dtype=np.uint8).swapaxes(1, 0)
+        mb_obs = np.asarray(mb_obs, dtype=np.uint8).swapaxes(1, 0)
+        mb_actions = np.asarray(mb_actions, dtype=np.int32).swapaxes(1, 0)
+        mb_rewards = np.asarray(mb_rewards, dtype=np.float32).swapaxes(1, 0)
+        mb_mus = np.asarray(mb_mus, dtype=np.float32).swapaxes(1, 0)
+
+        mb_dones = np.asarray(mb_dones, dtype=np.bool).swapaxes(1, 0)
+
+        mb_masks = mb_dones # Used for statefull models like LSTM's to mask state when done
+        mb_dones = mb_dones[:, 1:] # Used for calculating returns. The dones array is now aligned with rewards
+
+        # shapes are now [nenv, nsteps, []]
+        # When pulling from buffer, arrays will now be reshaped in place, preventing a deep copy.
+
+        return enc_obs, mb_obs, mb_actions, mb_rewards, mb_mus, mb_dones, mb_masks
+
+class Acer():
+    def __init__(self, runner, model, buffer, log_interval):
+        self.runner = runner
+        self.model = model
+        self.buffer = buffer
+        self.log_interval = log_interval
+        self.tstart = None
+        self.episode_stats = EpisodeStats(runner.nsteps, runner.nenv)
+        self.steps = None
+
+    def call(self, on_policy):
+        runner, model, buffer, steps = self.runner, self.model, self.buffer, self.steps
+        if on_policy:
+            enc_obs, obs, actions, rewards, mus, dones, masks = runner.run()
+            self.episode_stats.feed(rewards, dones)
+            if buffer is not None:
+                buffer.put(enc_obs, actions, rewards, mus, dones, masks)
+        else:
+            # get obs, actions, rewards, mus, dones from buffer.
+            obs, actions, rewards, mus, dones, masks = buffer.get()
+
+        # reshape stuff correctly
+        obs = obs.reshape(runner.batch_ob_shape)
+        actions = actions.reshape([runner.nbatch])
+        rewards = rewards.reshape([runner.nbatch])
+        mus = mus.reshape([runner.nbatch, runner.nact])
+        dones = dones.reshape([runner.nbatch])
+        masks = masks.reshape([runner.batch_ob_shape[0]])
+
+        names_ops, values_ops = model.train(obs, actions, rewards, dones, mus, model.initial_state, masks, steps)
+
+        if on_policy and (int(steps/runner.nbatch) % self.log_interval == 0):
+            logger.record_tabular("total_timesteps", steps)
+            logger.record_tabular("fps", int(steps/(time.time() - self.tstart)))
+            # IMP: In EpisodicLife env, during training, we get done=True at each loss of life, not just at the terminal state.
+            # Thus, this is mean until end of life, not end of episode.
+            # For true episode rewards, see the monitor files in the log folder.
+            logger.record_tabular("mean_episode_length", self.episode_stats.mean_length())
+            logger.record_tabular("mean_episode_reward", self.episode_stats.mean_reward())
+            for name, val in zip(names_ops, values_ops):
+                logger.record_tabular(name, float(val))
+            logger.dump_tabular()
+
+
+def learn(policy, env, seed, nsteps=20, nstack=4, total_timesteps=int(80e6), q_coef=0.5, ent_coef=0.01,
+          max_grad_norm=10, lr=7e-4, lrschedule='linear', rprop_epsilon=1e-5, rprop_alpha=0.99, gamma=0.99,
+          log_interval=100, buffer_size=50000, replay_ratio=4, replay_start=10000, c=10.0,
+          trust_region=True, alpha=0.99, delta=1):
+    print("Running Acer Simple")
+    print(locals())
+    tf.reset_default_graph()
+    set_global_seeds(seed)
+
+    nenvs = env.num_envs
+    ob_space = env.observation_space
+    ac_space = env.action_space
+    num_procs = len(env.remotes) # HACK
+    model = Model(policy=policy, ob_space=ob_space, ac_space=ac_space, nenvs=nenvs, nsteps=nsteps, nstack=nstack,
+                  num_procs=num_procs, ent_coef=ent_coef, q_coef=q_coef, gamma=gamma,
+                  max_grad_norm=max_grad_norm, lr=lr, rprop_alpha=rprop_alpha, rprop_epsilon=rprop_epsilon,
+                  total_timesteps=total_timesteps, lrschedule=lrschedule, c=c,
+                  trust_region=trust_region, alpha=alpha, delta=delta)
+
+    runner = Runner(env=env, model=model, nsteps=nsteps, nstack=nstack)
+    if replay_ratio > 0:
+        buffer = Buffer(env=env, nsteps=nsteps, nstack=nstack, size=buffer_size)
+    else:
+        buffer = None
+    nbatch = nenvs*nsteps
+    acer = Acer(runner, model, buffer, log_interval)
+    acer.tstart = time.time()
+    for acer.steps in range(0, total_timesteps, nbatch): #nbatch samples, 1 on_policy call and multiple off-policy calls
+        acer.call(on_policy=True)
+        if replay_ratio > 0 and buffer.has_atleast(replay_start):
+            n = np.random.poisson(replay_ratio)
+            for _ in range(n):
+                acer.call(on_policy=False)  # no simulation steps in this
+
+    env.close()

baselines/acer/buffer.py

@@ -0,0 +1,103 @@
+import numpy as np
+
+class Buffer(object):
+    # gets obs, actions, rewards, mu's, (states, masks), dones
+    def __init__(self, env, nsteps, nstack, size=50000):
+        self.nenv = env.num_envs
+        self.nsteps = nsteps
+        self.nh, self.nw, self.nc = env.observation_space.shape
+        self.nstack = nstack
+        self.nbatch = self.nenv * self.nsteps
+        self.size = size // (self.nsteps)  # Each loc contains nenv * nsteps frames, thus total buffer is nenv * size frames
+
+        # Memory
+        self.enc_obs = None
+        self.actions = None
+        self.rewards = None
+        self.mus = None
+        self.dones = None
+        self.masks = None
+
+        # Size indexes
+        self.next_idx = 0
+        self.num_in_buffer = 0
+
+    def has_atleast(self, frames):
+        # Frames per env, so total (nenv * frames) Frames needed
+        # Each buffer loc has nenv * nsteps frames
+        return self.num_in_buffer >= (frames // self.nsteps)
+
+    def can_sample(self):
+        return self.num_in_buffer > 0
+
+    # Generate stacked frames
+    def decode(self, enc_obs, dones):
+        # enc_obs has shape [nenvs, nsteps + nstack, nh, nw, nc]
+        # dones has shape [nenvs, nsteps, nh, nw, nc]
+        # returns stacked obs of shape [nenv, (nsteps + 1), nh, nw, nstack*nc]
+        nstack, nenv, nsteps, nh, nw, nc = self.nstack, self.nenv, self.nsteps, self.nh, self.nw, self.nc
+        y = np.empty([nsteps + nstack - 1, nenv, 1, 1, 1], dtype=np.float32)
+        obs = np.zeros([nstack, nsteps + nstack, nenv, nh, nw, nc], dtype=np.uint8)
+        x = np.reshape(enc_obs, [nenv, nsteps + nstack, nh, nw, nc]).swapaxes(1,
+                                                                              0)  # [nsteps + nstack, nenv, nh, nw, nc]
+        y[3:] = np.reshape(1.0 - dones, [nenv, nsteps, 1, 1, 1]).swapaxes(1, 0)  # keep
+        y[:3] = 1.0
+        # y = np.reshape(1 - dones, [nenvs, nsteps, 1, 1, 1])
+        for i in range(nstack):
+            obs[-(i + 1), i:] = x
+            # obs[:,i:,:,:,-(i+1),:] = x
+            x = x[:-1] * y
+            y = y[1:]
+        return np.reshape(obs[:, 3:].transpose((2, 1, 3, 4, 0, 5)), [nenv, (nsteps + 1), nh, nw, nstack * nc])
+
+    def put(self, enc_obs, actions, rewards, mus, dones, masks):
+        # enc_obs [nenv, (nsteps + nstack), nh, nw, nc]
+        # actions, rewards, dones [nenv, nsteps]
+        # mus [nenv, nsteps, nact]
+
+        if self.enc_obs is None:
+            self.enc_obs = np.empty([self.size] + list(enc_obs.shape), dtype=np.uint8)
+            self.actions = np.empty([self.size] + list(actions.shape), dtype=np.int32)
+            self.rewards = np.empty([self.size] + list(rewards.shape), dtype=np.float32)
+            self.mus = np.empty([self.size] + list(mus.shape), dtype=np.float32)
+            self.dones = np.empty([self.size] + list(dones.shape), dtype=np.bool)
+            self.masks = np.empty([self.size] + list(masks.shape), dtype=np.bool)
+
+        self.enc_obs[self.next_idx] = enc_obs
+        self.actions[self.next_idx] = actions
+        self.rewards[self.next_idx] = rewards
+        self.mus[self.next_idx] = mus
+        self.dones[self.next_idx] = dones
+        self.masks[self.next_idx] = masks
+
+        self.next_idx = (self.next_idx + 1) % self.size
+        self.num_in_buffer = min(self.size, self.num_in_buffer + 1)
+
+    def take(self, x, idx, envx):
+        nenv = self.nenv
+        out = np.empty([nenv] + list(x.shape[2:]), dtype=x.dtype)
+        for i in range(nenv):
+            out[i] = x[idx[i], envx[i]]
+        return out
+
+    def get(self):
+        # returns
+        # obs [nenv, (nsteps + 1), nh, nw, nstack*nc]
+        # actions, rewards, dones [nenv, nsteps]
+        # mus [nenv, nsteps, nact]
+        nenv = self.nenv
+        assert self.can_sample()
+
+        # Sample exactly one id per env. If you sample across envs, then higher correlation in samples from same env.
+        idx = np.random.randint(0, self.num_in_buffer, nenv)
+        envx = np.arange(nenv)
+
+        take = lambda x: self.take(x, idx, envx)  # for i in range(nenv)], axis = 0)
+        dones = take(self.dones)
+        enc_obs = take(self.enc_obs)
+        obs = self.decode(enc_obs, dones)
+        actions = take(self.actions)
+        rewards = take(self.rewards)
+        mus = take(self.mus)
+        masks = take(self.masks)
+        return obs, actions, rewards, mus, dones, masks

baselines/acer/policies.py

@@ -0,0 +1,79 @@
+import numpy as np
+import tensorflow as tf
+from baselines.ppo2.policies import nature_cnn
+from baselines.a2c.utils import fc, batch_to_seq, seq_to_batch, lstm, sample
+
+
+class AcerCnnPolicy(object):
+
+    def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack, reuse=False):
+        nbatch = nenv * nsteps
+        nh, nw, nc = ob_space.shape
+        ob_shape = (nbatch, nh, nw, nc * nstack)
+        nact = ac_space.n
+        X = tf.placeholder(tf.uint8, ob_shape)  # obs
+        with tf.variable_scope("model", reuse=reuse):
+            h = nature_cnn(X)
+            pi_logits = fc(h, 'pi', nact, init_scale=0.01)
+            pi = tf.nn.softmax(pi_logits)
+            q = fc(h, 'q', nact)
+
+        a = sample(pi_logits)  # could change this to use self.pi instead
+        self.initial_state = []  # not stateful
+        self.X = X
+        self.pi = pi  # actual policy params now
+        self.q = q
+
+        def step(ob, *args, **kwargs):
+            # returns actions, mus, states
+            a0, pi0 = sess.run([a, pi], {X: ob})
+            return a0, pi0, []  # dummy state
+
+        def out(ob, *args, **kwargs):
+            pi0, q0 = sess.run([pi, q], {X: ob})
+            return pi0, q0
+
+        def act(ob, *args, **kwargs):
+            return sess.run(a, {X: ob})
+
+        self.step = step
+        self.out = out
+        self.act = act
+
+class AcerLstmPolicy(object):
+
+    def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack, reuse=False, nlstm=256):
+        nbatch = nenv * nsteps
+        nh, nw, nc = ob_space.shape
+        ob_shape = (nbatch, nh, nw, nc * nstack)
+        nact = ac_space.n
+        X = tf.placeholder(tf.uint8, ob_shape)  # obs
+        M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
+        S = tf.placeholder(tf.float32, [nenv, nlstm*2]) #states
+        with tf.variable_scope("model", reuse=reuse):
+            h = nature_cnn(X)
+
+            # lstm
+            xs = batch_to_seq(h, nenv, nsteps)
+            ms = batch_to_seq(M, nenv, nsteps)
+            h5, snew = lstm(xs, ms, S, 'lstm1', nh=nlstm)
+            h5 = seq_to_batch(h5)
+
+            pi_logits = fc(h5, 'pi', nact, init_scale=0.01)
+            pi = tf.nn.softmax(pi_logits)
+            q = fc(h5, 'q', nact)
+
+        a = sample(pi_logits)  # could change this to use self.pi instead
+        self.initial_state = np.zeros((nenv, nlstm*2), dtype=np.float32)
+        self.X = X
+        self.M = M
+        self.S = S
+        self.pi = pi  # actual policy params now
+        self.q = q
+
+        def step(ob, state, mask, *args, **kwargs):
+            # returns actions, mus, states
+            a0, pi0, s = sess.run([a, pi, snew], {X: ob, S: state, M: mask})
+            return a0, pi0, s
+
+        self.step = step

baselines/acer/run_atari.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+from baselines import logger
+from baselines.acer.acer_simple import learn
+from baselines.acer.policies import AcerCnnPolicy, AcerLstmPolicy
+from baselines.common.cmd_util import make_atari_env, atari_arg_parser
+
+def train(env_id, num_timesteps, seed, policy, lrschedule, num_cpu):
+    env = make_atari_env(env_id, num_cpu, seed)
+    if policy == 'cnn':
+        policy_fn = AcerCnnPolicy
+    elif policy == 'lstm':
+        policy_fn = AcerLstmPolicy
+    else:
+        print("Policy {} not implemented".format(policy))
+        return
+    learn(policy_fn, env, seed, total_timesteps=int(num_timesteps * 1.1), lrschedule=lrschedule)
+    env.close()
+
+def main():
+    parser = atari_arg_parser()
+    parser.add_argument('--policy', help='Policy architecture', choices=['cnn', 'lstm', 'lnlstm'], default='cnn')
+    parser.add_argument('--lrschedule', help='Learning rate schedule', choices=['constant', 'linear'], default='constant')
+    parser.add_argument('--logdir', help ='Directory for logging')
+    args = parser.parse_args()
+    logger.configure(args.logdir)
+    train(args.env, num_timesteps=args.num_timesteps, seed=args.seed,
+          policy=args.policy, lrschedule=args.lrschedule, num_cpu=16)
+
+if __name__ == '__main__':
+    main()

baselines/acktr/README.md

@@ -0,0 +1,5 @@
+# ACKTR
+
+- Original paper: https://arxiv.org/abs/1708.05144
+- Baselines blog post: https://blog.openai.com/baselines-acktr-a2c/
+- `python -m baselines.acktr.run_atari` runs the algorithm for 40M frames = 10M timesteps on an Atari game. See help (`-h`) for more options.

baselines/acktr/acktr_cont.py

@@ -0,0 +1,142 @@
+import numpy as np
+import tensorflow as tf
+from baselines import logger
+import baselines.common as common
+from baselines.common import tf_util as U
+from baselines.acktr import kfac
+from baselines.common.filters import ZFilter
+
+def pathlength(path):
+    return path["reward"].shape[0]# Loss function that we'll differentiate to get the policy gradient
+
+def rollout(env, policy, max_pathlength, animate=False, obfilter=None):
+    """
+    Simulate the env and policy for max_pathlength steps
+    """
+    ob = env.reset()
+    prev_ob = np.float32(np.zeros(ob.shape))
+    if obfilter: ob = obfilter(ob)
+    terminated = False
+
+    obs = []
+    acs = []
+    ac_dists = []
+    logps = []
+    rewards = []
+    for _ in range(max_pathlength):
+        if animate:
+            env.render()
+        state = np.concatenate([ob, prev_ob], -1)
+        obs.append(state)
+        ac, ac_dist, logp = policy.act(state)
+        acs.append(ac)
+        ac_dists.append(ac_dist)
+        logps.append(logp)
+        prev_ob = np.copy(ob)
+        scaled_ac = env.action_space.low + (ac + 1.) * 0.5 * (env.action_space.high - env.action_space.low)
+        scaled_ac = np.clip(scaled_ac, env.action_space.low, env.action_space.high)
+        ob, rew, done, _ = env.step(scaled_ac)
+        if obfilter: ob = obfilter(ob)
+        rewards.append(rew)
+        if done:
+            terminated = True
+            break
+    return {"observation" : np.array(obs), "terminated" : terminated,
+            "reward" : np.array(rewards), "action" : np.array(acs),
+            "action_dist": np.array(ac_dists), "logp" : np.array(logps)}
+
+def learn(env, policy, vf, gamma, lam, timesteps_per_batch, num_timesteps,
+    animate=False, callback=None, desired_kl=0.002):
+
+    obfilter = ZFilter(env.observation_space.shape)
+
+    max_pathlength = env.spec.timestep_limit
+    stepsize = tf.Variable(initial_value=np.float32(np.array(0.03)), name='stepsize')
+    inputs, loss, loss_sampled = policy.update_info
+    optim = kfac.KfacOptimizer(learning_rate=stepsize, cold_lr=stepsize*(1-0.9), momentum=0.9, kfac_update=2,\
+                                epsilon=1e-2, stats_decay=0.99, async=1, cold_iter=1,
+                                weight_decay_dict=policy.wd_dict, max_grad_norm=None)
+    pi_var_list = []
+    for var in tf.trainable_variables():
+        if "pi" in var.name:
+            pi_var_list.append(var)
+
+    update_op, q_runner = optim.minimize(loss, loss_sampled, var_list=pi_var_list)
+    do_update = U.function(inputs, update_op)
+    U.initialize()
+
+    # start queue runners
+    enqueue_threads = []
+    coord = tf.train.Coordinator()
+    for qr in [q_runner, vf.q_runner]:
+        assert (qr != None)
+        enqueue_threads.extend(qr.create_threads(tf.get_default_session(), coord=coord, start=True))
+
+    i = 0
+    timesteps_so_far = 0
+    while True:
+        if timesteps_so_far > num_timesteps:
+            break
+        logger.log("********** Iteration %i ************"%i)
+
+        # Collect paths until we have enough timesteps
+        timesteps_this_batch = 0
+        paths = []
+        while True:
+            path = rollout(env, policy, max_pathlength, animate=(len(paths)==0 and (i % 10 == 0) and animate), obfilter=obfilter)
+            paths.append(path)
+            n = pathlength(path)
+            timesteps_this_batch += n
+            timesteps_so_far += n
+            if timesteps_this_batch > timesteps_per_batch:
+                break
+
+        # Estimate advantage function
+        vtargs = []
+        advs = []
+        for path in paths:
+            rew_t = path["reward"]
+            return_t = common.discount(rew_t, gamma)
+            vtargs.append(return_t)
+            vpred_t = vf.predict(path)
+            vpred_t = np.append(vpred_t, 0.0 if path["terminated"] else vpred_t[-1])
+            delta_t = rew_t + gamma*vpred_t[1:] - vpred_t[:-1]
+            adv_t = common.discount(delta_t, gamma * lam)
+            advs.append(adv_t)
+        # Update value function
+        vf.fit(paths, vtargs)
+
+        # Build arrays for policy update
+        ob_no = np.concatenate([path["observation"] for path in paths])
+        action_na = np.concatenate([path["action"] for path in paths])
+        oldac_dist = np.concatenate([path["action_dist"] for path in paths])
+        adv_n = np.concatenate(advs)
+        standardized_adv_n = (adv_n - adv_n.mean()) / (adv_n.std() + 1e-8)
+
+        # Policy update
+        do_update(ob_no, action_na, standardized_adv_n)
+
+        min_stepsize = np.float32(1e-8)
+        max_stepsize = np.float32(1e0)
+        # Adjust stepsize
+        kl = policy.compute_kl(ob_no, oldac_dist)
+        if kl > desired_kl * 2:
+            logger.log("kl too high")
+            tf.assign(stepsize, tf.maximum(min_stepsize, stepsize / 1.5)).eval()
+        elif kl < desired_kl / 2:
+            logger.log("kl too low")
+            tf.assign(stepsize, tf.minimum(max_stepsize, stepsize * 1.5)).eval()
+        else:
+            logger.log("kl just right!")
+
+        logger.record_tabular("EpRewMean", np.mean([path["reward"].sum() for path in paths]))
+        logger.record_tabular("EpRewSEM", np.std([path["reward"].sum()/np.sqrt(len(paths)) for path in paths]))
+        logger.record_tabular("EpLenMean", np.mean([pathlength(path) for path in paths]))
+        logger.record_tabular("KL", kl)
+        if callback:
+            callback()
+        logger.dump_tabular()
+        i += 1
+
+    coord.request_stop()
+    coord.join(enqueue_threads)

baselines/acktr/acktr_disc.py

@@ -0,0 +1,155 @@
+import os.path as osp
+import time
+import joblib
+import numpy as np
+import tensorflow as tf
+from baselines import logger
+
+from baselines.common import set_global_seeds, explained_variance
+
+from baselines.a2c.a2c import Runner
+from baselines.a2c.utils import discount_with_dones
+from baselines.a2c.utils import Scheduler, find_trainable_variables
+from baselines.a2c.utils import cat_entropy, mse
+from baselines.acktr import kfac
+
+
+class Model(object):
+
+    def __init__(self, policy, ob_space, ac_space, nenvs,total_timesteps, nprocs=32, nsteps=20,
+                 ent_coef=0.01, vf_coef=0.5, vf_fisher_coef=1.0, lr=0.25, max_grad_norm=0.5,
+                 kfac_clip=0.001, lrschedule='linear'):
+        config = tf.ConfigProto(allow_soft_placement=True,
+                                intra_op_parallelism_threads=nprocs,
+                                inter_op_parallelism_threads=nprocs)
+        config.gpu_options.allow_growth = True
+        self.sess = sess = tf.Session(config=config)
+        nact = ac_space.n
+        nbatch = nenvs * nsteps
+        A = tf.placeholder(tf.int32, [nbatch])
+        ADV = tf.placeholder(tf.float32, [nbatch])
+        R = tf.placeholder(tf.float32, [nbatch])
+        PG_LR = tf.placeholder(tf.float32, [])
+        VF_LR = tf.placeholder(tf.float32, [])
+
+        self.model = step_model = policy(sess, ob_space, ac_space, nenvs, 1, reuse=False)
+        self.model2 = train_model = policy(sess, ob_space, ac_space, nenvs*nsteps, nsteps, reuse=True)
+
+        logpac = tf.nn.sparse_softmax_cross_entropy_with_logits(logits=train_model.pi, labels=A)
+        self.logits = logits = train_model.pi
+
+        ##training loss
+        pg_loss = tf.reduce_mean(ADV*logpac)
+        entropy = tf.reduce_mean(cat_entropy(train_model.pi))
+        pg_loss = pg_loss - ent_coef * entropy
+        vf_loss = tf.reduce_mean(mse(tf.squeeze(train_model.vf), R))
+        train_loss = pg_loss + vf_coef * vf_loss
+
+
+        ##Fisher loss construction
+        self.pg_fisher = pg_fisher_loss = -tf.reduce_mean(logpac)
+        sample_net = train_model.vf + tf.random_normal(tf.shape(train_model.vf))
+        self.vf_fisher = vf_fisher_loss = - vf_fisher_coef*tf.reduce_mean(tf.pow(train_model.vf - tf.stop_gradient(sample_net), 2))
+        self.joint_fisher = joint_fisher_loss = pg_fisher_loss + vf_fisher_loss
+
+        self.params=params = find_trainable_variables("model")
+
+        self.grads_check = grads = tf.gradients(train_loss,params)
+
+        with tf.device('/gpu:0'):
+            self.optim = optim = kfac.KfacOptimizer(learning_rate=PG_LR, clip_kl=kfac_clip,\
+                momentum=0.9, kfac_update=1, epsilon=0.01,\
+                stats_decay=0.99, async=1, cold_iter=10, max_grad_norm=max_grad_norm)
+
+            update_stats_op = optim.compute_and_apply_stats(joint_fisher_loss, var_list=params)
+            train_op, q_runner = optim.apply_gradients(list(zip(grads,params)))
+        self.q_runner = q_runner
+        self.lr = Scheduler(v=lr, nvalues=total_timesteps, schedule=lrschedule)
+
+        def train(obs, states, rewards, masks, actions, values):
+            advs = rewards - values
+            for step in range(len(obs)):
+                cur_lr = self.lr.value()
+
+            td_map = {train_model.X:obs, A:actions, ADV:advs, R:rewards, PG_LR:cur_lr}
+            if states is not None:
+                td_map[train_model.S] = states
+                td_map[train_model.M] = masks
+
+            policy_loss, value_loss, policy_entropy, _ = sess.run(
+                [pg_loss, vf_loss, entropy, train_op],
+                td_map
+            )
+            return policy_loss, value_loss, policy_entropy
+
+        def save(save_path):
+            ps = sess.run(params)
+            joblib.dump(ps, save_path)
+
+        def load(load_path):
+            loaded_params = joblib.load(load_path)
+            restores = []
+            for p, loaded_p in zip(params, loaded_params):
+                restores.append(p.assign(loaded_p))
+            sess.run(restores)
+
+
+
+        self.train = train
+        self.save = save
+        self.load = load
+        self.train_model = train_model
+        self.step_model = step_model
+        self.step = step_model.step
+        self.value = step_model.value
+        self.initial_state = step_model.initial_state
+        tf.global_variables_initializer().run(session=sess)
+
+def learn(policy, env, seed, total_timesteps=int(40e6), gamma=0.99, log_interval=1, nprocs=32, nsteps=20,
+                 ent_coef=0.01, vf_coef=0.5, vf_fisher_coef=1.0, lr=0.25, max_grad_norm=0.5,
+                 kfac_clip=0.001, save_interval=None, lrschedule='linear'):
+    tf.reset_default_graph()
+    set_global_seeds(seed)
+
+    nenvs = env.num_envs
+    ob_space = env.observation_space
+    ac_space = env.action_space
+    make_model = lambda : Model(policy, ob_space, ac_space, nenvs, total_timesteps, nprocs=nprocs, nsteps
+                                =nsteps, ent_coef=ent_coef, vf_coef=vf_coef, vf_fisher_coef=
+                                vf_fisher_coef, lr=lr, max_grad_norm=max_grad_norm, kfac_clip=kfac_clip,
+                                lrschedule=lrschedule)
+    if save_interval and logger.get_dir():
+        import cloudpickle
+        with open(osp.join(logger.get_dir(), 'make_model.pkl'), 'wb') as fh:
+            fh.write(cloudpickle.dumps(make_model))
+    model = make_model()
+
+    runner = Runner(env, model, nsteps=nsteps, gamma=gamma)
+    nbatch = nenvs*nsteps
+    tstart = time.time()
+    coord = tf.train.Coordinator()
+    enqueue_threads = model.q_runner.create_threads(model.sess, coord=coord, start=True)
+    for update in range(1, total_timesteps//nbatch+1):
+        obs, states, rewards, masks, actions, values = runner.run()
+        policy_loss, value_loss, policy_entropy = model.train(obs, states, rewards, masks, actions, values)
+        model.old_obs = obs
+        nseconds = time.time()-tstart
+        fps = int((update*nbatch)/nseconds)
+        if update % log_interval == 0 or update == 1:
+            ev = explained_variance(values, rewards)
+            logger.record_tabular("nupdates", update)
+            logger.record_tabular("total_timesteps", update*nbatch)
+            logger.record_tabular("fps", fps)
+            logger.record_tabular("policy_entropy", float(policy_entropy))
+            logger.record_tabular("policy_loss", float(policy_loss))
+            logger.record_tabular("value_loss", float(value_loss))
+            logger.record_tabular("explained_variance", float(ev))
+            logger.dump_tabular()
+
+        if save_interval and (update % save_interval == 0 or update == 1) and logger.get_dir():
+            savepath = osp.join(logger.get_dir(), 'checkpoint%.5i'%update)
+            print('Saving to', savepath)
+            model.save(savepath)
+    coord.request_stop()
+    coord.join(enqueue_threads)
+    env.close()

baselines/acktr/kfac.py

@@ -0,0 +1,926 @@
+import tensorflow as tf
+import numpy as np
+import re
+from baselines.acktr.kfac_utils import *
+from functools import reduce
+
+KFAC_OPS = ['MatMul', 'Conv2D', 'BiasAdd']
+KFAC_DEBUG = False
+
+
+class KfacOptimizer():
+
+    def __init__(self, learning_rate=0.01, momentum=0.9, clip_kl=0.01, kfac_update=2, stats_accum_iter=60, full_stats_init=False, cold_iter=100, cold_lr=None, async=False, async_stats=False, epsilon=1e-2, stats_decay=0.95, blockdiag_bias=False, channel_fac=False, factored_damping=False, approxT2=False, use_float64=False, weight_decay_dict={},max_grad_norm=0.5):
+        self.max_grad_norm = max_grad_norm
+        self._lr = learning_rate
+        self._momentum = momentum
+        self._clip_kl = clip_kl
+        self._channel_fac = channel_fac
+        self._kfac_update = kfac_update
+        self._async = async
+        self._async_stats = async_stats
+        self._epsilon = epsilon
+        self._stats_decay = stats_decay
+        self._blockdiag_bias = blockdiag_bias
+        self._approxT2 = approxT2
+        self._use_float64 = use_float64
+        self._factored_damping = factored_damping
+        self._cold_iter = cold_iter
+        if cold_lr == None:
+            # good heuristics
+            self._cold_lr = self._lr# * 3.
+        else:
+            self._cold_lr = cold_lr
+        self._stats_accum_iter = stats_accum_iter
+        self._weight_decay_dict = weight_decay_dict
+        self._diag_init_coeff = 0.
+        self._full_stats_init = full_stats_init
+        if not self._full_stats_init:
+            self._stats_accum_iter = self._cold_iter
+
+        self.sgd_step = tf.Variable(0, name='KFAC/sgd_step', trainable=False)
+        self.global_step = tf.Variable(
+            0, name='KFAC/global_step', trainable=False)
+        self.cold_step = tf.Variable(0, name='KFAC/cold_step', trainable=False)
+        self.factor_step = tf.Variable(
+            0, name='KFAC/factor_step', trainable=False)
+        self.stats_step = tf.Variable(
+            0, name='KFAC/stats_step', trainable=False)
+        self.vFv = tf.Variable(0., name='KFAC/vFv', trainable=False)
+
+        self.factors = {}
+        self.param_vars = []
+        self.stats = {}
+        self.stats_eigen = {}
+
+    def getFactors(self, g, varlist):
+        graph = tf.get_default_graph()
+        factorTensors = {}
+        fpropTensors = []
+        bpropTensors = []
+        opTypes = []
+        fops = []
+
+        def searchFactors(gradient, graph):
+            # hard coded search stratergy
+            bpropOp = gradient.op
+            bpropOp_name = bpropOp.name
+
+            bTensors = []
+            fTensors = []
+
+            # combining additive gradient, assume they are the same op type and
+            # indepedent
+            if 'AddN' in bpropOp_name:
+                factors = []
+                for g in gradient.op.inputs:
+                    factors.append(searchFactors(g, graph))
+                op_names = [item['opName'] for item in factors]
+                # TO-DO: need to check all the attribute of the ops as well
+                print (gradient.name)
+                print (op_names)
+                print (len(np.unique(op_names)))
+                assert len(np.unique(op_names)) == 1, gradient.name + \
+                    ' is shared among different computation OPs'
+
+                bTensors = reduce(lambda x, y: x + y,
+                                  [item['bpropFactors'] for item in factors])
+                if len(factors[0]['fpropFactors']) > 0:
+                    fTensors = reduce(
+                        lambda x, y: x + y, [item['fpropFactors'] for item in factors])
+                fpropOp_name = op_names[0]
+                fpropOp = factors[0]['op']
+            else:
+                fpropOp_name = re.search(
+                    'gradientsSampled(_[0-9]+|)/(.+?)_grad', bpropOp_name).group(2)
+                fpropOp = graph.get_operation_by_name(fpropOp_name)
+                if fpropOp.op_def.name in KFAC_OPS:
+                    # Known OPs
+                    ###
+                    bTensor = [
+                        i for i in bpropOp.inputs if 'gradientsSampled' in i.name][-1]
+                    bTensorShape = fpropOp.outputs[0].get_shape()
+                    if bTensor.get_shape()[0].value == None:
+                        bTensor.set_shape(bTensorShape)
+                    bTensors.append(bTensor)
+                    ###
+                    if fpropOp.op_def.name == 'BiasAdd':
+                        fTensors = []
+                    else:
+                        fTensors.append(
+                            [i for i in fpropOp.inputs if param.op.name not in i.name][0])
+                    fpropOp_name = fpropOp.op_def.name
+                else:
+                    # unknown OPs, block approximation used
+                    bInputsList = [i for i in bpropOp.inputs[
+                        0].op.inputs if 'gradientsSampled' in i.name if 'Shape' not in i.name]
+                    if len(bInputsList) > 0:
+                        bTensor = bInputsList[0]
+                        bTensorShape = fpropOp.outputs[0].get_shape()
+                        if len(bTensor.get_shape()) > 0 and bTensor.get_shape()[0].value == None:
+                            bTensor.set_shape(bTensorShape)
+                        bTensors.append(bTensor)
+                    fpropOp_name = opTypes.append('UNK-' + fpropOp.op_def.name)
+
+            return {'opName': fpropOp_name, 'op': fpropOp, 'fpropFactors': fTensors, 'bpropFactors': bTensors}
+
+        for t, param in zip(g, varlist):
+            if KFAC_DEBUG:
+                print(('get factor for '+param.name))
+            factors = searchFactors(t, graph)
+            factorTensors[param] = factors
+
+        ########
+        # check associated weights and bias for homogeneous coordinate representation
+        # and check redundent factors
+        # TO-DO: there may be a bug to detect associate bias and weights for
+        # forking layer, e.g. in inception models.
+        for param in varlist:
+            factorTensors[param]['assnWeights'] = None
+            factorTensors[param]['assnBias'] = None
+        for param in varlist:
+            if factorTensors[param]['opName'] == 'BiasAdd':
+                factorTensors[param]['assnWeights'] = None
+                for item in varlist:
+                    if len(factorTensors[item]['bpropFactors']) > 0:
+                        if (set(factorTensors[item]['bpropFactors']) == set(factorTensors[param]['bpropFactors'])) and (len(factorTensors[item]['fpropFactors']) > 0):
+                            factorTensors[param]['assnWeights'] = item
+                            factorTensors[item]['assnBias'] = param
+                            factorTensors[param]['bpropFactors'] = factorTensors[
+                                item]['bpropFactors']
+
+        ########
+
+        ########
+        # concatenate the additive gradients along the batch dimension, i.e.
+        # assuming independence structure
+        for key in ['fpropFactors', 'bpropFactors']:
+            for i, param in enumerate(varlist):
+                if len(factorTensors[param][key]) > 0:
+                    if (key + '_concat') not in factorTensors[param]:
+                        name_scope = factorTensors[param][key][0].name.split(':')[
+                            0]
+                        with tf.name_scope(name_scope):
+                            factorTensors[param][
+                                key + '_concat'] = tf.concat(factorTensors[param][key], 0)
+                else:
+                    factorTensors[param][key + '_concat'] = None
+                for j, param2 in enumerate(varlist[(i + 1):]):
+                    if (len(factorTensors[param][key]) > 0) and (set(factorTensors[param2][key]) == set(factorTensors[param][key])):
+                        factorTensors[param2][key] = factorTensors[param][key]
+                        factorTensors[param2][
+                            key + '_concat'] = factorTensors[param][key + '_concat']
+        ########
+
+        if KFAC_DEBUG:
+            for items in zip(varlist, fpropTensors, bpropTensors, opTypes):
+                print((items[0].name, factorTensors[item]))
+        self.factors = factorTensors
+        return factorTensors
+
+    def getStats(self, factors, varlist):
+        if len(self.stats) == 0:
+            # initialize stats variables on CPU because eigen decomp is
+            # computed on CPU
+            with tf.device('/cpu'):
+                tmpStatsCache = {}
+
+                # search for tensor factors and
+                # use block diag approx for the bias units
+                for var in varlist:
+                    fpropFactor = factors[var]['fpropFactors_concat']
+                    bpropFactor = factors[var]['bpropFactors_concat']
+                    opType = factors[var]['opName']
+                    if opType == 'Conv2D':
+                        Kh = var.get_shape()[0]
+                        Kw = var.get_shape()[1]
+                        C = fpropFactor.get_shape()[-1]
+
+                        Oh = bpropFactor.get_shape()[1]
+                        Ow = bpropFactor.get_shape()[2]
+                        if Oh == 1 and Ow == 1 and self._channel_fac:
+                            # factorization along the channels do not support
+                            # homogeneous coordinate
+                            var_assnBias = factors[var]['assnBias']
+                            if var_assnBias:
+                                factors[var]['assnBias'] = None
+                                factors[var_assnBias]['assnWeights'] = None
+                ##
+
+                for var in varlist:
+                    fpropFactor = factors[var]['fpropFactors_concat']
+                    bpropFactor = factors[var]['bpropFactors_concat']
+                    opType = factors[var]['opName']
+                    self.stats[var] = {'opName': opType,
+                                       'fprop_concat_stats': [],
+                                       'bprop_concat_stats': [],
+                                       'assnWeights': factors[var]['assnWeights'],
+                                       'assnBias': factors[var]['assnBias'],
+                                       }
+                    if fpropFactor is not None:
+                        if fpropFactor not in tmpStatsCache:
+                            if opType == 'Conv2D':
+                                Kh = var.get_shape()[0]
+                                Kw = var.get_shape()[1]
+                                C = fpropFactor.get_shape()[-1]
+
+                                Oh = bpropFactor.get_shape()[1]
+                                Ow = bpropFactor.get_shape()[2]
+                                if Oh == 1 and Ow == 1 and self._channel_fac:
+                                    # factorization along the channels
+                                    # assume independence between input channels and spatial
+                                    # 2K-1 x 2K-1 covariance matrix and C x C covariance matrix
+                                    # factorization along the channels do not
+                                    # support homogeneous coordinate, assnBias
+                                    # is always None
+                                    fpropFactor2_size = Kh * Kw
+                                    slot_fpropFactor_stats2 = tf.Variable(tf.diag(tf.ones(
+                                        [fpropFactor2_size])) * self._diag_init_coeff, name='KFAC_STATS/' + fpropFactor.op.name, trainable=False)
+                                    self.stats[var]['fprop_concat_stats'].append(
+                                        slot_fpropFactor_stats2)
+
+                                    fpropFactor_size = C
+                                else:
+                                    # 2K-1 x 2K-1 x C x C covariance matrix
+                                    # assume BHWC
+                                    fpropFactor_size = Kh * Kw * C
+                            else:
+                                # D x D covariance matrix
+                                fpropFactor_size = fpropFactor.get_shape()[-1]
+
+                            # use homogeneous coordinate
+                            if not self._blockdiag_bias and self.stats[var]['assnBias']:
+                                fpropFactor_size += 1
+
+                            slot_fpropFactor_stats = tf.Variable(tf.diag(tf.ones(
+                                [fpropFactor_size])) * self._diag_init_coeff, name='KFAC_STATS/' + fpropFactor.op.name, trainable=False)
+                            self.stats[var]['fprop_concat_stats'].append(
+                                slot_fpropFactor_stats)
+                            if opType != 'Conv2D':
+                                tmpStatsCache[fpropFactor] = self.stats[
+                                    var]['fprop_concat_stats']
+                        else:
+                            self.stats[var][
+                                'fprop_concat_stats'] = tmpStatsCache[fpropFactor]
+
+                    if bpropFactor is not None:
+                        # no need to collect backward stats for bias vectors if
+                        # using homogeneous coordinates
+                        if not((not self._blockdiag_bias) and self.stats[var]['assnWeights']):
+                            if bpropFactor not in tmpStatsCache:
+                                slot_bpropFactor_stats = tf.Variable(tf.diag(tf.ones([bpropFactor.get_shape(
+                                )[-1]])) * self._diag_init_coeff, name='KFAC_STATS/' + bpropFactor.op.name, trainable=False)
+                                self.stats[var]['bprop_concat_stats'].append(
+                                    slot_bpropFactor_stats)
+                                tmpStatsCache[bpropFactor] = self.stats[
+                                    var]['bprop_concat_stats']
+                            else:
+                                self.stats[var][
+                                    'bprop_concat_stats'] = tmpStatsCache[bpropFactor]
+
+        return self.stats
+
+    def compute_and_apply_stats(self, loss_sampled, var_list=None):
+        varlist = var_list
+        if varlist is None:
+            varlist = tf.trainable_variables()
+
+        stats = self.compute_stats(loss_sampled, var_list=varlist)
+        return self.apply_stats(stats)
+
+    def compute_stats(self, loss_sampled, var_list=None):
+        varlist = var_list
+        if varlist is None:
+            varlist = tf.trainable_variables()
+
+        gs = tf.gradients(loss_sampled, varlist, name='gradientsSampled')
+        self.gs = gs
+        factors = self.getFactors(gs, varlist)
+        stats = self.getStats(factors, varlist)
+
+        updateOps = []
+        statsUpdates = {}
+        statsUpdates_cache = {}
+        for var in varlist:
+            opType = factors[var]['opName']
+            fops = factors[var]['op']
+            fpropFactor = factors[var]['fpropFactors_concat']
+            fpropStats_vars = stats[var]['fprop_concat_stats']
+            bpropFactor = factors[var]['bpropFactors_concat']
+            bpropStats_vars = stats[var]['bprop_concat_stats']
+            SVD_factors = {}
+            for stats_var in fpropStats_vars:
+                stats_var_dim = int(stats_var.get_shape()[0])
+                if stats_var not in statsUpdates_cache:
+                    old_fpropFactor = fpropFactor
+                    B = (tf.shape(fpropFactor)[0])  # batch size
+                    if opType == 'Conv2D':
+                        strides = fops.get_attr("strides")
+                        padding = fops.get_attr("padding")
+                        convkernel_size = var.get_shape()[0:3]
+
+                        KH = int(convkernel_size[0])
+                        KW = int(convkernel_size[1])
+                        C = int(convkernel_size[2])
+                        flatten_size = int(KH * KW * C)
+
+                        Oh = int(bpropFactor.get_shape()[1])
+                        Ow = int(bpropFactor.get_shape()[2])
+
+                        if Oh == 1 and Ow == 1 and self._channel_fac:
+                                # factorization along the channels
+                                # assume independence among input channels
+                                # factor = B x 1 x 1 x (KH xKW x C)
+                                # patches = B x Oh x Ow x (KH xKW x C)
+                            if len(SVD_factors) == 0:
+                                if KFAC_DEBUG:
+                                    print(('approx %s act factor with rank-1 SVD factors' % (var.name)))
+                                # find closest rank-1 approx to the feature map
+                                S, U, V = tf.batch_svd(tf.reshape(
+                                    fpropFactor, [-1, KH * KW, C]))
+                                # get rank-1 approx slides
+                                sqrtS1 = tf.expand_dims(tf.sqrt(S[:, 0, 0]), 1)
+                                patches_k = U[:, :, 0] * sqrtS1  # B x KH*KW
+                                full_factor_shape = fpropFactor.get_shape()
+                                patches_k.set_shape(
+                                    [full_factor_shape[0], KH * KW])
+                                patches_c = V[:, :, 0] * sqrtS1  # B x C
+                                patches_c.set_shape([full_factor_shape[0], C])
+                                SVD_factors[C] = patches_c
+                                SVD_factors[KH * KW] = patches_k
+                            fpropFactor = SVD_factors[stats_var_dim]
+
+                        else:
+                            # poor mem usage implementation
+                            patches = tf.extract_image_patches(fpropFactor, ksizes=[1, convkernel_size[
+                                                               0], convkernel_size[1], 1], strides=strides, rates=[1, 1, 1, 1], padding=padding)
+
+                            if self._approxT2:
+                                if KFAC_DEBUG:
+                                    print(('approxT2 act fisher for %s' % (var.name)))
+                                # T^2 terms * 1/T^2, size: B x C
+                                fpropFactor = tf.reduce_mean(patches, [1, 2])
+                            else:
+                                # size: (B x Oh x Ow) x C
+                                fpropFactor = tf.reshape(
+                                    patches, [-1, flatten_size]) / Oh / Ow
+                    fpropFactor_size = int(fpropFactor.get_shape()[-1])
+                    if stats_var_dim == (fpropFactor_size + 1) and not self._blockdiag_bias:
+                        if opType == 'Conv2D' and not self._approxT2:
+                            # correct padding for numerical stability (we
+                            # divided out OhxOw from activations for T1 approx)
+                            fpropFactor = tf.concat([fpropFactor, tf.ones(
+                                [tf.shape(fpropFactor)[0], 1]) / Oh / Ow], 1)
+                        else:
+                            # use homogeneous coordinates
+                            fpropFactor = tf.concat(
+                                [fpropFactor, tf.ones([tf.shape(fpropFactor)[0], 1])], 1)
+
+                    # average over the number of data points in a batch
+                    # divided by B
+                    cov = tf.matmul(fpropFactor, fpropFactor,
+                                    transpose_a=True) / tf.cast(B, tf.float32)
+                    updateOps.append(cov)
+                    statsUpdates[stats_var] = cov
+                    if opType != 'Conv2D':
+                        # HACK: for convolution we recompute fprop stats for
+                        # every layer including forking layers
+                        statsUpdates_cache[stats_var] = cov
+
+            for stats_var in bpropStats_vars:
+                stats_var_dim = int(stats_var.get_shape()[0])
+                if stats_var not in statsUpdates_cache:
+                    old_bpropFactor = bpropFactor
+                    bpropFactor_shape = bpropFactor.get_shape()
+                    B = tf.shape(bpropFactor)[0]  # batch size
+                    C = int(bpropFactor_shape[-1])  # num channels
+                    if opType == 'Conv2D' or len(bpropFactor_shape) == 4:
+                        if fpropFactor is not None:
+                            if self._approxT2:
+                                if KFAC_DEBUG:
+                                    print(('approxT2 grad fisher for %s' % (var.name)))
+                                bpropFactor = tf.reduce_sum(
+                                    bpropFactor, [1, 2])  # T^2 terms * 1/T^2
+                            else:
+                                bpropFactor = tf.reshape(
+                                    bpropFactor, [-1, C]) * Oh * Ow  # T * 1/T terms
+                        else:
+                            # just doing block diag approx. spatial independent
+                            # structure does not apply here. summing over
+                            # spatial locations
+                            if KFAC_DEBUG:
+                                print(('block diag approx fisher for %s' % (var.name)))
+                            bpropFactor = tf.reduce_sum(bpropFactor, [1, 2])
+
+                    # assume sampled loss is averaged. TO-DO:figure out better
+                    # way to handle this
+                    bpropFactor *= tf.to_float(B)
+                    ##
+
+                    cov_b = tf.matmul(
+                        bpropFactor, bpropFactor, transpose_a=True) / tf.to_float(tf.shape(bpropFactor)[0])
+
+                    updateOps.append(cov_b)
+                    statsUpdates[stats_var] = cov_b
+                    statsUpdates_cache[stats_var] = cov_b
+
+        if KFAC_DEBUG:
+            aKey = list(statsUpdates.keys())[0]
+            statsUpdates[aKey] = tf.Print(statsUpdates[aKey],
+                                          [tf.convert_to_tensor('step:'),
+                                           self.global_step,
+                                           tf.convert_to_tensor(
+                                               'computing stats'),
+                                           ])
+        self.statsUpdates = statsUpdates
+        return statsUpdates
+
+    def apply_stats(self, statsUpdates):
+        """ compute stats and update/apply the new stats to the running average
+        """
+
+        def updateAccumStats():
+            if self._full_stats_init:
+                return tf.cond(tf.greater(self.sgd_step, self._cold_iter), lambda: tf.group(*self._apply_stats(statsUpdates, accumulate=True, accumulateCoeff=1. / self._stats_accum_iter)), tf.no_op)
+            else:
+                return tf.group(*self._apply_stats(statsUpdates, accumulate=True, accumulateCoeff=1. / self._stats_accum_iter))
+
+        def updateRunningAvgStats(statsUpdates, fac_iter=1):
+            # return tf.cond(tf.greater_equal(self.factor_step,
+            # tf.convert_to_tensor(fac_iter)), lambda:
+            # tf.group(*self._apply_stats(stats_list, varlist)), tf.no_op)
+            return tf.group(*self._apply_stats(statsUpdates))
+
+        if self._async_stats:
+            # asynchronous stats update
+            update_stats = self._apply_stats(statsUpdates)
+
+            queue = tf.FIFOQueue(1, [item.dtype for item in update_stats], shapes=[
+                                 item.get_shape() for item in update_stats])
+            enqueue_op = queue.enqueue(update_stats)
+
+            def dequeue_stats_op():
+                return queue.dequeue()
+            self.qr_stats = tf.train.QueueRunner(queue, [enqueue_op])
+            update_stats_op = tf.cond(tf.equal(queue.size(), tf.convert_to_tensor(
+                0)), tf.no_op, lambda: tf.group(*[dequeue_stats_op(), ]))
+        else:
+            # synchronous stats update
+            update_stats_op = tf.cond(tf.greater_equal(
+                self.stats_step, self._stats_accum_iter), lambda: updateRunningAvgStats(statsUpdates), updateAccumStats)
+        self._update_stats_op = update_stats_op
+        return update_stats_op
+
+    def _apply_stats(self, statsUpdates, accumulate=False, accumulateCoeff=0.):
+        updateOps = []
+        # obtain the stats var list
+        for stats_var in statsUpdates:
+            stats_new = statsUpdates[stats_var]
+            if accumulate:
+                # simple superbatch averaging
+                update_op = tf.assign_add(
+                    stats_var, accumulateCoeff * stats_new, use_locking=True)
+            else:
+                # exponential running averaging
+                update_op = tf.assign(
+                    stats_var, stats_var * self._stats_decay, use_locking=True)
+                update_op = tf.assign_add(
+                    update_op, (1. - self._stats_decay) * stats_new, use_locking=True)
+            updateOps.append(update_op)
+
+        with tf.control_dependencies(updateOps):
+            stats_step_op = tf.assign_add(self.stats_step, 1)
+
+        if KFAC_DEBUG:
+            stats_step_op = (tf.Print(stats_step_op,
+                                      [tf.convert_to_tensor('step:'),
+                                       self.global_step,
+                                       tf.convert_to_tensor('fac step:'),
+                                       self.factor_step,
+                                       tf.convert_to_tensor('sgd step:'),
+                                       self.sgd_step,
+                                       tf.convert_to_tensor('Accum:'),
+                                       tf.convert_to_tensor(accumulate),
+                                       tf.convert_to_tensor('Accum coeff:'),
+                                       tf.convert_to_tensor(accumulateCoeff),
+                                       tf.convert_to_tensor('stat step:'),
+                                       self.stats_step, updateOps[0], updateOps[1]]))
+        return [stats_step_op, ]
+
+    def getStatsEigen(self, stats=None):
+        if len(self.stats_eigen) == 0:
+            stats_eigen = {}
+            if stats is None:
+                stats = self.stats
+
+            tmpEigenCache = {}
+            with tf.device('/cpu:0'):
+                for var in stats:
+                    for key in ['fprop_concat_stats', 'bprop_concat_stats']:
+                        for stats_var in stats[var][key]:
+                            if stats_var not in tmpEigenCache:
+                                stats_dim = stats_var.get_shape()[1].value
+                                e = tf.Variable(tf.ones(
+                                    [stats_dim]), name='KFAC_FAC/' + stats_var.name.split(':')[0] + '/e', trainable=False)
+                                Q = tf.Variable(tf.diag(tf.ones(
+                                    [stats_dim])), name='KFAC_FAC/' + stats_var.name.split(':')[0] + '/Q', trainable=False)
+                                stats_eigen[stats_var] = {'e': e, 'Q': Q}
+                                tmpEigenCache[
+                                    stats_var] = stats_eigen[stats_var]
+                            else:
+                                stats_eigen[stats_var] = tmpEigenCache[
+                                    stats_var]
+            self.stats_eigen = stats_eigen
+        return self.stats_eigen
+
+    def computeStatsEigen(self):
+        """ compute the eigen decomp using copied var stats to avoid concurrent read/write from other queue """
+        # TO-DO: figure out why this op has delays (possibly moving
+        # eigenvectors around?)
+        with tf.device('/cpu:0'):
+            def removeNone(tensor_list):
+                local_list = []
+                for item in tensor_list:
+                    if item is not None:
+                        local_list.append(item)
+                return local_list
+
+            def copyStats(var_list):
+                print("copying stats to buffer tensors before eigen decomp")
+                redundant_stats = {}
+                copied_list = []
+                for item in var_list:
+                    if item is not None:
+                        if item not in redundant_stats:
+                            if self._use_float64:
+                                redundant_stats[item] = tf.cast(
+                                    tf.identity(item), tf.float64)
+                            else:
+                                redundant_stats[item] = tf.identity(item)
+                        copied_list.append(redundant_stats[item])
+                    else:
+                        copied_list.append(None)
+                return copied_list
+            #stats = [copyStats(self.fStats), copyStats(self.bStats)]
+            #stats = [self.fStats, self.bStats]
+
+            stats_eigen = self.stats_eigen
+            computedEigen = {}
+            eigen_reverse_lookup = {}
+            updateOps = []
+            # sync copied stats
+            # with tf.control_dependencies(removeNone(stats[0]) +
+            # removeNone(stats[1])):
+            with tf.control_dependencies([]):
+                for stats_var in stats_eigen:
+                    if stats_var not in computedEigen:
+                        eigens = tf.self_adjoint_eig(stats_var)
+                        e = eigens[0]
+                        Q = eigens[1]
+                        if self._use_float64:
+                            e = tf.cast(e, tf.float32)
+                            Q = tf.cast(Q, tf.float32)
+                        updateOps.append(e)
+                        updateOps.append(Q)
+                        computedEigen[stats_var] = {'e': e, 'Q': Q}
+                        eigen_reverse_lookup[e] = stats_eigen[stats_var]['e']
+                        eigen_reverse_lookup[Q] = stats_eigen[stats_var]['Q']
+
+            self.eigen_reverse_lookup = eigen_reverse_lookup
+            self.eigen_update_list = updateOps
+
+            if KFAC_DEBUG:
+                self.eigen_update_list = [item for item in updateOps]
+                with tf.control_dependencies(updateOps):
+                    updateOps.append(tf.Print(tf.constant(
+                        0.), [tf.convert_to_tensor('computed factor eigen')]))
+
+        return updateOps
+
+    def applyStatsEigen(self, eigen_list):
+        updateOps = []
+        print(('updating %d eigenvalue/vectors' % len(eigen_list)))
+        for i, (tensor, mark) in enumerate(zip(eigen_list, self.eigen_update_list)):
+            stats_eigen_var = self.eigen_reverse_lookup[mark]
+            updateOps.append(
+                tf.assign(stats_eigen_var, tensor, use_locking=True))
+
+        with tf.control_dependencies(updateOps):
+            factor_step_op = tf.assign_add(self.factor_step, 1)
+            updateOps.append(factor_step_op)
+            if KFAC_DEBUG:
+                updateOps.append(tf.Print(tf.constant(
+                    0.), [tf.convert_to_tensor('updated kfac factors')]))
+        return updateOps
+
+    def getKfacPrecondUpdates(self, gradlist, varlist):
+        updatelist = []
+        vg = 0.
+
+        assert len(self.stats) > 0
+        assert len(self.stats_eigen) > 0
+        assert len(self.factors) > 0
+        counter = 0
+
+        grad_dict = {var: grad for grad, var in zip(gradlist, varlist)}
+
+        for grad, var in zip(gradlist, varlist):
+            GRAD_RESHAPE = False
+            GRAD_TRANSPOSE = False
+
+            fpropFactoredFishers = self.stats[var]['fprop_concat_stats']
+            bpropFactoredFishers = self.stats[var]['bprop_concat_stats']
+
+            if (len(fpropFactoredFishers) + len(bpropFactoredFishers)) > 0:
+                counter += 1
+                GRAD_SHAPE = grad.get_shape()
+                if len(grad.get_shape()) > 2:
+                    # reshape conv kernel parameters
+                    KW = int(grad.get_shape()[0])
+                    KH = int(grad.get_shape()[1])
+                    C = int(grad.get_shape()[2])
+                    D = int(grad.get_shape()[3])
+
+                    if len(fpropFactoredFishers) > 1 and self._channel_fac:
+                        # reshape conv kernel parameters into tensor
+                        grad = tf.reshape(grad, [KW * KH, C, D])
+                    else:
+                        # reshape conv kernel parameters into 2D grad
+                        grad = tf.reshape(grad, [-1, D])
+                    GRAD_RESHAPE = True
+                elif len(grad.get_shape()) == 1:
+                    # reshape bias or 1D parameters
+                    D = int(grad.get_shape()[0])
+
+                    grad = tf.expand_dims(grad, 0)
+                    GRAD_RESHAPE = True
+                else:
+                    # 2D parameters
+                    C = int(grad.get_shape()[0])
+                    D = int(grad.get_shape()[1])
+
+                if (self.stats[var]['assnBias'] is not None) and not self._blockdiag_bias:
+                    # use homogeneous coordinates only works for 2D grad.
+                    # TO-DO: figure out how to factorize bias grad
+                    # stack bias grad
+                    var_assnBias = self.stats[var]['assnBias']
+                    grad = tf.concat(
+                        [grad, tf.expand_dims(grad_dict[var_assnBias], 0)], 0)
+
+                # project gradient to eigen space and reshape the eigenvalues
+                # for broadcasting
+                eigVals = []
+
+                for idx, stats in enumerate(self.stats[var]['fprop_concat_stats']):
+                    Q = self.stats_eigen[stats]['Q']
+                    e = detectMinVal(self.stats_eigen[stats][
+                                     'e'], var, name='act', debug=KFAC_DEBUG)
+
+                    Q, e = factorReshape(Q, e, grad, facIndx=idx, ftype='act')
+                    eigVals.append(e)
+                    grad = gmatmul(Q, grad, transpose_a=True, reduce_dim=idx)
+
+                for idx, stats in enumerate(self.stats[var]['bprop_concat_stats']):
+                    Q = self.stats_eigen[stats]['Q']
+                    e = detectMinVal(self.stats_eigen[stats][
+                                     'e'], var, name='grad', debug=KFAC_DEBUG)
+
+                    Q, e = factorReshape(Q, e, grad, facIndx=idx, ftype='grad')
+                    eigVals.append(e)
+                    grad = gmatmul(grad, Q, transpose_b=False, reduce_dim=idx)
+                ##
+
+                #####
+                # whiten using eigenvalues
+                weightDecayCoeff = 0.
+                if var in self._weight_decay_dict:
+                    weightDecayCoeff = self._weight_decay_dict[var]
+                    if KFAC_DEBUG:
+                        print(('weight decay coeff for %s is %f' % (var.name, weightDecayCoeff)))
+
+                if self._factored_damping:
+                    if KFAC_DEBUG:
+                        print(('use factored damping for %s' % (var.name)))
+                    coeffs = 1.
+                    num_factors = len(eigVals)
+                    # compute the ratio of two trace norm of the left and right
+                    # KFac matrices, and their generalization
+                    if len(eigVals) == 1:
+                        damping = self._epsilon + weightDecayCoeff
+                    else:
+                        damping = tf.pow(
+                            self._epsilon + weightDecayCoeff, 1. / num_factors)
+                    eigVals_tnorm_avg = [tf.reduce_mean(
+                        tf.abs(e)) for e in eigVals]
+                    for e, e_tnorm in zip(eigVals, eigVals_tnorm_avg):
+                        eig_tnorm_negList = [
+                            item for item in eigVals_tnorm_avg if item != e_tnorm]
+                        if len(eigVals) == 1:
+                            adjustment = 1.
+                        elif len(eigVals) == 2:
+                            adjustment = tf.sqrt(
+                                e_tnorm / eig_tnorm_negList[0])
+                        else:
+                            eig_tnorm_negList_prod = reduce(
+                                lambda x, y: x * y, eig_tnorm_negList)
+                            adjustment = tf.pow(
+                                tf.pow(e_tnorm, num_factors - 1.) / eig_tnorm_negList_prod, 1. / num_factors)
+                        coeffs *= (e + adjustment * damping)
+                else:
+                    coeffs = 1.
+                    damping = (self._epsilon + weightDecayCoeff)
+                    for e in eigVals:
+                        coeffs *= e
+                    coeffs += damping
+
+                #grad = tf.Print(grad, [tf.convert_to_tensor('1'), tf.convert_to_tensor(var.name), grad.get_shape()])
+
+                grad /= coeffs
+
+                #grad = tf.Print(grad, [tf.convert_to_tensor('2'), tf.convert_to_tensor(var.name), grad.get_shape()])
+                #####
+                # project gradient back to euclidean space
+                for idx, stats in enumerate(self.stats[var]['fprop_concat_stats']):
+                    Q = self.stats_eigen[stats]['Q']
+                    grad = gmatmul(Q, grad, transpose_a=False, reduce_dim=idx)
+
+                for idx, stats in enumerate(self.stats[var]['bprop_concat_stats']):
+                    Q = self.stats_eigen[stats]['Q']
+                    grad = gmatmul(grad, Q, transpose_b=True, reduce_dim=idx)
+                ##
+
+                #grad = tf.Print(grad, [tf.convert_to_tensor('3'), tf.convert_to_tensor(var.name), grad.get_shape()])
+                if (self.stats[var]['assnBias'] is not None) and not self._blockdiag_bias:
+                    # use homogeneous coordinates only works for 2D grad.
+                    # TO-DO: figure out how to factorize bias grad
+                    # un-stack bias grad
+                    var_assnBias = self.stats[var]['assnBias']
+                    C_plus_one = int(grad.get_shape()[0])
+                    grad_assnBias = tf.reshape(tf.slice(grad,
+                                                        begin=[
+                                                            C_plus_one - 1, 0],
+                                                        size=[1, -1]), var_assnBias.get_shape())
+                    grad_assnWeights = tf.slice(grad,
+                                                begin=[0, 0],
+                                                size=[C_plus_one - 1, -1])
+                    grad_dict[var_assnBias] = grad_assnBias
+                    grad = grad_assnWeights
+
+                #grad = tf.Print(grad, [tf.convert_to_tensor('4'), tf.convert_to_tensor(var.name), grad.get_shape()])
+                if GRAD_RESHAPE:
+                    grad = tf.reshape(grad, GRAD_SHAPE)
+
+                grad_dict[var] = grad
+
+        print(('projecting %d gradient matrices' % counter))
+
+        for g, var in zip(gradlist, varlist):
+            grad = grad_dict[var]
+            ### clipping ###
+            if KFAC_DEBUG:
+                print(('apply clipping to %s' % (var.name)))
+            tf.Print(grad, [tf.sqrt(tf.reduce_sum(tf.pow(grad, 2)))], "Euclidean norm of new grad")
+            local_vg = tf.reduce_sum(grad * g * (self._lr * self._lr))
+            vg += local_vg
+
+        # recale everything
+        if KFAC_DEBUG:
+            print('apply vFv clipping')
+
+        scaling = tf.minimum(1., tf.sqrt(self._clip_kl / vg))
+        if KFAC_DEBUG:
+            scaling = tf.Print(scaling, [tf.convert_to_tensor(
+                'clip: '), scaling, tf.convert_to_tensor(' vFv: '), vg])
+        with tf.control_dependencies([tf.assign(self.vFv, vg)]):
+            updatelist = [grad_dict[var] for var in varlist]
+            for i, item in enumerate(updatelist):
+                updatelist[i] = scaling * item
+
+        return updatelist
+
+    def compute_gradients(self, loss, var_list=None):
+        varlist = var_list
+        if varlist is None:
+            varlist = tf.trainable_variables()
+        g = tf.gradients(loss, varlist)
+
+        return [(a, b) for a, b in zip(g, varlist)]
+
+    def apply_gradients_kfac(self, grads):
+        g, varlist = list(zip(*grads))
+
+        if len(self.stats_eigen) == 0:
+            self.getStatsEigen()
+
+        qr = None
+        # launch eigen-decomp on a queue thread
+        if self._async:
+            print('Use async eigen decomp')
+            # get a list of factor loading tensors
+            factorOps_dummy = self.computeStatsEigen()
+
+            # define a queue for the list of factor loading tensors
+            queue = tf.FIFOQueue(1, [item.dtype for item in factorOps_dummy], shapes=[
+                                 item.get_shape() for item in factorOps_dummy])
+            enqueue_op = tf.cond(tf.logical_and(tf.equal(tf.mod(self.stats_step, self._kfac_update), tf.convert_to_tensor(
+                0)), tf.greater_equal(self.stats_step, self._stats_accum_iter)), lambda: queue.enqueue(self.computeStatsEigen()), tf.no_op)
+
+            def dequeue_op():
+                return queue.dequeue()
+
+            qr = tf.train.QueueRunner(queue, [enqueue_op])
+
+        updateOps = []
+        global_step_op = tf.assign_add(self.global_step, 1)
+        updateOps.append(global_step_op)
+
+        with tf.control_dependencies([global_step_op]):
+
+            # compute updates
+            assert self._update_stats_op != None
+            updateOps.append(self._update_stats_op)
+            dependency_list = []
+            if not self._async:
+                dependency_list.append(self._update_stats_op)
+
+            with tf.control_dependencies(dependency_list):
+                def no_op_wrapper():
+                    return tf.group(*[tf.assign_add(self.cold_step, 1)])
+
+                if not self._async:
+                    # synchronous eigen-decomp updates
+                    updateFactorOps = tf.cond(tf.logical_and(tf.equal(tf.mod(self.stats_step, self._kfac_update),
+                                                                      tf.convert_to_tensor(0)),
+                                                             tf.greater_equal(self.stats_step, self._stats_accum_iter)), lambda: tf.group(*self.applyStatsEigen(self.computeStatsEigen())), no_op_wrapper)
+                else:
+                    # asynchronous eigen-decomp updates using queue
+                    updateFactorOps = tf.cond(tf.greater_equal(self.stats_step, self._stats_accum_iter),
+                                              lambda: tf.cond(tf.equal(queue.size(), tf.convert_to_tensor(0)),
+                                                              tf.no_op,
+
+                                                              lambda: tf.group(
+                                                                  *self.applyStatsEigen(dequeue_op())),
+                                                              ),
+                                              no_op_wrapper)
+
+                updateOps.append(updateFactorOps)
+
+                with tf.control_dependencies([updateFactorOps]):
+                    def gradOp():
+                        return list(g)
+
+                    def getKfacGradOp():
+                        return self.getKfacPrecondUpdates(g, varlist)
+                    u = tf.cond(tf.greater(self.factor_step,
+                                           tf.convert_to_tensor(0)), getKfacGradOp, gradOp)
+
+                    optim = tf.train.MomentumOptimizer(
+                        self._lr * (1. - self._momentum), self._momentum)
+                    #optim = tf.train.AdamOptimizer(self._lr, epsilon=0.01)
+
+                    def optimOp():
+                        def updateOptimOp():
+                            if self._full_stats_init:
+                                return tf.cond(tf.greater(self.factor_step, tf.convert_to_tensor(0)), lambda: optim.apply_gradients(list(zip(u, varlist))), tf.no_op)
+                            else:
+                                return optim.apply_gradients(list(zip(u, varlist)))
+                        if self._full_stats_init:
+                            return tf.cond(tf.greater_equal(self.stats_step, self._stats_accum_iter), updateOptimOp, tf.no_op)
+                        else:
+                            return tf.cond(tf.greater_equal(self.sgd_step, self._cold_iter), updateOptimOp, tf.no_op)
+                    updateOps.append(optimOp())
+
+        return tf.group(*updateOps), qr
+
+    def apply_gradients(self, grads):
+        coldOptim = tf.train.MomentumOptimizer(
+            self._cold_lr, self._momentum)
+
+        def coldSGDstart():
+            sgd_grads, sgd_var = zip(*grads)
+
+            if self.max_grad_norm != None:
+                sgd_grads, sgd_grad_norm = tf.clip_by_global_norm(sgd_grads,self.max_grad_norm)
+
+            sgd_grads = list(zip(sgd_grads,sgd_var))
+
+            sgd_step_op = tf.assign_add(self.sgd_step, 1)
+            coldOptim_op = coldOptim.apply_gradients(sgd_grads)
+            if KFAC_DEBUG:
+                with tf.control_dependencies([sgd_step_op, coldOptim_op]):
+                    sgd_step_op = tf.Print(
+                        sgd_step_op, [self.sgd_step, tf.convert_to_tensor('doing cold sgd step')])
+            return tf.group(*[sgd_step_op, coldOptim_op])
+
+        kfacOptim_op, qr = self.apply_gradients_kfac(grads)
+
+        def warmKFACstart():
+            return kfacOptim_op
+
+        return tf.cond(tf.greater(self.sgd_step, self._cold_iter), warmKFACstart, coldSGDstart), qr
+
+    def minimize(self, loss, loss_sampled, var_list=None):
+        grads = self.compute_gradients(loss, var_list=var_list)
+        update_stats_op = self.compute_and_apply_stats(
+            loss_sampled, var_list=var_list)
+        return self.apply_gradients(grads)

baselines/acktr/kfac_utils.py

@@ -0,0 +1,86 @@
+import tensorflow as tf
+
+def gmatmul(a, b, transpose_a=False, transpose_b=False, reduce_dim=None):
+    assert reduce_dim is not None
+
+    # weird batch matmul
+    if len(a.get_shape()) == 2 and len(b.get_shape()) > 2:
+        # reshape reduce_dim to the left most dim in b
+        b_shape = b.get_shape()
+        if reduce_dim != 0:
+            b_dims = list(range(len(b_shape)))
+            b_dims.remove(reduce_dim)
+            b_dims.insert(0, reduce_dim)
+            b = tf.transpose(b, b_dims)
+        b_t_shape = b.get_shape()
+        b = tf.reshape(b, [int(b_shape[reduce_dim]), -1])
+        result = tf.matmul(a, b, transpose_a=transpose_a,
+                           transpose_b=transpose_b)
+        result = tf.reshape(result, b_t_shape)
+        if reduce_dim != 0:
+            b_dims = list(range(len(b_shape)))
+            b_dims.remove(0)
+            b_dims.insert(reduce_dim, 0)
+            result = tf.transpose(result, b_dims)
+        return result
+
+    elif len(a.get_shape()) > 2 and len(b.get_shape()) == 2:
+        # reshape reduce_dim to the right most dim in a
+        a_shape = a.get_shape()
+        outter_dim = len(a_shape) - 1
+        reduce_dim = len(a_shape) - reduce_dim - 1
+        if reduce_dim != outter_dim:
+            a_dims = list(range(len(a_shape)))
+            a_dims.remove(reduce_dim)
+            a_dims.insert(outter_dim, reduce_dim)
+            a = tf.transpose(a, a_dims)
+        a_t_shape = a.get_shape()
+        a = tf.reshape(a, [-1, int(a_shape[reduce_dim])])
+        result = tf.matmul(a, b, transpose_a=transpose_a,
+                           transpose_b=transpose_b)
+        result = tf.reshape(result, a_t_shape)
+        if reduce_dim != outter_dim:
+            a_dims = list(range(len(a_shape)))
+            a_dims.remove(outter_dim)
+            a_dims.insert(reduce_dim, outter_dim)
+            result = tf.transpose(result, a_dims)
+        return result
+
+    elif len(a.get_shape()) == 2 and len(b.get_shape()) == 2:
+        return tf.matmul(a, b, transpose_a=transpose_a, transpose_b=transpose_b)
+
+    assert False, 'something went wrong'
+
+
+def clipoutNeg(vec, threshold=1e-6):
+    mask = tf.cast(vec > threshold, tf.float32)
+    return mask * vec
+
+
+def detectMinVal(input_mat, var, threshold=1e-6, name='', debug=False):
+    eigen_min = tf.reduce_min(input_mat)
+    eigen_max = tf.reduce_max(input_mat)
+    eigen_ratio = eigen_max / eigen_min
+    input_mat_clipped = clipoutNeg(input_mat, threshold)
+
+    if debug:
+        input_mat_clipped = tf.cond(tf.logical_or(tf.greater(eigen_ratio, 0.), tf.less(eigen_ratio, -500)), lambda: input_mat_clipped, lambda: tf.Print(
+            input_mat_clipped, [tf.convert_to_tensor('screwed ratio ' + name + ' eigen values!!!'), tf.convert_to_tensor(var.name), eigen_min, eigen_max, eigen_ratio]))
+
+    return input_mat_clipped
+
+
+def factorReshape(Q, e, grad, facIndx=0, ftype='act'):
+    grad_shape = grad.get_shape()
+    if ftype == 'act':
+        assert e.get_shape()[0] == grad_shape[facIndx]
+        expanded_shape = [1, ] * len(grad_shape)
+        expanded_shape[facIndx] = -1
+        e = tf.reshape(e, expanded_shape)
+    if ftype == 'grad':
+        assert e.get_shape()[0] == grad_shape[len(grad_shape) - facIndx - 1]
+        expanded_shape = [1, ] * len(grad_shape)
+        expanded_shape[len(grad_shape) - facIndx - 1] = -1
+        e = tf.reshape(e, expanded_shape)
+
+    return Q, e

baselines/acktr/policies.py

@@ -0,0 +1,42 @@
+import numpy as np
+import tensorflow as tf
+from baselines.acktr.utils import dense, kl_div
+import baselines.common.tf_util as U
+
+class GaussianMlpPolicy(object):
+    def __init__(self, ob_dim, ac_dim):
+        # Here we'll construct a bunch of expressions, which will be used in two places:
+        # (1) When sampling actions
+        # (2) When computing loss functions, for the policy update
+        # Variables specific to (1) have the word "sampled" in them,
+        # whereas variables specific to (2) have the word "old" in them
+        ob_no = tf.placeholder(tf.float32, shape=[None, ob_dim*2], name="ob") # batch of observations
+        oldac_na = tf.placeholder(tf.float32, shape=[None, ac_dim], name="ac") # batch of actions previous actions
+        oldac_dist = tf.placeholder(tf.float32, shape=[None, ac_dim*2], name="oldac_dist") # batch of actions previous action distributions
+        adv_n = tf.placeholder(tf.float32, shape=[None], name="adv") # advantage function estimate
+        wd_dict = {}
+        h1 = tf.nn.tanh(dense(ob_no, 64, "h1", weight_init=U.normc_initializer(1.0), bias_init=0.0, weight_loss_dict=wd_dict))
+        h2 = tf.nn.tanh(dense(h1, 64, "h2", weight_init=U.normc_initializer(1.0), bias_init=0.0, weight_loss_dict=wd_dict))
+        mean_na = dense(h2, ac_dim, "mean", weight_init=U.normc_initializer(0.1), bias_init=0.0, weight_loss_dict=wd_dict) # Mean control output
+        self.wd_dict = wd_dict
+        self.logstd_1a = logstd_1a = tf.get_variable("logstd", [ac_dim], tf.float32, tf.zeros_initializer()) # Variance on outputs
+        logstd_1a = tf.expand_dims(logstd_1a, 0)
+        std_1a = tf.exp(logstd_1a)
+        std_na = tf.tile(std_1a, [tf.shape(mean_na)[0], 1])
+        ac_dist = tf.concat([tf.reshape(mean_na, [-1, ac_dim]), tf.reshape(std_na, [-1, ac_dim])], 1)
+        sampled_ac_na = tf.random_normal(tf.shape(ac_dist[:,ac_dim:])) * ac_dist[:,ac_dim:] + ac_dist[:,:ac_dim] # This is the sampled action we'll perform.
+        logprobsampled_n = - tf.reduce_sum(tf.log(ac_dist[:,ac_dim:]), axis=1) - 0.5 * tf.log(2.0*np.pi)*ac_dim - 0.5 * tf.reduce_sum(tf.square(ac_dist[:,:ac_dim] - sampled_ac_na) / (tf.square(ac_dist[:,ac_dim:])), axis=1) # Logprob of sampled action
+        logprob_n = - tf.reduce_sum(tf.log(ac_dist[:,ac_dim:]), axis=1) - 0.5 * tf.log(2.0*np.pi)*ac_dim - 0.5 * tf.reduce_sum(tf.square(ac_dist[:,:ac_dim] - oldac_na) / (tf.square(ac_dist[:,ac_dim:])), axis=1) # Logprob of previous actions under CURRENT policy (whereas oldlogprob_n is under OLD policy)
+        kl = tf.reduce_mean(kl_div(oldac_dist, ac_dist, ac_dim))
+        #kl = .5 * tf.reduce_mean(tf.square(logprob_n - oldlogprob_n)) # Approximation of KL divergence between old policy used to generate actions, and new policy used to compute logprob_n
+        surr = - tf.reduce_mean(adv_n * logprob_n) # Loss function that we'll differentiate to get the policy gradient
+        surr_sampled = - tf.reduce_mean(logprob_n) # Sampled loss of the policy
+        self._act = U.function([ob_no], [sampled_ac_na, ac_dist, logprobsampled_n]) # Generate a new action and its logprob
+        #self.compute_kl = U.function([ob_no, oldac_na, oldlogprob_n], kl) # Compute (approximate) KL divergence between old policy and new policy
+        self.compute_kl = U.function([ob_no, oldac_dist], kl)
+        self.update_info = ((ob_no, oldac_na, adv_n), surr, surr_sampled) # Input and output variables needed for computing loss
+        U.initialize() # Initialize uninitialized TF variables
+
+    def act(self, ob):
+        ac, ac_dist, logp = self._act(ob[None])
+        return ac[0], ac_dist[0], logp[0]

baselines/acktr/run_atari.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+from functools import partial
+
+from baselines import logger
+from baselines.acktr.acktr_disc import learn
+from baselines.common.cmd_util import make_atari_env, atari_arg_parser
+from baselines.common.vec_env.vec_frame_stack import VecFrameStack
+from baselines.ppo2.policies import CnnPolicy
+
+def train(env_id, num_timesteps, seed, num_cpu):
+    env = VecFrameStack(make_atari_env(env_id, num_cpu, seed), 4)
+    policy_fn = partial(CnnPolicy, one_dim_bias=True)
+    learn(policy_fn, env, seed, total_timesteps=int(num_timesteps * 1.1), nprocs=num_cpu)
+    env.close()
+
+def main():
+    args = atari_arg_parser().parse_args()
+    logger.configure()
+    train(args.env, num_timesteps=args.num_timesteps, seed=args.seed, num_cpu=32)
+
+if __name__ == '__main__':
+    main()

baselines/acktr/run_mujoco.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import tensorflow as tf
+from baselines import logger
+from baselines.common.cmd_util import make_mujoco_env, mujoco_arg_parser
+from baselines.acktr.acktr_cont import learn
+from baselines.acktr.policies import GaussianMlpPolicy
+from baselines.acktr.value_functions import NeuralNetValueFunction
+
+def train(env_id, num_timesteps, seed):
+    env = make_mujoco_env(env_id, seed)
+
+    with tf.Session(config=tf.ConfigProto()):
+        ob_dim = env.observation_space.shape[0]
+        ac_dim = env.action_space.shape[0]
+        with tf.variable_scope("vf"):
+            vf = NeuralNetValueFunction(ob_dim, ac_dim)
+        with tf.variable_scope("pi"):
+            policy = GaussianMlpPolicy(ob_dim, ac_dim)
+
+        learn(env, policy=policy, vf=vf,
+            gamma=0.99, lam=0.97, timesteps_per_batch=2500,
+            desired_kl=0.002,
+            num_timesteps=num_timesteps, animate=False)
+
+        env.close()
+
+def main():
+    args = mujoco_arg_parser().parse_args()
+    logger.configure()
+    train(args.env, num_timesteps=args.num_timesteps, seed=args.seed)
+
+if __name__ == "__main__":
+    main()

baselines/acktr/utils.py

@@ -0,0 +1,28 @@
+import tensorflow as tf
+
+def dense(x, size, name, weight_init=None, bias_init=0, weight_loss_dict=None, reuse=None):
+    with tf.variable_scope(name, reuse=reuse):
+        assert (len(tf.get_variable_scope().name.split('/')) == 2)
+
+        w = tf.get_variable("w", [x.get_shape()[1], size], initializer=weight_init)
+        b = tf.get_variable("b", [size], initializer=tf.constant_initializer(bias_init))
+        weight_decay_fc = 3e-4
+
+        if weight_loss_dict is not None:
+            weight_decay = tf.multiply(tf.nn.l2_loss(w), weight_decay_fc, name='weight_decay_loss')
+            if weight_loss_dict is not None:
+                weight_loss_dict[w] = weight_decay_fc
+                weight_loss_dict[b] = 0.0
+
+            tf.add_to_collection(tf.get_variable_scope().name.split('/')[0] + '_' + 'losses', weight_decay)
+
+        return tf.nn.bias_add(tf.matmul(x, w), b)
+
+def kl_div(action_dist1, action_dist2, action_size):
+    mean1, std1 = action_dist1[:, :action_size], action_dist1[:, action_size:]
+    mean2, std2 = action_dist2[:, :action_size], action_dist2[:, action_size:]
+
+    numerator = tf.square(mean1 - mean2) + tf.square(std1) - tf.square(std2)
+    denominator = 2 * tf.square(std2) + 1e-8
+    return tf.reduce_sum(
+        numerator/denominator + tf.log(std2) - tf.log(std1),reduction_indices=-1)

baselines/acktr/value_functions.py

@@ -0,0 +1,50 @@
+from baselines import logger
+import numpy as np
+import baselines.common as common
+from baselines.common import tf_util as U
+import tensorflow as tf
+from baselines.acktr import kfac
+from baselines.acktr.utils import dense
+
+class NeuralNetValueFunction(object):
+    def __init__(self, ob_dim, ac_dim): #pylint: disable=W0613
+        X = tf.placeholder(tf.float32, shape=[None, ob_dim*2+ac_dim*2+2]) # batch of observations
+        vtarg_n = tf.placeholder(tf.float32, shape=[None], name='vtarg')
+        wd_dict = {}
+        h1 = tf.nn.elu(dense(X, 64, "h1", weight_init=U.normc_initializer(1.0), bias_init=0, weight_loss_dict=wd_dict))
+        h2 = tf.nn.elu(dense(h1, 64, "h2", weight_init=U.normc_initializer(1.0), bias_init=0, weight_loss_dict=wd_dict))
+        vpred_n = dense(h2, 1, "hfinal", weight_init=U.normc_initializer(1.0), bias_init=0, weight_loss_dict=wd_dict)[:,0]
+        sample_vpred_n = vpred_n + tf.random_normal(tf.shape(vpred_n))
+        wd_loss = tf.get_collection("vf_losses", None)
+        loss = tf.reduce_mean(tf.square(vpred_n - vtarg_n)) + tf.add_n(wd_loss)
+        loss_sampled = tf.reduce_mean(tf.square(vpred_n - tf.stop_gradient(sample_vpred_n)))
+        self._predict = U.function([X], vpred_n)
+        optim = kfac.KfacOptimizer(learning_rate=0.001, cold_lr=0.001*(1-0.9), momentum=0.9, \
+                                    clip_kl=0.3, epsilon=0.1, stats_decay=0.95, \
+                                    async=1, kfac_update=2, cold_iter=50, \
+                                    weight_decay_dict=wd_dict, max_grad_norm=None)
+        vf_var_list = []
+        for var in tf.trainable_variables():
+            if "vf" in var.name:
+                vf_var_list.append(var)
+
+        update_op, self.q_runner = optim.minimize(loss, loss_sampled, var_list=vf_var_list)
+        self.do_update = U.function([X, vtarg_n], update_op) #pylint: disable=E1101
+        U.initialize() # Initialize uninitialized TF variables
+    def _preproc(self, path):
+        l = pathlength(path)
+        al = np.arange(l).reshape(-1,1)/10.0
+        act = path["action_dist"].astype('float32')
+        X = np.concatenate([path['observation'], act, al, np.ones((l, 1))], axis=1)
+        return X
+    def predict(self, path):
+        return self._predict(self._preproc(path))
+    def fit(self, paths, targvals):
+        X = np.concatenate([self._preproc(p) for p in paths])
+        y = np.concatenate(targvals)
+        logger.record_tabular("EVBefore", common.explained_variance(self._predict(X), y))
+        for _ in range(25): self.do_update(X, y)
+        logger.record_tabular("EVAfter", common.explained_variance(self._predict(X), y))
+
+def pathlength(path):
+    return path["reward"].shape[0]

baselines/bench/__init__.py

@@ -1,3 +1,2 @@
 from baselines.bench.benchmarks import *
-from baselines.bench.monitor import *
-
+from baselines.bench.monitor import *

baselines/bench/benchmarks.py

@@ -1,93 +1,150 @@
+import re
+import os.path as osp
+import os
+SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
+
 _atari7 = ['BeamRider', 'Breakout', 'Enduro', 'Pong', 'Qbert', 'Seaquest', 'SpaceInvaders']
 _atariexpl7 = ['Freeway', 'Gravitar', 'MontezumaRevenge', 'Pitfall', 'PrivateEye', 'Solaris', 'Venture']
 
 _BENCHMARKS = []
 
+remove_version_re = re.compile(r'-v\d+$')
+
+
 def register_benchmark(benchmark):
     for b in _BENCHMARKS:
         if b['name'] == benchmark['name']:
-            raise ValueError('Benchmark with name %s already registered!'%b['name'])
+            raise ValueError('Benchmark with name %s already registered!' % b['name'])
+
+    # automatically add a description if it is not present
+    if 'tasks' in benchmark:
+        for t in benchmark['tasks']:
+            if 'desc' not in t:
+                t['desc'] = remove_version_re.sub('', t['env_id'])
     _BENCHMARKS.append(benchmark)
 
+
 def list_benchmarks():
     return [b['name'] for b in _BENCHMARKS]
 
+
 def get_benchmark(benchmark_name):
     for b in _BENCHMARKS:
         if b['name'] == benchmark_name:
             return b
     raise ValueError('%s not found! Known benchmarks: %s' % (benchmark_name, list_benchmarks()))
 
+
 def get_task(benchmark, env_id):
     """Get a task by env_id. Return None if the benchmark doesn't have the env"""
     return next(filter(lambda task: task['env_id'] == env_id, benchmark['tasks']), None)
 
+
+def find_task_for_env_id_in_any_benchmark(env_id):
+    for bm in _BENCHMARKS:
+        for task in bm["tasks"]:
+            if task["env_id"] == env_id:
+                return bm, task
+    return None, None
+
+
 _ATARI_SUFFIX = 'NoFrameskip-v4'
 
 register_benchmark({
-    'name' : 'Atari200M',
-    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 200M frames',
-    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(200e6)} for _game in _atari7]
+    'name': 'Atari50M',
+    'description': '7 Atari games from Mnih et al. (2013), with pixel observations, 50M timesteps',
+    'tasks': [{'desc': _game, 'env_id': _game + _ATARI_SUFFIX, 'trials': 2, 'num_timesteps': int(50e6)} for _game in _atari7]
 })
 
 register_benchmark({
-    'name' : 'Atari40M',
-    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 40M frames',
-    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(40e6)} for _game in _atari7]
+    'name': 'Atari10M',
+    'description': '7 Atari games from Mnih et al. (2013), with pixel observations, 10M timesteps',
+    'tasks': [{'desc': _game, 'env_id': _game + _ATARI_SUFFIX, 'trials': 2, 'num_timesteps': int(10e6)} for _game in _atari7]
 })
 
 register_benchmark({
-    'name' : 'Atari1Hr',
-    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 1 hour of walltime',
-    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_seconds' : 60*60} for _game in _atari7]
+    'name': 'Atari1Hr',
+    'description': '7 Atari games from Mnih et al. (2013), with pixel observations, 1 hour of walltime',
+    'tasks': [{'desc': _game, 'env_id': _game + _ATARI_SUFFIX, 'trials': 2, 'num_seconds': 60 * 60} for _game in _atari7]
 })
 
 register_benchmark({
-    'name' : 'AtariExploration40M',
-    'description' :'7 Atari games emphasizing exploration, with pixel observations, 40M frames',
-    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 2, 'num_timesteps' : int(40e6)} for _game in _atariexpl7]
+    'name': 'AtariExploration10M',
+    'description': '7 Atari games emphasizing exploration, with pixel observations, 10M timesteps',
+    'tasks': [{'desc': _game, 'env_id': _game + _ATARI_SUFFIX, 'trials': 2, 'num_timesteps': int(10e6)} for _game in _atariexpl7]
 })
 
 
+# MuJoCo
+
 _mujocosmall = [
-    'InvertedDoublePendulum-v1', 'InvertedPendulum-v1',
-    'HalfCheetah-v1', 'Hopper-v1', 'Walker2d-v1',
-    'Reacher-v1', 'Swimmer-v1']
-
+    'InvertedDoublePendulum-v2', 'InvertedPendulum-v2',
+    'HalfCheetah-v2', 'Hopper-v2', 'Walker2d-v2',
+    'Reacher-v2', 'Swimmer-v2']
 register_benchmark({
-    'name' : 'Mujoco1M',
-    'description' : 'Some small 2D MuJoCo tasks, run for 1M timesteps',
-    'tasks' : [{'env_id' : _envid, 'trials' : 3, 'num_timesteps' : int(1e6)} for _envid in _mujocosmall]
+    'name': 'Mujoco1M',
+    'description': 'Some small 2D MuJoCo tasks, run for 1M timesteps',
+    'tasks': [{'env_id': _envid, 'trials': 3, 'num_timesteps': int(1e6)} for _envid in _mujocosmall]
 })
-
-_roboschool_mujoco = [
-    'RoboschoolInvertedDoublePendulum-v0', 'RoboschoolInvertedPendulum-v0',      # cartpole
-    'RoboschoolHalfCheetah-v0', 'RoboschoolHopper-v0', 'RoboschoolWalker2d-v0',  # forward walkers
-    'RoboschoolReacher-v0'
+register_benchmark({
+    'name': 'MujocoWalkers',
+    'description': 'MuJoCo forward walkers, run for 8M, humanoid 100M',
+    'tasks': [
+        {'env_id': "Hopper-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+        {'env_id': "Walker2d-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+        {'env_id': "Humanoid-v1", 'trials': 4, 'num_timesteps': 100 * 1000000},
     ]
-
-register_benchmark({
-    'name' : 'RoboschoolMujoco2M',
-    'description' : 'Same small 2D tasks, still improving up to 2M',
-    'tasks' : [{'env_id' : _envid, 'trials' : 3, 'num_timesteps' : int(2e6)} for _envid in _roboschool_mujoco]
 })
 
+# Roboschool
 
-_atari50 =  [ # actually 49
-            'Alien', 'Amidar', 'Assault', 'Asterix', 'Asteroids', 
-            'Atlantis', 'BankHeist', 'BattleZone', 'BeamRider',  'Bowling', 
-            'Boxing', 'Breakout', 'Centipede', 'ChopperCommand', 'CrazyClimber', 
-            'DemonAttack', 'DoubleDunk',  'Enduro', 'FishingDerby', 'Freeway', 
-            'Frostbite', 'Gopher', 'Gravitar', 'IceHockey', 'Jamesbond',  
-            'Kangaroo', 'Krull', 'KungFuMaster', 'MontezumaRevenge', 'MsPacman', 
-            'NameThisGame', 'Pitfall', 'Pong', 'PrivateEye', 'Qbert', 
-            'Riverraid', 'RoadRunner', 'Robotank', 'Seaquest', 'SpaceInvaders', 
-            'StarGunner', 'Tennis', 'TimePilot', 'Tutankham', 'UpNDown', 
-            'Venture', 'VideoPinball', 'WizardOfWor', 'Zaxxon', 
+register_benchmark({
+    'name': 'Roboschool8M',
+    'description': 'Small 2D tasks, up to 30 minutes to complete on 8 cores',
+    'tasks': [
+        {'env_id': "RoboschoolReacher-v1", 'trials': 4, 'num_timesteps': 2 * 1000000},
+        {'env_id': "RoboschoolAnt-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+        {'env_id': "RoboschoolHalfCheetah-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+        {'env_id': "RoboschoolHopper-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+        {'env_id': "RoboschoolWalker2d-v1", 'trials': 4, 'num_timesteps': 8 * 1000000},
+    ]
+})
+register_benchmark({
+    'name': 'RoboschoolHarder',
+    'description': 'Test your might!!! Up to 12 hours on 32 cores',
+    'tasks': [
+        {'env_id': "RoboschoolHumanoid-v1", 'trials': 4, 'num_timesteps': 100 * 1000000},
+        {'env_id': "RoboschoolHumanoidFlagrun-v1", 'trials': 4, 'num_timesteps': 200 * 1000000},
+        {'env_id': "RoboschoolHumanoidFlagrunHarder-v1", 'trials': 4, 'num_timesteps': 400 * 1000000},
+    ]
+})
+
+# Other
+
+_atari50 = [  # actually 47
+    'Alien', 'Amidar', 'Assault', 'Asterix', 'Asteroids',
+    'Atlantis', 'BankHeist', 'BattleZone', 'BeamRider', 'Bowling',
+    'Breakout', 'Centipede', 'ChopperCommand', 'CrazyClimber',
+    'DemonAttack', 'DoubleDunk', 'Enduro', 'FishingDerby', 'Freeway',
+    'Frostbite', 'Gopher', 'Gravitar', 'IceHockey', 'Jamesbond',
+    'Kangaroo', 'Krull', 'KungFuMaster', 'MontezumaRevenge', 'MsPacman',
+    'NameThisGame', 'Pitfall', 'Pong', 'PrivateEye', 'Qbert',
+    'RoadRunner', 'Robotank', 'Seaquest', 'SpaceInvaders', 'StarGunner',
+    'Tennis', 'TimePilot', 'Tutankham', 'UpNDown', 'Venture',
+    'VideoPinball', 'WizardOfWor', 'Zaxxon',
 ]
 
 register_benchmark({
-    'name' : 'Atari50_40M',
-    'description' :'7 Atari games from Mnih et al. (2013), with pixel observations, 40M frames',
-    'tasks'  : [{'env_id' : _game + _ATARI_SUFFIX, 'trials' : 3, 'num_timesteps' : int(40e6)} for _game in _atari50]
+    'name': 'Atari50_10M',
+    'description': '47 Atari games from Mnih et al. (2013), with pixel observations, 10M timesteps',
+    'tasks': [{'desc': _game, 'env_id': _game + _ATARI_SUFFIX, 'trials': 2, 'num_timesteps': int(10e6)} for _game in _atari50]
 })
+
+# HER DDPG
+
+register_benchmark({
+    'name': 'HerDdpg',
+    'description': 'Smoke-test only benchmark of HER',
+    'tasks': [{'trials': 1, 'env_id': 'FetchReach-v1'}]
+})
+

baselines/bench/monitor.py

@@ -2,20 +2,18 @@ __all__ = ['Monitor', 'get_monitor_files', 'load_results']
 
 import gym
 from gym.core import Wrapper
-from os import path
 import time
 from glob import glob
-
-try:
-    import ujson as json # Not necessary for monitor writing, but very useful for monitor loading
-except ImportError:
-    import json
+import csv
+import os.path as osp
+import json
+import numpy as np
 
 class Monitor(Wrapper):
-    EXT = "monitor.json"
+    EXT = "monitor.csv"
     f = None
 
-    def __init__(self, env, filename, allow_early_resets=False):
+    def __init__(self, env, filename, allow_early_resets=False, reset_keywords=(), info_keywords=()):
         Wrapper.__init__(self, env=env)
         self.tstart = time.time()
         if filename is None:
@@ -23,48 +21,38 @@ class Monitor(Wrapper):
             self.logger = None
         else:
             if not filename.endswith(Monitor.EXT):
-                filename = filename + "." + Monitor.EXT
+                if osp.isdir(filename):
+                    filename = osp.join(filename, Monitor.EXT)
+                else:
+                    filename = filename + "." + Monitor.EXT
             self.f = open(filename, "wt")
-            self.logger = JSONLogger(self.f)
-            self.logger.writekvs({"t_start": self.tstart, "gym_version": gym.__version__,
-                "env_id": env.spec.id if env.spec else 'Unknown'})
+            self.f.write('#%s\n'%json.dumps({"t_start": self.tstart, 'env_id' : env.spec and env.spec.id}))
+            self.logger = csv.DictWriter(self.f, fieldnames=('r', 'l', 't')+reset_keywords+info_keywords)
+            self.logger.writeheader()
+            self.f.flush()
+
+        self.reset_keywords = reset_keywords
+        self.info_keywords = info_keywords
         self.allow_early_resets = allow_early_resets
         self.rewards = None
         self.needs_reset = True
         self.episode_rewards = []
         self.episode_lengths = []
+        self.episode_times = []
         self.total_steps = 0
-        self.current_metadata = {} # extra info that gets injected into each log entry
-        # Useful for metalearning where we're modifying the environment externally
-        # But want our logs to know about these modifications
+        self.current_reset_info = {} # extra info about the current episode, that was passed in during reset()
 
-    def __getstate__(self): # XXX
-        d = self.__dict__.copy()
-        if self.f:
-            del d['f'], d['logger']
-            d['_filename'] = self.f.name
-            d['_num_episodes'] = len(self.episode_rewards)
-        else:
-            d['_filename'] = None
-        return d
-    def __setstate__(self, d):
-        filename = d.pop('_filename')
-        self.__dict__ = d
-        if filename is not None:
-            nlines = d.pop('_num_episodes') + 1
-            self.f = open(filename, "r+t")
-            for _ in range(nlines):
-                self.f.readline()
-            self.f.truncate()        
-            self.logger = JSONLogger(self.f)
-
-
-    def reset(self):
+    def reset(self, **kwargs):
         if not self.allow_early_resets and not self.needs_reset:
             raise RuntimeError("Tried to reset an environment before done. If you want to allow early resets, wrap your env with Monitor(env, path, allow_early_resets=True)")
         self.rewards = []
         self.needs_reset = False
-        return self.env.reset()
+        for k in self.reset_keywords:
+            v = kwargs.get(k)
+            if v is None:
+                raise ValueError('Expected you to pass kwarg %s into reset'%k)
+            self.current_reset_info[k] = v
+        return self.env.reset(**kwargs)
 
     def step(self, action):
         if self.needs_reset:
@@ -75,12 +63,16 @@ class Monitor(Wrapper):
             self.needs_reset = True
             eprew = sum(self.rewards)
             eplen = len(self.rewards)
-            epinfo = {"r": eprew, "l": eplen, "t": round(time.time() - self.tstart, 6)}
-            epinfo.update(self.current_metadata)
-            if self.logger:
-                self.logger.writekvs(epinfo)
+            epinfo = {"r": round(eprew, 6), "l": eplen, "t": round(time.time() - self.tstart, 6)}
+            for k in self.info_keywords:
+                epinfo[k] = info[k]
             self.episode_rewards.append(eprew)
             self.episode_lengths.append(eplen)
+            self.episode_times.append(time.time() - self.tstart)
+            epinfo.update(self.current_reset_info)
+            if self.logger:
+                self.logger.writerow(epinfo)
+                self.f.flush()
             info['episode'] = epinfo
         self.total_steps += 1
         return (ob, rew, done, info)
@@ -98,49 +90,72 @@ class Monitor(Wrapper):
     def get_episode_lengths(self):
         return self.episode_lengths
 
-class JSONLogger(object):
-    def __init__(self, file):
-        self.file = file
-
-    def writekvs(self, kvs):
-        for k,v in kvs.items():
-            if hasattr(v, 'dtype'):
-                v = v.tolist()
-                kvs[k] = float(v)
-        self.file.write(json.dumps(kvs) + '\n')
-        self.file.flush()
-
+    def get_episode_times(self):
+        return self.episode_times
 
 class LoadMonitorResultsError(Exception):
     pass
 
 def get_monitor_files(dir):
-    return glob(path.join(dir, "*" + Monitor.EXT))
+    return glob(osp.join(dir, "*" + Monitor.EXT))
 
 def load_results(dir):
-    fnames = get_monitor_files(dir)
-    if not fnames:
+    import pandas
+    monitor_files = (
+        glob(osp.join(dir, "*monitor.json")) + 
+        glob(osp.join(dir, "*monitor.csv"))) # get both csv and (old) json files
+    if not monitor_files:
         raise LoadMonitorResultsError("no monitor files of the form *%s found in %s" % (Monitor.EXT, dir))
-    episodes = []
+    dfs = []
     headers = []
-    for fname in fnames:
+    for fname in monitor_files:
         with open(fname, 'rt') as fh:
-            lines = fh.readlines()
-        header = json.loads(lines[0])
-        headers.append(header)
-        for line in lines[1:]:
-            episode = json.loads(line)
-            episode['abstime'] = header['t_start'] + episode['t']
-            del episode['t']
-            episodes.append(episode)
-    header0 = headers[0]
-    for header in headers[1:]:
-        assert header['env_id'] == header0['env_id'], "mixing data from two envs"
-    episodes = sorted(episodes, key=lambda e: e['abstime'])
-    return {
-        'env_info': {'env_id': header0['env_id'], 'gym_version': header0['gym_version']},
-        'episode_end_times': [e['abstime'] for e in episodes],
-        'episode_lengths': [e['l'] for e in episodes],
-        'episode_rewards': [e['r'] for e in episodes],
-        'initial_reset_time': min([min(header['t_start'] for header in headers)])
-    }
+            if fname.endswith('csv'):
+                firstline = fh.readline()
+                assert firstline[0] == '#'
+                header = json.loads(firstline[1:])
+                df = pandas.read_csv(fh, index_col=None)
+                headers.append(header)
+            elif fname.endswith('json'): # Deprecated json format
+                episodes = []
+                lines = fh.readlines()
+                header = json.loads(lines[0])
+                headers.append(header)
+                for line in lines[1:]:
+                    episode = json.loads(line)
+                    episodes.append(episode)
+                df = pandas.DataFrame(episodes)
+            else:
+                assert 0, 'unreachable'
+            df['t'] += header['t_start']
+        dfs.append(df)
+    df = pandas.concat(dfs)
+    df.sort_values('t', inplace=True)
+    df.reset_index(inplace=True)
+    df['t'] -= min(header['t_start'] for header in headers)
+    df.headers = headers # HACK to preserve backwards compatibility
+    return df
+
+def test_monitor():
+    env = gym.make("CartPole-v1")
+    env.seed(0)
+    mon_file = "/tmp/baselines-test-%s.monitor.csv" % uuid.uuid4()
+    menv = Monitor(env, mon_file)
+    menv.reset()
+    for _ in range(1000):
+        _, _, done, _ = menv.step(0)
+        if done:
+            menv.reset()
+
+    f = open(mon_file, 'rt')
+
+    firstline = f.readline()
+    assert firstline.startswith('#')
+    metadata = json.loads(firstline[1:])
+    assert metadata['env_id'] == "CartPole-v1"
+    assert set(metadata.keys()) == {'env_id', 'gym_version', 't_start'},  "Incorrect keys in monitor metadata"
+
+    last_logline = pandas.read_csv(f, index_col=None)
+    assert set(last_logline.keys()) == {'l', 't', 'r'}, "Incorrect keys in monitor logline"
+    f.close()
+    os.remove(mon_file)

baselines/common/__init__.py

@@ -1,3 +1,4 @@
+# flake8: noqa F403
 from baselines.common.console_util import *
 from baselines.common.dataset import Dataset
 from baselines.common.math_util import *

baselines/common/atari_wrappers.py

@@ -1,9 +1,9 @@
 import numpy as np
 from collections import deque
-from PIL import Image
 import gym
 from gym import spaces
-
+import cv2
+cv2.ocl.setUseOpenCL(False)
 
 class NoopResetEnv(gym.Wrapper):
     def __init__(self, env, noop_max=30):
@@ -13,11 +13,12 @@ class NoopResetEnv(gym.Wrapper):
         gym.Wrapper.__init__(self, env)
         self.noop_max = noop_max
         self.override_num_noops = None
+        self.noop_action = 0
         assert env.unwrapped.get_action_meanings()[0] == 'NOOP'
 
-    def _reset(self):
+    def reset(self, **kwargs):
         """ Do no-op action for a number of steps in [1, noop_max]."""
-        self.env.reset()
+        self.env.reset(**kwargs)
         if self.override_num_noops is not None:
             noops = self.override_num_noops
         else:
@@ -25,11 +26,14 @@ class NoopResetEnv(gym.Wrapper):
         assert noops > 0
         obs = None
         for _ in range(noops):
-            obs, _, done, _ = self.env.step(0)
+            obs, _, done, _ = self.env.step(self.noop_action)
             if done:
-                obs = self.env.reset()
+                obs = self.env.reset(**kwargs)
         return obs
 
+    def step(self, ac):
+        return self.env.step(ac)
+
 class FireResetEnv(gym.Wrapper):
     def __init__(self, env):
         """Take action on reset for environments that are fixed until firing."""
@@ -37,16 +41,19 @@ class FireResetEnv(gym.Wrapper):
         assert env.unwrapped.get_action_meanings()[1] == 'FIRE'
         assert len(env.unwrapped.get_action_meanings()) >= 3
 
-    def _reset(self):
-        self.env.reset()
+    def reset(self, **kwargs):
+        self.env.reset(**kwargs)
         obs, _, done, _ = self.env.step(1)
         if done:
-            self.env.reset()
+            self.env.reset(**kwargs)
         obs, _, done, _ = self.env.step(2)
         if done:
-            self.env.reset()
+            self.env.reset(**kwargs)
         return obs
 
+    def step(self, ac):
+        return self.env.step(ac)
+
 class EpisodicLifeEnv(gym.Wrapper):
     def __init__(self, env):
         """Make end-of-life == end-of-episode, but only reset on true game over.
@@ -56,27 +63,27 @@ class EpisodicLifeEnv(gym.Wrapper):
         self.lives = 0
         self.was_real_done  = True
 
-    def _step(self, action):
+    def step(self, action):
         obs, reward, done, info = self.env.step(action)
         self.was_real_done = done
         # check current lives, make loss of life terminal,
         # then update lives to handle bonus lives
         lives = self.env.unwrapped.ale.lives()
         if lives < self.lives and lives > 0:
-            # for Qbert somtimes we stay in lives == 0 condtion for a few frames
+            # for Qbert sometimes we stay in lives == 0 condtion for a few frames
             # so its important to keep lives > 0, so that we only reset once
             # the environment advertises done.
             done = True
         self.lives = lives
         return obs, reward, done, info
 
-    def _reset(self):
+    def reset(self, **kwargs):
         """Reset only when lives are exhausted.
         This way all states are still reachable even though lives are episodic,
         and the learner need not know about any of this behind-the-scenes.
         """
         if self.was_real_done:
-            obs = self.env.reset()
+            obs = self.env.reset(**kwargs)
         else:
             # no-op step to advance from terminal/lost life state
             obs, _, _, _ = self.env.step(0)
@@ -88,32 +95,34 @@ class MaxAndSkipEnv(gym.Wrapper):
         """Return only every `skip`-th frame"""
         gym.Wrapper.__init__(self, env)
         # most recent raw observations (for max pooling across time steps)
-        self._obs_buffer = deque(maxlen=2)
+        self._obs_buffer = np.zeros((2,)+env.observation_space.shape, dtype=np.uint8)
         self._skip       = skip
 
-    def _step(self, action):
+    def step(self, action):
         """Repeat action, sum reward, and max over last observations."""
         total_reward = 0.0
         done = None
-        for _ in range(self._skip):
+        for i in range(self._skip):
             obs, reward, done, info = self.env.step(action)
-            self._obs_buffer.append(obs)
+            if i == self._skip - 2: self._obs_buffer[0] = obs
+            if i == self._skip - 1: self._obs_buffer[1] = obs
             total_reward += reward
             if done:
                 break
-        max_frame = np.max(np.stack(self._obs_buffer), axis=0)
+        # Note that the observation on the done=True frame
+        # doesn't matter
+        max_frame = self._obs_buffer.max(axis=0)
 
         return max_frame, total_reward, done, info
 
-    def _reset(self):
-        """Clear past frame buffer and init. to first obs. from inner env."""
-        self._obs_buffer.clear()
-        obs = self.env.reset()
-        self._obs_buffer.append(obs)
-        return obs
+    def reset(self, **kwargs):
+        return self.env.reset(**kwargs)
 
 class ClipRewardEnv(gym.RewardWrapper):
-    def _reward(self, reward):
+    def __init__(self, env):
+        gym.RewardWrapper.__init__(self, env)
+
+    def reward(self, reward):
         """Bin reward to {+1, 0, -1} by its sign."""
         return np.sign(reward)
 
@@ -121,52 +130,106 @@ class WarpFrame(gym.ObservationWrapper):
     def __init__(self, env):
         """Warp frames to 84x84 as done in the Nature paper and later work."""
         gym.ObservationWrapper.__init__(self, env)
-        self.res = 84
-        self.observation_space = spaces.Box(low=0, high=255, shape=(self.res, self.res, 1))
+        self.width = 84
+        self.height = 84
+        self.observation_space = spaces.Box(low=0, high=255,
+            shape=(self.height, self.width, 1), dtype=np.uint8)
 
-    def _observation(self, obs):
-        frame = np.dot(obs.astype('float32'), np.array([0.299, 0.587, 0.114], 'float32'))
-        frame = np.array(Image.fromarray(frame).resize((self.res, self.res),
-            resample=Image.BILINEAR), dtype=np.uint8)
-        return frame.reshape((self.res, self.res, 1))
+    def observation(self, frame):
+        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
+        frame = cv2.resize(frame, (self.width, self.height), interpolation=cv2.INTER_AREA)
+        return frame[:, :, None]
 
 class FrameStack(gym.Wrapper):
     def __init__(self, env, k):
-        """Buffer observations and stack across channels (last axis)."""
+        """Stack k last frames.
+
+        Returns lazy array, which is much more memory efficient.
+
+        See Also
+        --------
+        baselines.common.atari_wrappers.LazyFrames
+        """
         gym.Wrapper.__init__(self, env)
         self.k = k
         self.frames = deque([], maxlen=k)
         shp = env.observation_space.shape
-        assert shp[2] == 1  # can only stack 1-channel frames
-        self.observation_space = spaces.Box(low=0, high=255, shape=(shp[0], shp[1], k))
+        self.observation_space = spaces.Box(low=0, high=255, shape=(shp[0], shp[1], shp[2] * k), dtype=np.uint8)
 
-    def _reset(self):
-        """Clear buffer and re-fill by duplicating the first observation."""
+    def reset(self):
         ob = self.env.reset()
-        for _ in range(self.k): self.frames.append(ob)
-        return self._observation()
+        for _ in range(self.k):
+            self.frames.append(ob)
+        return self._get_ob()
 
-    def _step(self, action):
+    def step(self, action):
         ob, reward, done, info = self.env.step(action)
         self.frames.append(ob)
-        return self._observation(), reward, done, info
+        return self._get_ob(), reward, done, info
 
-    def _observation(self):
+    def _get_ob(self):
         assert len(self.frames) == self.k
-        return np.concatenate(self.frames, axis=2)
+        return LazyFrames(list(self.frames))
 
-def wrap_deepmind(env, episode_life=True, clip_rewards=True):
+class ScaledFloatFrame(gym.ObservationWrapper):
+    def __init__(self, env):
+        gym.ObservationWrapper.__init__(self, env)
+
+    def observation(self, observation):
+        # careful! This undoes the memory optimization, use
+        # with smaller replay buffers only.
+        return np.array(observation).astype(np.float32) / 255.0
+
+class LazyFrames(object):
+    def __init__(self, frames):
+        """This object ensures that common frames between the observations are only stored once.
+        It exists purely to optimize memory usage which can be huge for DQN's 1M frames replay
+        buffers.
+
+        This object should only be converted to numpy array before being passed to the model.
+
+        You'd not believe how complex the previous solution was."""
+        self._frames = frames
+        self._out = None
+
+    def _force(self):
+        if self._out is None:
+            self._out = np.concatenate(self._frames, axis=2)
+            self._frames = None
+        return self._out
+
+    def __array__(self, dtype=None):
+        out = self._force()
+        if dtype is not None:
+            out = out.astype(dtype)
+        return out
+
+    def __len__(self):
+        return len(self._force())
+
+    def __getitem__(self, i):
+        return self._force()[i]
+
+def make_atari(env_id):
+    env = gym.make(env_id)
+    assert 'NoFrameskip' in env.spec.id
+    env = NoopResetEnv(env, noop_max=30)
+    env = MaxAndSkipEnv(env, skip=4)
+    return env
+
+def wrap_deepmind(env, episode_life=True, clip_rewards=True, frame_stack=False, scale=False):
     """Configure environment for DeepMind-style Atari.
-
-    Note: this does not include frame stacking!"""
-    assert 'NoFrameskip' in env.spec.id  # required for DeepMind-style skip
+    """
     if episode_life:
         env = EpisodicLifeEnv(env)
-    # env = NoopResetEnv(env, noop_max=30)
-    env = MaxAndSkipEnv(env, skip=4)
     if 'FIRE' in env.unwrapped.get_action_meanings():
         env = FireResetEnv(env)
     env = WarpFrame(env)
+    if scale:
+        env = ScaledFloatFrame(env)
     if clip_rewards:
         env = ClipRewardEnv(env)
+    if frame_stack:
+        env = FrameStack(env, 4)
     return env
+

baselines/common/atari_wrappers_deprecated.py

@@ -1,239 +0,0 @@
-import cv2
-import gym
-import numpy as np
-
-from collections import deque
-from gym import spaces
-
-
-class NoopResetEnv(gym.Wrapper):
-    def __init__(self, env=None, noop_max=30):
-        """Sample initial states by taking random number of no-ops on reset.
-        No-op is assumed to be action 0.
-        """
-        super(NoopResetEnv, self).__init__(env)
-        self.noop_max = noop_max
-        self.override_num_noops = None
-        assert env.unwrapped.get_action_meanings()[0] == 'NOOP'
-
-    def _reset(self):
-        """ Do no-op action for a number of steps in [1, noop_max]."""
-        self.env.reset()
-        if self.override_num_noops is not None:
-            noops = self.override_num_noops
-        else:
-            noops = np.random.randint(1, self.noop_max + 1)
-        assert noops > 0
-        obs = None
-        for _ in range(noops):
-            obs, _, done, _ = self.env.step(0)
-            if done:
-                obs = self.env.reset()
-        return obs
-
-
-class FireResetEnv(gym.Wrapper):
-    def __init__(self, env=None):
-        """For environments where the user need to press FIRE for the game to start."""
-        super(FireResetEnv, self).__init__(env)
-        assert env.unwrapped.get_action_meanings()[1] == 'FIRE'
-        assert len(env.unwrapped.get_action_meanings()) >= 3
-
-    def _reset(self):
-        self.env.reset()
-        obs, _, done, _ = self.env.step(1)
-        if done:
-            self.env.reset()
-        obs, _, done, _ = self.env.step(2)
-        if done:
-            self.env.reset()
-        return obs
-
-
-class EpisodicLifeEnv(gym.Wrapper):
-    def __init__(self, env=None):
-        """Make end-of-life == end-of-episode, but only reset on true game over.
-        Done by DeepMind for the DQN and co. since it helps value estimation.
-        """
-        super(EpisodicLifeEnv, self).__init__(env)
-        self.lives = 0
-        self.was_real_done = True
-        self.was_real_reset = False
-
-    def _step(self, action):
-        obs, reward, done, info = self.env.step(action)
-        self.was_real_done = done
-        # check current lives, make loss of life terminal,
-        # then update lives to handle bonus lives
-        lives = self.env.unwrapped.ale.lives()
-        if lives < self.lives and lives > 0:
-            # for Qbert somtimes we stay in lives == 0 condtion for a few frames
-            # so its important to keep lives > 0, so that we only reset once
-            # the environment advertises done.
-            done = True
-        self.lives = lives
-        return obs, reward, done, info
-
-    def _reset(self):
-        """Reset only when lives are exhausted.
-        This way all states are still reachable even though lives are episodic,
-        and the learner need not know about any of this behind-the-scenes.
-        """
-        if self.was_real_done:
-            obs = self.env.reset()
-            self.was_real_reset = True
-        else:
-            # no-op step to advance from terminal/lost life state
-            obs, _, _, _ = self.env.step(0)
-            self.was_real_reset = False
-        self.lives = self.env.unwrapped.ale.lives()
-        return obs
-
-
-class MaxAndSkipEnv(gym.Wrapper):
-    def __init__(self, env=None, skip=4):
-        """Return only every `skip`-th frame"""
-        super(MaxAndSkipEnv, self).__init__(env)
-        # most recent raw observations (for max pooling across time steps)
-        self._obs_buffer = deque(maxlen=2)
-        self._skip = skip
-
-    def _step(self, action):
-        total_reward = 0.0
-        done = None
-        for _ in range(self._skip):
-            obs, reward, done, info = self.env.step(action)
-            self._obs_buffer.append(obs)
-            total_reward += reward
-            if done:
-                break
-
-        max_frame = np.max(np.stack(self._obs_buffer), axis=0)
-
-        return max_frame, total_reward, done, info
-
-    def _reset(self):
-        """Clear past frame buffer and init. to first obs. from inner env."""
-        self._obs_buffer.clear()
-        obs = self.env.reset()
-        self._obs_buffer.append(obs)
-        return obs
-
-
-class ProcessFrame84(gym.ObservationWrapper):
-    def __init__(self, env=None):
-        super(ProcessFrame84, self).__init__(env)
-        self.observation_space = spaces.Box(low=0, high=255, shape=(84, 84, 1))
-
-    def _observation(self, obs):
-        return ProcessFrame84.process(obs)
-
-    @staticmethod
-    def process(frame):
-        if frame.size == 210 * 160 * 3:
-            img = np.reshape(frame, [210, 160, 3]).astype(np.float32)
-        elif frame.size == 250 * 160 * 3:
-            img = np.reshape(frame, [250, 160, 3]).astype(np.float32)
-        else:
-            assert False, "Unknown resolution."
-        img = img[:, :, 0] * 0.299 + img[:, :, 1] * 0.587 + img[:, :, 2] * 0.114
-        resized_screen = cv2.resize(img, (84, 110), interpolation=cv2.INTER_AREA)
-        x_t = resized_screen[18:102, :]
-        x_t = np.reshape(x_t, [84, 84, 1])
-        return x_t.astype(np.uint8)
-
-
-class ClippedRewardsWrapper(gym.RewardWrapper):
-    def _reward(self, reward):
-        """Change all the positive rewards to 1, negative to -1 and keep zero."""
-        return np.sign(reward)
-
-
-class LazyFrames(object):
-    def __init__(self, frames):
-        """This object ensures that common frames between the observations are only stored once.
-        It exists purely to optimize memory usage which can be huge for DQN's 1M frames replay
-        buffers.
-
-        This object should only be converted to numpy array before being passed to the model.
-
-        You'd not belive how complex the previous solution was."""
-        self._frames = frames
-
-    def __array__(self, dtype=None):
-        out = np.concatenate(self._frames, axis=2)
-        if dtype is not None:
-            out = out.astype(dtype)
-        return out
-
-
-class FrameStack(gym.Wrapper):
-    def __init__(self, env, k):
-        """Stack k last frames.
-
-        Returns lazy array, which is much more memory efficient.
-
-        See Also
-        --------
-        baselines.common.atari_wrappers.LazyFrames
-        """
-        gym.Wrapper.__init__(self, env)
-        self.k = k
-        self.frames = deque([], maxlen=k)
-        shp = env.observation_space.shape
-        self.observation_space = spaces.Box(low=0, high=255, shape=(shp[0], shp[1], shp[2] * k))
-
-    def _reset(self):
-        ob = self.env.reset()
-        for _ in range(self.k):
-            self.frames.append(ob)
-        return self._get_ob()
-
-    def _step(self, action):
-        ob, reward, done, info = self.env.step(action)
-        self.frames.append(ob)
-        return self._get_ob(), reward, done, info
-
-    def _get_ob(self):
-        assert len(self.frames) == self.k
-        return LazyFrames(list(self.frames))
-
-
-class ScaledFloatFrame(gym.ObservationWrapper):
-    def _observation(self, obs):
-        # careful! This undoes the memory optimization, use
-        # with smaller replay buffers only.
-        return np.array(obs).astype(np.float32) / 255.0
-
-
-def wrap_dqn(env):
-    """Apply a common set of wrappers for Atari games."""
-    assert 'NoFrameskip' in env.spec.id
-    env = EpisodicLifeEnv(env)
-    env = NoopResetEnv(env, noop_max=30)
-    env = MaxAndSkipEnv(env, skip=4)
-    if 'FIRE' in env.unwrapped.get_action_meanings():
-        env = FireResetEnv(env)
-    env = ProcessFrame84(env)
-    env = FrameStack(env, 4)
-    env = ClippedRewardsWrapper(env)
-    return env
-
-
-class A2cProcessFrame(gym.Wrapper):
-    def __init__(self, env):
-        gym.Wrapper.__init__(self, env)
-        self.observation_space = spaces.Box(low=0, high=255, shape=(84, 84, 1))
-
-    def _step(self, action):
-        ob, reward, done, info = self.env.step(action)
-        return A2cProcessFrame.process(ob), reward, done, info
-
-    def _reset(self):
-        return A2cProcessFrame.process(self.env.reset())
-
-    @staticmethod
-    def process(frame):
-        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2GRAY)
-        frame = cv2.resize(frame, (84, 84), interpolation=cv2.INTER_AREA)
-        return frame.reshape(84, 84, 1)

baselines/common/azure_utils.py

@@ -1,149 +0,0 @@
-import os
-import tempfile
-import zipfile
-
-from azure.common import AzureMissingResourceHttpError
-from azure.storage.blob import BlobService
-from shutil import unpack_archive
-from threading import Event
-
-"""TODOS:
-   - use Azure snapshots instead of hacky backups
-"""
-
-
-def fixed_list_blobs(service, *args, **kwargs):
-    """By defualt list_containers only returns a subset of results.
-
-    This function attempts to fix this.
-    """
-    res = []
-    next_marker = None
-    while next_marker is None or len(next_marker) > 0:
-        kwargs['marker'] = next_marker
-        gen = service.list_blobs(*args, **kwargs)
-        for b in gen:
-            res.append(b.name)
-        next_marker = gen.next_marker
-    return res
-
-
-def make_archive(source_path, dest_path):
-    if source_path.endswith(os.path.sep):
-        source_path = source_path.rstrip(os.path.sep)
-    prefix_path = os.path.dirname(source_path)
-    with zipfile.ZipFile(dest_path, "w", compression=zipfile.ZIP_STORED) as zf:
-        if os.path.isdir(source_path):
-            for dirname, subdirs, files in os.walk(source_path):
-                zf.write(dirname, os.path.relpath(dirname, prefix_path))
-                for filename in files:
-                    filepath = os.path.join(dirname, filename)
-                    zf.write(filepath, os.path.relpath(filepath, prefix_path))
-        else:
-            zf.write(source_path, os.path.relpath(source_path, prefix_path))
-
-
-class Container(object):
-    services = {}
-
-    def __init__(self, account_name, account_key, container_name, maybe_create=False):
-        self._account_name = account_name
-        self._container_name = container_name
-        if account_name not in Container.services:
-            Container.services[account_name] = BlobService(account_name, account_key)
-        self._service = Container.services[account_name]
-        if maybe_create:
-            self._service.create_container(self._container_name, fail_on_exist=False)
-
-    def put(self, source_path, blob_name, callback=None):
-        """Upload a file or directory from `source_path` to azure blob `blob_name`.
-
-        Upload progress can be traced by an optional callback.
-        """
-        upload_done = Event()
-
-        def progress_callback(current, total):
-            if callback:
-                callback(current, total)
-            if current >= total:
-                upload_done.set()
-
-        # Attempt to make backup if an existing version is already available
-        try:
-            x_ms_copy_source = "https://{}.blob.core.windows.net/{}/{}".format(
-                self._account_name,
-                self._container_name,
-                blob_name
-            )
-            self._service.copy_blob(
-                container_name=self._container_name,
-                blob_name=blob_name + ".backup",
-                x_ms_copy_source=x_ms_copy_source
-            )
-        except AzureMissingResourceHttpError:
-            pass
-
-        with tempfile.TemporaryDirectory() as td:
-            arcpath = os.path.join(td, "archive.zip")
-            make_archive(source_path, arcpath)
-            self._service.put_block_blob_from_path(
-                container_name=self._container_name,
-                blob_name=blob_name,
-                file_path=arcpath,
-                max_connections=4,
-                progress_callback=progress_callback,
-                max_retries=10)
-            upload_done.wait()
-
-    def get(self, dest_path, blob_name, callback=None):
-        """Download a file or directory to `dest_path` to azure blob `blob_name`.
-
-        Warning! If directory is downloaded the `dest_path` is the parent directory.
-
-        Upload progress can be traced by an optional callback.
-        """
-        download_done = Event()
-
-        def progress_callback(current, total):
-            if callback:
-                callback(current, total)
-            if current >= total:
-                download_done.set()
-
-        with tempfile.TemporaryDirectory() as td:
-            arcpath = os.path.join(td, "archive.zip")
-            for backup_blob_name in [blob_name, blob_name + '.backup']:
-                try:
-                    blob_size = self._service.get_blob_properties(
-                        blob_name=backup_blob_name,
-                        container_name=self._container_name
-                    )['content-length']
-                    if int(blob_size) > 0:
-                        self._service.get_blob_to_path(
-                            container_name=self._container_name,
-                            blob_name=backup_blob_name,
-                            file_path=arcpath,
-                            max_connections=4,
-                            progress_callback=progress_callback,
-                            max_retries=10)
-                        unpack_archive(arcpath, dest_path)
-                        download_done.wait()
-                        return True
-                except AzureMissingResourceHttpError:
-                    pass
-        return False
-
-    def list(self, prefix=None):
-        """List all blobs in the container."""
-        return fixed_list_blobs(self._service, self._container_name, prefix=prefix)
-
-    def exists(self, blob_name):
-        """Returns true if `blob_name` exists in container."""
-        try:
-            self._service.get_blob_properties(
-                blob_name=blob_name,
-                container_name=self._container_name
-            )
-            return True
-        except AzureMissingResourceHttpError:
-            return False

baselines/common/cmd_util.py

@@ -0,0 +1,90 @@
+"""
+Helpers for scripts like run_atari.py.
+"""
+
+import os
+from mpi4py import MPI
+import gym
+from gym.wrappers import FlattenDictWrapper
+from baselines import logger
+from baselines.bench import Monitor
+from baselines.common import set_global_seeds
+from baselines.common.atari_wrappers import make_atari, wrap_deepmind
+from baselines.common.vec_env.subproc_vec_env import SubprocVecEnv
+
+def make_atari_env(env_id, num_env, seed, wrapper_kwargs=None, start_index=0):
+    """
+    Create a wrapped, monitored SubprocVecEnv for Atari.
+    """
+    if wrapper_kwargs is None: wrapper_kwargs = {}
+    def make_env(rank): # pylint: disable=C0111
+        def _thunk():
+            env = make_atari(env_id)
+            env.seed(seed + rank)
+            env = Monitor(env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)))
+            return wrap_deepmind(env, **wrapper_kwargs)
+        return _thunk
+    set_global_seeds(seed)
+    return SubprocVecEnv([make_env(i + start_index) for i in range(num_env)])
+
+def make_mujoco_env(env_id, seed):
+    """
+    Create a wrapped, monitored gym.Env for MuJoCo.
+    """
+    rank = MPI.COMM_WORLD.Get_rank()
+    set_global_seeds(seed + 10000 * rank)
+    env = gym.make(env_id)
+    env = Monitor(env, os.path.join(logger.get_dir(), str(rank)))
+    env.seed(seed)
+    return env
+
+def make_robotics_env(env_id, seed, rank=0):
+    """
+    Create a wrapped, monitored gym.Env for MuJoCo.
+    """
+    set_global_seeds(seed)
+    env = gym.make(env_id)
+    env = FlattenDictWrapper(env, ['observation', 'desired_goal'])
+    env = Monitor(
+        env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)),
+        info_keywords=('is_success',))
+    env.seed(seed)
+    return env
+
+def arg_parser():
+    """
+    Create an empty argparse.ArgumentParser.
+    """
+    import argparse
+    return argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+def atari_arg_parser():
+    """
+    Create an argparse.ArgumentParser for run_atari.py.
+    """
+    parser = arg_parser()
+    parser.add_argument('--env', help='environment ID', default='BreakoutNoFrameskip-v4')
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--num-timesteps', type=int, default=int(10e6))
+    return parser
+
+def mujoco_arg_parser():
+    """
+    Create an argparse.ArgumentParser for run_mujoco.py.
+    """
+    parser = arg_parser()
+    parser.add_argument('--env', help='environment ID', type=str, default='Reacher-v2')
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--num-timesteps', type=int, default=int(1e6))
+    parser.add_argument('--play', default=False, action='store_true')
+    return parser
+
+def robotics_arg_parser():
+    """
+    Create an argparse.ArgumentParser for run_mujoco.py.
+    """
+    parser = arg_parser()
+    parser.add_argument('--env', help='environment ID', type=str, default='FetchReach-v0')
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--num-timesteps', type=int, default=int(1e6))
+    return parser

baselines/common/console_util.py

@@ -16,7 +16,12 @@ def fmt_item(x, l):
     if isinstance(x, np.ndarray):
         assert x.ndim==0
         x = x.item()
-    if isinstance(x, float): rep = "%g"%x
+    if isinstance(x, (float, np.float32, np.float64)):
+        v = abs(x)
+        if (v < 1e-4 or v > 1e+4) and v > 0:
+            rep = "%7.2e" % x
+        else:
+            rep = "%7.5f" % x
     else: rep = str(x)
     return " "*(l - len(rep)) + rep
 

baselines/common/distributions.py

@@ -1,8 +1,8 @@
 import tensorflow as tf
 import numpy as np
 import baselines.common.tf_util as U
+from baselines.a2c.utils import fc
 from tensorflow.python.ops import math_ops
-from tensorflow.python.ops import nn
 
 class Pd(object):
     """
@@ -32,6 +32,8 @@ class PdType(object):
         raise NotImplementedError
     def pdfromflat(self, flat):
         return self.pdclass()(flat)
+    def pdfromlatent(self, latent_vector):
+        raise NotImplementedError
     def param_shape(self):
         raise NotImplementedError
     def sample_shape(self):
@@ -49,6 +51,10 @@ class CategoricalPdType(PdType):
         self.ncat = ncat
     def pdclass(self):
         return CategoricalPd
+    def pdfromlatent(self, latent_vector, init_scale=1.0, init_bias=0.0):
+        pdparam = fc(latent_vector, 'pi', self.ncat, init_scale=init_scale, init_bias=init_bias)
+        return self.pdfromflat(pdparam), pdparam
+
     def param_shape(self):
         return [self.ncat]
     def sample_shape(self):
@@ -58,14 +64,12 @@ class CategoricalPdType(PdType):
 
 
 class MultiCategoricalPdType(PdType):
-    def __init__(self, low, high):
-        self.low = low
-        self.high = high
-        self.ncats = high - low + 1
+    def __init__(self, nvec):
+        self.ncats = nvec
     def pdclass(self):
         return MultiCategoricalPd
     def pdfromflat(self, flat):
-        return MultiCategoricalPd(self.low, self.high, flat)
+        return MultiCategoricalPd(self.ncats, flat)
     def param_shape(self):
         return [sum(self.ncats)]
     def sample_shape(self):
@@ -78,6 +82,13 @@ class DiagGaussianPdType(PdType):
         self.size = size
     def pdclass(self):
         return DiagGaussianPd
+
+    def pdfromlatent(self, latent_vector, init_scale=1.0, init_bias=0.0):
+        mean = fc(latent_vector, 'pi', self.size, init_scale=init_scale, init_bias=init_bias)
+        logstd = tf.get_variable(name='logstd', shape=[1, self.size], initializer=tf.zeros_initializer())
+        pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
+        return self.pdfromflat(pdparam), mean
+
     def param_shape(self):
         return [2*self.size]
     def sample_shape(self):
@@ -108,7 +119,7 @@ class BernoulliPdType(PdType):
 #     def flatparam(self):
 #         return self.logits
 #     def mode(self):
-#         return U.argmax(self.logits, axis=1)
+#         return U.argmax(self.logits, axis=-1)
 #     def logp(self, x):
 #         return -tf.nn.sparse_softmax_cross_entropy_with_logits(self.logits, x)
 #     def kl(self, other):
@@ -118,7 +129,7 @@ class BernoulliPdType(PdType):
 #         return tf.nn.softmax_cross_entropy_with_logits(self.logits, self.ps)
 #     def sample(self):
 #         u = tf.random_uniform(tf.shape(self.logits))
-#         return U.argmax(self.logits - tf.log(-tf.log(u)), axis=1)
+#         return U.argmax(self.logits - tf.log(-tf.log(u)), axis=-1)
 
 class CategoricalPd(Pd):
     def __init__(self, logits):
@@ -126,50 +137,53 @@ class CategoricalPd(Pd):
     def flatparam(self):
         return self.logits
     def mode(self):
-        return U.argmax(self.logits, axis=1)
+        return tf.argmax(self.logits, axis=-1)
     def neglogp(self, x):
-        return tf.nn.sparse_softmax_cross_entropy_with_logits(logits=self.logits, labels=x)
+        # return tf.nn.sparse_softmax_cross_entropy_with_logits(logits=self.logits, labels=x)
+        # Note: we can't use sparse_softmax_cross_entropy_with_logits because
+        #       the implementation does not allow second-order derivatives...
+        one_hot_actions = tf.one_hot(x, self.logits.get_shape().as_list()[-1])
+        return tf.nn.softmax_cross_entropy_with_logits(
+            logits=self.logits,
+            labels=one_hot_actions)
     def kl(self, other):
-        a0 = self.logits - U.max(self.logits, axis=1, keepdims=True)
-        a1 = other.logits - U.max(other.logits, axis=1, keepdims=True)
+        a0 = self.logits - tf.reduce_max(self.logits, axis=-1, keep_dims=True)
+        a1 = other.logits - tf.reduce_max(other.logits, axis=-1, keep_dims=True)
         ea0 = tf.exp(a0)
         ea1 = tf.exp(a1)
-        z0 = U.sum(ea0, axis=1, keepdims=True)
-        z1 = U.sum(ea1, axis=1, keepdims=True)
+        z0 = tf.reduce_sum(ea0, axis=-1, keep_dims=True)
+        z1 = tf.reduce_sum(ea1, axis=-1, keep_dims=True)
         p0 = ea0 / z0
-        return U.sum(p0 * (a0 - tf.log(z0) - a1 + tf.log(z1)), axis=1)
+        return tf.reduce_sum(p0 * (a0 - tf.log(z0) - a1 + tf.log(z1)), axis=-1)
     def entropy(self):
-        a0 = self.logits - U.max(self.logits, axis=1, keepdims=True)
+        a0 = self.logits - tf.reduce_max(self.logits, axis=-1, keep_dims=True)
         ea0 = tf.exp(a0)
-        z0 = U.sum(ea0, axis=1, keepdims=True)
+        z0 = tf.reduce_sum(ea0, axis=-1, keep_dims=True)
         p0 = ea0 / z0
-        return U.sum(p0 * (tf.log(z0) - a0), axis=1)
+        return tf.reduce_sum(p0 * (tf.log(z0) - a0), axis=-1)
     def sample(self):
         u = tf.random_uniform(tf.shape(self.logits))
-        return tf.argmax(self.logits - tf.log(-tf.log(u)), axis=1)
+        return tf.argmax(self.logits - tf.log(-tf.log(u)), axis=-1)
     @classmethod
     def fromflat(cls, flat):
         return cls(flat)
 
 class MultiCategoricalPd(Pd):
-    def __init__(self, low, high, flat):
+    def __init__(self, nvec, flat):
         self.flat = flat
-        self.low = tf.constant(low, dtype=tf.int32)
-        self.categoricals = list(map(CategoricalPd, tf.split(flat, high - low + 1, axis=len(flat.get_shape()) - 1)))
+        self.categoricals = list(map(CategoricalPd, tf.split(flat, nvec, axis=-1)))
     def flatparam(self):
         return self.flat
     def mode(self):
-        return self.low + tf.cast(tf.stack([p.mode() for p in self.categoricals], axis=-1), tf.int32)
+        return tf.cast(tf.stack([p.mode() for p in self.categoricals], axis=-1), tf.int32)
     def neglogp(self, x):
-        return tf.add_n([p.neglogp(px) for p, px in zip(self.categoricals, tf.unstack(x - self.low, axis=len(x.get_shape()) - 1))])
+        return tf.add_n([p.neglogp(px) for p, px in zip(self.categoricals, tf.unstack(x, axis=-1))])
     def kl(self, other):
-        return tf.add_n([
-                p.kl(q) for p, q in zip(self.categoricals, other.categoricals)
-            ])
+        return tf.add_n([p.kl(q) for p, q in zip(self.categoricals, other.categoricals)])
     def entropy(self):
         return tf.add_n([p.entropy() for p in self.categoricals])
     def sample(self):
-        return self.low + tf.cast(tf.stack([p.sample() for p in self.categoricals], axis=-1), tf.int32)
+        return tf.cast(tf.stack([p.sample() for p in self.categoricals], axis=-1), tf.int32)
     @classmethod
     def fromflat(cls, flat):
         raise NotImplementedError
@@ -177,7 +191,7 @@ class MultiCategoricalPd(Pd):
 class DiagGaussianPd(Pd):
     def __init__(self, flat):
         self.flat = flat
-        mean, logstd = tf.split(axis=len(flat.get_shape()) - 1, num_or_size_splits=2, value=flat)
+        mean, logstd = tf.split(axis=len(flat.shape)-1, num_or_size_splits=2, value=flat)
         self.mean = mean
         self.logstd = logstd
         self.std = tf.exp(logstd)
@@ -186,14 +200,14 @@ class DiagGaussianPd(Pd):
     def mode(self):
         return self.mean
     def neglogp(self, x):
-        return 0.5 * U.sum(tf.square((x - self.mean) / self.std), axis=len(x.get_shape()) - 1) \
+        return 0.5 * tf.reduce_sum(tf.square((x - self.mean) / self.std), axis=-1) \
                + 0.5 * np.log(2.0 * np.pi) * tf.to_float(tf.shape(x)[-1]) \
-               + U.sum(self.logstd, axis=len(x.get_shape()) - 1)
+               + tf.reduce_sum(self.logstd, axis=-1)
     def kl(self, other):
         assert isinstance(other, DiagGaussianPd)
-        return U.sum(other.logstd - self.logstd + (tf.square(self.std) + tf.square(self.mean - other.mean)) / (2.0 * tf.square(other.std)) - 0.5, axis=-1)
+        return tf.reduce_sum(other.logstd - self.logstd + (tf.square(self.std) + tf.square(self.mean - other.mean)) / (2.0 * tf.square(other.std)) - 0.5, axis=-1)
     def entropy(self):
-        return U.sum(self.logstd + .5 * np.log(2.0 * np.pi * np.e), -1)
+        return tf.reduce_sum(self.logstd + .5 * np.log(2.0 * np.pi * np.e), axis=-1)
     def sample(self):
         return self.mean + self.std * tf.random_normal(tf.shape(self.mean))
     @classmethod
@@ -209,11 +223,11 @@ class BernoulliPd(Pd):
     def mode(self):
         return tf.round(self.ps)
     def neglogp(self, x):
-        return U.sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=tf.to_float(x)), axis=1)
+        return tf.reduce_sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=tf.to_float(x)), axis=-1)
     def kl(self, other):
-        return U.sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=other.logits, labels=self.ps), axis=1) - U.sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=self.ps), axis=1)
+        return tf.reduce_sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=other.logits, labels=self.ps), axis=-1) - tf.reduce_sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=self.ps), axis=-1)
     def entropy(self):
-        return U.sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=self.ps), axis=1)
+        return tf.reduce_sum(tf.nn.sigmoid_cross_entropy_with_logits(logits=self.logits, labels=self.ps), axis=-1)
     def sample(self):
         u = tf.random_uniform(tf.shape(self.ps))
         return tf.to_float(math_ops.less(u, self.ps))
@@ -229,7 +243,7 @@ def make_pdtype(ac_space):
     elif isinstance(ac_space, spaces.Discrete):
         return CategoricalPdType(ac_space.n)
     elif isinstance(ac_space, spaces.MultiDiscrete):
-        return MultiCategoricalPdType(ac_space.low, ac_space.high)
+        return MultiCategoricalPdType(ac_space.nvec)
     elif isinstance(ac_space, spaces.MultiBinary):
         return BernoulliPdType(ac_space.n)
     else:
@@ -254,6 +268,11 @@ def test_probtypes():
     categorical = CategoricalPdType(pdparam_categorical.size) #pylint: disable=E1101
     validate_probtype(categorical, pdparam_categorical)
 
+    nvec = [1,2,3]
+    pdparam_multicategorical = np.array([-.2, .3, .5, .1, 1, -.1])
+    multicategorical = MultiCategoricalPdType(nvec) #pylint: disable=E1101
+    validate_probtype(multicategorical, pdparam_multicategorical)
+
     pdparam_bernoulli = np.array([-.2, .3, .5])
     bernoulli = BernoulliPdType(pdparam_bernoulli.size) #pylint: disable=E1101
     validate_probtype(bernoulli, pdparam_bernoulli)
@@ -265,10 +284,10 @@ def validate_probtype(probtype, pdparam):
     Mval = np.repeat(pdparam[None, :], N, axis=0)
     M = probtype.param_placeholder([N])
     X = probtype.sample_placeholder([N])
-    pd = probtype.pdclass()(M)
+    pd = probtype.pdfromflat(M)
     calcloglik = U.function([X, M], pd.logp(X))
     calcent = U.function([M], pd.entropy())
-    Xval = U.eval(pd.sample(), feed_dict={M:Mval})
+    Xval = tf.get_default_session().run(pd.sample(), feed_dict={M:Mval})
     logliks = calcloglik(Xval, Mval)
     entval_ll = - logliks.mean() #pylint: disable=E1101
     entval_ll_stderr = logliks.std() / np.sqrt(N) #pylint: disable=E1101
@@ -277,7 +296,7 @@ def validate_probtype(probtype, pdparam):
 
     # Check to see if kldiv[p,q] = - ent[p] - E_p[log q]
     M2 = probtype.param_placeholder([N])
-    pd2 = probtype.pdclass()(M2)
+    pd2 = probtype.pdfromflat(M2)
     q = pdparam + np.random.randn(pdparam.size) * 0.1
     Mval2 = np.repeat(q[None, :], N, axis=0)
     calckl = U.function([M, M2], pd.kl(pd2))
@@ -286,4 +305,5 @@ def validate_probtype(probtype, pdparam):
     klval_ll = - entval - logliks.mean() #pylint: disable=E1101
     klval_ll_stderr = logliks.std() / np.sqrt(N) #pylint: disable=E1101
     assert np.abs(klval - klval_ll) < 3 * klval_ll_stderr # within 3 sigmas
+    print('ok on', probtype, pdparam)
 

baselines/common/filters.py

@@ -0,0 +1,98 @@
+from .running_stat import RunningStat
+from collections import deque
+import numpy as np
+
+class Filter(object):
+    def __call__(self, x, update=True):
+        raise NotImplementedError
+    def reset(self):
+        pass
+
+class IdentityFilter(Filter):
+    def __call__(self, x, update=True):
+        return x
+
+class CompositionFilter(Filter):
+    def __init__(self, fs):
+        self.fs = fs
+    def __call__(self, x, update=True):
+        for f in self.fs:
+            x = f(x)
+        return x
+    def output_shape(self, input_space):
+        out = input_space.shape
+        for f in self.fs:
+            out = f.output_shape(out)
+        return out
+
+class ZFilter(Filter):
+    """
+    y = (x-mean)/std
+    using running estimates of mean,std
+    """
+
+    def __init__(self, shape, demean=True, destd=True, clip=10.0):
+        self.demean = demean
+        self.destd = destd
+        self.clip = clip
+
+        self.rs = RunningStat(shape)
+
+    def __call__(self, x, update=True):
+        if update: self.rs.push(x)
+        if self.demean:
+            x = x - self.rs.mean
+        if self.destd:
+            x = x / (self.rs.std+1e-8)
+        if self.clip:
+            x = np.clip(x, -self.clip, self.clip)
+        return x
+    def output_shape(self, input_space):
+        return input_space.shape
+
+class AddClock(Filter):
+    def __init__(self):
+        self.count = 0
+    def reset(self):
+        self.count = 0
+    def __call__(self, x, update=True):
+        return np.append(x, self.count/100.0)
+    def output_shape(self, input_space):
+        return (input_space.shape[0]+1,)
+
+class FlattenFilter(Filter):
+    def __call__(self, x, update=True):
+        return x.ravel()
+    def output_shape(self, input_space):
+        return (int(np.prod(input_space.shape)),)
+
+class Ind2OneHotFilter(Filter):
+    def __init__(self, n):
+        self.n = n
+    def __call__(self, x, update=True):
+        out = np.zeros(self.n)
+        out[x] = 1
+        return out
+    def output_shape(self, input_space):
+        return (input_space.n,)
+
+class DivFilter(Filter):
+    def __init__(self, divisor):
+        self.divisor = divisor
+    def __call__(self, x, update=True):
+        return x / self.divisor
+    def output_shape(self, input_space):
+        return input_space.shape
+
+class StackFilter(Filter):
+    def __init__(self, length):
+        self.stack = deque(maxlen=length)
+    def reset(self):
+        self.stack.clear()
+    def __call__(self, x, update=True):
+        self.stack.append(x)
+        while len(self.stack) < self.stack.maxlen:
+            self.stack.append(x)
+        return np.concatenate(self.stack, axis=-1)
+    def output_shape(self, input_space):
+        return input_space.shape[:-1] + (input_space.shape[-1] * self.stack.maxlen,)

baselines/common/identity_env.py

@@ -0,0 +1,30 @@
+from gym import Env
+from gym.spaces import Discrete
+
+
+class IdentityEnv(Env):
+    def __init__(
+            self,
+            dim,
+            ep_length=100,
+    ):
+
+        self.action_space = Discrete(dim)
+        self.reset()
+
+    def reset(self):
+        self._choose_next_state()
+        self.observation_space = self.action_space
+
+        return self.state
+
+    def step(self, actions):
+        rew = self._get_reward(actions)
+        self._choose_next_state()
+        return self.state, rew, False, {}
+
+    def _choose_next_state(self):
+        self.state = self.action_space.sample()
+
+    def _get_reward(self, actions):
+        return 1 if self.state == actions else 0

baselines/common/input.py

@@ -0,0 +1,30 @@
+import tensorflow as tf
+from gym.spaces import Discrete, Box
+
+def observation_input(ob_space, batch_size=None, name='Ob'):
+    '''
+    Build observation input with encoding depending on the 
+    observation space type
+    Params:
+    
+    ob_space: observation space (should be one of gym.spaces)
+    batch_size: batch size for input (default is None, so that resulting input placeholder can take tensors with any batch size)
+    name: tensorflow variable name for input placeholder
+
+    returns: tuple (input_placeholder, processed_input_tensor)
+    '''
+    if isinstance(ob_space, Discrete):
+        input_x  = tf.placeholder(shape=(batch_size,), dtype=tf.int32, name=name)
+        processed_x = tf.to_float(tf.one_hot(input_x, ob_space.n))
+        return input_x, processed_x
+
+    elif isinstance(ob_space, Box):
+        input_shape = (batch_size,) + ob_space.shape
+        input_x = tf.placeholder(shape=input_shape, dtype=ob_space.dtype, name=name)
+        processed_x = tf.to_float(input_x)
+        return input_x, processed_x
+
+    else:
+        raise NotImplementedError
+
+ 

baselines/common/misc_util.py

@@ -4,7 +4,6 @@ import os
 import pickle
 import random
 import tempfile
-import time
 import zipfile
 
 
@@ -153,76 +152,6 @@ class RunningAvg(object):
         """Get the current estimate"""
         return self._value
 
-
-class SimpleMonitor(gym.Wrapper):
-    def __init__(self, env):
-        """Adds two qunatities to info returned by every step:
-
-            num_steps: int
-                Number of steps takes so far
-            rewards: [float]
-                All the cumulative rewards for the episodes completed so far.
-        """
-        super().__init__(env)
-        # current episode state
-        self._current_reward = None
-        self._num_steps = None
-        # temporary monitor state that we do not save
-        self._time_offset = None
-        self._total_steps = None
-        # monitor state
-        self._episode_rewards = []
-        self._episode_lengths = []
-        self._episode_end_times = []
-
-    def _reset(self):
-        obs = self.env.reset()
-        # recompute temporary state if needed
-        if self._time_offset is None:
-            self._time_offset = time.time()
-            if len(self._episode_end_times) > 0:
-                self._time_offset -= self._episode_end_times[-1]
-        if self._total_steps is None:
-            self._total_steps = sum(self._episode_lengths)
-        # update monitor state
-        if self._current_reward is not None:
-            self._episode_rewards.append(self._current_reward)
-            self._episode_lengths.append(self._num_steps)
-            self._episode_end_times.append(time.time() - self._time_offset)
-        # reset episode state
-        self._current_reward = 0
-        self._num_steps = 0
-
-        return obs
-
-    def _step(self, action):
-        obs, rew, done, info = self.env.step(action)
-        self._current_reward += rew
-        self._num_steps += 1
-        self._total_steps += 1
-        info['steps'] = self._total_steps
-        info['rewards'] = self._episode_rewards
-        return (obs, rew, done, info)
-
-    def get_state(self):
-        return {
-            'env_id': self.env.unwrapped.spec.id,
-            'episode_data': {
-                'episode_rewards': self._episode_rewards,
-                'episode_lengths': self._episode_lengths,
-                'episode_end_times': self._episode_end_times,
-                'initial_reset_time': 0,
-            }
-        }
-
-    def set_state(self, state):
-        assert state['env_id'] == self.env.unwrapped.spec.id
-        ed = state['episode_data']
-        self._episode_rewards = ed['episode_rewards']
-        self._episode_lengths = ed['episode_lengths']
-        self._episode_end_times = ed['episode_end_times']
-
-
 def boolean_flag(parser, name, default=False, help=None):
     """Add a boolean flag to argparse parser.
 
@@ -237,8 +166,9 @@ def boolean_flag(parser, name, default=False, help=None):
     help: str
         help string for the flag
     """
-    parser.add_argument("--" + name, action="store_true", default=default, help=help)
-    parser.add_argument("--no-" + name, action="store_false", dest=name)
+    dest = name.replace('-', '_')
+    parser.add_argument("--" + name, action="store_true", default=default, dest=dest, help=help)
+    parser.add_argument("--no-" + name, action="store_false", dest=dest)
 
 
 def get_wrapper_by_name(env, classname):
@@ -294,6 +224,7 @@ def relatively_safe_pickle_dump(obj, path, compression=False):
         # Using gzip here would be simpler, but the size is limited to 2GB
         with tempfile.NamedTemporaryFile() as uncompressed_file:
             pickle.dump(obj, uncompressed_file)
+            uncompressed_file.file.flush()
             with zipfile.ZipFile(temp_storage, "w", compression=zipfile.ZIP_DEFLATED) as myzip:
                 myzip.write(uncompressed_file.name, "data")
     else:

baselines/common/mpi_adam.py

@@ -53,7 +53,7 @@ class MpiAdam(object):
 def test_MpiAdam():
     np.random.seed(0)
     tf.set_random_seed(0)
-    
+
     a = tf.Variable(np.random.randn(3).astype('float32'))
     b = tf.Variable(np.random.randn(2,5).astype('float32'))
     loss = tf.reduce_sum(tf.square(a)) + tf.reduce_sum(tf.sin(b))

baselines/common/mpi_fork.py

@@ -1,6 +1,6 @@
 import os, subprocess, sys
 
-def mpi_fork(n):
+def mpi_fork(n, bind_to_core=False):
     """Re-launches the current script with workers
     Returns "parent" for original parent, "child" for MPI children
     """
@@ -13,7 +13,11 @@ def mpi_fork(n):
             OMP_NUM_THREADS="1",
             IN_MPI="1"
         )
-        subprocess.check_call(["mpirun", "-np", str(n), sys.executable] + sys.argv, env=env)
+        args = ["mpirun", "-np", str(n)]
+        if bind_to_core:
+            args += ["-bind-to", "core"]
+        args += [sys.executable] + sys.argv
+        subprocess.check_call(args, env=env)
         return "parent"
     else:
         return "child"

baselines/common/mpi_moments.py

@@ -2,29 +2,42 @@ from mpi4py import MPI
 import numpy as np
 from baselines.common import zipsame
 
-def mpi_moments(x, axis=0):
-    x = np.asarray(x, dtype='float64')
-    newshape = list(x.shape)
-    newshape.pop(axis)
-    n = np.prod(newshape,dtype=int)
-    totalvec = np.zeros(n*2+1, 'float64')
-    addvec = np.concatenate([x.sum(axis=axis).ravel(), 
-        np.square(x).sum(axis=axis).ravel(), 
-        np.array([x.shape[axis]],dtype='float64')])
-    MPI.COMM_WORLD.Allreduce(addvec, totalvec, op=MPI.SUM)
-    sum = totalvec[:n]
-    sumsq = totalvec[n:2*n]
-    count = totalvec[2*n]
-    if count == 0:
-        mean = np.empty(newshape); mean[:] = np.nan
-        std = np.empty(newshape); std[:] = np.nan
-    else:
-        mean = sum/count
-        std = np.sqrt(np.maximum(sumsq/count - np.square(mean),0))
+
+def mpi_mean(x, axis=0, comm=None, keepdims=False):
+    x = np.asarray(x)
+    assert x.ndim > 0
+    if comm is None: comm = MPI.COMM_WORLD
+    xsum = x.sum(axis=axis, keepdims=keepdims)
+    n = xsum.size
+    localsum = np.zeros(n+1, x.dtype)
+    localsum[:n] = xsum.ravel()
+    localsum[n] = x.shape[axis]
+    globalsum = np.zeros_like(localsum)
+    comm.Allreduce(localsum, globalsum, op=MPI.SUM)
+    return globalsum[:n].reshape(xsum.shape) / globalsum[n], globalsum[n]
+
+def mpi_moments(x, axis=0, comm=None, keepdims=False):
+    x = np.asarray(x)
+    assert x.ndim > 0
+    mean, count = mpi_mean(x, axis=axis, comm=comm, keepdims=True)
+    sqdiffs = np.square(x - mean)
+    meansqdiff, count1 = mpi_mean(sqdiffs, axis=axis, comm=comm, keepdims=True)
+    assert count1 == count
+    std = np.sqrt(meansqdiff)
+    if not keepdims:
+        newshape = mean.shape[:axis] + mean.shape[axis+1:]
+        mean = mean.reshape(newshape)
+        std = std.reshape(newshape)
     return mean, std, count
 
 
 def test_runningmeanstd():
+    import subprocess
+    subprocess.check_call(['mpirun', '-np', '3', 
+        'python','-c', 
+        'from baselines.common.mpi_moments import _helper_runningmeanstd; _helper_runningmeanstd()'])
+
+def _helper_runningmeanstd():
     comm = MPI.COMM_WORLD
     np.random.seed(0)
     for (triple,axis) in [
@@ -45,6 +58,3 @@ def test_runningmeanstd():
             assert np.allclose(a1, a2)
             print("ok!")
 
-if __name__ == "__main__":
-    #mpirun -np 3 python <script>
-    test_runningmeanstd()

baselines/common/mpi_running_mean_std.py

@@ -57,7 +57,7 @@ def test_runningmeanstd():
         rms.update(x1)
         rms.update(x2)
         rms.update(x3)
-        ms2 = U.eval([rms.mean, rms.std])
+        ms2 = [rms.mean.eval(), rms.std.eval()]
 
         assert np.allclose(ms1, ms2)
 
@@ -94,11 +94,11 @@ def test_dist():
 
     assert checkallclose(
         bigvec.mean(axis=0),
-        U.eval(rms.mean)
+        rms.mean.eval(),
     )
     assert checkallclose(
         bigvec.std(axis=0),
-        U.eval(rms.std)
+        rms.std.eval(),
     )
 
 

baselines/common/runners.py

@@ -0,0 +1,18 @@
+import numpy as np
+from abc import ABC, abstractmethod
+
+class AbstractEnvRunner(ABC):
+    def __init__(self, *, env, model, nsteps):
+        self.env = env
+        self.model = model
+        nenv = env.num_envs
+        self.batch_ob_shape = (nenv*nsteps,) + env.observation_space.shape
+        self.obs = np.zeros((nenv,) + env.observation_space.shape, dtype=env.observation_space.dtype.name)
+        self.obs[:] = env.reset()
+        self.nsteps = nsteps
+        self.states = model.initial_state
+        self.dones = [False for _ in range(nenv)]
+
+    @abstractmethod
+    def run(self):
+        raise NotImplementedError

baselines/common/running_mean_std.py

@@ -0,0 +1,46 @@
+import numpy as np
+class RunningMeanStd(object):
+    # https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
+    def __init__(self, epsilon=1e-4, shape=()):
+        self.mean = np.zeros(shape, 'float64')
+        self.var = np.ones(shape, 'float64')
+        self.count = epsilon
+
+    def update(self, x):
+        batch_mean = np.mean(x, axis=0)
+        batch_var = np.var(x, axis=0)
+        batch_count = x.shape[0]
+        self.update_from_moments(batch_mean, batch_var, batch_count)
+
+    def update_from_moments(self, batch_mean, batch_var, batch_count):
+        delta = batch_mean - self.mean
+        tot_count = self.count + batch_count
+
+        new_mean = self.mean + delta * batch_count / tot_count        
+        m_a = self.var * (self.count)
+        m_b = batch_var * (batch_count)
+        M2 = m_a + m_b + np.square(delta) * self.count * batch_count / (self.count + batch_count)
+        new_var = M2 / (self.count + batch_count)
+
+        new_count = batch_count + self.count
+
+        self.mean = new_mean
+        self.var = new_var
+        self.count = new_count    
+
+def test_runningmeanstd():
+    for (x1, x2, x3) in [
+        (np.random.randn(3), np.random.randn(4), np.random.randn(5)),
+        (np.random.randn(3,2), np.random.randn(4,2), np.random.randn(5,2)),
+        ]:
+
+        rms = RunningMeanStd(epsilon=0.0, shape=x1.shape[1:])
+
+        x = np.concatenate([x1, x2, x3], axis=0)
+        ms1 = [x.mean(axis=0), x.var(axis=0)]
+        rms.update(x1)
+        rms.update(x2)
+        rms.update(x3)
+        ms2 = [rms.mean, rms.var]
+
+        assert np.allclose(ms1, ms2)

baselines/common/running_stat.py

@@ -0,0 +1,46 @@
+import numpy as np
+
+# http://www.johndcook.com/blog/standard_deviation/
+class RunningStat(object):
+    def __init__(self, shape):
+        self._n = 0
+        self._M = np.zeros(shape)
+        self._S = np.zeros(shape)
+    def push(self, x):
+        x = np.asarray(x)
+        assert x.shape == self._M.shape
+        self._n += 1
+        if self._n == 1:
+            self._M[...] = x
+        else:
+            oldM = self._M.copy()
+            self._M[...] = oldM + (x - oldM)/self._n
+            self._S[...] = self._S + (x - oldM)*(x - self._M)
+    @property
+    def n(self):
+        return self._n
+    @property
+    def mean(self):
+        return self._M
+    @property
+    def var(self):
+        return self._S/(self._n - 1) if self._n > 1 else np.square(self._M)
+    @property
+    def std(self):
+        return np.sqrt(self.var)
+    @property
+    def shape(self):
+        return self._M.shape
+
+def test_running_stat():
+    for shp in ((), (3,), (3,4)):
+        li = []
+        rs = RunningStat(shp)
+        for _ in range(5):
+            val = np.random.randn(*shp)
+            rs.push(val)
+            li.append(val)
+            m = np.mean(li, axis=0)
+            assert np.allclose(rs.mean, m)
+            v = np.square(m) if (len(li) == 1) else np.var(li, ddof=1, axis=0)
+            assert np.allclose(rs.var, v)

baselines/common/segment_tree.py

@@ -12,10 +12,9 @@ class SegmentTree(object):
 
             a) setting item's value is slightly slower.
                It is O(lg capacity) instead of O(1).
-            b) user has access to an efficient `reduce`
-               operation which reduces `operation` over
-               a contiguous subsequence of items in the
-               array.
+            b) user has access to an efficient ( O(log segment size) )
+               `reduce` operation which reduces `operation` over
+               a contiguous subsequence of items in the array.
 
         Paramters
         ---------
@@ -23,8 +22,8 @@ class SegmentTree(object):
             Total size of the array - must be a power of two.
         operation: lambda obj, obj -> obj
             and operation for combining elements (eg. sum, max)
-            must for a mathematical group together with the set of
-            possible values for array elements.
+            must form a mathematical group together with the set of
+            possible values for array elements (i.e. be associative)
         neutral_element: obj
             neutral element for the operation above. eg. float('-inf')
             for max and 0 for sum.

baselines/common/test_identity.py

@@ -0,0 +1,44 @@
+import pytest
+import tensorflow as tf
+import random
+import numpy as np
+from gym.spaces import np_random
+
+from baselines.a2c import a2c
+from baselines.ppo2 import ppo2
+from baselines.common.identity_env import IdentityEnv
+from baselines.common.vec_env.dummy_vec_env import DummyVecEnv
+from baselines.ppo2.policies import MlpPolicy
+
+
+learn_func_list = [
+    lambda e: a2c.learn(policy=MlpPolicy, env=e, seed=0, total_timesteps=50000),
+    lambda e: ppo2.learn(policy=MlpPolicy, env=e, total_timesteps=50000, lr=1e-3, nsteps=128, ent_coef=0.01)
+]
+
+
+@pytest.mark.slow
+@pytest.mark.parametrize("learn_func", learn_func_list)
+def test_identity(learn_func):
+    '''
+    Test if the algorithm (with a given policy) 
+    can learn an identity transformation (i.e. return observation as an action)
+    '''
+    np.random.seed(0)
+    np_random.seed(0)
+    random.seed(0)
+
+    env = DummyVecEnv([lambda: IdentityEnv(10)])
+
+    with tf.Graph().as_default(), tf.Session().as_default():
+        tf.set_random_seed(0)
+        model = learn_func(env)
+
+        N_TRIALS = 1000
+        sum_rew = 0
+        obs = env.reset()
+        for i in range(N_TRIALS):
+            obs, rew, done, _ = env.step(model.step(obs)[0])
+            sum_rew += rew
+
+        assert sum_rew > 0.9 * N_TRIALS

baselines/common/tests/test_tf_util.py

@@ -3,67 +3,38 @@ import tensorflow as tf
 from baselines.common.tf_util import (
     function,
     initialize,
-    set_value,
     single_threaded_session
 )
 
 
-def test_set_value():
-    a = tf.Variable(42.)
-    with single_threaded_session():
-        set_value(a, 5)
-        assert a.eval() == 5
-        g = tf.get_default_graph()
-        g.finalize()
-        set_value(a, 6)
-        assert a.eval() == 6
-
-        # test the test
-        try:
-            assert a.eval() == 7
-        except AssertionError:
-            pass
-        else:
-            assert False, "assertion should have failed"
-
-
 def test_function():
-    tf.reset_default_graph()
-    x = tf.placeholder(tf.int32, (), name="x")
-    y = tf.placeholder(tf.int32, (), name="y")
-    z = 3 * x + 2 * y
-    lin = function([x, y], z, givens={y: 0})
+    with tf.Graph().as_default():
+        x = tf.placeholder(tf.int32, (), name="x")
+        y = tf.placeholder(tf.int32, (), name="y")
+        z = 3 * x + 2 * y
+        lin = function([x, y], z, givens={y: 0})
 
-    with single_threaded_session():
-        initialize()
+        with single_threaded_session():
+            initialize()
 
-        assert lin(2) == 6
-        assert lin(x=3) == 9
-        assert lin(2, 2) == 10
-        assert lin(x=2, y=3) == 12
+            assert lin(2) == 6
+            assert lin(2, 2) == 10
 
 
 def test_multikwargs():
-    tf.reset_default_graph()
-    x = tf.placeholder(tf.int32, (), name="x")
-    with tf.variable_scope("other"):
-        x2 = tf.placeholder(tf.int32, (), name="x")
-    z = 3 * x + 2 * x2
+    with tf.Graph().as_default():
+        x = tf.placeholder(tf.int32, (), name="x")
+        with tf.variable_scope("other"):
+            x2 = tf.placeholder(tf.int32, (), name="x")
+        z = 3 * x + 2 * x2
 
-    lin = function([x, x2], z, givens={x2: 0})
-    with single_threaded_session():
-        initialize()
-        assert lin(2) == 6
-        assert lin(2, 2) == 10
-        expt_caught = False
-        try:
-            lin(x=2)
-        except AssertionError:
-            expt_caught = True
-        assert expt_caught
+        lin = function([x, x2], z, givens={x2: 0})
+        with single_threaded_session():
+            initialize()
+            assert lin(2) == 6
+            assert lin(2, 2) == 10
 
 
 if __name__ == '__main__':
-    test_set_value()
     test_function()
     test_multikwargs()

baselines/common/tf_util.py

@@ -1,55 +1,10 @@
 import numpy as np
 import tensorflow as tf  # pylint: ignore-module
-import builtins
-import functools
 import copy
 import os
+import functools
 import collections
-
-
-# ================================================================
-# Make consistent with numpy
-# ================================================================
-
-clip = tf.clip_by_value
-
-
-def sum(x, axis=None, keepdims=False):
-    axis = None if axis is None else [axis]
-    return tf.reduce_sum(x, axis=axis, keep_dims=keepdims)
-
-
-def mean(x, axis=None, keepdims=False):
-    axis = None if axis is None else [axis]
-    return tf.reduce_mean(x, axis=axis, keep_dims=keepdims)
-
-
-def var(x, axis=None, keepdims=False):
-    meanx = mean(x, axis=axis, keepdims=keepdims)
-    return mean(tf.square(x - meanx), axis=axis, keepdims=keepdims)
-
-
-def std(x, axis=None, keepdims=False):
-    return tf.sqrt(var(x, axis=axis, keepdims=keepdims))
-
-
-def max(x, axis=None, keepdims=False):
-    axis = None if axis is None else [axis]
-    return tf.reduce_max(x, axis=axis, keep_dims=keepdims)
-
-
-def min(x, axis=None, keepdims=False):
-    axis = None if axis is None else [axis]
-    return tf.reduce_min(x, axis=axis, keep_dims=keepdims)
-
-
-def concatenate(arrs, axis=0):
-    return tf.concat(axis=axis, values=arrs)
-
-
-def argmax(x, axis=None):
-    return tf.argmax(x, axis=axis)
-
+import multiprocessing
 
 def switch(condition, then_expression, else_expression):
     """Switches between two operations depending on a scalar value (int or bool).
@@ -72,120 +27,15 @@ def switch(condition, then_expression, else_expression):
 # Extras
 # ================================================================
 
-
-def l2loss(params):
-    if len(params) == 0:
-        return tf.constant(0.0)
-    else:
-        return tf.add_n([sum(tf.square(p)) for p in params])
-
-
 def lrelu(x, leak=0.2):
     f1 = 0.5 * (1 + leak)
     f2 = 0.5 * (1 - leak)
     return f1 * x + f2 * abs(x)
 
-
-def categorical_sample_logits(X):
-    # https://github.com/tensorflow/tensorflow/issues/456
-    U = tf.random_uniform(tf.shape(X))
-    return argmax(X - tf.log(-tf.log(U)), axis=1)
-
-
-# ================================================================
-# Inputs
-# ================================================================
-
-
-def is_placeholder(x):
-    return type(x) is tf.Tensor and len(x.op.inputs) == 0
-
-
-class TfInput(object):
-    def __init__(self, name="(unnamed)"):
-        """Generalized Tensorflow placeholder. The main differences are:
-            - possibly uses multiple placeholders internally and returns multiple values
-            - can apply light postprocessing to the value feed to placeholder.
-        """
-        self.name = name
-
-    def get(self):
-        """Return the tf variable(s) representing the possibly postprocessed value
-        of placeholder(s).
-        """
-        raise NotImplemented()
-
-    def make_feed_dict(data):
-        """Given data input it to the placeholder(s)."""
-        raise NotImplemented()
-
-
-class PlacholderTfInput(TfInput):
-    def __init__(self, placeholder):
-        """Wrapper for regular tensorflow placeholder."""
-        super().__init__(placeholder.name)
-        self._placeholder = placeholder
-
-    def get(self):
-        return self._placeholder
-
-    def make_feed_dict(self, data):
-        return {self._placeholder: data}
-
-
-class BatchInput(PlacholderTfInput):
-    def __init__(self, shape, dtype=tf.float32, name=None):
-        """Creates a placeholder for a batch of tensors of a given shape and dtype
-
-        Parameters
-        ----------
-        shape: [int]
-            shape of a single elemenet of the batch
-        dtype: tf.dtype
-            number representation used for tensor contents
-        name: str
-            name of the underlying placeholder
-        """
-        super().__init__(tf.placeholder(dtype, [None] + list(shape), name=name))
-
-
-class Uint8Input(PlacholderTfInput):
-    def __init__(self, shape, name=None):
-        """Takes input in uint8 format which is cast to float32 and divided by 255
-        before passing it to the model.
-
-        On GPU this ensures lower data transfer times.
-
-        Parameters
-        ----------
-        shape: [int]
-            shape of the tensor.
-        name: str
-            name of the underlying placeholder
-        """
-
-        super().__init__(tf.placeholder(tf.uint8, [None] + list(shape), name=name))
-        self._shape = shape
-        self._output = tf.cast(super().get(), tf.float32) / 255.0
-
-    def get(self):
-        return self._output
-
-
-def ensure_tf_input(thing):
-    """Takes either tf.placeholder of TfInput and outputs equivalent TfInput"""
-    if isinstance(thing, TfInput):
-        return thing
-    elif is_placeholder(thing):
-        return PlacholderTfInput(thing)
-    else:
-        raise ValueError("Must be a placeholder or TfInput")
-
 # ================================================================
 # Mathematical utils
 # ================================================================
 
-
 def huber_loss(x, delta=1.0):
     """Reference: https://en.wikipedia.org/wiki/Huber_loss"""
     return tf.where(
@@ -194,103 +44,52 @@ def huber_loss(x, delta=1.0):
         delta * (tf.abs(x) - 0.5 * delta)
     )
 
-# ================================================================
-# Optimizer utils
-# ================================================================
-
-
-def minimize_and_clip(optimizer, objective, var_list, clip_val=10):
-    """Minimized `objective` using `optimizer` w.r.t. variables in
-    `var_list` while ensure the norm of the gradients for each
-    variable is clipped to `clip_val`
-    """
-    gradients = optimizer.compute_gradients(objective, var_list=var_list)
-    for i, (grad, var) in enumerate(gradients):
-        if grad is not None:
-            gradients[i] = (tf.clip_by_norm(grad, clip_val), var)
-    return optimizer.apply_gradients(gradients)
-
-
 # ================================================================
 # Global session
 # ================================================================
 
-def get_session():
-    """Returns recently made Tensorflow session"""
-    return tf.get_default_session()
-
-
-def make_session(num_cpu):
+def make_session(num_cpu=None, make_default=False, graph=None):
     """Returns a session that will use <num_cpu> CPU's only"""
+    if num_cpu is None:
+        num_cpu = int(os.getenv('RCALL_NUM_CPU', multiprocessing.cpu_count()))
     tf_config = tf.ConfigProto(
         inter_op_parallelism_threads=num_cpu,
         intra_op_parallelism_threads=num_cpu)
-    return tf.Session(config=tf_config)
-
+    if make_default:
+        return tf.InteractiveSession(config=tf_config, graph=graph)
+    else:
+        return tf.Session(config=tf_config, graph=graph)
 
 def single_threaded_session():
     """Returns a session which will only use a single CPU"""
-    return make_session(1)
+    return make_session(num_cpu=1)
 
+def in_session(f):
+    @functools.wraps(f)
+    def newfunc(*args, **kwargs):
+        with tf.Session():
+            f(*args, **kwargs)
+    return newfunc
 
 ALREADY_INITIALIZED = set()
 
-
 def initialize():
     """Initialize all the uninitialized variables in the global scope."""
     new_variables = set(tf.global_variables()) - ALREADY_INITIALIZED
-    get_session().run(tf.variables_initializer(new_variables))
+    tf.get_default_session().run(tf.variables_initializer(new_variables))
     ALREADY_INITIALIZED.update(new_variables)
 
-
-def eval(expr, feed_dict=None):
-    if feed_dict is None:
-        feed_dict = {}
-    return get_session().run(expr, feed_dict=feed_dict)
-
-
-VALUE_SETTERS = collections.OrderedDict()
-
-
-def set_value(v, val):
-    global VALUE_SETTERS
-    if v in VALUE_SETTERS:
-        set_op, set_endpoint = VALUE_SETTERS[v]
-    else:
-        set_endpoint = tf.placeholder(v.dtype)
-        set_op = v.assign(set_endpoint)
-        VALUE_SETTERS[v] = (set_op, set_endpoint)
-    get_session().run(set_op, feed_dict={set_endpoint: val})
-
-
-# ================================================================
-# Saving variables
-# ================================================================
-
-
-def load_state(fname):
-    saver = tf.train.Saver()
-    saver.restore(get_session(), fname)
-
-
-def save_state(fname):
-    os.makedirs(os.path.dirname(fname), exist_ok=True)
-    saver = tf.train.Saver()
-    saver.save(get_session(), fname)
-
 # ================================================================
 # Model components
 # ================================================================
 
-
-def normc_initializer(std=1.0):
+def normc_initializer(std=1.0, axis=0):
     def _initializer(shape, dtype=None, partition_info=None):  # pylint: disable=W0613
         out = np.random.randn(*shape).astype(np.float32)
-        out *= std / np.sqrt(np.square(out).sum(axis=0, keepdims=True))
+        out *= std / np.sqrt(np.square(out).sum(axis=axis, keepdims=True))
         return tf.constant(out)
     return _initializer
 
-
 def conv2d(x, num_filters, name, filter_size=(3, 3), stride=(1, 1), pad="SAME", dtype=tf.float32, collections=None,
            summary_tag=None):
     with tf.variable_scope(name):
@@ -320,47 +119,10 @@ def conv2d(x, num_filters, name, filter_size=(3, 3), stride=(1, 1), pad="SAME",
 
         return tf.nn.conv2d(x, w, stride_shape, pad) + b
 
-
-def dense(x, size, name, weight_init=None, bias=True):
-    w = tf.get_variable(name + "/w", [x.get_shape()[1], size], initializer=weight_init)
-    ret = tf.matmul(x, w)
-    if bias:
-        b = tf.get_variable(name + "/b", [size], initializer=tf.zeros_initializer())
-        return ret + b
-    else:
-        return ret
-
-
-def wndense(x, size, name, init_scale=1.0):
-    v = tf.get_variable(name + "/V", [int(x.get_shape()[1]), size],
-                        initializer=tf.random_normal_initializer(0, 0.05))
-    g = tf.get_variable(name + "/g", [size], initializer=tf.constant_initializer(init_scale))
-    b = tf.get_variable(name + "/b", [size], initializer=tf.constant_initializer(0.0))
-
-    # use weight normalization (Salimans & Kingma, 2016)
-    x = tf.matmul(x, v)
-    scaler = g / tf.sqrt(sum(tf.square(v), axis=0, keepdims=True))
-    return tf.reshape(scaler, [1, size]) * x + tf.reshape(b, [1, size])
-
-
-def densenobias(x, size, name, weight_init=None):
-    return dense(x, size, name, weight_init=weight_init, bias=False)
-
-
-def dropout(x, pkeep, phase=None, mask=None):
-    mask = tf.floor(pkeep + tf.random_uniform(tf.shape(x))) if mask is None else mask
-    if phase is None:
-        return mask * x
-    else:
-        return switch(phase, mask * x, pkeep * x)
-
-
 # ================================================================
 # Theano-like Function
 # ================================================================
 
-
-
 def function(inputs, outputs, updates=None, givens=None):
     """Just like Theano function. Take a bunch of tensorflow placeholders and expressions
     computed based on those placeholders and produces f(inputs) -> outputs. Function f takes
@@ -386,7 +148,7 @@ def function(inputs, outputs, updates=None, givens=None):
 
     Parameters
     ----------
-    inputs: [tf.placeholder or TfInput]
+    inputs: [tf.placeholder, tf.constant, or object with make_feed_dict method]
         list of input arguments
     outputs: [tf.Variable] or tf.Variable
         list of outputs or a single output to be returned from function. Returned
@@ -403,190 +165,34 @@ def function(inputs, outputs, updates=None, givens=None):
 
 
 class _Function(object):
-    def __init__(self, inputs, outputs, updates, givens, check_nan=False):
+    def __init__(self, inputs, outputs, updates, givens):
         for inpt in inputs:
-            if not issubclass(type(inpt), TfInput):
-                assert len(inpt.op.inputs) == 0, "inputs should all be placeholders of baselines.common.TfInput"
+            if not hasattr(inpt, 'make_feed_dict') and not (type(inpt) is tf.Tensor and len(inpt.op.inputs) == 0):
+                assert False, "inputs should all be placeholders, constants, or have a make_feed_dict method"
         self.inputs = inputs
         updates = updates or []
         self.update_group = tf.group(*updates)
         self.outputs_update = list(outputs) + [self.update_group]
         self.givens = {} if givens is None else givens
-        self.check_nan = check_nan
 
     def _feed_input(self, feed_dict, inpt, value):
-        if issubclass(type(inpt), TfInput):
+        if hasattr(inpt, 'make_feed_dict'):
             feed_dict.update(inpt.make_feed_dict(value))
-        elif is_placeholder(inpt):
+        else:
             feed_dict[inpt] = value
 
-    def __call__(self, *args, **kwargs):
+    def __call__(self, *args):
         assert len(args) <= len(self.inputs), "Too many arguments provided"
         feed_dict = {}
         # Update the args
         for inpt, value in zip(self.inputs, args):
             self._feed_input(feed_dict, inpt, value)
-        # Update the kwargs
-        kwargs_passed_inpt_names = set()
-        for inpt in self.inputs[len(args):]:
-            inpt_name = inpt.name.split(':')[0]
-            inpt_name = inpt_name.split('/')[-1]
-            assert inpt_name not in kwargs_passed_inpt_names, \
-                "this function has two arguments with the same name \"{}\", so kwargs cannot be used.".format(inpt_name)
-            if inpt_name in kwargs:
-                kwargs_passed_inpt_names.add(inpt_name)
-                self._feed_input(feed_dict, inpt, kwargs.pop(inpt_name))
-            else:
-                assert inpt in self.givens, "Missing argument " + inpt_name
-        assert len(kwargs) == 0, "Function got extra arguments " + str(list(kwargs.keys()))
         # Update feed dict with givens.
         for inpt in self.givens:
             feed_dict[inpt] = feed_dict.get(inpt, self.givens[inpt])
-        results = get_session().run(self.outputs_update, feed_dict=feed_dict)[:-1]
-        if self.check_nan:
-            if any(np.isnan(r).any() for r in results):
-                raise RuntimeError("Nan detected")
+        results = tf.get_default_session().run(self.outputs_update, feed_dict=feed_dict)[:-1]
         return results
 
-
-def mem_friendly_function(nondata_inputs, data_inputs, outputs, batch_size):
-    if isinstance(outputs, list):
-        return _MemFriendlyFunction(nondata_inputs, data_inputs, outputs, batch_size)
-    else:
-        f = _MemFriendlyFunction(nondata_inputs, data_inputs, [outputs], batch_size)
-        return lambda *inputs: f(*inputs)[0]
-
-
-class _MemFriendlyFunction(object):
-    def __init__(self, nondata_inputs, data_inputs, outputs, batch_size):
-        self.nondata_inputs = nondata_inputs
-        self.data_inputs = data_inputs
-        self.outputs = list(outputs)
-        self.batch_size = batch_size
-
-    def __call__(self, *inputvals):
-        assert len(inputvals) == len(self.nondata_inputs) + len(self.data_inputs)
-        nondata_vals = inputvals[0:len(self.nondata_inputs)]
-        data_vals = inputvals[len(self.nondata_inputs):]
-        feed_dict = dict(zip(self.nondata_inputs, nondata_vals))
-        n = data_vals[0].shape[0]
-        for v in data_vals[1:]:
-            assert v.shape[0] == n
-        for i_start in range(0, n, self.batch_size):
-            slice_vals = [v[i_start:builtins.min(i_start + self.batch_size, n)] for v in data_vals]
-            for (var, val) in zip(self.data_inputs, slice_vals):
-                feed_dict[var] = val
-            results = tf.get_default_session().run(self.outputs, feed_dict=feed_dict)
-            if i_start == 0:
-                sum_results = results
-            else:
-                for i in range(len(results)):
-                    sum_results[i] = sum_results[i] + results[i]
-        for i in range(len(results)):
-            sum_results[i] = sum_results[i] / n
-        return sum_results
-
-# ================================================================
-# Modules
-# ================================================================
-
-
-class Module(object):
-    def __init__(self, name):
-        self.name = name
-        self.first_time = True
-        self.scope = None
-        self.cache = {}
-
-    def __call__(self, *args):
-        if args in self.cache:
-            print("(%s) retrieving value from cache" % (self.name,))
-            return self.cache[args]
-        with tf.variable_scope(self.name, reuse=not self.first_time):
-            scope = tf.get_variable_scope().name
-            if self.first_time:
-                self.scope = scope
-                print("(%s) running function for the first time" % (self.name,))
-            else:
-                assert self.scope == scope, "Tried calling function with a different scope"
-                print("(%s) running function on new inputs" % (self.name,))
-            self.first_time = False
-            out = self._call(*args)
-        self.cache[args] = out
-        return out
-
-    def _call(self, *args):
-        raise NotImplementedError
-
-    @property
-    def trainable_variables(self):
-        assert self.scope is not None, "need to call module once before getting variables"
-        return tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, self.scope)
-
-    @property
-    def variables(self):
-        assert self.scope is not None, "need to call module once before getting variables"
-        return tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, self.scope)
-
-
-def module(name):
-    @functools.wraps
-    def wrapper(f):
-        class WrapperModule(Module):
-            def _call(self, *args):
-                return f(*args)
-        return WrapperModule(name)
-    return wrapper
-
-# ================================================================
-# Graph traversal
-# ================================================================
-
-
-VARIABLES = {}
-
-
-def get_parents(node):
-    return node.op.inputs
-
-
-def topsorted(outputs):
-    """
-    Topological sort via non-recursive depth-first search
-    """
-    assert isinstance(outputs, (list, tuple))
-    marks = {}
-    out = []
-    stack = []  # pylint: disable=W0621
-    # i: node
-    # jidx = number of children visited so far from that node
-    # marks: state of each node, which is one of
-    #   0: haven't visited
-    #   1: have visited, but not done visiting children
-    #   2: done visiting children
-    for x in outputs:
-        stack.append((x, 0))
-        while stack:
-            (i, jidx) = stack.pop()
-            if jidx == 0:
-                m = marks.get(i, 0)
-                if m == 0:
-                    marks[i] = 1
-                elif m == 1:
-                    raise ValueError("not a dag")
-                else:
-                    continue
-            ps = get_parents(i)
-            if jidx == len(ps):
-                marks[i] = 2
-                out.append(i)
-            else:
-                stack.append((i, jidx + 1))
-                j = ps[jidx]
-                stack.append((j, 0))
-    return out
-
-
 # ================================================================
 # Flat vectors
 # ================================================================
@@ -597,15 +203,12 @@ def var_shape(x):
         "shape function assumes that shape is fully known"
     return out
 
-
 def numel(x):
     return intprod(var_shape(x))
 
-
 def intprod(x):
     return int(np.prod(x))
 
-
 def flatgrad(loss, var_list, clip_norm=None):
     grads = tf.gradients(loss, var_list)
     if clip_norm is not None:
@@ -615,7 +218,6 @@ def flatgrad(loss, var_list, clip_norm=None):
         for (v, grad) in zip(var_list, grads)
     ])
 
-
 class SetFromFlat(object):
     def __init__(self, var_list, dtype=tf.float32):
         assigns = []
@@ -632,101 +234,17 @@ class SetFromFlat(object):
         self.op = tf.group(*assigns)
 
     def __call__(self, theta):
-        get_session().run(self.op, feed_dict={self.theta: theta})
-
+        tf.get_default_session().run(self.op, feed_dict={self.theta: theta})
 
 class GetFlat(object):
     def __init__(self, var_list):
         self.op = tf.concat(axis=0, values=[tf.reshape(v, [numel(v)]) for v in var_list])
 
     def __call__(self):
-        return get_session().run(self.op)
-
-# ================================================================
-# Misc
-# ================================================================
-
-
-def fancy_slice_2d(X, inds0, inds1):
-    """
-    like numpy X[inds0, inds1]
-    XXX this implementation is bad
-    """
-    inds0 = tf.cast(inds0, tf.int64)
-    inds1 = tf.cast(inds1, tf.int64)
-    shape = tf.cast(tf.shape(X), tf.int64)
-    ncols = shape[1]
-    Xflat = tf.reshape(X, [-1])
-    return tf.gather(Xflat, inds0 * ncols + inds1)
-
-
-# ================================================================
-# Scopes
-# ================================================================
-
-
-def scope_vars(scope, trainable_only=False):
-    """
-    Get variables inside a scope
-    The scope can be specified as a string
-
-    Parameters
-    ----------
-    scope: str or VariableScope
-        scope in which the variables reside.
-    trainable_only: bool
-        whether or not to return only the variables that were marked as trainable.
-
-    Returns
-    -------
-    vars: [tf.Variable]
-        list of variables in `scope`.
-    """
-    return tf.get_collection(
-        tf.GraphKeys.TRAINABLE_VARIABLES if trainable_only else tf.GraphKeys.GLOBAL_VARIABLES,
-        scope=scope if isinstance(scope, str) else scope.name
-    )
-
-
-def scope_name():
-    """Returns the name of current scope as a string, e.g. deepq/q_func"""
-    return tf.get_variable_scope().name
-
-
-def absolute_scope_name(relative_scope_name):
-    """Appends parent scope name to `relative_scope_name`"""
-    return scope_name() + "/" + relative_scope_name
-
-
-def lengths_to_mask(lengths_b, max_length):
-    """
-    Turns a vector of lengths into a boolean mask
-
-    Args:
-        lengths_b: an integer vector of lengths
-        max_length: maximum length to fill the mask
-
-    Returns:
-        a boolean array of shape (batch_size, max_length)
-        row[i] consists of True repeated lengths_b[i] times, followed by False
-    """
-    lengths_b = tf.convert_to_tensor(lengths_b)
-    assert lengths_b.get_shape().ndims == 1
-    mask_bt = tf.expand_dims(tf.range(max_length), 0) < tf.expand_dims(lengths_b, 1)
-    return mask_bt
-
-
-def in_session(f):
-    @functools.wraps(f)
-    def newfunc(*args, **kwargs):
-        with tf.Session():
-            f(*args, **kwargs)
-    return newfunc
-
+        return tf.get_default_session().run(self.op)
 
 _PLACEHOLDER_CACHE = {}  # name -> (placeholder, dtype, shape)
 
-
 def get_placeholder(name, dtype, shape):
     if name in _PLACEHOLDER_CACHE:
         out, dtype1, shape1 = _PLACEHOLDER_CACHE[name]
@@ -737,18 +255,50 @@ def get_placeholder(name, dtype, shape):
         _PLACEHOLDER_CACHE[name] = (out, dtype, shape)
         return out
 
-
 def get_placeholder_cached(name):
     return _PLACEHOLDER_CACHE[name][0]
 
-
 def flattenallbut0(x):
     return tf.reshape(x, [-1, intprod(x.get_shape().as_list()[1:])])
 
 
-def reset():
-    global _PLACEHOLDER_CACHE
-    global VARIABLES
-    _PLACEHOLDER_CACHE = {}
-    VARIABLES = {}
-    tf.reset_default_graph()
+# ================================================================
+# Diagnostics 
+# ================================================================
+
+def display_var_info(vars):
+    from baselines import logger
+    count_params = 0
+    for v in vars:
+        name = v.name
+        if "/Adam" in name or "beta1_power" in name or "beta2_power" in name: continue
+        v_params = np.prod(v.shape.as_list())
+        count_params += v_params
+        if "/b:" in name or "/biases" in name: continue    # Wx+b, bias is not interesting to look at => count params, but not print
+        logger.info("   %s%s %i params %s" % (name, " "*(55-len(name)), v_params, str(v.shape)))
+
+    logger.info("Total model parameters: %0.2f million" % (count_params*1e-6))
+
+
+def get_available_gpus():
+    # recipe from here:
+    # https://stackoverflow.com/questions/38559755/how-to-get-current-available-gpus-in-tensorflow?utm_medium=organic&utm_source=google_rich_qa&utm_campaign=google_rich_qa
+ 
+    from tensorflow.python.client import device_lib
+    local_device_protos = device_lib.list_local_devices()
+    return [x.name for x in local_device_protos if x.device_type == 'GPU']
+
+# ================================================================
+# Saving variables
+# ================================================================
+
+def load_state(fname):
+    saver = tf.train.Saver()
+    saver.restore(tf.get_default_session(), fname)
+
+def save_state(fname):
+    os.makedirs(os.path.dirname(fname), exist_ok=True)
+    saver = tf.train.Saver()
+    saver.save(tf.get_default_session(), fname)
+
+

baselines/common/tile_images.py

@@ -0,0 +1,23 @@
+import numpy as np
+
+def tile_images(img_nhwc):
+    """
+    Tile N images into one big PxQ image
+    (P,Q) are chosen to be as close as possible, and if N
+    is square, then P=Q.
+
+    input: img_nhwc, list or array of images, ndim=4 once turned into array
+        n = batch index, h = height, w = width, c = channel
+    returns:
+        bigim_HWc, ndarray with ndim=3
+    """
+    img_nhwc = np.asarray(img_nhwc)
+    N, h, w, c = img_nhwc.shape
+    H = int(np.ceil(np.sqrt(N)))
+    W = int(np.ceil(float(N)/H))
+    img_nhwc = np.array(list(img_nhwc) + [img_nhwc[0]*0 for _ in range(N, H*W)])
+    img_HWhwc = img_nhwc.reshape(H, W, h, w, c)
+    img_HhWwc = img_HWhwc.transpose(0, 2, 1, 3, 4)
+    img_Hh_Ww_c = img_HhWwc.reshape(H*h, W*w, c)
+    return img_Hh_Ww_c
+

baselines/common/vec_env/__init__.py

@@ -0,0 +1,126 @@
+from abc import ABC, abstractmethod
+from baselines import logger
+
+class AlreadySteppingError(Exception):
+    """
+    Raised when an asynchronous step is running while
+    step_async() is called again.
+    """
+    def __init__(self):
+        msg = 'already running an async step'
+        Exception.__init__(self, msg)
+
+class NotSteppingError(Exception):
+    """
+    Raised when an asynchronous step is not running but
+    step_wait() is called.
+    """
+    def __init__(self):
+        msg = 'not running an async step'
+        Exception.__init__(self, msg)
+
+class VecEnv(ABC):
+    """
+    An abstract asynchronous, vectorized environment.
+    """
+    def __init__(self, num_envs, observation_space, action_space):
+        self.num_envs = num_envs
+        self.observation_space = observation_space
+        self.action_space = action_space
+
+    @abstractmethod
+    def reset(self):
+        """
+        Reset all the environments and return an array of
+        observations, or a tuple of observation arrays.
+
+        If step_async is still doing work, that work will
+        be cancelled and step_wait() should not be called
+        until step_async() is invoked again.
+        """
+        pass
+
+    @abstractmethod
+    def step_async(self, actions):
+        """
+        Tell all the environments to start taking a step
+        with the given actions.
+        Call step_wait() to get the results of the step.
+
+        You should not call this if a step_async run is
+        already pending.
+        """
+        pass
+
+    @abstractmethod
+    def step_wait(self):
+        """
+        Wait for the step taken with step_async().
+
+        Returns (obs, rews, dones, infos):
+         - obs: an array of observations, or a tuple of
+                arrays of observations.
+         - rews: an array of rewards
+         - dones: an array of "episode done" booleans
+         - infos: a sequence of info objects
+        """
+        pass
+
+    @abstractmethod
+    def close(self):
+        """
+        Clean up the environments' resources.
+        """
+        pass
+
+    def step(self, actions):
+        self.step_async(actions)
+        return self.step_wait()
+
+    def render(self, mode='human'):
+        logger.warn('Render not defined for %s'%self)
+
+    @property
+    def unwrapped(self):
+        if isinstance(self, VecEnvWrapper):
+            return self.venv.unwrapped
+        else:
+            return self
+
+class VecEnvWrapper(VecEnv):
+    def __init__(self, venv, observation_space=None, action_space=None):
+        self.venv = venv
+        VecEnv.__init__(self, 
+            num_envs=venv.num_envs,
+            observation_space=observation_space or venv.observation_space, 
+            action_space=action_space or venv.action_space)
+
+    def step_async(self, actions):
+        self.venv.step_async(actions)
+
+    @abstractmethod
+    def reset(self):
+        pass
+
+    @abstractmethod
+    def step_wait(self):
+        pass
+
+    def close(self):
+        return self.venv.close()
+
+    def render(self):
+        self.venv.render()
+
+class CloudpickleWrapper(object):
+    """
+    Uses cloudpickle to serialize contents (otherwise multiprocessing tries to use pickle)
+    """
+    def __init__(self, x):
+        self.x = x
+    def __getstate__(self):
+        import cloudpickle
+        return cloudpickle.dumps(self.x)
+    def __setstate__(self, ob):
+        import pickle
+        self.x = pickle.loads(ob)

baselines/common/vec_env/dummy_vec_env.py

@@ -0,0 +1,67 @@
+import numpy as np
+from gym import spaces
+from collections import OrderedDict
+from . import VecEnv
+
+class DummyVecEnv(VecEnv):
+    def __init__(self, env_fns):
+        self.envs = [fn() for fn in env_fns]
+        env = self.envs[0]
+        VecEnv.__init__(self, len(env_fns), env.observation_space, env.action_space)
+        shapes, dtypes = {}, {}
+        self.keys = []
+        obs_space = env.observation_space
+
+        if isinstance(obs_space, spaces.Dict):
+            assert isinstance(obs_space.spaces, OrderedDict)
+            subspaces = obs_space.spaces
+        else:
+            subspaces = {None: obs_space}
+
+        for key, box in subspaces.items():
+            shapes[key] = box.shape
+            dtypes[key] = box.dtype
+            self.keys.append(key)
+        
+        self.buf_obs = { k: np.zeros((self.num_envs,) + tuple(shapes[k]), dtype=dtypes[k]) for k in self.keys }
+        self.buf_dones = np.zeros((self.num_envs,), dtype=np.bool)
+        self.buf_rews  = np.zeros((self.num_envs,), dtype=np.float32)
+        self.buf_infos = [{} for _ in range(self.num_envs)]
+        self.actions = None
+
+    def step_async(self, actions):
+        self.actions = actions
+
+    def step_wait(self):
+        for e in range(self.num_envs):
+            obs, self.buf_rews[e], self.buf_dones[e], self.buf_infos[e] = self.envs[e].step(self.actions[e])
+            if self.buf_dones[e]:
+                obs = self.envs[e].reset()
+            self._save_obs(e, obs)
+        return (self._obs_from_buf(), np.copy(self.buf_rews), np.copy(self.buf_dones),
+                self.buf_infos.copy())
+
+    def reset(self):
+        for e in range(self.num_envs):
+            obs = self.envs[e].reset()
+            self._save_obs(e, obs)
+        return self._obs_from_buf()
+
+    def close(self):
+        return
+
+    def render(self, mode='human'):
+        return [e.render(mode=mode) for e in self.envs]
+
+    def _save_obs(self, e, obs):
+        for k in self.keys:
+            if k is None:
+                self.buf_obs[k][e] = obs
+            else:
+                self.buf_obs[k][e] = obs[k]
+
+    def _obs_from_buf(self):
+        if self.keys==[None]:
+            return self.buf_obs[None]
+        else:
+            return self.buf_obs

baselines/common/vec_env/subproc_vec_env.py

@@ -0,0 +1,97 @@
+import numpy as np
+from multiprocessing import Process, Pipe
+from baselines.common.vec_env import VecEnv, CloudpickleWrapper
+from baselines.common.tile_images import tile_images
+
+
+def worker(remote, parent_remote, env_fn_wrapper):
+    parent_remote.close()
+    env = env_fn_wrapper.x()
+    while True:
+        cmd, data = remote.recv()
+        if cmd == 'step':
+            ob, reward, done, info = env.step(data)
+            if done:
+                ob = env.reset()
+            remote.send((ob, reward, done, info))
+        elif cmd == 'reset':
+            ob = env.reset()
+            remote.send(ob)
+        elif cmd == 'render':
+            remote.send(env.render(mode='rgb_array'))
+        elif cmd == 'close':
+            remote.close()
+            break
+        elif cmd == 'get_spaces':
+            remote.send((env.observation_space, env.action_space))
+        else:
+            raise NotImplementedError
+
+
+class SubprocVecEnv(VecEnv):
+    def __init__(self, env_fns, spaces=None):
+        """
+        envs: list of gym environments to run in subprocesses
+        """
+        self.waiting = False
+        self.closed = False
+        nenvs = len(env_fns)
+        self.remotes, self.work_remotes = zip(*[Pipe() for _ in range(nenvs)])
+        self.ps = [Process(target=worker, args=(work_remote, remote, CloudpickleWrapper(env_fn)))
+            for (work_remote, remote, env_fn) in zip(self.work_remotes, self.remotes, env_fns)]
+        for p in self.ps:
+            p.daemon = True # if the main process crashes, we should not cause things to hang
+            p.start()
+        for remote in self.work_remotes:
+            remote.close()
+
+        self.remotes[0].send(('get_spaces', None))
+        observation_space, action_space = self.remotes[0].recv()
+        VecEnv.__init__(self, len(env_fns), observation_space, action_space)
+
+    def step_async(self, actions):
+        for remote, action in zip(self.remotes, actions):
+            remote.send(('step', action))
+        self.waiting = True
+
+    def step_wait(self):
+        results = [remote.recv() for remote in self.remotes]
+        self.waiting = False
+        obs, rews, dones, infos = zip(*results)
+        return np.stack(obs), np.stack(rews), np.stack(dones), infos
+
+    def reset(self):
+        for remote in self.remotes:
+            remote.send(('reset', None))
+        return np.stack([remote.recv() for remote in self.remotes])
+
+    def reset_task(self):
+        for remote in self.remotes:
+            remote.send(('reset_task', None))
+        return np.stack([remote.recv() for remote in self.remotes])
+
+    def close(self):
+        if self.closed:
+            return
+        if self.waiting:
+            for remote in self.remotes:            
+                remote.recv()
+        for remote in self.remotes:
+            remote.send(('close', None))
+        for p in self.ps:
+            p.join()
+        self.closed = True
+
+    def render(self, mode='human'):
+        for pipe in self.remotes:
+            pipe.send(('render', None))
+        imgs = [pipe.recv() for pipe in self.remotes]
+        bigimg = tile_images(imgs)
+        if mode == 'human':
+            import cv2
+            cv2.imshow('vecenv', bigimg[:,:,::-1])
+            cv2.waitKey(1)
+        elif mode == 'rgb_array':
+            return bigimg
+        else:
+            raise NotImplementedError

baselines/common/vec_env/vec_frame_stack.py

@@ -0,0 +1,38 @@
+from baselines.common.vec_env import VecEnvWrapper
+import numpy as np
+from gym import spaces
+
+class VecFrameStack(VecEnvWrapper):
+    """
+    Vectorized environment base class
+    """
+    def __init__(self, venv, nstack):
+        self.venv = venv
+        self.nstack = nstack
+        wos = venv.observation_space # wrapped ob space
+        low = np.repeat(wos.low, self.nstack, axis=-1)
+        high = np.repeat(wos.high, self.nstack, axis=-1)
+        self.stackedobs = np.zeros((venv.num_envs,)+low.shape, low.dtype)
+        observation_space = spaces.Box(low=low, high=high, dtype=venv.observation_space.dtype)
+        VecEnvWrapper.__init__(self, venv, observation_space=observation_space)
+
+    def step_wait(self):
+        obs, rews, news, infos = self.venv.step_wait()
+        self.stackedobs = np.roll(self.stackedobs, shift=-1, axis=-1)
+        for (i, new) in enumerate(news):
+            if new:
+                self.stackedobs[i] = 0
+        self.stackedobs[..., -obs.shape[-1]:] = obs
+        return self.stackedobs, rews, news, infos
+
+    def reset(self):
+        """
+        Reset all environments
+        """
+        obs = self.venv.reset()
+        self.stackedobs[...] = 0
+        self.stackedobs[..., -obs.shape[-1]:] = obs
+        return self.stackedobs
+
+    def close(self):
+        self.venv.close()

baselines/common/vec_env/vec_normalize.py

@@ -0,0 +1,47 @@
+from baselines.common.vec_env import VecEnvWrapper
+from baselines.common.running_mean_std import RunningMeanStd
+import numpy as np
+
+class VecNormalize(VecEnvWrapper):
+    """
+    Vectorized environment base class
+    """
+    def __init__(self, venv, ob=True, ret=True, clipob=10., cliprew=10., gamma=0.99, epsilon=1e-8):
+        VecEnvWrapper.__init__(self, venv)
+        self.ob_rms = RunningMeanStd(shape=self.observation_space.shape) if ob else None
+        self.ret_rms = RunningMeanStd(shape=()) if ret else None
+        self.clipob = clipob
+        self.cliprew = cliprew
+        self.ret = np.zeros(self.num_envs)
+        self.gamma = gamma
+        self.epsilon = epsilon
+
+    def step_wait(self):
+        """
+        Apply sequence of actions to sequence of environments
+        actions -> (observations, rewards, news)
+
+        where 'news' is a boolean vector indicating whether each element is new.
+        """
+        obs, rews, news, infos = self.venv.step_wait()
+        self.ret = self.ret * self.gamma + rews
+        obs = self._obfilt(obs)
+        if self.ret_rms:
+            self.ret_rms.update(self.ret)
+            rews = np.clip(rews / np.sqrt(self.ret_rms.var + self.epsilon), -self.cliprew, self.cliprew)
+        return obs, rews, news, infos
+
+    def _obfilt(self, obs):
+        if self.ob_rms:
+            self.ob_rms.update(obs)
+            obs = np.clip((obs - self.ob_rms.mean) / np.sqrt(self.ob_rms.var + self.epsilon), -self.clipob, self.clipob)
+            return obs
+        else:
+            return obs
+
+    def reset(self):
+        """
+        Reset all environments
+        """
+        obs = self.venv.reset()
+        return self._obfilt(obs)

baselines/ddpg/README.md

@@ -0,0 +1,5 @@
+# DDPG
+
+- Original paper: https://arxiv.org/abs/1509.02971
+- Baselines post: https://blog.openai.com/better-exploration-with-parameter-noise/
+- `python -m baselines.ddpg.main` runs the algorithm for 1M frames = 10M timesteps on a Mujoco environment. See help (`-h`) for more options.

baselines/ddpg/ddpg.py

@@ -0,0 +1,378 @@
+from copy import copy
+from functools import reduce
+
+import numpy as np
+import tensorflow as tf
+import tensorflow.contrib as tc
+
+from baselines import logger
+from baselines.common.mpi_adam import MpiAdam
+import baselines.common.tf_util as U
+from baselines.common.mpi_running_mean_std import RunningMeanStd
+from mpi4py import MPI
+
+def normalize(x, stats):
+    if stats is None:
+        return x
+    return (x - stats.mean) / stats.std
+
+
+def denormalize(x, stats):
+    if stats is None:
+        return x
+    return x * stats.std + stats.mean
+
+def reduce_std(x, axis=None, keepdims=False):
+    return tf.sqrt(reduce_var(x, axis=axis, keepdims=keepdims))
+
+def reduce_var(x, axis=None, keepdims=False):
+    m = tf.reduce_mean(x, axis=axis, keep_dims=True)
+    devs_squared = tf.square(x - m)
+    return tf.reduce_mean(devs_squared, axis=axis, keep_dims=keepdims)
+
+def get_target_updates(vars, target_vars, tau):
+    logger.info('setting up target updates ...')
+    soft_updates = []
+    init_updates = []
+    assert len(vars) == len(target_vars)
+    for var, target_var in zip(vars, target_vars):
+        logger.info('  {} <- {}'.format(target_var.name, var.name))
+        init_updates.append(tf.assign(target_var, var))
+        soft_updates.append(tf.assign(target_var, (1. - tau) * target_var + tau * var))
+    assert len(init_updates) == len(vars)
+    assert len(soft_updates) == len(vars)
+    return tf.group(*init_updates), tf.group(*soft_updates)
+
+
+def get_perturbed_actor_updates(actor, perturbed_actor, param_noise_stddev):
+    assert len(actor.vars) == len(perturbed_actor.vars)
+    assert len(actor.perturbable_vars) == len(perturbed_actor.perturbable_vars)
+
+    updates = []
+    for var, perturbed_var in zip(actor.vars, perturbed_actor.vars):
+        if var in actor.perturbable_vars:
+            logger.info('  {} <- {} + noise'.format(perturbed_var.name, var.name))
+            updates.append(tf.assign(perturbed_var, var + tf.random_normal(tf.shape(var), mean=0., stddev=param_noise_stddev)))
+        else:
+            logger.info('  {} <- {}'.format(perturbed_var.name, var.name))
+            updates.append(tf.assign(perturbed_var, var))
+    assert len(updates) == len(actor.vars)
+    return tf.group(*updates)
+
+
+class DDPG(object):
+    def __init__(self, actor, critic, memory, observation_shape, action_shape, param_noise=None, action_noise=None,
+        gamma=0.99, tau=0.001, normalize_returns=False, enable_popart=False, normalize_observations=True,
+        batch_size=128, observation_range=(-5., 5.), action_range=(-1., 1.), return_range=(-np.inf, np.inf),
+        adaptive_param_noise=True, adaptive_param_noise_policy_threshold=.1,
+        critic_l2_reg=0., actor_lr=1e-4, critic_lr=1e-3, clip_norm=None, reward_scale=1.):
+        # Inputs.
+        self.obs0 = tf.placeholder(tf.float32, shape=(None,) + observation_shape, name='obs0')
+        self.obs1 = tf.placeholder(tf.float32, shape=(None,) + observation_shape, name='obs1')
+        self.terminals1 = tf.placeholder(tf.float32, shape=(None, 1), name='terminals1')
+        self.rewards = tf.placeholder(tf.float32, shape=(None, 1), name='rewards')
+        self.actions = tf.placeholder(tf.float32, shape=(None,) + action_shape, name='actions')
+        self.critic_target = tf.placeholder(tf.float32, shape=(None, 1), name='critic_target')
+        self.param_noise_stddev = tf.placeholder(tf.float32, shape=(), name='param_noise_stddev')
+
+        # Parameters.
+        self.gamma = gamma
+        self.tau = tau
+        self.memory = memory
+        self.normalize_observations = normalize_observations
+        self.normalize_returns = normalize_returns
+        self.action_noise = action_noise
+        self.param_noise = param_noise
+        self.action_range = action_range
+        self.return_range = return_range
+        self.observation_range = observation_range
+        self.critic = critic
+        self.actor = actor
+        self.actor_lr = actor_lr
+        self.critic_lr = critic_lr
+        self.clip_norm = clip_norm
+        self.enable_popart = enable_popart
+        self.reward_scale = reward_scale
+        self.batch_size = batch_size
+        self.stats_sample = None
+        self.critic_l2_reg = critic_l2_reg
+
+        # Observation normalization.
+        if self.normalize_observations:
+            with tf.variable_scope('obs_rms'):
+                self.obs_rms = RunningMeanStd(shape=observation_shape)
+        else:
+            self.obs_rms = None
+        normalized_obs0 = tf.clip_by_value(normalize(self.obs0, self.obs_rms),
+            self.observation_range[0], self.observation_range[1])
+        normalized_obs1 = tf.clip_by_value(normalize(self.obs1, self.obs_rms),
+            self.observation_range[0], self.observation_range[1])
+
+        # Return normalization.
+        if self.normalize_returns:
+            with tf.variable_scope('ret_rms'):
+                self.ret_rms = RunningMeanStd()
+        else:
+            self.ret_rms = None
+
+        # Create target networks.
+        target_actor = copy(actor)
+        target_actor.name = 'target_actor'
+        self.target_actor = target_actor
+        target_critic = copy(critic)
+        target_critic.name = 'target_critic'
+        self.target_critic = target_critic
+
+        # Create networks and core TF parts that are shared across setup parts.
+        self.actor_tf = actor(normalized_obs0)
+        self.normalized_critic_tf = critic(normalized_obs0, self.actions)
+        self.critic_tf = denormalize(tf.clip_by_value(self.normalized_critic_tf, self.return_range[0], self.return_range[1]), self.ret_rms)
+        self.normalized_critic_with_actor_tf = critic(normalized_obs0, self.actor_tf, reuse=True)
+        self.critic_with_actor_tf = denormalize(tf.clip_by_value(self.normalized_critic_with_actor_tf, self.return_range[0], self.return_range[1]), self.ret_rms)
+        Q_obs1 = denormalize(target_critic(normalized_obs1, target_actor(normalized_obs1)), self.ret_rms)
+        self.target_Q = self.rewards + (1. - self.terminals1) * gamma * Q_obs1
+
+        # Set up parts.
+        if self.param_noise is not None:
+            self.setup_param_noise(normalized_obs0)
+        self.setup_actor_optimizer()
+        self.setup_critic_optimizer()
+        if self.normalize_returns and self.enable_popart:
+            self.setup_popart()
+        self.setup_stats()
+        self.setup_target_network_updates()
+
+    def setup_target_network_updates(self):
+        actor_init_updates, actor_soft_updates = get_target_updates(self.actor.vars, self.target_actor.vars, self.tau)
+        critic_init_updates, critic_soft_updates = get_target_updates(self.critic.vars, self.target_critic.vars, self.tau)
+        self.target_init_updates = [actor_init_updates, critic_init_updates]
+        self.target_soft_updates = [actor_soft_updates, critic_soft_updates]
+
+    def setup_param_noise(self, normalized_obs0):
+        assert self.param_noise is not None
+
+        # Configure perturbed actor.
+        param_noise_actor = copy(self.actor)
+        param_noise_actor.name = 'param_noise_actor'
+        self.perturbed_actor_tf = param_noise_actor(normalized_obs0)
+        logger.info('setting up param noise')
+        self.perturb_policy_ops = get_perturbed_actor_updates(self.actor, param_noise_actor, self.param_noise_stddev)
+
+        # Configure separate copy for stddev adoption.
+        adaptive_param_noise_actor = copy(self.actor)
+        adaptive_param_noise_actor.name = 'adaptive_param_noise_actor'
+        adaptive_actor_tf = adaptive_param_noise_actor(normalized_obs0)
+        self.perturb_adaptive_policy_ops = get_perturbed_actor_updates(self.actor, adaptive_param_noise_actor, self.param_noise_stddev)
+        self.adaptive_policy_distance = tf.sqrt(tf.reduce_mean(tf.square(self.actor_tf - adaptive_actor_tf)))
+
+    def setup_actor_optimizer(self):
+        logger.info('setting up actor optimizer')
+        self.actor_loss = -tf.reduce_mean(self.critic_with_actor_tf)
+        actor_shapes = [var.get_shape().as_list() for var in self.actor.trainable_vars]
+        actor_nb_params = sum([reduce(lambda x, y: x * y, shape) for shape in actor_shapes])
+        logger.info('  actor shapes: {}'.format(actor_shapes))
+        logger.info('  actor params: {}'.format(actor_nb_params))
+        self.actor_grads = U.flatgrad(self.actor_loss, self.actor.trainable_vars, clip_norm=self.clip_norm)
+        self.actor_optimizer = MpiAdam(var_list=self.actor.trainable_vars,
+            beta1=0.9, beta2=0.999, epsilon=1e-08)
+
+    def setup_critic_optimizer(self):
+        logger.info('setting up critic optimizer')
+        normalized_critic_target_tf = tf.clip_by_value(normalize(self.critic_target, self.ret_rms), self.return_range[0], self.return_range[1])
+        self.critic_loss = tf.reduce_mean(tf.square(self.normalized_critic_tf - normalized_critic_target_tf))
+        if self.critic_l2_reg > 0.:
+            critic_reg_vars = [var for var in self.critic.trainable_vars if 'kernel' in var.name and 'output' not in var.name]
+            for var in critic_reg_vars:
+                logger.info('  regularizing: {}'.format(var.name))
+            logger.info('  applying l2 regularization with {}'.format(self.critic_l2_reg))
+            critic_reg = tc.layers.apply_regularization(
+                tc.layers.l2_regularizer(self.critic_l2_reg),
+                weights_list=critic_reg_vars
+            )
+            self.critic_loss += critic_reg
+        critic_shapes = [var.get_shape().as_list() for var in self.critic.trainable_vars]
+        critic_nb_params = sum([reduce(lambda x, y: x * y, shape) for shape in critic_shapes])
+        logger.info('  critic shapes: {}'.format(critic_shapes))
+        logger.info('  critic params: {}'.format(critic_nb_params))
+        self.critic_grads = U.flatgrad(self.critic_loss, self.critic.trainable_vars, clip_norm=self.clip_norm)
+        self.critic_optimizer = MpiAdam(var_list=self.critic.trainable_vars,
+            beta1=0.9, beta2=0.999, epsilon=1e-08)
+
+    def setup_popart(self):
+        # See https://arxiv.org/pdf/1602.07714.pdf for details.
+        self.old_std = tf.placeholder(tf.float32, shape=[1], name='old_std')
+        new_std = self.ret_rms.std
+        self.old_mean = tf.placeholder(tf.float32, shape=[1], name='old_mean')
+        new_mean = self.ret_rms.mean
+
+        self.renormalize_Q_outputs_op = []
+        for vs in [self.critic.output_vars, self.target_critic.output_vars]:
+            assert len(vs) == 2
+            M, b = vs
+            assert 'kernel' in M.name
+            assert 'bias' in b.name
+            assert M.get_shape()[-1] == 1
+            assert b.get_shape()[-1] == 1
+            self.renormalize_Q_outputs_op += [M.assign(M * self.old_std / new_std)]
+            self.renormalize_Q_outputs_op += [b.assign((b * self.old_std + self.old_mean - new_mean) / new_std)]
+
+    def setup_stats(self):
+        ops = []
+        names = []
+
+        if self.normalize_returns:
+            ops += [self.ret_rms.mean, self.ret_rms.std]
+            names += ['ret_rms_mean', 'ret_rms_std']
+
+        if self.normalize_observations:
+            ops += [tf.reduce_mean(self.obs_rms.mean), tf.reduce_mean(self.obs_rms.std)]
+            names += ['obs_rms_mean', 'obs_rms_std']
+
+        ops += [tf.reduce_mean(self.critic_tf)]
+        names += ['reference_Q_mean']
+        ops += [reduce_std(self.critic_tf)]
+        names += ['reference_Q_std']
+
+        ops += [tf.reduce_mean(self.critic_with_actor_tf)]
+        names += ['reference_actor_Q_mean']
+        ops += [reduce_std(self.critic_with_actor_tf)]
+        names += ['reference_actor_Q_std']
+
+        ops += [tf.reduce_mean(self.actor_tf)]
+        names += ['reference_action_mean']
+        ops += [reduce_std(self.actor_tf)]
+        names += ['reference_action_std']
+
+        if self.param_noise:
+            ops += [tf.reduce_mean(self.perturbed_actor_tf)]
+            names += ['reference_perturbed_action_mean']
+            ops += [reduce_std(self.perturbed_actor_tf)]
+            names += ['reference_perturbed_action_std']
+
+        self.stats_ops = ops
+        self.stats_names = names
+
+    def pi(self, obs, apply_noise=True, compute_Q=True):
+        if self.param_noise is not None and apply_noise:
+            actor_tf = self.perturbed_actor_tf
+        else:
+            actor_tf = self.actor_tf
+        feed_dict = {self.obs0: [obs]}
+        if compute_Q:
+            action, q = self.sess.run([actor_tf, self.critic_with_actor_tf], feed_dict=feed_dict)
+        else:
+            action = self.sess.run(actor_tf, feed_dict=feed_dict)
+            q = None
+        action = action.flatten()
+        if self.action_noise is not None and apply_noise:
+            noise = self.action_noise()
+            assert noise.shape == action.shape
+            action += noise
+        action = np.clip(action, self.action_range[0], self.action_range[1])
+        return action, q
+
+    def store_transition(self, obs0, action, reward, obs1, terminal1):
+        reward *= self.reward_scale
+        self.memory.append(obs0, action, reward, obs1, terminal1)
+        if self.normalize_observations:
+            self.obs_rms.update(np.array([obs0]))
+
+    def train(self):
+        # Get a batch.
+        batch = self.memory.sample(batch_size=self.batch_size)
+
+        if self.normalize_returns and self.enable_popart:
+            old_mean, old_std, target_Q = self.sess.run([self.ret_rms.mean, self.ret_rms.std, self.target_Q], feed_dict={
+                self.obs1: batch['obs1'],
+                self.rewards: batch['rewards'],
+                self.terminals1: batch['terminals1'].astype('float32'),
+            })
+            self.ret_rms.update(target_Q.flatten())
+            self.sess.run(self.renormalize_Q_outputs_op, feed_dict={
+                self.old_std : np.array([old_std]),
+                self.old_mean : np.array([old_mean]),
+            })
+
+            # Run sanity check. Disabled by default since it slows down things considerably.
+            # print('running sanity check')
+            # target_Q_new, new_mean, new_std = self.sess.run([self.target_Q, self.ret_rms.mean, self.ret_rms.std], feed_dict={
+            #     self.obs1: batch['obs1'],
+            #     self.rewards: batch['rewards'],
+            #     self.terminals1: batch['terminals1'].astype('float32'),
+            # })
+            # print(target_Q_new, target_Q, new_mean, new_std)
+            # assert (np.abs(target_Q - target_Q_new) < 1e-3).all()
+        else:
+            target_Q = self.sess.run(self.target_Q, feed_dict={
+                self.obs1: batch['obs1'],
+                self.rewards: batch['rewards'],
+                self.terminals1: batch['terminals1'].astype('float32'),
+            })
+
+        # Get all gradients and perform a synced update.
+        ops = [self.actor_grads, self.actor_loss, self.critic_grads, self.critic_loss]
+        actor_grads, actor_loss, critic_grads, critic_loss = self.sess.run(ops, feed_dict={
+            self.obs0: batch['obs0'],
+            self.actions: batch['actions'],
+            self.critic_target: target_Q,
+        })
+        self.actor_optimizer.update(actor_grads, stepsize=self.actor_lr)
+        self.critic_optimizer.update(critic_grads, stepsize=self.critic_lr)
+
+        return critic_loss, actor_loss
+
+    def initialize(self, sess):
+        self.sess = sess
+        self.sess.run(tf.global_variables_initializer())
+        self.actor_optimizer.sync()
+        self.critic_optimizer.sync()
+        self.sess.run(self.target_init_updates)
+
+    def update_target_net(self):
+        self.sess.run(self.target_soft_updates)
+
+    def get_stats(self):
+        if self.stats_sample is None:
+            # Get a sample and keep that fixed for all further computations.
+            # This allows us to estimate the change in value for the same set of inputs.
+            self.stats_sample = self.memory.sample(batch_size=self.batch_size)
+        values = self.sess.run(self.stats_ops, feed_dict={
+            self.obs0: self.stats_sample['obs0'],
+            self.actions: self.stats_sample['actions'],
+        })
+
+        names = self.stats_names[:]
+        assert len(names) == len(values)
+        stats = dict(zip(names, values))
+
+        if self.param_noise is not None:
+            stats = {**stats, **self.param_noise.get_stats()}
+
+        return stats
+
+    def adapt_param_noise(self):
+        if self.param_noise is None:
+            return 0.
+
+        # Perturb a separate copy of the policy to adjust the scale for the next "real" perturbation.
+        batch = self.memory.sample(batch_size=self.batch_size)
+        self.sess.run(self.perturb_adaptive_policy_ops, feed_dict={
+            self.param_noise_stddev: self.param_noise.current_stddev,
+        })
+        distance = self.sess.run(self.adaptive_policy_distance, feed_dict={
+            self.obs0: batch['obs0'],
+            self.param_noise_stddev: self.param_noise.current_stddev,
+        })
+
+        mean_distance = MPI.COMM_WORLD.allreduce(distance, op=MPI.SUM) / MPI.COMM_WORLD.Get_size()
+        self.param_noise.adapt(mean_distance)
+        return mean_distance
+
+    def reset(self):
+        # Reset internal state after an episode is complete.
+        if self.action_noise is not None:
+            self.action_noise.reset()
+        if self.param_noise is not None:
+            self.sess.run(self.perturb_policy_ops, feed_dict={
+                self.param_noise_stddev: self.param_noise.current_stddev,
+            })

baselines/ddpg/main.py

@@ -0,0 +1,123 @@
+import argparse
+import time
+import os
+import logging
+from baselines import logger, bench
+from baselines.common.misc_util import (
+    set_global_seeds,
+    boolean_flag,
+)
+import baselines.ddpg.training as training
+from baselines.ddpg.models import Actor, Critic
+from baselines.ddpg.memory import Memory
+from baselines.ddpg.noise import *
+
+import gym
+import tensorflow as tf
+from mpi4py import MPI
+
+def run(env_id, seed, noise_type, layer_norm, evaluation, **kwargs):
+    # Configure things.
+    rank = MPI.COMM_WORLD.Get_rank()
+    if rank != 0:
+        logger.set_level(logger.DISABLED)
+
+    # Create envs.
+    env = gym.make(env_id)
+    env = bench.Monitor(env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)))
+
+    if evaluation and rank==0:
+        eval_env = gym.make(env_id)
+        eval_env = bench.Monitor(eval_env, os.path.join(logger.get_dir(), 'gym_eval'))
+        env = bench.Monitor(env, None)
+    else:
+        eval_env = None
+
+    # Parse noise_type
+    action_noise = None
+    param_noise = None
+    nb_actions = env.action_space.shape[-1]
+    for current_noise_type in noise_type.split(','):
+        current_noise_type = current_noise_type.strip()
+        if current_noise_type == 'none':
+            pass
+        elif 'adaptive-param' in current_noise_type:
+            _, stddev = current_noise_type.split('_')
+            param_noise = AdaptiveParamNoiseSpec(initial_stddev=float(stddev), desired_action_stddev=float(stddev))
+        elif 'normal' in current_noise_type:
+            _, stddev = current_noise_type.split('_')
+            action_noise = NormalActionNoise(mu=np.zeros(nb_actions), sigma=float(stddev) * np.ones(nb_actions))
+        elif 'ou' in current_noise_type:
+            _, stddev = current_noise_type.split('_')
+            action_noise = OrnsteinUhlenbeckActionNoise(mu=np.zeros(nb_actions), sigma=float(stddev) * np.ones(nb_actions))
+        else:
+            raise RuntimeError('unknown noise type "{}"'.format(current_noise_type))
+
+    # Configure components.
+    memory = Memory(limit=int(1e6), action_shape=env.action_space.shape, observation_shape=env.observation_space.shape)
+    critic = Critic(layer_norm=layer_norm)
+    actor = Actor(nb_actions, layer_norm=layer_norm)
+
+    # Seed everything to make things reproducible.
+    seed = seed + 1000000 * rank
+    logger.info('rank {}: seed={}, logdir={}'.format(rank, seed, logger.get_dir()))
+    tf.reset_default_graph()
+    set_global_seeds(seed)
+    env.seed(seed)
+    if eval_env is not None:
+        eval_env.seed(seed)
+
+    # Disable logging for rank != 0 to avoid noise.
+    if rank == 0:
+        start_time = time.time()
+    training.train(env=env, eval_env=eval_env, param_noise=param_noise,
+        action_noise=action_noise, actor=actor, critic=critic, memory=memory, **kwargs)
+    env.close()
+    if eval_env is not None:
+        eval_env.close()
+    if rank == 0:
+        logger.info('total runtime: {}s'.format(time.time() - start_time))
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+    parser.add_argument('--env-id', type=str, default='HalfCheetah-v1')
+    boolean_flag(parser, 'render-eval', default=False)
+    boolean_flag(parser, 'layer-norm', default=True)
+    boolean_flag(parser, 'render', default=False)
+    boolean_flag(parser, 'normalize-returns', default=False)
+    boolean_flag(parser, 'normalize-observations', default=True)
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--critic-l2-reg', type=float, default=1e-2)
+    parser.add_argument('--batch-size', type=int, default=64)  # per MPI worker
+    parser.add_argument('--actor-lr', type=float, default=1e-4)
+    parser.add_argument('--critic-lr', type=float, default=1e-3)
+    boolean_flag(parser, 'popart', default=False)
+    parser.add_argument('--gamma', type=float, default=0.99)
+    parser.add_argument('--reward-scale', type=float, default=1.)
+    parser.add_argument('--clip-norm', type=float, default=None)
+    parser.add_argument('--nb-epochs', type=int, default=500)  # with default settings, perform 1M steps total
+    parser.add_argument('--nb-epoch-cycles', type=int, default=20)
+    parser.add_argument('--nb-train-steps', type=int, default=50)  # per epoch cycle and MPI worker
+    parser.add_argument('--nb-eval-steps', type=int, default=100)  # per epoch cycle and MPI worker
+    parser.add_argument('--nb-rollout-steps', type=int, default=100)  # per epoch cycle and MPI worker
+    parser.add_argument('--noise-type', type=str, default='adaptive-param_0.2')  # choices are adaptive-param_xx, ou_xx, normal_xx, none
+    parser.add_argument('--num-timesteps', type=int, default=None)
+    boolean_flag(parser, 'evaluation', default=False)
+    args = parser.parse_args()
+    # we don't directly specify timesteps for this script, so make sure that if we do specify them
+    # they agree with the other parameters
+    if args.num_timesteps is not None:
+        assert(args.num_timesteps == args.nb_epochs * args.nb_epoch_cycles * args.nb_rollout_steps)
+    dict_args = vars(args)
+    del dict_args['num_timesteps']
+    return dict_args
+
+
+if __name__ == '__main__':
+    args = parse_args()
+    if MPI.COMM_WORLD.Get_rank() == 0:
+        logger.configure()
+    # Run actual script.
+    run(**args)

baselines/ddpg/memory.py

@@ -0,0 +1,83 @@
+import numpy as np
+
+
+class RingBuffer(object):
+    def __init__(self, maxlen, shape, dtype='float32'):
+        self.maxlen = maxlen
+        self.start = 0
+        self.length = 0
+        self.data = np.zeros((maxlen,) + shape).astype(dtype)
+
+    def __len__(self):
+        return self.length
+
+    def __getitem__(self, idx):
+        if idx < 0 or idx >= self.length:
+            raise KeyError()
+        return self.data[(self.start + idx) % self.maxlen]
+
+    def get_batch(self, idxs):
+        return self.data[(self.start + idxs) % self.maxlen]
+
+    def append(self, v):
+        if self.length < self.maxlen:
+            # We have space, simply increase the length.
+            self.length += 1
+        elif self.length == self.maxlen:
+            # No space, "remove" the first item.
+            self.start = (self.start + 1) % self.maxlen
+        else:
+            # This should never happen.
+            raise RuntimeError()
+        self.data[(self.start + self.length - 1) % self.maxlen] = v
+
+
+def array_min2d(x):
+    x = np.array(x)
+    if x.ndim >= 2:
+        return x
+    return x.reshape(-1, 1)
+
+
+class Memory(object):
+    def __init__(self, limit, action_shape, observation_shape):
+        self.limit = limit
+
+        self.observations0 = RingBuffer(limit, shape=observation_shape)
+        self.actions = RingBuffer(limit, shape=action_shape)
+        self.rewards = RingBuffer(limit, shape=(1,))
+        self.terminals1 = RingBuffer(limit, shape=(1,))
+        self.observations1 = RingBuffer(limit, shape=observation_shape)
+
+    def sample(self, batch_size):
+        # Draw such that we always have a proceeding element.
+        batch_idxs = np.random.random_integers(self.nb_entries - 2, size=batch_size)
+
+        obs0_batch = self.observations0.get_batch(batch_idxs)
+        obs1_batch = self.observations1.get_batch(batch_idxs)
+        action_batch = self.actions.get_batch(batch_idxs)
+        reward_batch = self.rewards.get_batch(batch_idxs)
+        terminal1_batch = self.terminals1.get_batch(batch_idxs)
+
+        result = {
+            'obs0': array_min2d(obs0_batch),
+            'obs1': array_min2d(obs1_batch),
+            'rewards': array_min2d(reward_batch),
+            'actions': array_min2d(action_batch),
+            'terminals1': array_min2d(terminal1_batch),
+        }
+        return result
+
+    def append(self, obs0, action, reward, obs1, terminal1, training=True):
+        if not training:
+            return
+        
+        self.observations0.append(obs0)
+        self.actions.append(action)
+        self.rewards.append(reward)
+        self.observations1.append(obs1)
+        self.terminals1.append(terminal1)
+
+    @property
+    def nb_entries(self):
+        return len(self.observations0)

baselines/ddpg/models.py

@@ -0,0 +1,77 @@
+import tensorflow as tf
+import tensorflow.contrib as tc
+
+
+class Model(object):
+    def __init__(self, name):
+        self.name = name
+
+    @property
+    def vars(self):
+        return tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope=self.name)
+
+    @property
+    def trainable_vars(self):
+        return tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope=self.name)
+
+    @property
+    def perturbable_vars(self):
+        return [var for var in self.trainable_vars if 'LayerNorm' not in var.name]
+
+
+class Actor(Model):
+    def __init__(self, nb_actions, name='actor', layer_norm=True):
+        super(Actor, self).__init__(name=name)
+        self.nb_actions = nb_actions
+        self.layer_norm = layer_norm
+
+    def __call__(self, obs, reuse=False):
+        with tf.variable_scope(self.name) as scope:
+            if reuse:
+                scope.reuse_variables()
+
+            x = obs
+            x = tf.layers.dense(x, 64)
+            if self.layer_norm:
+                x = tc.layers.layer_norm(x, center=True, scale=True)
+            x = tf.nn.relu(x)
+            
+            x = tf.layers.dense(x, 64)
+            if self.layer_norm:
+                x = tc.layers.layer_norm(x, center=True, scale=True)
+            x = tf.nn.relu(x)
+            
+            x = tf.layers.dense(x, self.nb_actions, kernel_initializer=tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3))
+            x = tf.nn.tanh(x)
+        return x
+
+
+class Critic(Model):
+    def __init__(self, name='critic', layer_norm=True):
+        super(Critic, self).__init__(name=name)
+        self.layer_norm = layer_norm
+
+    def __call__(self, obs, action, reuse=False):
+        with tf.variable_scope(self.name) as scope:
+            if reuse:
+                scope.reuse_variables()
+
+            x = obs
+            x = tf.layers.dense(x, 64)
+            if self.layer_norm:
+                x = tc.layers.layer_norm(x, center=True, scale=True)
+            x = tf.nn.relu(x)
+
+            x = tf.concat([x, action], axis=-1)
+            x = tf.layers.dense(x, 64)
+            if self.layer_norm:
+                x = tc.layers.layer_norm(x, center=True, scale=True)
+            x = tf.nn.relu(x)
+
+            x = tf.layers.dense(x, 1, kernel_initializer=tf.random_uniform_initializer(minval=-3e-3, maxval=3e-3))
+        return x
+
+    @property
+    def output_vars(self):
+        output_vars = [var for var in self.trainable_vars if 'output' in var.name]
+        return output_vars

baselines/ddpg/noise.py

@@ -0,0 +1,67 @@
+import numpy as np
+
+
+class AdaptiveParamNoiseSpec(object):
+    def __init__(self, initial_stddev=0.1, desired_action_stddev=0.1, adoption_coefficient=1.01):
+        self.initial_stddev = initial_stddev
+        self.desired_action_stddev = desired_action_stddev
+        self.adoption_coefficient = adoption_coefficient
+
+        self.current_stddev = initial_stddev
+
+    def adapt(self, distance):
+        if distance > self.desired_action_stddev:
+            # Decrease stddev.
+            self.current_stddev /= self.adoption_coefficient
+        else:
+            # Increase stddev.
+            self.current_stddev *= self.adoption_coefficient
+
+    def get_stats(self):
+        stats = {
+            'param_noise_stddev': self.current_stddev,
+        }
+        return stats
+
+    def __repr__(self):
+        fmt = 'AdaptiveParamNoiseSpec(initial_stddev={}, desired_action_stddev={}, adoption_coefficient={})'
+        return fmt.format(self.initial_stddev, self.desired_action_stddev, self.adoption_coefficient)
+
+
+class ActionNoise(object):
+    def reset(self):
+        pass
+
+
+class NormalActionNoise(ActionNoise):
+    def __init__(self, mu, sigma):
+        self.mu = mu
+        self.sigma = sigma
+
+    def __call__(self):
+        return np.random.normal(self.mu, self.sigma)
+
+    def __repr__(self):
+        return 'NormalActionNoise(mu={}, sigma={})'.format(self.mu, self.sigma)
+
+
+# Based on http://math.stackexchange.com/questions/1287634/implementing-ornstein-uhlenbeck-in-matlab
+class OrnsteinUhlenbeckActionNoise(ActionNoise):
+    def __init__(self, mu, sigma, theta=.15, dt=1e-2, x0=None):
+        self.theta = theta
+        self.mu = mu
+        self.sigma = sigma
+        self.dt = dt
+        self.x0 = x0
+        self.reset()
+
+    def __call__(self):
+        x = self.x_prev + self.theta * (self.mu - self.x_prev) * self.dt + self.sigma * np.sqrt(self.dt) * np.random.normal(size=self.mu.shape)
+        self.x_prev = x
+        return x
+
+    def reset(self):
+        self.x_prev = self.x0 if self.x0 is not None else np.zeros_like(self.mu)
+
+    def __repr__(self):
+        return 'OrnsteinUhlenbeckActionNoise(mu={}, sigma={})'.format(self.mu, self.sigma)

baselines/ddpg/training.py

@@ -0,0 +1,191 @@
+import os
+import time
+from collections import deque
+import pickle
+
+from baselines.ddpg.ddpg import DDPG
+import baselines.common.tf_util as U
+
+from baselines import logger
+import numpy as np
+import tensorflow as tf
+from mpi4py import MPI
+
+
+def train(env, nb_epochs, nb_epoch_cycles, render_eval, reward_scale, render, param_noise, actor, critic,
+    normalize_returns, normalize_observations, critic_l2_reg, actor_lr, critic_lr, action_noise,
+    popart, gamma, clip_norm, nb_train_steps, nb_rollout_steps, nb_eval_steps, batch_size, memory,
+    tau=0.01, eval_env=None, param_noise_adaption_interval=50):
+    rank = MPI.COMM_WORLD.Get_rank()
+
+    assert (np.abs(env.action_space.low) == env.action_space.high).all()  # we assume symmetric actions.
+    max_action = env.action_space.high
+    logger.info('scaling actions by {} before executing in env'.format(max_action))
+    agent = DDPG(actor, critic, memory, env.observation_space.shape, env.action_space.shape,
+        gamma=gamma, tau=tau, normalize_returns=normalize_returns, normalize_observations=normalize_observations,
+        batch_size=batch_size, action_noise=action_noise, param_noise=param_noise, critic_l2_reg=critic_l2_reg,
+        actor_lr=actor_lr, critic_lr=critic_lr, enable_popart=popart, clip_norm=clip_norm,
+        reward_scale=reward_scale)
+    logger.info('Using agent with the following configuration:')
+    logger.info(str(agent.__dict__.items()))
+
+    # Set up logging stuff only for a single worker.
+    if rank == 0:
+        saver = tf.train.Saver()
+    else:
+        saver = None
+
+    step = 0
+    episode = 0
+    eval_episode_rewards_history = deque(maxlen=100)
+    episode_rewards_history = deque(maxlen=100)
+    with U.single_threaded_session() as sess:
+        # Prepare everything.
+        agent.initialize(sess)
+        sess.graph.finalize()
+
+        agent.reset()
+        obs = env.reset()
+        if eval_env is not None:
+            eval_obs = eval_env.reset()
+        done = False
+        episode_reward = 0.
+        episode_step = 0
+        episodes = 0
+        t = 0
+
+        epoch = 0
+        start_time = time.time()
+
+        epoch_episode_rewards = []
+        epoch_episode_steps = []
+        epoch_episode_eval_rewards = []
+        epoch_episode_eval_steps = []
+        epoch_start_time = time.time()
+        epoch_actions = []
+        epoch_qs = []
+        epoch_episodes = 0
+        for epoch in range(nb_epochs):
+            for cycle in range(nb_epoch_cycles):
+                # Perform rollouts.
+                for t_rollout in range(nb_rollout_steps):
+                    # Predict next action.
+                    action, q = agent.pi(obs, apply_noise=True, compute_Q=True)
+                    assert action.shape == env.action_space.shape
+
+                    # Execute next action.
+                    if rank == 0 and render:
+                        env.render()
+                    assert max_action.shape == action.shape
+                    new_obs, r, done, info = env.step(max_action * action)  # scale for execution in env (as far as DDPG is concerned, every action is in [-1, 1])
+                    t += 1
+                    if rank == 0 and render:
+                        env.render()
+                    episode_reward += r
+                    episode_step += 1
+
+                    # Book-keeping.
+                    epoch_actions.append(action)
+                    epoch_qs.append(q)
+                    agent.store_transition(obs, action, r, new_obs, done)
+                    obs = new_obs
+
+                    if done:
+                        # Episode done.
+                        epoch_episode_rewards.append(episode_reward)
+                        episode_rewards_history.append(episode_reward)
+                        epoch_episode_steps.append(episode_step)
+                        episode_reward = 0.
+                        episode_step = 0
+                        epoch_episodes += 1
+                        episodes += 1
+
+                        agent.reset()
+                        obs = env.reset()
+
+                # Train.
+                epoch_actor_losses = []
+                epoch_critic_losses = []
+                epoch_adaptive_distances = []
+                for t_train in range(nb_train_steps):
+                    # Adapt param noise, if necessary.
+                    if memory.nb_entries >= batch_size and t_train % param_noise_adaption_interval == 0:
+                        distance = agent.adapt_param_noise()
+                        epoch_adaptive_distances.append(distance)
+
+                    cl, al = agent.train()
+                    epoch_critic_losses.append(cl)
+                    epoch_actor_losses.append(al)
+                    agent.update_target_net()
+
+                # Evaluate.
+                eval_episode_rewards = []
+                eval_qs = []
+                if eval_env is not None:
+                    eval_episode_reward = 0.
+                    for t_rollout in range(nb_eval_steps):
+                        eval_action, eval_q = agent.pi(eval_obs, apply_noise=False, compute_Q=True)
+                        eval_obs, eval_r, eval_done, eval_info = eval_env.step(max_action * eval_action)  # scale for execution in env (as far as DDPG is concerned, every action is in [-1, 1])
+                        if render_eval:
+                            eval_env.render()
+                        eval_episode_reward += eval_r
+
+                        eval_qs.append(eval_q)
+                        if eval_done:
+                            eval_obs = eval_env.reset()
+                            eval_episode_rewards.append(eval_episode_reward)
+                            eval_episode_rewards_history.append(eval_episode_reward)
+                            eval_episode_reward = 0.
+
+            mpi_size = MPI.COMM_WORLD.Get_size()
+            # Log stats.
+            # XXX shouldn't call np.mean on variable length lists
+            duration = time.time() - start_time
+            stats = agent.get_stats()
+            combined_stats = stats.copy()
+            combined_stats['rollout/return'] = np.mean(epoch_episode_rewards)
+            combined_stats['rollout/return_history'] = np.mean(episode_rewards_history)
+            combined_stats['rollout/episode_steps'] = np.mean(epoch_episode_steps)
+            combined_stats['rollout/actions_mean'] = np.mean(epoch_actions)
+            combined_stats['rollout/Q_mean'] = np.mean(epoch_qs)
+            combined_stats['train/loss_actor'] = np.mean(epoch_actor_losses)
+            combined_stats['train/loss_critic'] = np.mean(epoch_critic_losses)
+            combined_stats['train/param_noise_distance'] = np.mean(epoch_adaptive_distances)
+            combined_stats['total/duration'] = duration
+            combined_stats['total/steps_per_second'] = float(t) / float(duration)
+            combined_stats['total/episodes'] = episodes
+            combined_stats['rollout/episodes'] = epoch_episodes
+            combined_stats['rollout/actions_std'] = np.std(epoch_actions)
+            # Evaluation statistics.
+            if eval_env is not None:
+                combined_stats['eval/return'] = eval_episode_rewards
+                combined_stats['eval/return_history'] = np.mean(eval_episode_rewards_history)
+                combined_stats['eval/Q'] = eval_qs
+                combined_stats['eval/episodes'] = len(eval_episode_rewards)
+            def as_scalar(x):
+                if isinstance(x, np.ndarray):
+                    assert x.size == 1
+                    return x[0]
+                elif np.isscalar(x):
+                    return x
+                else:
+                    raise ValueError('expected scalar, got %s'%x)
+            combined_stats_sums = MPI.COMM_WORLD.allreduce(np.array([as_scalar(x) for x in combined_stats.values()]))
+            combined_stats = {k : v / mpi_size for (k,v) in zip(combined_stats.keys(), combined_stats_sums)}
+
+            # Total statistics.
+            combined_stats['total/epochs'] = epoch + 1
+            combined_stats['total/steps'] = t
+
+            for key in sorted(combined_stats.keys()):
+                logger.record_tabular(key, combined_stats[key])
+            logger.dump_tabular()
+            logger.info('')
+            logdir = logger.get_dir()
+            if rank == 0 and logdir:
+                if hasattr(env, 'get_state'):
+                    with open(os.path.join(logdir, 'env_state.pkl'), 'wb') as f:
+                        pickle.dump(env.get_state(), f)
+                if eval_env and hasattr(eval_env, 'get_state'):
+                    with open(os.path.join(logdir, 'eval_env_state.pkl'), 'wb') as f:
+                        pickle.dump(eval_env.get_state(), f)

baselines/deepq/README.md

@@ -15,14 +15,14 @@ python -m baselines.deepq.experiments.enjoy_cartpole
 ```
 
 
-Be sure to check out the source code of [both](baselines/deepq/experiments/train_cartpole.py) [files](baselines/deepq/experiments/enjoy_cartpole.py)!
+Be sure to check out the source code of [both](experiments/train_cartpole.py) [files](experiments/enjoy_cartpole.py)!
 
 ## If you wish to apply DQN to solve a problem.
 
 Check out our simple agent trained with one stop shop `deepq.learn` function. 
 
-- `baselines/deepq/experiments/train_cartpole.py` - train a Cartpole agent.
-- `baselines/deepq/experiments/train_pong.py` - train a Pong agent using convolutional neural networks.
+- [baselines/deepq/experiments/train_cartpole.py](experiments/train_cartpole.py) - train a Cartpole agent.
+- [baselines/deepq/experiments/train_pong.py](experiments/train_pong.py) - train a Pong agent using convolutional neural networks.
 
 In particular notice that once `deepq.learn` finishes training it returns `act` function which can be used to select actions in the environment. Once trained you can easily save it and load at later time. For both of the files listed above there are complimentary files `enjoy_cartpole.py` and `enjoy_pong.py` respectively, that load and visualize the learned policy.
 
@@ -31,8 +31,8 @@ In particular notice that once `deepq.learn` finishes training it returns `act`
 ##### Check out the examples
 
 
-- `baselines/deepq/experiments/custom_cartpole.py` - Cartpole training with more fine grained control over the internals of DQN algorithm.
-- `baselines/deepq/experiments/atari/train.py` - more robust setup for training at scale.
+- [baselines/deepq/experiments/custom_cartpole.py](experiments/custom_cartpole.py) - Cartpole training with more fine grained control over the internals of DQN algorithm.
+- [baselines/deepq/experiments/atari/train.py](experiments/atari/train.py) - more robust setup for training at scale.
 
 
 ##### Download a pretrained Atari agent
@@ -49,4 +49,4 @@ Once you pick a model, you can download it and visualize the learned policy. Be
 python -m baselines.deepq.experiments.atari.download_model --blob model-atari-duel-pong-1 --model-dir /tmp/models
 python -m baselines.deepq.experiments.atari.enjoy --model-dir /tmp/models/model-atari-duel-pong-1 --env Pong --dueling
 
-```
+```

baselines/deepq/__init__.py

@@ -1,5 +1,8 @@
 from baselines.deepq import models  # noqa
 from baselines.deepq.build_graph import build_act, build_train  # noqa
-
 from baselines.deepq.simple import learn, load  # noqa
 from baselines.deepq.replay_buffer import ReplayBuffer, PrioritizedReplayBuffer  # noqa
+
+def wrap_atari_dqn(env):
+    from baselines.common.atari_wrappers import wrap_deepmind
+    return wrap_deepmind(env, frame_stack=True, scale=True)

baselines/deepq/build_graph.py

@@ -22,6 +22,32 @@ The functions in this file can are used to create the following functions:
     every element of the batch.
 
 
+======= act (in case of parameter noise) ========
+
+    Function to chose an action given an observation
+
+    Parameters
+    ----------
+    observation: object
+        Observation that can be feed into the output of make_obs_ph
+    stochastic: bool
+        if set to False all the actions are always deterministic (default False)
+    update_eps_ph: float
+        update epsilon a new value, if negative not update happens
+        (default: no update)
+    reset_ph: bool
+        reset the perturbed policy by sampling a new perturbation
+    update_param_noise_threshold_ph: float
+        the desired threshold for the difference between non-perturbed and perturbed policy
+    update_param_noise_scale_ph: bool
+        whether or not to update the scale of the noise for the next time it is re-perturbed
+
+    Returns
+    -------
+    Tensor of dtype tf.int64 and shape (BATCH_SIZE,) with an action to be performed for
+    every element of the batch.
+
+
 ======= train =======
 
     Function that takes a transition (s,a,r,s') and optimizes Bellman equation's error:
@@ -71,6 +97,52 @@ import tensorflow as tf
 import baselines.common.tf_util as U
 
 
+def scope_vars(scope, trainable_only=False):
+    """
+    Get variables inside a scope
+    The scope can be specified as a string
+    Parameters
+    ----------
+    scope: str or VariableScope
+        scope in which the variables reside.
+    trainable_only: bool
+        whether or not to return only the variables that were marked as trainable.
+    Returns
+    -------
+    vars: [tf.Variable]
+        list of variables in `scope`.
+    """
+    return tf.get_collection(
+        tf.GraphKeys.TRAINABLE_VARIABLES if trainable_only else tf.GraphKeys.GLOBAL_VARIABLES,
+        scope=scope if isinstance(scope, str) else scope.name
+    )
+
+
+def scope_name():
+    """Returns the name of current scope as a string, e.g. deepq/q_func"""
+    return tf.get_variable_scope().name
+
+
+def absolute_scope_name(relative_scope_name):
+    """Appends parent scope name to `relative_scope_name`"""
+    return scope_name() + "/" + relative_scope_name
+
+
+def default_param_noise_filter(var):
+    if var not in tf.trainable_variables():
+        # We never perturb non-trainable vars.
+        return False
+    if "fully_connected" in var.name:
+        # We perturb fully-connected layers.
+        return True
+
+    # The remaining layers are likely conv or layer norm layers, which we do not wish to
+    # perturb (in the former case because they only extract features, in the latter case because
+    # we use them for normalization purposes). If you change your network, you will likely want
+    # to re-consider which layers to perturb and which to keep untouched.
+    return False
+
+
 def build_act(make_obs_ph, q_func, num_actions, scope="deepq", reuse=None):
     """Creates the act function:
 
@@ -102,7 +174,7 @@ def build_act(make_obs_ph, q_func, num_actions, scope="deepq", reuse=None):
 `       See the top of the file for details.
     """
     with tf.variable_scope(scope, reuse=reuse):
-        observations_ph = U.ensure_tf_input(make_obs_ph("observation"))
+        observations_ph = make_obs_ph("observation")
         stochastic_ph = tf.placeholder(tf.bool, (), name="stochastic")
         update_eps_ph = tf.placeholder(tf.float32, (), name="update_eps")
 
@@ -118,15 +190,132 @@ def build_act(make_obs_ph, q_func, num_actions, scope="deepq", reuse=None):
 
         output_actions = tf.cond(stochastic_ph, lambda: stochastic_actions, lambda: deterministic_actions)
         update_eps_expr = eps.assign(tf.cond(update_eps_ph >= 0, lambda: update_eps_ph, lambda: eps))
-
-        act = U.function(inputs=[observations_ph, stochastic_ph, update_eps_ph],
+        _act = U.function(inputs=[observations_ph, stochastic_ph, update_eps_ph],
                          outputs=output_actions,
                          givens={update_eps_ph: -1.0, stochastic_ph: True},
                          updates=[update_eps_expr])
+        def act(ob, stochastic=True, update_eps=-1):
+            return _act(ob, stochastic, update_eps)
         return act
 
 
-def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=None, gamma=1.0, double_q=True, scope="deepq", reuse=None):
+def build_act_with_param_noise(make_obs_ph, q_func, num_actions, scope="deepq", reuse=None, param_noise_filter_func=None):
+    """Creates the act function with support for parameter space noise exploration (https://arxiv.org/abs/1706.01905):
+
+    Parameters
+    ----------
+    make_obs_ph: str -> tf.placeholder or TfInput
+        a function that take a name and creates a placeholder of input with that name
+    q_func: (tf.Variable, int, str, bool) -> tf.Variable
+        the model that takes the following inputs:
+            observation_in: object
+                the output of observation placeholder
+            num_actions: int
+                number of actions
+            scope: str
+            reuse: bool
+                should be passed to outer variable scope
+        and returns a tensor of shape (batch_size, num_actions) with values of every action.
+    num_actions: int
+        number of actions.
+    scope: str or VariableScope
+        optional scope for variable_scope.
+    reuse: bool or None
+        whether or not the variables should be reused. To be able to reuse the scope must be given.
+    param_noise_filter_func: tf.Variable -> bool
+        function that decides whether or not a variable should be perturbed. Only applicable
+        if param_noise is True. If set to None, default_param_noise_filter is used by default.
+
+    Returns
+    -------
+    act: (tf.Variable, bool, float, bool, float, bool) -> tf.Variable
+        function to select and action given observation.
+`       See the top of the file for details.
+    """
+    if param_noise_filter_func is None:
+        param_noise_filter_func = default_param_noise_filter
+
+    with tf.variable_scope(scope, reuse=reuse):
+        observations_ph = make_obs_ph("observation")
+        stochastic_ph = tf.placeholder(tf.bool, (), name="stochastic")
+        update_eps_ph = tf.placeholder(tf.float32, (), name="update_eps")
+        update_param_noise_threshold_ph = tf.placeholder(tf.float32, (), name="update_param_noise_threshold")
+        update_param_noise_scale_ph = tf.placeholder(tf.bool, (), name="update_param_noise_scale")
+        reset_ph = tf.placeholder(tf.bool, (), name="reset")
+
+        eps = tf.get_variable("eps", (), initializer=tf.constant_initializer(0))
+        param_noise_scale = tf.get_variable("param_noise_scale", (), initializer=tf.constant_initializer(0.01), trainable=False)
+        param_noise_threshold = tf.get_variable("param_noise_threshold", (), initializer=tf.constant_initializer(0.05), trainable=False)
+
+        # Unmodified Q.
+        q_values = q_func(observations_ph.get(), num_actions, scope="q_func")
+
+        # Perturbable Q used for the actual rollout.
+        q_values_perturbed = q_func(observations_ph.get(), num_actions, scope="perturbed_q_func")
+        # We have to wrap this code into a function due to the way tf.cond() works. See
+        # https://stackoverflow.com/questions/37063952/confused-by-the-behavior-of-tf-cond for
+        # a more detailed discussion.
+        def perturb_vars(original_scope, perturbed_scope):
+            all_vars = scope_vars(absolute_scope_name(original_scope))
+            all_perturbed_vars = scope_vars(absolute_scope_name(perturbed_scope))
+            assert len(all_vars) == len(all_perturbed_vars)
+            perturb_ops = []
+            for var, perturbed_var in zip(all_vars, all_perturbed_vars):
+                if param_noise_filter_func(perturbed_var):
+                    # Perturb this variable.
+                    op = tf.assign(perturbed_var, var + tf.random_normal(shape=tf.shape(var), mean=0., stddev=param_noise_scale))
+                else:
+                    # Do not perturb, just assign.
+                    op = tf.assign(perturbed_var, var)
+                perturb_ops.append(op)
+            assert len(perturb_ops) == len(all_vars)
+            return tf.group(*perturb_ops)
+
+        # Set up functionality to re-compute `param_noise_scale`. This perturbs yet another copy
+        # of the network and measures the effect of that perturbation in action space. If the perturbation
+        # is too big, reduce scale of perturbation, otherwise increase.
+        q_values_adaptive = q_func(observations_ph.get(), num_actions, scope="adaptive_q_func")
+        perturb_for_adaption = perturb_vars(original_scope="q_func", perturbed_scope="adaptive_q_func")
+        kl = tf.reduce_sum(tf.nn.softmax(q_values) * (tf.log(tf.nn.softmax(q_values)) - tf.log(tf.nn.softmax(q_values_adaptive))), axis=-1)
+        mean_kl = tf.reduce_mean(kl)
+        def update_scale():
+            with tf.control_dependencies([perturb_for_adaption]):
+                update_scale_expr = tf.cond(mean_kl < param_noise_threshold,
+                    lambda: param_noise_scale.assign(param_noise_scale * 1.01),
+                    lambda: param_noise_scale.assign(param_noise_scale / 1.01),
+                )
+            return update_scale_expr
+
+        # Functionality to update the threshold for parameter space noise.
+        update_param_noise_threshold_expr = param_noise_threshold.assign(tf.cond(update_param_noise_threshold_ph >= 0,
+            lambda: update_param_noise_threshold_ph, lambda: param_noise_threshold))
+
+        # Put everything together.
+        deterministic_actions = tf.argmax(q_values_perturbed, axis=1)
+        batch_size = tf.shape(observations_ph.get())[0]
+        random_actions = tf.random_uniform(tf.stack([batch_size]), minval=0, maxval=num_actions, dtype=tf.int64)
+        chose_random = tf.random_uniform(tf.stack([batch_size]), minval=0, maxval=1, dtype=tf.float32) < eps
+        stochastic_actions = tf.where(chose_random, random_actions, deterministic_actions)
+
+        output_actions = tf.cond(stochastic_ph, lambda: stochastic_actions, lambda: deterministic_actions)
+        update_eps_expr = eps.assign(tf.cond(update_eps_ph >= 0, lambda: update_eps_ph, lambda: eps))
+        updates = [
+            update_eps_expr,
+            tf.cond(reset_ph, lambda: perturb_vars(original_scope="q_func", perturbed_scope="perturbed_q_func"), lambda: tf.group(*[])),
+            tf.cond(update_param_noise_scale_ph, lambda: update_scale(), lambda: tf.Variable(0., trainable=False)),
+            update_param_noise_threshold_expr,
+        ]
+        _act = U.function(inputs=[observations_ph, stochastic_ph, update_eps_ph, reset_ph, update_param_noise_threshold_ph, update_param_noise_scale_ph],
+                         outputs=output_actions,
+                         givens={update_eps_ph: -1.0, stochastic_ph: True, reset_ph: False, update_param_noise_threshold_ph: False, update_param_noise_scale_ph: False},
+                         updates=updates)
+        def act(ob, reset, update_param_noise_threshold, update_param_noise_scale, stochastic=True, update_eps=-1):
+            return _act(ob, stochastic, update_eps, reset, update_param_noise_threshold, update_param_noise_scale)
+        return act
+
+
+def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=None, gamma=1.0,
+    double_q=True, scope="deepq", reuse=None, param_noise=False, param_noise_filter_func=None):
     """Creates the train function:
 
     Parameters
@@ -160,6 +349,11 @@ def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=
         optional scope for variable_scope.
     reuse: bool or None
         whether or not the variables should be reused. To be able to reuse the scope must be given.
+    param_noise: bool
+        whether or not to use parameter space noise (https://arxiv.org/abs/1706.01905)
+    param_noise_filter_func: tf.Variable -> bool
+        function that decides whether or not a variable should be perturbed. Only applicable
+        if param_noise is True. If set to None, default_param_noise_filter is used by default.
 
     Returns
     -------
@@ -175,24 +369,28 @@ def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=
     debug: {str: function}
         a bunch of functions to print debug data like q_values.
     """
-    act_f = build_act(make_obs_ph, q_func, num_actions, scope=scope, reuse=reuse)
+    if param_noise:
+        act_f = build_act_with_param_noise(make_obs_ph, q_func, num_actions, scope=scope, reuse=reuse,
+            param_noise_filter_func=param_noise_filter_func)
+    else:
+        act_f = build_act(make_obs_ph, q_func, num_actions, scope=scope, reuse=reuse)
 
     with tf.variable_scope(scope, reuse=reuse):
         # set up placeholders
-        obs_t_input = U.ensure_tf_input(make_obs_ph("obs_t"))
+        obs_t_input = make_obs_ph("obs_t")
         act_t_ph = tf.placeholder(tf.int32, [None], name="action")
         rew_t_ph = tf.placeholder(tf.float32, [None], name="reward")
-        obs_tp1_input = U.ensure_tf_input(make_obs_ph("obs_tp1"))
+        obs_tp1_input = make_obs_ph("obs_tp1")
         done_mask_ph = tf.placeholder(tf.float32, [None], name="done")
         importance_weights_ph = tf.placeholder(tf.float32, [None], name="weight")
 
         # q network evaluation
         q_t = q_func(obs_t_input.get(), num_actions, scope="q_func", reuse=True)  # reuse parameters from act
-        q_func_vars = U.scope_vars(U.absolute_scope_name("q_func"))
+        q_func_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope=tf.get_variable_scope().name + "/q_func")
 
         # target q network evalution
         q_tp1 = q_func(obs_tp1_input.get(), num_actions, scope="target_q_func")
-        target_q_func_vars = U.scope_vars(U.absolute_scope_name("target_q_func"))
+        target_q_func_vars = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope=tf.get_variable_scope().name + "/target_q_func")
 
         # q scores for actions which we know were selected in the given state.
         q_t_selected = tf.reduce_sum(q_t * tf.one_hot(act_t_ph, num_actions), 1)
@@ -200,7 +398,7 @@ def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=
         # compute estimate of best possible value starting from state at t + 1
         if double_q:
             q_tp1_using_online_net = q_func(obs_tp1_input.get(), num_actions, scope="q_func", reuse=True)
-            q_tp1_best_using_online_net = tf.arg_max(q_tp1_using_online_net, 1)
+            q_tp1_best_using_online_net = tf.argmax(q_tp1_using_online_net, 1)
             q_tp1_best = tf.reduce_sum(q_tp1 * tf.one_hot(q_tp1_best_using_online_net, num_actions), 1)
         else:
             q_tp1_best = tf.reduce_max(q_tp1, 1)
@@ -213,12 +411,14 @@ def build_train(make_obs_ph, q_func, num_actions, optimizer, grad_norm_clipping=
         td_error = q_t_selected - tf.stop_gradient(q_t_selected_target)
         errors = U.huber_loss(td_error)
         weighted_error = tf.reduce_mean(importance_weights_ph * errors)
+
         # compute optimization op (potentially with gradient clipping)
         if grad_norm_clipping is not None:
-            optimize_expr = U.minimize_and_clip(optimizer,
-                                                weighted_error,
-                                                var_list=q_func_vars,
-                                                clip_val=grad_norm_clipping)
+            gradients = optimizer.compute_gradients(weighted_error, var_list=q_func_vars)
+            for i, (grad, var) in enumerate(gradients):
+                if grad is not None:
+                    gradients[i] = (tf.clip_by_norm(grad, grad_norm_clipping), var)
+            optimize_expr = optimizer.apply_gradients(gradients)
         else:
             optimize_expr = optimizer.minimize(weighted_error, var_list=q_func_vars)
 

baselines/deepq/experiments/atari/download_model.py

@@ -1,51 +0,0 @@
-import argparse
-import progressbar
-
-from baselines.common.azure_utils import Container
-
-
-def parse_args():
-    parser = argparse.ArgumentParser("Download a pretrained model from Azure.")
-    # Environment
-    parser.add_argument("--model-dir", type=str, default=None,
-                        help="save model in this directory this directory. ")
-    parser.add_argument("--account-name", type=str, default="openaisciszymon",
-                        help="account name for Azure Blob Storage")
-    parser.add_argument("--account-key", type=str, default=None,
-                        help="account key for Azure Blob Storage")
-    parser.add_argument("--container", type=str, default="dqn-blogpost",
-                        help="container name and blob name separated by colon serparated by colon")
-    parser.add_argument("--blob", type=str, default=None, help="blob with the model")
-    return parser.parse_args()
-
-
-def main():
-    args = parse_args()
-    c = Container(account_name=args.account_name,
-                  account_key=args.account_key,
-                  container_name=args.container)
-
-    if args.blob is None:
-        print("Listing available models:")
-        print()
-        for blob in sorted(c.list(prefix="model-")):
-            print(blob)
-    else:
-        print("Downloading {} to {}...".format(args.blob, args.model_dir))
-        bar = None
-
-        def callback(current, total):
-            nonlocal bar
-            if bar is None:
-                bar = progressbar.ProgressBar(max_value=total)
-            bar.update(current)
-
-        assert c.exists(args.blob), "model {} does not exist".format(args.blob)
-
-        assert args.model_dir is not None
-
-        c.get(args.model_dir, args.blob, callback=callback)
-
-
-if __name__ == '__main__':
-    main()

baselines/deepq/experiments/atari/enjoy.py

@@ -1,70 +0,0 @@
-import argparse
-import gym
-import os
-import numpy as np
-
-from gym.monitoring import VideoRecorder
-
-import baselines.common.tf_util as U
-
-from baselines import deepq
-from baselines.common.misc_util import (
-    boolean_flag,
-    SimpleMonitor,
-)
-from baselines.common.atari_wrappers_deprecated import wrap_dqn
-from baselines.deepq.experiments.atari.model import model, dueling_model
-
-
-def parse_args():
-    parser = argparse.ArgumentParser("Run an already learned DQN model.")
-    # Environment
-    parser.add_argument("--env", type=str, required=True, help="name of the game")
-    parser.add_argument("--model-dir", type=str, default=None, help="load model from this directory. ")
-    parser.add_argument("--video", type=str, default=None, help="Path to mp4 file where the video of first episode will be recorded.")
-    boolean_flag(parser, "stochastic", default=True, help="whether or not to use stochastic actions according to models eps value")
-    boolean_flag(parser, "dueling", default=False, help="whether or not to use dueling model")
-
-    return parser.parse_args()
-
-
-def make_env(game_name):
-    env = gym.make(game_name + "NoFrameskip-v4")
-    env = SimpleMonitor(env)
-    env = wrap_dqn(env)
-    return env
-
-
-def play(env, act, stochastic, video_path):
-    num_episodes = 0
-    video_recorder = None
-    video_recorder = VideoRecorder(
-        env, video_path, enabled=video_path is not None)
-    obs = env.reset()
-    while True:
-        env.unwrapped.render()
-        video_recorder.capture_frame()
-        action = act(np.array(obs)[None], stochastic=stochastic)[0]
-        obs, rew, done, info = env.step(action)
-        if done:
-            obs = env.reset()
-        if len(info["rewards"]) > num_episodes:
-            if len(info["rewards"]) == 1 and video_recorder.enabled:
-                # save video of first episode
-                print("Saved video.")
-                video_recorder.close()
-                video_recorder.enabled = False
-            print(info["rewards"][-1])
-            num_episodes = len(info["rewards"])
-
-
-if __name__ == '__main__':
-    with U.make_session(4) as sess:
-        args = parse_args()
-        env = make_env(args.env)
-        act = deepq.build_act(
-            make_obs_ph=lambda name: U.Uint8Input(env.observation_space.shape, name=name),
-            q_func=dueling_model if args.dueling else model,
-            num_actions=env.action_space.n)
-        U.load_state(os.path.join(args.model_dir, "saved"))
-        play(env, act, args.stochastic, args.video)

baselines/deepq/experiments/atari/model.py

@@ -1,43 +0,0 @@
-import tensorflow as tf
-import tensorflow.contrib.layers as layers
-
-
-def model(img_in, num_actions, scope, reuse=False):
-    """As described in https://storage.googleapis.com/deepmind-data/assets/papers/DeepMindNature14236Paper.pdf"""
-    with tf.variable_scope(scope, reuse=reuse):
-        out = img_in
-        with tf.variable_scope("convnet"):
-            # original architecture
-            out = layers.convolution2d(out, num_outputs=32, kernel_size=8, stride=4, activation_fn=tf.nn.relu)
-            out = layers.convolution2d(out, num_outputs=64, kernel_size=4, stride=2, activation_fn=tf.nn.relu)
-            out = layers.convolution2d(out, num_outputs=64, kernel_size=3, stride=1, activation_fn=tf.nn.relu)
-        out = layers.flatten(out)
-
-        with tf.variable_scope("action_value"):
-            out = layers.fully_connected(out, num_outputs=512, activation_fn=tf.nn.relu)
-            out = layers.fully_connected(out, num_outputs=num_actions, activation_fn=None)
-
-        return out
-
-
-def dueling_model(img_in, num_actions, scope, reuse=False):
-    """As described in https://arxiv.org/abs/1511.06581"""
-    with tf.variable_scope(scope, reuse=reuse):
-        out = img_in
-        with tf.variable_scope("convnet"):
-            # original architecture
-            out = layers.convolution2d(out, num_outputs=32, kernel_size=8, stride=4, activation_fn=tf.nn.relu)
-            out = layers.convolution2d(out, num_outputs=64, kernel_size=4, stride=2, activation_fn=tf.nn.relu)
-            out = layers.convolution2d(out, num_outputs=64, kernel_size=3, stride=1, activation_fn=tf.nn.relu)
-        out = layers.flatten(out)
-
-        with tf.variable_scope("state_value"):
-            state_hidden = layers.fully_connected(out, num_outputs=512, activation_fn=tf.nn.relu)
-            state_score = layers.fully_connected(state_hidden, num_outputs=1, activation_fn=None)
-        with tf.variable_scope("action_value"):
-            actions_hidden = layers.fully_connected(out, num_outputs=512, activation_fn=tf.nn.relu)
-            action_scores = layers.fully_connected(actions_hidden, num_outputs=num_actions, activation_fn=None)
-            action_scores_mean = tf.reduce_mean(action_scores, 1)
-            action_scores = action_scores - tf.expand_dims(action_scores_mean, 1)
-
-        return state_score + action_scores

baselines/deepq/experiments/atari/train.py

@@ -1,229 +0,0 @@
-import argparse
-import gym
-import numpy as np
-import os
-import tensorflow as tf
-import tempfile
-import time
-
-import baselines.common.tf_util as U
-
-from baselines import logger
-from baselines import deepq
-from baselines.deepq.replay_buffer import ReplayBuffer, PrioritizedReplayBuffer
-from baselines.common.misc_util import (
-    boolean_flag,
-    pickle_load,
-    pretty_eta,
-    relatively_safe_pickle_dump,
-    set_global_seeds,
-    RunningAvg,
-    SimpleMonitor
-)
-from baselines.common.schedules import LinearSchedule, PiecewiseSchedule
-# when updating this to non-deperecated ones, it is important to
-# copy over LazyFrames
-from baselines.common.atari_wrappers_deprecated import wrap_dqn
-from baselines.common.azure_utils import Container
-from .model import model, dueling_model
-
-
-def parse_args():
-    parser = argparse.ArgumentParser("DQN experiments for Atari games")
-    # Environment
-    parser.add_argument("--env", type=str, default="Pong", help="name of the game")
-    parser.add_argument("--seed", type=int, default=42, help="which seed to use")
-    # Core DQN parameters
-    parser.add_argument("--replay-buffer-size", type=int, default=int(1e6), help="replay buffer size")
-    parser.add_argument("--lr", type=float, default=1e-4, help="learning rate for Adam optimizer")
-    parser.add_argument("--num-steps", type=int, default=int(2e8), help="total number of steps to run the environment for")
-    parser.add_argument("--batch-size", type=int, default=32, help="number of transitions to optimize at the same time")
-    parser.add_argument("--learning-freq", type=int, default=4, help="number of iterations between every optimization step")
-    parser.add_argument("--target-update-freq", type=int, default=40000, help="number of iterations between every target network update")
-    # Bells and whistles
-    boolean_flag(parser, "double-q", default=True, help="whether or not to use double q learning")
-    boolean_flag(parser, "dueling", default=False, help="whether or not to use dueling model")
-    boolean_flag(parser, "prioritized", default=False, help="whether or not to use prioritized replay buffer")
-    parser.add_argument("--prioritized-alpha", type=float, default=0.6, help="alpha parameter for prioritized replay buffer")
-    parser.add_argument("--prioritized-beta0", type=float, default=0.4, help="initial value of beta parameters for prioritized replay")
-    parser.add_argument("--prioritized-eps", type=float, default=1e-6, help="eps parameter for prioritized replay buffer")
-    # Checkpointing
-    parser.add_argument("--save-dir", type=str, default=None, help="directory in which training state and model should be saved.")
-    parser.add_argument("--save-azure-container", type=str, default=None,
-                        help="It present data will saved/loaded from Azure. Should be in format ACCOUNT_NAME:ACCOUNT_KEY:CONTAINER")
-    parser.add_argument("--save-freq", type=int, default=1e6, help="save model once every time this many iterations are completed")
-    boolean_flag(parser, "load-on-start", default=True, help="if true and model was previously saved then training will be resumed")
-    return parser.parse_args()
-
-
-def make_env(game_name):
-    env = gym.make(game_name + "NoFrameskip-v4")
-    monitored_env = SimpleMonitor(env)  # puts rewards and number of steps in info, before environment is wrapped
-    env = wrap_dqn(monitored_env)  # applies a bunch of modification to simplify the observation space (downsample, make b/w)
-    return env, monitored_env
-
-
-def maybe_save_model(savedir, container, state):
-    """This function checkpoints the model and state of the training algorithm."""
-    if savedir is None:
-        return
-    start_time = time.time()
-    model_dir = "model-{}".format(state["num_iters"])
-    U.save_state(os.path.join(savedir, model_dir, "saved"))
-    if container is not None:
-        container.put(os.path.join(savedir, model_dir), model_dir)
-    relatively_safe_pickle_dump(state, os.path.join(savedir, 'training_state.pkl.zip'), compression=True)
-    if container is not None:
-        container.put(os.path.join(savedir, 'training_state.pkl.zip'), 'training_state.pkl.zip')
-    relatively_safe_pickle_dump(state["monitor_state"], os.path.join(savedir, 'monitor_state.pkl'))
-    if container is not None:
-        container.put(os.path.join(savedir, 'monitor_state.pkl'), 'monitor_state.pkl')
-    logger.log("Saved model in {} seconds\n".format(time.time() - start_time))
-
-
-def maybe_load_model(savedir, container):
-    """Load model if present at the specified path."""
-    if savedir is None:
-        return
-
-    state_path = os.path.join(os.path.join(savedir, 'training_state.pkl.zip'))
-    if container is not None:
-        logger.log("Attempting to download model from Azure")
-        found_model = container.get(savedir, 'training_state.pkl.zip')
-    else:
-        found_model = os.path.exists(state_path)
-    if found_model:
-        state = pickle_load(state_path, compression=True)
-        model_dir = "model-{}".format(state["num_iters"])
-        if container is not None:
-            container.get(savedir, model_dir)
-        U.load_state(os.path.join(savedir, model_dir, "saved"))
-        logger.log("Loaded models checkpoint at {} iterations".format(state["num_iters"]))
-        return state
-
-
-if __name__ == '__main__':
-    args = parse_args()
-    # Parse savedir and azure container.
-    savedir = args.save_dir
-    if args.save_azure_container is not None:
-        account_name, account_key, container_name = args.save_azure_container.split(":")
-        container = Container(account_name=account_name,
-                              account_key=account_key,
-                              container_name=container_name,
-                              maybe_create=True)
-        if savedir is None:
-            # Careful! This will not get cleaned up. Docker spoils the developers.
-            savedir = tempfile.TemporaryDirectory().name
-    else:
-        container = None
-    # Create and seed the env.
-    env, monitored_env = make_env(args.env)
-    if args.seed > 0:
-        set_global_seeds(args.seed)
-        env.unwrapped.seed(args.seed)
-
-    with U.make_session(4) as sess:
-        # Create training graph and replay buffer
-        act, train, update_target, debug = deepq.build_train(
-            make_obs_ph=lambda name: U.Uint8Input(env.observation_space.shape, name=name),
-            q_func=dueling_model if args.dueling else model,
-            num_actions=env.action_space.n,
-            optimizer=tf.train.AdamOptimizer(learning_rate=args.lr, epsilon=1e-4),
-            gamma=0.99,
-            grad_norm_clipping=10,
-            double_q=args.double_q
-        )
-
-        approximate_num_iters = args.num_steps / 4
-        exploration = PiecewiseSchedule([
-            (0, 1.0),
-            (approximate_num_iters / 50, 0.1),
-            (approximate_num_iters / 5, 0.01)
-        ], outside_value=0.01)
-
-        if args.prioritized:
-            replay_buffer = PrioritizedReplayBuffer(args.replay_buffer_size, args.prioritized_alpha)
-            beta_schedule = LinearSchedule(approximate_num_iters, initial_p=args.prioritized_beta0, final_p=1.0)
-        else:
-            replay_buffer = ReplayBuffer(args.replay_buffer_size)
-
-        U.initialize()
-        update_target()
-        num_iters = 0
-
-        # Load the model
-        state = maybe_load_model(savedir, container)
-        if state is not None:
-            num_iters, replay_buffer = state["num_iters"], state["replay_buffer"],
-            monitored_env.set_state(state["monitor_state"])
-
-        start_time, start_steps = None, None
-        steps_per_iter = RunningAvg(0.999)
-        iteration_time_est = RunningAvg(0.999)
-        obs = env.reset()
-
-        # Main trianing loop
-        while True:
-            num_iters += 1
-            # Take action and store transition in the replay buffer.
-            action = act(np.array(obs)[None], update_eps=exploration.value(num_iters))[0]
-            new_obs, rew, done, info = env.step(action)
-            replay_buffer.add(obs, action, rew, new_obs, float(done))
-            obs = new_obs
-            if done:
-                obs = env.reset()
-
-            if (num_iters > max(5 * args.batch_size, args.replay_buffer_size // 20) and
-                    num_iters % args.learning_freq == 0):
-                # Sample a bunch of transitions from replay buffer
-                if args.prioritized:
-                    experience = replay_buffer.sample(args.batch_size, beta=beta_schedule.value(num_iters))
-                    (obses_t, actions, rewards, obses_tp1, dones, weights, batch_idxes) = experience
-                else:
-                    obses_t, actions, rewards, obses_tp1, dones = replay_buffer.sample(args.batch_size)
-                    weights = np.ones_like(rewards)
-                # Minimize the error in Bellman's equation and compute TD-error
-                td_errors = train(obses_t, actions, rewards, obses_tp1, dones, weights)
-                # Update the priorities in the replay buffer
-                if args.prioritized:
-                    new_priorities = np.abs(td_errors) + args.prioritized_eps
-                    replay_buffer.update_priorities(batch_idxes, new_priorities)
-            # Update target network.
-            if num_iters % args.target_update_freq == 0:
-                update_target()
-
-            if start_time is not None:
-                steps_per_iter.update(info['steps'] - start_steps)
-                iteration_time_est.update(time.time() - start_time)
-            start_time, start_steps = time.time(), info["steps"]
-
-            # Save the model and training state.
-            if num_iters > 0 and (num_iters % args.save_freq == 0 or info["steps"] > args.num_steps):
-                maybe_save_model(savedir, container, {
-                    'replay_buffer': replay_buffer,
-                    'num_iters': num_iters,
-                    'monitor_state': monitored_env.get_state()
-                })
-
-            if info["steps"] > args.num_steps:
-                break
-
-            if done:
-                steps_left = args.num_steps - info["steps"]
-                completion = np.round(info["steps"] / args.num_steps, 1)
-
-                logger.record_tabular("% completion", completion)
-                logger.record_tabular("steps", info["steps"])
-                logger.record_tabular("iters", num_iters)
-                logger.record_tabular("episodes", len(info["rewards"]))
-                logger.record_tabular("reward (100 epi mean)", np.mean(info["rewards"][-100:]))
-                logger.record_tabular("exploration", exploration.value(num_iters))
-                if args.prioritized:
-                    logger.record_tabular("max priority", replay_buffer._max_priority)
-                fps_estimate = (float(steps_per_iter) / (float(iteration_time_est) + 1e-6)
-                                if steps_per_iter._value is not None else "calculating...")
-                logger.dump_tabular()
-                logger.log()
-                logger.log("ETA: " + pretty_eta(int(steps_left / fps_estimate)))
-                logger.log()

baselines/deepq/experiments/atari/wang2015_eval.py

@@ -1,81 +0,0 @@
-import argparse
-import gym
-import numpy as np
-import os
-
-import baselines.common.tf_util as U
-
-from baselines import deepq
-from baselines.common.misc_util import get_wrapper_by_name, SimpleMonitor, boolean_flag, set_global_seeds
-from baselines.common.atari_wrappers_deprecated import wrap_dqn
-from baselines.deepq.experiments.atari.model import model, dueling_model
-
-
-def make_env(game_name):
-    env = gym.make(game_name + "NoFrameskip-v4")
-    env_monitored = SimpleMonitor(env)
-    env = wrap_dqn(env_monitored)
-    return env_monitored, env
-
-
-def parse_args():
-    parser = argparse.ArgumentParser("Evaluate an already learned DQN model.")
-    # Environment
-    parser.add_argument("--env", type=str, required=True, help="name of the game")
-    parser.add_argument("--model-dir", type=str, default=None, help="load model from this directory. ")
-    boolean_flag(parser, "stochastic", default=True, help="whether or not to use stochastic actions according to models eps value")
-    boolean_flag(parser, "dueling", default=False, help="whether or not to use dueling model")
-
-    return parser.parse_args()
-
-
-def wang2015_eval(game_name, act, stochastic):
-    print("==================== wang2015 evaluation ====================")
-    episode_rewards = []
-
-    for num_noops in range(1, 31):
-        env_monitored, eval_env = make_env(game_name)
-        eval_env.unwrapped.seed(1)
-
-        get_wrapper_by_name(eval_env, "NoopResetEnv").override_num_noops = num_noops
-
-        eval_episode_steps = 0
-        done = True
-        while True:
-            if done:
-                obs = eval_env.reset()
-            eval_episode_steps += 1
-            action = act(np.array(obs)[None], stochastic=stochastic)[0]
-
-            obs, reward, done, info = eval_env.step(action)
-            if done:
-                obs = eval_env.reset()
-            if len(info["rewards"]) > 0:
-                episode_rewards.append(info["rewards"][0])
-                break
-            if info["steps"] > 108000:  # 5 minutes of gameplay
-                episode_rewards.append(env_monitored._current_reward)
-                break
-        print("Num steps in episode {} was {} yielding {} reward".format(
-              num_noops, eval_episode_steps, episode_rewards[-1]), flush=True)
-    print("Evaluation results: " + str(np.mean(episode_rewards)))
-    print("=============================================================")
-    return np.mean(episode_rewards)
-
-
-def main():
-    set_global_seeds(1)
-    args = parse_args()
-    with U.make_session(4) as sess:  # noqa
-        _, env = make_env(args.env)
-        act = deepq.build_act(
-            make_obs_ph=lambda name: U.Uint8Input(env.observation_space.shape, name=name),
-            q_func=dueling_model if args.dueling else model,
-            num_actions=env.action_space.n)
-
-        U.load_state(os.path.join(args.model_dir, "saved"))
-        wang2015_eval(args.env, act, stochastic=args.stochastic)
-
-
-if __name__ == '__main__':
-    main()

baselines/deepq/experiments/custom_cartpole.py

@@ -9,6 +9,7 @@ import baselines.common.tf_util as U
 from baselines import logger
 from baselines import deepq
 from baselines.deepq.replay_buffer import ReplayBuffer
+from baselines.deepq.utils import ObservationInput
 from baselines.common.schedules import LinearSchedule
 
 
@@ -27,7 +28,7 @@ if __name__ == '__main__':
         env = gym.make("CartPole-v0")
         # Create all the functions necessary to train the model
         act, train, update_target, debug = deepq.build_train(
-            make_obs_ph=lambda name: U.BatchInput(env.observation_space.shape, name=name),
+            make_obs_ph=lambda name: ObservationInput(env.observation_space, name=name),
             q_func=model,
             num_actions=env.action_space.n,
             optimizer=tf.train.AdamOptimizer(learning_rate=5e-4),

baselines/deepq/experiments/enjoy_mountaincar.py

@@ -0,0 +1,21 @@
+import gym
+
+from baselines import deepq
+
+
+def main():
+    env = gym.make("MountainCar-v0")
+    act = deepq.load("mountaincar_model.pkl")
+
+    while True:
+        obs, done = env.reset(), False
+        episode_rew = 0
+        while not done:
+            env.render()
+            obs, rew, done, _ = env.step(act(obs[None])[0])
+            episode_rew += rew
+        print("Episode reward", episode_rew)
+
+
+if __name__ == '__main__':
+    main()

baselines/deepq/experiments/enjoy_pong.py

@@ -1,12 +1,10 @@
 import gym
-
 from baselines import deepq
-from baselines.common.atari_wrappers_deprecated import wrap_dqn, ScaledFloatFrame
 
 
 def main():
     env = gym.make("PongNoFrameskip-v4")
-    env = ScaledFloatFrame(wrap_dqn(env))
+    env = deepq.wrap_atari_dqn(env)
     act = deepq.load("pong_model.pkl")
 
     while True:

baselines/deepq/experiments/run_atari.py

@@ -0,0 +1,54 @@
+from baselines import deepq
+from baselines.common import set_global_seeds
+from baselines import bench
+import argparse
+from baselines import logger
+from baselines.common.atari_wrappers import make_atari
+
+
+def main():
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument('--env', help='environment ID', default='BreakoutNoFrameskip-v4')
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--prioritized', type=int, default=1)
+    parser.add_argument('--prioritized-replay-alpha', type=float, default=0.6)
+    parser.add_argument('--dueling', type=int, default=1)
+    parser.add_argument('--num-timesteps', type=int, default=int(10e6))
+    parser.add_argument('--checkpoint-freq', type=int, default=10000)
+    parser.add_argument('--checkpoint-path', type=str, default=None)
+
+    args = parser.parse_args()
+    logger.configure()
+    set_global_seeds(args.seed)
+    env = make_atari(args.env)
+    env = bench.Monitor(env, logger.get_dir())
+    env = deepq.wrap_atari_dqn(env)
+    model = deepq.models.cnn_to_mlp(
+        convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
+        hiddens=[256],
+        dueling=bool(args.dueling),
+    )
+
+    deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-4,
+        max_timesteps=args.num_timesteps,
+        buffer_size=10000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.01,
+        train_freq=4,
+        learning_starts=10000,
+        target_network_update_freq=1000,
+        gamma=0.99,
+        prioritized_replay=bool(args.prioritized),
+        prioritized_replay_alpha=args.prioritized_replay_alpha,
+        checkpoint_freq=args.checkpoint_freq,
+        checkpoint_path=args.checkpoint_path,
+    )
+
+    env.close()
+
+
+if __name__ == '__main__':
+    main()

baselines/deepq/experiments/train_cartpole.py

@@ -3,7 +3,7 @@ import gym
 from baselines import deepq
 
 
-def callback(lcl, glb):
+def callback(lcl, _glb):
     # stop training if reward exceeds 199
     is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
     return is_solved

baselines/deepq/experiments/train_mountaincar.py

@@ -0,0 +1,26 @@
+import gym
+
+from baselines import deepq
+
+
+def main():
+    env = gym.make("MountainCar-v0")
+    # Enabling layer_norm here is import for parameter space noise!
+    model = deepq.models.mlp([64], layer_norm=True)
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=100000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.1,
+        print_freq=10,
+        param_noise=True
+    )
+    print("Saving model to mountaincar_model.pkl")
+    act.save("mountaincar_model.pkl")
+
+
+if __name__ == '__main__':
+    main()

baselines/deepq/experiments/train_pong.py

@@ -1,34 +0,0 @@
-import gym
-
-from baselines import deepq
-from baselines.common.atari_wrappers_deprecated import wrap_dqn, ScaledFloatFrame
-
-
-def main():
-    env = gym.make("PongNoFrameskip-v4")
-    env = ScaledFloatFrame(wrap_dqn(env))
-    model = deepq.models.cnn_to_mlp(
-        convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
-        hiddens=[256],
-        dueling=True
-    )
-    act = deepq.learn(
-        env,
-        q_func=model,
-        lr=1e-4,
-        max_timesteps=2000000,
-        buffer_size=10000,
-        exploration_fraction=0.1,
-        exploration_final_eps=0.01,
-        train_freq=4,
-        learning_starts=10000,
-        target_network_update_freq=1000,
-        gamma=0.99,
-        prioritized_replay=True
-    )
-    act.save("pong_model.pkl")
-    env.close()
-
-
-if __name__ == '__main__':
-    main()

baselines/deepq/models.py

@@ -2,16 +2,19 @@ import tensorflow as tf
 import tensorflow.contrib.layers as layers
 
 
-def _mlp(hiddens, inpt, num_actions, scope, reuse=False):
+def _mlp(hiddens, inpt, num_actions, scope, reuse=False, layer_norm=False):
     with tf.variable_scope(scope, reuse=reuse):
         out = inpt
         for hidden in hiddens:
-            out = layers.fully_connected(out, num_outputs=hidden, activation_fn=tf.nn.relu)
-        out = layers.fully_connected(out, num_outputs=num_actions, activation_fn=None)
-        return out
+            out = layers.fully_connected(out, num_outputs=hidden, activation_fn=None)
+            if layer_norm:
+                out = layers.layer_norm(out, center=True, scale=True)
+            out = tf.nn.relu(out)
+        q_out = layers.fully_connected(out, num_outputs=num_actions, activation_fn=None)
+        return q_out
 
 
-def mlp(hiddens=[]):
+def mlp(hiddens=[], layer_norm=False):
     """This model takes as input an observation and returns values of all actions.
 
     Parameters
@@ -24,10 +27,10 @@ def mlp(hiddens=[]):
     q_func: function
         q_function for DQN algorithm.
     """
-    return lambda *args, **kwargs: _mlp(hiddens, *args, **kwargs)
+    return lambda *args, **kwargs: _mlp(hiddens, layer_norm=layer_norm, *args, **kwargs)
 
 
-def _cnn_to_mlp(convs, hiddens, dueling, inpt, num_actions, scope, reuse=False):
+def _cnn_to_mlp(convs, hiddens, dueling, inpt, num_actions, scope, reuse=False, layer_norm=False):
     with tf.variable_scope(scope, reuse=reuse):
         out = inpt
         with tf.variable_scope("convnet"):
@@ -37,28 +40,34 @@ def _cnn_to_mlp(convs, hiddens, dueling, inpt, num_actions, scope, reuse=False):
                                            kernel_size=kernel_size,
                                            stride=stride,
                                            activation_fn=tf.nn.relu)
-        out = layers.flatten(out)
+        conv_out = layers.flatten(out)
         with tf.variable_scope("action_value"):
-            action_out = out
+            action_out = conv_out
             for hidden in hiddens:
-                action_out = layers.fully_connected(action_out, num_outputs=hidden, activation_fn=tf.nn.relu)
+                action_out = layers.fully_connected(action_out, num_outputs=hidden, activation_fn=None)
+                if layer_norm:
+                    action_out = layers.layer_norm(action_out, center=True, scale=True)
+                action_out = tf.nn.relu(action_out)
             action_scores = layers.fully_connected(action_out, num_outputs=num_actions, activation_fn=None)
 
         if dueling:
             with tf.variable_scope("state_value"):
-                state_out = out
+                state_out = conv_out
                 for hidden in hiddens:
-                    state_out = layers.fully_connected(state_out, num_outputs=hidden, activation_fn=tf.nn.relu)
+                    state_out = layers.fully_connected(state_out, num_outputs=hidden, activation_fn=None)
+                    if layer_norm:
+                        state_out = layers.layer_norm(state_out, center=True, scale=True)
+                    state_out = tf.nn.relu(state_out)
                 state_score = layers.fully_connected(state_out, num_outputs=1, activation_fn=None)
             action_scores_mean = tf.reduce_mean(action_scores, 1)
             action_scores_centered = action_scores - tf.expand_dims(action_scores_mean, 1)
-            return state_score + action_scores_centered
+            q_out = state_score + action_scores_centered
         else:
-            return action_scores
-        return out
+            q_out = action_scores
+        return q_out
 
 
-def cnn_to_mlp(convs, hiddens, dueling=False):
+def cnn_to_mlp(convs, hiddens, dueling=False, layer_norm=False):
     """This model takes as input an observation and returns values of all actions.
 
     Parameters
@@ -78,5 +87,5 @@ def cnn_to_mlp(convs, hiddens, dueling=False):
         q_function for DQN algorithm.
     """
 
-    return lambda *args, **kwargs: _cnn_to_mlp(convs, hiddens, dueling, *args, **kwargs)
+    return lambda *args, **kwargs: _cnn_to_mlp(convs, hiddens, dueling, layer_norm=layer_norm, *args, **kwargs)
 

baselines/deepq/replay_buffer.py

@@ -6,7 +6,7 @@ from baselines.common.segment_tree import SumSegmentTree, MinSegmentTree
 
 class ReplayBuffer(object):
     def __init__(self, size):
-        """Create Prioritized Replay buffer.
+        """Create Replay buffer.
 
         Parameters
         ----------
@@ -86,7 +86,7 @@ class PrioritizedReplayBuffer(ReplayBuffer):
         ReplayBuffer.__init__
         """
         super(PrioritizedReplayBuffer, self).__init__(size)
-        assert alpha > 0
+        assert alpha >= 0
         self._alpha = alpha
 
         it_capacity = 1

baselines/deepq/simple.py

@@ -1,16 +1,20 @@
-import numpy as np
 import os
-import dill
 import tempfile
+
 import tensorflow as tf
 import zipfile
+import cloudpickle
+import numpy as np
 
 import baselines.common.tf_util as U
-
+from baselines.common.tf_util import load_state, save_state
 from baselines import logger
 from baselines.common.schedules import LinearSchedule
+from baselines.common.input import observation_input
+
 from baselines import deepq
 from baselines.deepq.replay_buffer import ReplayBuffer, PrioritizedReplayBuffer
+from baselines.deepq.utils import ObservationInput
 
 
 class ActWrapper(object):
@@ -19,11 +23,11 @@ class ActWrapper(object):
         self._act_params = act_params
 
     @staticmethod
-    def load(path, num_cpu=16):
+    def load(path):
         with open(path, "rb") as f:
-            model_data, act_params = dill.load(f)
+            model_data, act_params = cloudpickle.load(f)
         act = deepq.build_act(**act_params)
-        sess = U.make_session(num_cpu=num_cpu)
+        sess = tf.Session()
         sess.__enter__()
         with tempfile.TemporaryDirectory() as td:
             arc_path = os.path.join(td, "packed.zip")
@@ -31,17 +35,20 @@ class ActWrapper(object):
                 f.write(model_data)
 
             zipfile.ZipFile(arc_path, 'r', zipfile.ZIP_DEFLATED).extractall(td)
-            U.load_state(os.path.join(td, "model"))
+            load_state(os.path.join(td, "model"))
 
         return ActWrapper(act, act_params)
 
     def __call__(self, *args, **kwargs):
         return self._act(*args, **kwargs)
 
-    def save(self, path):
+    def save(self, path=None):
         """Save model to a pickle located at `path`"""
+        if path is None:
+            path = os.path.join(logger.get_dir(), "model.pkl")
+
         with tempfile.TemporaryDirectory() as td:
-            U.save_state(os.path.join(td, "model"))
+            save_state(os.path.join(td, "model"))
             arc_name = os.path.join(td, "packed.zip")
             with zipfile.ZipFile(arc_name, 'w') as zipf:
                 for root, dirs, files in os.walk(td):
@@ -52,18 +59,16 @@ class ActWrapper(object):
             with open(arc_name, "rb") as f:
                 model_data = f.read()
         with open(path, "wb") as f:
-            dill.dump((model_data, self._act_params), f)
+            cloudpickle.dump((model_data, self._act_params), f)
 
 
-def load(path, num_cpu=16):
+def load(path):
     """Load act function that was returned by learn function.
 
     Parameters
     ----------
     path: str
         path to the act function pickle
-    num_cpu: int
-        number of cpus to use for executing the policy
 
     Returns
     -------
@@ -71,7 +76,7 @@ def load(path, num_cpu=16):
         function that takes a batch of observations
         and returns actions.
     """
-    return ActWrapper.load(path, num_cpu=num_cpu)
+    return ActWrapper.load(path)
 
 
 def learn(env,
@@ -83,8 +88,9 @@ def learn(env,
           exploration_final_eps=0.02,
           train_freq=1,
           batch_size=32,
-          print_freq=1,
+          print_freq=100,
           checkpoint_freq=10000,
+          checkpoint_path=None,
           learning_starts=1000,
           gamma=1.0,
           target_network_update_freq=500,
@@ -93,7 +99,7 @@ def learn(env,
           prioritized_replay_beta0=0.4,
           prioritized_replay_beta_iters=None,
           prioritized_replay_eps=1e-6,
-          num_cpu=16,
+          param_noise=False,
           callback=None):
     """Train a deepq model.
 
@@ -150,8 +156,6 @@ def learn(env,
         to 1.0. If set to None equals to max_timesteps.
     prioritized_replay_eps: float
         epsilon to add to the TD errors when updating priorities.
-    num_cpu: int
-        number of cpus to use for training
     callback: (locals, globals) -> None
         function called at every steps with state of the algorithm.
         If callback returns true training stops.
@@ -164,11 +168,14 @@ def learn(env,
     """
     # Create all the functions necessary to train the model
 
-    sess = U.make_session(num_cpu=num_cpu)
+    sess = tf.Session()
     sess.__enter__()
 
+    # capture the shape outside the closure so that the env object is not serialized
+    # by cloudpickle when serializing make_obs_ph
+
     def make_obs_ph(name):
-        return U.BatchInput(env.observation_space.shape, name=name)
+        return ObservationInput(env.observation_space, name=name)
 
     act, train, update_target, debug = deepq.build_train(
         make_obs_ph=make_obs_ph,
@@ -176,13 +183,18 @@ def learn(env,
         num_actions=env.action_space.n,
         optimizer=tf.train.AdamOptimizer(learning_rate=lr),
         gamma=gamma,
-        grad_norm_clipping=10
+        grad_norm_clipping=10,
+        param_noise=param_noise
     )
+
     act_params = {
         'make_obs_ph': make_obs_ph,
         'q_func': q_func,
         'num_actions': env.action_space.n,
     }
+
+    act = ActWrapper(act, act_params)
+
     # Create the replay buffer
     if prioritized_replay:
         replay_buffer = PrioritizedReplayBuffer(buffer_size, alpha=prioritized_replay_alpha)
@@ -206,16 +218,41 @@ def learn(env,
     episode_rewards = [0.0]
     saved_mean_reward = None
     obs = env.reset()
+    reset = True
+
     with tempfile.TemporaryDirectory() as td:
-        model_saved = False
+        td = checkpoint_path or td
+
         model_file = os.path.join(td, "model")
+        model_saved = False
+        if tf.train.latest_checkpoint(td) is not None:
+            load_state(model_file)
+            logger.log('Loaded model from {}'.format(model_file))
+            model_saved = True
+
         for t in range(max_timesteps):
             if callback is not None:
                 if callback(locals(), globals()):
                     break
             # Take action and update exploration to the newest value
-            action = act(np.array(obs)[None], update_eps=exploration.value(t))[0]
-            new_obs, rew, done, _ = env.step(action)
+            kwargs = {}
+            if not param_noise:
+                update_eps = exploration.value(t)
+                update_param_noise_threshold = 0.
+            else:
+                update_eps = 0.
+                # Compute the threshold such that the KL divergence between perturbed and non-perturbed
+                # policy is comparable to eps-greedy exploration with eps = exploration.value(t).
+                # See Appendix C.1 in Parameter Space Noise for Exploration, Plappert et al., 2017
+                # for detailed explanation.
+                update_param_noise_threshold = -np.log(1. - exploration.value(t) + exploration.value(t) / float(env.action_space.n))
+                kwargs['reset'] = reset
+                kwargs['update_param_noise_threshold'] = update_param_noise_threshold
+                kwargs['update_param_noise_scale'] = True
+            action = act(np.array(obs)[None], update_eps=update_eps, **kwargs)[0]
+            env_action = action
+            reset = False
+            new_obs, rew, done, _ = env.step(env_action)
             # Store transition in the replay buffer.
             replay_buffer.add(obs, action, rew, new_obs, float(done))
             obs = new_obs
@@ -224,6 +261,7 @@ def learn(env,
             if done:
                 obs = env.reset()
                 episode_rewards.append(0.0)
+                reset = True
 
             if t > learning_starts and t % train_freq == 0:
                 # Minimize the error in Bellman's equation on a batch sampled from replay buffer.
@@ -257,12 +295,12 @@ def learn(env,
                     if print_freq is not None:
                         logger.log("Saving model due to mean reward increase: {} -> {}".format(
                                    saved_mean_reward, mean_100ep_reward))
-                    U.save_state(model_file)
+                    save_state(model_file)
                     model_saved = True
                     saved_mean_reward = mean_100ep_reward
         if model_saved:
             if print_freq is not None:
                 logger.log("Restored model with mean reward: {}".format(saved_mean_reward))
-            U.load_state(model_file)
+            load_state(model_file)
 
-    return ActWrapper(act, act_params)
+    return act

baselines/deepq/test_identity.py

@@ -0,0 +1,43 @@
+import tensorflow as tf
+import random
+
+from baselines import deepq
+from baselines.common.identity_env import IdentityEnv
+
+
+def test_identity():
+
+    with tf.Graph().as_default():
+        env = IdentityEnv(10)
+        random.seed(0)
+
+        tf.set_random_seed(0)
+
+        param_noise = False
+        model = deepq.models.mlp([32])
+        act = deepq.learn(
+            env,
+            q_func=model,
+            lr=1e-3,
+            max_timesteps=10000,
+            buffer_size=50000,
+            exploration_fraction=0.1,
+            exploration_final_eps=0.02,
+            print_freq=10,
+            param_noise=param_noise,
+        )
+
+        tf.set_random_seed(0)
+
+        N_TRIALS = 1000
+        sum_rew = 0
+        obs = env.reset()
+        for i in range(N_TRIALS):
+            obs, rew, done, _ = env.step(act([obs]))
+            sum_rew += rew
+
+        assert sum_rew > 0.9 * N_TRIALS
+
+
+if __name__ == '__main__':
+    test_identity()

baselines/deepq/utils.py

@@ -0,0 +1,83 @@
+from baselines.common.input import observation_input
+
+import tensorflow as tf
+
+# ================================================================
+# Placeholders
+# ================================================================
+
+
+class TfInput(object):
+    def __init__(self, name="(unnamed)"):
+        """Generalized Tensorflow placeholder. The main differences are:
+            - possibly uses multiple placeholders internally and returns multiple values
+            - can apply light postprocessing to the value feed to placeholder.
+        """
+        self.name = name
+
+    def get(self):
+        """Return the tf variable(s) representing the possibly postprocessed value
+        of placeholder(s).
+        """
+        raise NotImplemented()
+
+    def make_feed_dict(data):
+        """Given data input it to the placeholder(s)."""
+        raise NotImplemented()
+
+
+class PlaceholderTfInput(TfInput):
+    def __init__(self, placeholder):
+        """Wrapper for regular tensorflow placeholder."""
+        super().__init__(placeholder.name)
+        self._placeholder = placeholder
+
+    def get(self):
+        return self._placeholder
+
+    def make_feed_dict(self, data):
+        return {self._placeholder: data}
+
+
+class Uint8Input(PlaceholderTfInput):
+    def __init__(self, shape, name=None):
+        """Takes input in uint8 format which is cast to float32 and divided by 255
+        before passing it to the model.
+
+        On GPU this ensures lower data transfer times.
+
+        Parameters
+        ----------
+        shape: [int]
+            shape of the tensor.
+        name: str
+            name of the underlying placeholder
+        """
+
+        super().__init__(tf.placeholder(tf.uint8, [None] + list(shape), name=name))
+        self._shape = shape
+        self._output = tf.cast(super().get(), tf.float32) / 255.0
+
+    def get(self):
+        return self._output
+
+
+class ObservationInput(PlaceholderTfInput):
+    def __init__(self, observation_space, name=None):
+        """Creates an input placeholder tailored to a specific observation space
+        
+        Parameters
+        ----------
+
+        observation_space: 
+                observation space of the environment. Should be one of the gym.spaces types
+        name: str 
+                tensorflow name of the underlying placeholder
+        """
+        inpt, self.processed_inpt = observation_input(observation_space, name=name)
+        super().__init__(inpt)
+
+    def get(self):
+        return self.processed_inpt
+    
+    

baselines/gail/README.md

@@ -0,0 +1,52 @@
+# Generative Adversarial Imitation Learning (GAIL)
+
+- Original paper: https://arxiv.org/abs/1606.03476
+
+For results benchmarking on MuJoCo, please navigate to [here](result/gail-result.md)
+
+## If you want to train an imitation learning agent
+
+### Step 1: Download expert data
+
+Download the expert data into `./data`, [download link](https://drive.google.com/drive/folders/1h3H4AY_ZBx08hz-Ct0Nxxus-V1melu1U?usp=sharing)
+
+### Step 2: Run GAIL
+
+Run with single thread:
+
+```bash
+python -m baselines.gail.run_mujoco
+```
+
+Run with multiple threads:
+
+```bash
+mpirun -np 16 python -m baselines.gail.run_mujoco
+```
+
+See help (`-h`) for more options.
+
+#### In case you want to run Behavior Cloning (BC)
+
+```bash
+python -m baselines.gail.behavior_clone
+```
+
+See help (`-h`) for more options.
+
+
+## Contributing
+
+Bug reports and pull requests are welcome on GitHub at https://github.com/openai/baselines/pulls.
+
+## Maintainers
+
+- Yuan-Hong Liao, andrewliao11_at_gmail_dot_com
+- Ryan Julian, ryanjulian_at_gmail_dot_com
+
+## Others
+
+Thanks to the open source:
+
+- @openai/imitation
+- @carpedm20/deep-rl-tensorflow

baselines/gail/adversary.py

@@ -0,0 +1,87 @@
+'''
+Reference: https://github.com/openai/imitation
+I follow the architecture from the official repository
+'''
+import tensorflow as tf
+import numpy as np
+
+from baselines.common.mpi_running_mean_std import RunningMeanStd
+from baselines.common import tf_util as U
+
+def logsigmoid(a):
+    '''Equivalent to tf.log(tf.sigmoid(a))'''
+    return -tf.nn.softplus(-a)
+
+""" Reference: https://github.com/openai/imitation/blob/99fbccf3e060b6e6c739bdf209758620fcdefd3c/policyopt/thutil.py#L48-L51"""
+def logit_bernoulli_entropy(logits):
+    ent = (1.-tf.nn.sigmoid(logits))*logits - logsigmoid(logits)
+    return ent
+
+class TransitionClassifier(object):
+    def __init__(self, env, hidden_size, entcoeff=0.001, lr_rate=1e-3, scope="adversary"):
+        self.scope = scope
+        self.observation_shape = env.observation_space.shape
+        self.actions_shape = env.action_space.shape
+        self.input_shape = tuple([o+a for o, a in zip(self.observation_shape, self.actions_shape)])
+        self.num_actions = env.action_space.shape[0]
+        self.hidden_size = hidden_size
+        self.build_ph()
+        # Build grpah
+        generator_logits = self.build_graph(self.generator_obs_ph, self.generator_acs_ph, reuse=False)
+        expert_logits = self.build_graph(self.expert_obs_ph, self.expert_acs_ph, reuse=True)
+        # Build accuracy
+        generator_acc = tf.reduce_mean(tf.to_float(tf.nn.sigmoid(generator_logits) < 0.5))
+        expert_acc = tf.reduce_mean(tf.to_float(tf.nn.sigmoid(expert_logits) > 0.5))
+        # Build regression loss
+        # let x = logits, z = targets.
+        # z * -log(sigmoid(x)) + (1 - z) * -log(1 - sigmoid(x))
+        generator_loss = tf.nn.sigmoid_cross_entropy_with_logits(logits=generator_logits, labels=tf.zeros_like(generator_logits))
+        generator_loss = tf.reduce_mean(generator_loss)
+        expert_loss = tf.nn.sigmoid_cross_entropy_with_logits(logits=expert_logits, labels=tf.ones_like(expert_logits))
+        expert_loss = tf.reduce_mean(expert_loss)
+        # Build entropy loss
+        logits = tf.concat([generator_logits, expert_logits], 0)
+        entropy = tf.reduce_mean(logit_bernoulli_entropy(logits))
+        entropy_loss = -entcoeff*entropy
+        # Loss + Accuracy terms
+        self.losses = [generator_loss, expert_loss, entropy, entropy_loss, generator_acc, expert_acc]
+        self.loss_name = ["generator_loss", "expert_loss", "entropy", "entropy_loss", "generator_acc", "expert_acc"]
+        self.total_loss = generator_loss + expert_loss + entropy_loss
+        # Build Reward for policy
+        self.reward_op = -tf.log(1-tf.nn.sigmoid(generator_logits)+1e-8)
+        var_list = self.get_trainable_variables()
+        self.lossandgrad = U.function([self.generator_obs_ph, self.generator_acs_ph, self.expert_obs_ph, self.expert_acs_ph],
+                                      self.losses + [U.flatgrad(self.total_loss, var_list)])
+
+    def build_ph(self):
+        self.generator_obs_ph = tf.placeholder(tf.float32, (None, ) + self.observation_shape, name="observations_ph")
+        self.generator_acs_ph = tf.placeholder(tf.float32, (None, ) + self.actions_shape, name="actions_ph")
+        self.expert_obs_ph = tf.placeholder(tf.float32, (None, ) + self.observation_shape, name="expert_observations_ph")
+        self.expert_acs_ph = tf.placeholder(tf.float32, (None, ) + self.actions_shape, name="expert_actions_ph")
+
+    def build_graph(self, obs_ph, acs_ph, reuse=False):
+        with tf.variable_scope(self.scope):
+            if reuse:
+                tf.get_variable_scope().reuse_variables()
+
+            with tf.variable_scope("obfilter"):
+                self.obs_rms = RunningMeanStd(shape=self.observation_shape)
+            obs = (obs_ph - self.obs_rms.mean / self.obs_rms.std)
+            _input = tf.concat([obs, acs_ph], axis=1)  # concatenate the two input -> form a transition
+            p_h1 = tf.contrib.layers.fully_connected(_input, self.hidden_size, activation_fn=tf.nn.tanh)
+            p_h2 = tf.contrib.layers.fully_connected(p_h1, self.hidden_size, activation_fn=tf.nn.tanh)
+            logits = tf.contrib.layers.fully_connected(p_h2, 1, activation_fn=tf.identity)
+        return logits
+
+    def get_trainable_variables(self):
+        return tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, self.scope)
+
+    def get_reward(self, obs, acs):
+        sess = tf.get_default_session()
+        if len(obs.shape) == 1:
+            obs = np.expand_dims(obs, 0)
+        if len(acs.shape) == 1:
+            acs = np.expand_dims(acs, 0)
+        feed_dict = {self.generator_obs_ph: obs, self.generator_acs_ph: acs}
+        reward = sess.run(self.reward_op, feed_dict)
+        return reward

baselines/gail/behavior_clone.py

@@ -0,0 +1,124 @@
+'''
+The code is used to train BC imitator, or pretrained GAIL imitator
+'''
+
+import argparse
+import tempfile
+import os.path as osp
+import gym
+import logging
+from tqdm import tqdm
+
+import tensorflow as tf
+
+from baselines.gail import mlp_policy
+from baselines import bench
+from baselines import logger
+from baselines.common import set_global_seeds, tf_util as U
+from baselines.common.misc_util import boolean_flag
+from baselines.common.mpi_adam import MpiAdam
+from baselines.gail.run_mujoco import runner
+from baselines.gail.dataset.mujoco_dset import Mujoco_Dset
+
+
+def argsparser():
+    parser = argparse.ArgumentParser("Tensorflow Implementation of Behavior Cloning")
+    parser.add_argument('--env_id', help='environment ID', default='Hopper-v1')
+    parser.add_argument('--seed', help='RNG seed', type=int, default=0)
+    parser.add_argument('--expert_path', type=str, default='data/deterministic.trpo.Hopper.0.00.npz')
+    parser.add_argument('--checkpoint_dir', help='the directory to save model', default='checkpoint')
+    parser.add_argument('--log_dir', help='the directory to save log file', default='log')
+    #  Mujoco Dataset Configuration
+    parser.add_argument('--traj_limitation', type=int, default=-1)
+    # Network Configuration (Using MLP Policy)
+    parser.add_argument('--policy_hidden_size', type=int, default=100)
+    # for evaluatation
+    boolean_flag(parser, 'stochastic_policy', default=False, help='use stochastic/deterministic policy to evaluate')
+    boolean_flag(parser, 'save_sample', default=False, help='save the trajectories or not')
+    parser.add_argument('--BC_max_iter', help='Max iteration for training BC', type=int, default=1e5)
+    return parser.parse_args()
+
+
+def learn(env, policy_func, dataset, optim_batch_size=128, max_iters=1e4,
+          adam_epsilon=1e-5, optim_stepsize=3e-4,
+          ckpt_dir=None, log_dir=None, task_name=None,
+          verbose=False):
+
+    val_per_iter = int(max_iters/10)
+    ob_space = env.observation_space
+    ac_space = env.action_space
+    pi = policy_func("pi", ob_space, ac_space)  # Construct network for new policy
+    # placeholder
+    ob = U.get_placeholder_cached(name="ob")
+    ac = pi.pdtype.sample_placeholder([None])
+    stochastic = U.get_placeholder_cached(name="stochastic")
+    loss = tf.reduce_mean(tf.square(ac-pi.ac))
+    var_list = pi.get_trainable_variables()
+    adam = MpiAdam(var_list, epsilon=adam_epsilon)
+    lossandgrad = U.function([ob, ac, stochastic], [loss]+[U.flatgrad(loss, var_list)])
+
+    U.initialize()
+    adam.sync()
+    logger.log("Pretraining with Behavior Cloning...")
+    for iter_so_far in tqdm(range(int(max_iters))):
+        ob_expert, ac_expert = dataset.get_next_batch(optim_batch_size, 'train')
+        train_loss, g = lossandgrad(ob_expert, ac_expert, True)
+        adam.update(g, optim_stepsize)
+        if verbose and iter_so_far % val_per_iter == 0:
+            ob_expert, ac_expert = dataset.get_next_batch(-1, 'val')
+            val_loss, _ = lossandgrad(ob_expert, ac_expert, True)
+            logger.log("Training loss: {}, Validation loss: {}".format(train_loss, val_loss))
+
+    if ckpt_dir is None:
+        savedir_fname = tempfile.TemporaryDirectory().name
+    else:
+        savedir_fname = osp.join(ckpt_dir, task_name)
+    U.save_state(savedir_fname, var_list=pi.get_variables())
+    return savedir_fname
+
+
+def get_task_name(args):
+    task_name = 'BC'
+    task_name += '.{}'.format(args.env_id.split("-")[0])
+    task_name += '.traj_limitation_{}'.format(args.traj_limitation)
+    task_name += ".seed_{}".format(args.seed)
+    return task_name
+
+
+def main(args):
+    U.make_session(num_cpu=1).__enter__()
+    set_global_seeds(args.seed)
+    env = gym.make(args.env_id)
+
+    def policy_fn(name, ob_space, ac_space, reuse=False):
+        return mlp_policy.MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
+                                    reuse=reuse, hid_size=args.policy_hidden_size, num_hid_layers=2)
+    env = bench.Monitor(env, logger.get_dir() and
+                        osp.join(logger.get_dir(), "monitor.json"))
+    env.seed(args.seed)
+    gym.logger.setLevel(logging.WARN)
+    task_name = get_task_name(args)
+    args.checkpoint_dir = osp.join(args.checkpoint_dir, task_name)
+    args.log_dir = osp.join(args.log_dir, task_name)
+    dataset = Mujoco_Dset(expert_path=args.expert_path, traj_limitation=args.traj_limitation)
+    savedir_fname = learn(env,
+                          policy_fn,
+                          dataset,
+                          max_iters=args.BC_max_iter,
+                          ckpt_dir=args.checkpoint_dir,
+                          log_dir=args.log_dir,
+                          task_name=task_name,
+                          verbose=True)
+    avg_len, avg_ret = runner(env,
+                              policy_fn,
+                              savedir_fname,
+                              timesteps_per_batch=1024,
+                              number_trajs=10,
+                              stochastic_policy=args.stochastic_policy,
+                              save=args.save_sample,
+                              reuse=True)
+
+
+if __name__ == '__main__':
+    args = argsparser()
+    main(args)

baselines/gail/dataset/mujoco_dset.py

@@ -0,0 +1,116 @@
+'''
+Data structure of the input .npz:
+the data is save in python dictionary format with keys: 'acs', 'ep_rets', 'rews', 'obs'
+the values of each item is a list storing the expert trajectory sequentially
+a transition can be: (data['obs'][t], data['acs'][t], data['obs'][t+1]) and get reward data['rews'][t]
+'''
+
+from baselines import logger
+import numpy as np
+
+
+class Dset(object):
+    def __init__(self, inputs, labels, randomize):
+        self.inputs = inputs
+        self.labels = labels
+        assert len(self.inputs) == len(self.labels)
+        self.randomize = randomize
+        self.num_pairs = len(inputs)
+        self.init_pointer()
+
+    def init_pointer(self):
+        self.pointer = 0
+        if self.randomize:
+            idx = np.arange(self.num_pairs)
+            np.random.shuffle(idx)
+            self.inputs = self.inputs[idx, :]
+            self.labels = self.labels[idx, :]
+
+    def get_next_batch(self, batch_size):
+        # if batch_size is negative -> return all
+        if batch_size < 0:
+            return self.inputs, self.labels
+        if self.pointer + batch_size >= self.num_pairs:
+            self.init_pointer()
+        end = self.pointer + batch_size
+        inputs = self.inputs[self.pointer:end, :]
+        labels = self.labels[self.pointer:end, :]
+        self.pointer = end
+        return inputs, labels
+
+
+class Mujoco_Dset(object):
+    def __init__(self, expert_path, train_fraction=0.7, traj_limitation=-1, randomize=True):
+        traj_data = np.load(expert_path)
+        if traj_limitation < 0:
+            traj_limitation = len(traj_data['obs'])
+        obs = traj_data['obs'][:traj_limitation]
+        acs = traj_data['acs'][:traj_limitation]
+
+        def flatten(x):
+            # x.shape = (E,), or (E, L, D)
+            _, size = x[0].shape
+            episode_length = [len(i) for i in x]
+            y = np.zeros((sum(episode_length), size))
+            start_idx = 0
+            for l, x_i in zip(episode_length, x):
+                y[start_idx:(start_idx+l)] = x_i
+                start_idx += l
+                return y
+        self.obs = np.array(flatten(obs))
+        self.acs = np.array(flatten(acs))
+        self.rets = traj_data['ep_rets'][:traj_limitation]
+        self.avg_ret = sum(self.rets)/len(self.rets)
+        self.std_ret = np.std(np.array(self.rets))
+        if len(self.acs) > 2:
+            self.acs = np.squeeze(self.acs)
+        assert len(self.obs) == len(self.acs)
+        self.num_traj = min(traj_limitation, len(traj_data['obs']))
+        self.num_transition = len(self.obs)
+        self.randomize = randomize
+        self.dset = Dset(self.obs, self.acs, self.randomize)
+        # for behavior cloning
+        self.train_set = Dset(self.obs[:int(self.num_transition*train_fraction), :],
+                              self.acs[:int(self.num_transition*train_fraction), :],
+                              self.randomize)
+        self.val_set = Dset(self.obs[int(self.num_transition*train_fraction):, :],
+                            self.acs[int(self.num_transition*train_fraction):, :],
+                            self.randomize)
+        self.log_info()
+
+    def log_info(self):
+        logger.log("Total trajectorues: %d" % self.num_traj)
+        logger.log("Total transitions: %d" % self.num_transition)
+        logger.log("Average returns: %f" % self.avg_ret)
+        logger.log("Std for returns: %f" % self.std_ret)
+
+    def get_next_batch(self, batch_size, split=None):
+        if split is None:
+            return self.dset.get_next_batch(batch_size)
+        elif split == 'train':
+            return self.train_set.get_next_batch(batch_size)
+        elif split == 'val':
+            return self.val_set.get_next_batch(batch_size)
+        else:
+            raise NotImplementedError
+
+    def plot(self):
+        import matplotlib.pyplot as plt
+        plt.hist(self.rets)
+        plt.savefig("histogram_rets.png")
+        plt.close()
+
+
+def test(expert_path, traj_limitation, plot):
+    dset = Mujoco_Dset(expert_path, traj_limitation=traj_limitation)
+    if plot:
+        dset.plot()
+
+if __name__ == '__main__':
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--expert_path", type=str, default="../data/deterministic.trpo.Hopper.0.00.npz")
+    parser.add_argument("--traj_limitation", type=int, default=None)
+    parser.add_argument("--plot", type=bool, default=False)
+    args = parser.parse_args()
+    test(args.expert_path, args.traj_limitation, args.plot)

baselines/gail/gail-eval.py

@@ -0,0 +1,147 @@
+'''
+This code is used to evalaute the imitators trained with different number of trajectories
+and plot the results in the same figure for easy comparison.
+'''
+
+import argparse
+import os
+import glob
+import gym
+
+import matplotlib.pyplot as plt
+import numpy as np
+import tensorflow as tf
+
+from baselines.gail import run_mujoco
+from baselines.gail import mlp_policy
+from baselines.common import set_global_seeds, tf_util as U
+from baselines.common.misc_util import boolean_flag
+from baselines.gail.dataset.mujoco_dset import Mujoco_Dset
+
+
+plt.style.use('ggplot')
+CONFIG = {
+    'traj_limitation': [1, 5, 10, 50],
+}
+
+
+def load_dataset(expert_path):
+    dataset = Mujoco_Dset(expert_path=expert_path)
+    return dataset
+
+
+def argsparser():
+    parser = argparse.ArgumentParser('Do evaluation')
+    parser.add_argument('--seed', type=int, default=0)
+    parser.add_argument('--policy_hidden_size', type=int, default=100)
+    parser.add_argument('--env', type=str, choices=['Hopper', 'Walker2d', 'HalfCheetah',
+                                                    'Humanoid', 'HumanoidStandup'])
+    boolean_flag(parser, 'stochastic_policy', default=False, help='use stochastic/deterministic policy to evaluate')
+    return parser.parse_args()
+
+
+def evaluate_env(env_name, seed, policy_hidden_size, stochastic, reuse, prefix):
+
+    def get_checkpoint_dir(checkpoint_list, limit, prefix):
+        for checkpoint in checkpoint_list:
+            if ('limitation_'+str(limit) in checkpoint) and (prefix in checkpoint):
+                return checkpoint
+        return None
+
+    def policy_fn(name, ob_space, ac_space, reuse=False):
+        return mlp_policy.MlpPolicy(name=name, ob_space=ob_space, ac_space=ac_space,
+                                    reuse=reuse, hid_size=policy_hidden_size, num_hid_layers=2)
+
+    data_path = os.path.join('data', 'deterministic.trpo.' + env_name + '.0.00.npz')
+    dataset = load_dataset(data_path)
+    checkpoint_list = glob.glob(os.path.join('checkpoint', '*' + env_name + ".*"))
+    log = {
+        'traj_limitation': [],
+        'upper_bound': [],
+        'avg_ret': [],
+        'avg_len': [],
+        'normalized_ret': []
+    }
+    for i, limit in enumerate(CONFIG['traj_limitation']):
+        # Do one evaluation
+        upper_bound = sum(dataset.rets[:limit])/limit
+        checkpoint_dir = get_checkpoint_dir(checkpoint_list, limit, prefix=prefix)
+        checkpoint_path = tf.train.latest_checkpoint(checkpoint_dir)
+        env = gym.make(env_name + '-v1')
+        env.seed(seed)
+        print('Trajectory limitation: {}, Load checkpoint: {}, '.format(limit, checkpoint_path))
+        avg_len, avg_ret = run_mujoco.runner(env,
+                                             policy_fn,
+                                             checkpoint_path,
+                                             timesteps_per_batch=1024,
+                                             number_trajs=10,
+                                             stochastic_policy=stochastic,
+                                             reuse=((i != 0) or reuse))
+        normalized_ret = avg_ret/upper_bound
+        print('Upper bound: {}, evaluation returns: {}, normalized scores: {}'.format(
+            upper_bound, avg_ret, normalized_ret))
+        log['traj_limitation'].append(limit)
+        log['upper_bound'].append(upper_bound)
+        log['avg_ret'].append(avg_ret)
+        log['avg_len'].append(avg_len)
+        log['normalized_ret'].append(normalized_ret)
+        env.close()
+    return log
+
+
+def plot(env_name, bc_log, gail_log, stochastic):
+    upper_bound = bc_log['upper_bound']
+    bc_avg_ret = bc_log['avg_ret']
+    gail_avg_ret = gail_log['avg_ret']
+    plt.plot(CONFIG['traj_limitation'], upper_bound)
+    plt.plot(CONFIG['traj_limitation'], bc_avg_ret)
+    plt.plot(CONFIG['traj_limitation'], gail_avg_ret)
+    plt.xlabel('Number of expert trajectories')
+    plt.ylabel('Accumulated reward')
+    plt.title('{} unnormalized scores'.format(env_name))
+    plt.legend(['expert', 'bc-imitator', 'gail-imitator'], loc='lower right')
+    plt.grid(b=True, which='major', color='gray', linestyle='--')
+    if stochastic:
+        title_name = 'result/{}-unnormalized-stochastic-scores.png'.format(env_name)
+    else:
+        title_name = 'result/{}-unnormalized-deterministic-scores.png'.format(env_name)
+    plt.savefig(title_name)
+    plt.close()
+
+    bc_normalized_ret = bc_log['normalized_ret']
+    gail_normalized_ret = gail_log['normalized_ret']
+    plt.plot(CONFIG['traj_limitation'], np.ones(len(CONFIG['traj_limitation'])))
+    plt.plot(CONFIG['traj_limitation'], bc_normalized_ret)
+    plt.plot(CONFIG['traj_limitation'], gail_normalized_ret)
+    plt.xlabel('Number of expert trajectories')
+    plt.ylabel('Normalized performance')
+    plt.title('{} normalized scores'.format(env_name))
+    plt.legend(['expert', 'bc-imitator', 'gail-imitator'], loc='lower right')
+    plt.grid(b=True, which='major', color='gray', linestyle='--')
+    if stochastic:
+        title_name = 'result/{}-normalized-stochastic-scores.png'.format(env_name)
+    else:
+        title_name = 'result/{}-normalized-deterministic-scores.png'.format(env_name)
+    plt.ylim(0, 1.6)
+    plt.savefig(title_name)
+    plt.close()
+
+
+def main(args):
+    U.make_session(num_cpu=1).__enter__()
+    set_global_seeds(args.seed)
+    print('Evaluating {}'.format(args.env))
+    bc_log = evaluate_env(args.env, args.seed, args.policy_hidden_size,
+                          args.stochastic_policy, False, 'BC')
+    print('Evaluation for {}'.format(args.env))
+    print(bc_log)
+    gail_log = evaluate_env(args.env, args.seed, args.policy_hidden_size,
+                            args.stochastic_policy, True, 'gail')
+    print('Evaluation for {}'.format(args.env))
+    print(gail_log)
+    plot(args.env, bc_log, gail_log, args.stochastic_policy)
+
+
+if __name__ == '__main__':
+    args = argsparser()
+    main(args)

baselines/gail/mlp_policy.py

@@ -1,13 +1,24 @@
-from baselines.common.mpi_running_mean_std import RunningMeanStd
-import baselines.common.tf_util as U
+'''
+from baselines/ppo1/mlp_policy.py and add simple modification
+(1) add reuse argument
+(2) cache the `stochastic` placeholder
+'''
 import tensorflow as tf
 import gym
+
+import baselines.common.tf_util as U
+from baselines.common.mpi_running_mean_std import RunningMeanStd
 from baselines.common.distributions import make_pdtype
+from baselines.acktr.utils import dense
+
 
 class MlpPolicy(object):
     recurrent = False
-    def __init__(self, name, *args, **kwargs):
+
+    def __init__(self, name, reuse=False, *args, **kwargs):
         with tf.variable_scope(name):
+            if reuse:
+                tf.get_variable_scope().reuse_variables()
             self._init(*args, **kwargs)
             self.scope = tf.get_variable_scope().name
 
@@ -18,42 +29,47 @@ class MlpPolicy(object):
         sequence_length = None
 
         ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
-        
+
         with tf.variable_scope("obfilter"):
             self.ob_rms = RunningMeanStd(shape=ob_space.shape)
 
         obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
         last_out = obz
         for i in range(num_hid_layers):
-            last_out = tf.nn.tanh(U.dense(last_out, hid_size, "vffc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
-        self.vpred = U.dense(last_out, 1, "vffinal", weight_init=U.normc_initializer(1.0))[:,0]
-        
+            last_out = tf.nn.tanh(dense(last_out, hid_size, "vffc%i" % (i+1), weight_init=U.normc_initializer(1.0)))
+        self.vpred = dense(last_out, 1, "vffinal", weight_init=U.normc_initializer(1.0))[:, 0]
+
         last_out = obz
         for i in range(num_hid_layers):
-            last_out = tf.nn.tanh(U.dense(last_out, hid_size, "polfc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
+            last_out = tf.nn.tanh(dense(last_out, hid_size, "polfc%i" % (i+1), weight_init=U.normc_initializer(1.0)))
+
         if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
-            mean = U.dense(last_out, pdtype.param_shape()[0]//2, "polfinal", U.normc_initializer(0.01))            
+            mean = dense(last_out, pdtype.param_shape()[0]//2, "polfinal", U.normc_initializer(0.01))
             logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
-            pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
+            pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
         else:
-            pdparam = U.dense(last_out, pdtype.param_shape()[0], "polfinal", U.normc_initializer(0.01))
+            pdparam = dense(last_out, pdtype.param_shape()[0], "polfinal", U.normc_initializer(0.01))
 
         self.pd = pdtype.pdfromflat(pdparam)
 
         self.state_in = []
         self.state_out = []
 
-        stochastic = tf.placeholder(dtype=tf.bool, shape=())
+        # change for BC
+        stochastic = U.get_placeholder(name="stochastic", dtype=tf.bool, shape=())
         ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
+        self.ac = ac
         self._act = U.function([stochastic, ob], [ac, self.vpred])
 
     def act(self, stochastic, ob):
-        ac1, vpred1 =  self._act(stochastic, ob[None])
+        ac1, vpred1 = self._act(stochastic, ob[None])
         return ac1[0], vpred1[0]
+
     def get_variables(self):
-        return tf.get_collection(tf.GraphKeys.VARIABLES, self.scope)
+        return tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, self.scope)
+
     def get_trainable_variables(self):
         return tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, self.scope)
+
     def get_initial_state(self):
         return []
-