feature(xjy): add the rnd-related features

lzero/entry/__init__.py

@@ -10,4 +10,5 @@
 from .train_rezero import train_rezero
 from .train_unizero import train_unizero
 from .train_unizero_segment import train_unizero_segment
+from .train_unizero_segment_with_reward_model import train_unizero_segment_with_reward_model
 from .utils import *

lzero/entry/train_unizero_segment_with_reward_model.py

@@ -0,0 +1,258 @@
+import logging
+import os
+from functools import partial
+from typing import Tuple, Optional
+
+import torch
+import wandb
+from ding.config import compile_config
+from ding.envs import create_env_manager
+from ding.envs import get_vec_env_setting
+from ding.policy import create_policy
+from ding.rl_utils import get_epsilon_greedy_fn
+from ding.utils import EasyTimer
+from ding.utils import set_pkg_seed, get_rank, get_world_size
+from ding.worker import BaseLearner
+from tensorboardX import SummaryWriter
+from torch.utils.tensorboard import SummaryWriter
+
+from lzero.entry.utils import log_buffer_memory_usage
+from lzero.policy import visit_count_temperature
+from lzero.policy.random_policy import LightZeroRandomPolicy
+from lzero.worker import MuZeroEvaluator as Evaluator
+from lzero.worker import MuZeroSegmentCollector as Collector
+from lzero.reward_model.rnd_reward_model import RNDRewardModel
+from .utils import random_collect, calculate_update_per_collect
+
+timer = EasyTimer()
+
+def train_unizero_segment_with_reward_model(
+        input_cfg: Tuple[dict, dict],
+        seed: int = 0,
+        model: Optional[torch.nn.Module] = None,
+        model_path: Optional[str] = None,
+        max_train_iter: Optional[int] = int(1e10),
+        max_env_step: Optional[int] = int(1e10),
+) -> 'Policy':
+    """
+    Overview:
+        The train entry for UniZero (with muzero_segment_collector and buffer reanalyze trick), proposed in our paper UniZero: Generalized and Efficient Planning with Scalable Latent World Models.
+        UniZero aims to enhance the planning capabilities of reinforcement learning agents by addressing the limitations found in MuZero-style algorithms,
+        particularly in environments requiring the capture of long-term dependencies. More details can be found in https://arxiv.org/abs/2406.10667.
+    Arguments:
+        - input_cfg (:obj:`Tuple[dict, dict]`): Config in dict type.
+            ``Tuple[dict, dict]`` type means [user_config, create_cfg].
+        - seed (:obj:`int`): Random seed.
+        - model (:obj:`Optional[torch.nn.Module]`): Instance of torch.nn.Module.
+        - model_path (:obj:`Optional[str]`): The pretrained model path, which should
+            point to the ckpt file of the pretrained model, and an absolute path is recommended.
+            In LightZero, the path is usually something like ``exp_name/ckpt/ckpt_best.pth.tar``.
+        - max_train_iter (:obj:`Optional[int]`): Maximum policy update iterations in training.
+        - max_env_step (:obj:`Optional[int]`): Maximum collected environment interaction steps.
+    Returns:
+        - policy (:obj:`Policy`): Converged policy.
+    """
+
+    cfg, create_cfg = input_cfg
+
+    # Ensure the specified policy type is supported
+    assert create_cfg.policy.type in ['unizero', 'sampled_unizero'], "train_unizero entry now only supports the following algo.: 'unizero', 'sampled_unizero'"
+    assert cfg.policy.use_rnd_model, "cfg.policy.use_rnd_model must be True to use RND reward model"
+
+    # Import the correct GameBuffer class based on the policy type
+    game_buffer_classes = {'unizero': 'UniZeroGameBuffer', 'sampled_unizero': 'SampledUniZeroGameBuffer'}
+
+    GameBuffer = getattr(__import__('lzero.mcts', fromlist=[game_buffer_classes[create_cfg.policy.type]]),
+                         game_buffer_classes[create_cfg.policy.type])
+
+    # Set device based on CUDA availability
+    cfg.policy.device = cfg.policy.model.world_model_cfg.device if torch.cuda.is_available() else 'cpu'
+    logging.info(f'cfg.policy.device: {cfg.policy.device}')
+
+    # Compile the configuration
+    cfg = compile_config(cfg, seed=seed, env=None, auto=True, create_cfg=create_cfg, save_cfg=True)
+
+    # Create main components: env, policy
+    env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
+    collector_env = create_env_manager(cfg.env.manager, [partial(env_fn, cfg=c) for c in collector_env_cfg])
+    evaluator_env = create_env_manager(cfg.env.manager, [partial(env_fn, cfg=c) for c in evaluator_env_cfg])
+
+    collector_env.seed(cfg.seed)
+    evaluator_env.seed(cfg.seed, dynamic_seed=False)
+    set_pkg_seed(cfg.seed, use_cuda=torch.cuda.is_available())
+
+    policy = create_policy(cfg.policy, model=model, enable_field=['learn', 'collect', 'eval'])
+
+    # Load pretrained model if specified
+    if model_path is not None:
+        logging.info(f'Loading model from {model_path} begin...')
+        policy.learn_mode.load_state_dict(torch.load(model_path, map_location=cfg.policy.device))
+        logging.info(f'Loading model from {model_path} end!')
+
+    # Create worker components: learner, collector, evaluator, replay buffer, commander
+    tb_logger = None
+    if get_rank() == 0:
+        tb_logger = SummaryWriter(os.path.join(f'./{cfg.exp_name}/log/', 'serial'))
+    learner = BaseLearner(cfg.policy.learn.learner, policy.learn_mode, tb_logger, exp_name=cfg.exp_name)
+
+    # MCTS+RL algorithms related core code
+    policy_config = cfg.policy
+    replay_buffer = GameBuffer(policy_config)
+    collector = Collector(env=collector_env, policy=policy.collect_mode, tb_logger=tb_logger, exp_name=cfg.exp_name,
+                          policy_config=policy_config)
+    evaluator = Evaluator(eval_freq=cfg.policy.eval_freq, n_evaluator_episode=cfg.env.n_evaluator_episode,
+                          stop_value=cfg.env.stop_value, env=evaluator_env, policy=policy.eval_mode,
+                          tb_logger=tb_logger, exp_name=cfg.exp_name, policy_config=policy_config)
+
+
+
+    # ==============================================================
+    # 新增: 初始化 RND 奖励模型
+    # RNDRewardModel 需要策略模型中的表征网络（作为预测器）和目标表征网络（作为固定目标）
+    # 对于 UniZero，tokenizer 扮演了表征网络的功能。
+    # ==============================================================
+    reward_model = RNDRewardModel(
+        config=cfg.reward_model,
+        device=policy.collect_mode.get_attribute('device'),
+        tb_logger=tb_logger,
+        exp_name=cfg.exp_name,
+        representation_network=policy._learn_model.representation_network,
+        target_representation_network=policy._target_model_for_intrinsic_reward.representation_network,
+        use_momentum_representation_network=cfg.policy.use_momentum_representation_network,
+        bp_update_sync=cfg.policy.bp_update_sync,
+        multi_gpu=cfg.policy.multi_gpu,
+    )
+
+
+    # Learner's before_run hook
+    learner.call_hook('before_run')
+
+    if cfg.policy.use_wandb and get_rank() == 0:
+        policy.set_train_iter_env_step(learner.train_iter, collector.envstep)
+
+    # Collect random data before training
+    if cfg.policy.random_collect_data:
+        random_data = random_collect(cfg.policy, policy, LightZeroRandomPolicy, collector, collector_env, replay_buffer)
+        try:
+            reward_model.warmup_with_random_segments(random_data)
+        except Exception as e:
+            logging.exception(f"Failed to warm up RND normalization using random data: {e}")
+            raise
+    batch_size = policy._cfg.batch_size
+
+    buffer_reanalyze_count = 0
+    train_epoch = 0
+    reanalyze_batch_size = cfg.policy.reanalyze_batch_size
+
+    if cfg.policy.multi_gpu:
+        # Get current world size and rank
+        world_size = get_world_size()
+        rank = get_rank()
+    else:
+        world_size = 1
+        rank = 0
+
+    while True:
+        # Log buffer memory usage
+        log_buffer_memory_usage(learner.train_iter, replay_buffer, tb_logger)
+
+        # Set temperature for visit count distributions
+        collect_kwargs = {
+            'temperature': visit_count_temperature(
+                policy_config.manual_temperature_decay,
+                policy_config.fixed_temperature_value,
+                policy_config.threshold_training_steps_for_final_temperature,
+                trained_steps=learner.train_iter
+            ),
+            'epsilon': 0.0  # Default epsilon value
+        }
+
+        # Configure epsilon for epsilon-greedy exploration
+        if policy_config.eps.eps_greedy_exploration_in_collect:
+            epsilon_greedy_fn = get_epsilon_greedy_fn(
+                start=policy_config.eps.start,
+                end=policy_config.eps.end,
+                decay=policy_config.eps.decay,
+                type_=policy_config.eps.type
+            )
+            collect_kwargs['epsilon'] = epsilon_greedy_fn(collector.envstep)
+
+        # Evaluate policy performance
+        if learner.train_iter > 0 and evaluator.should_eval(learner.train_iter):
+            stop, reward = evaluator.eval(learner.save_checkpoint, learner.train_iter, collector.envstep, reward_model=reward_model)
+            if stop:
+                break
+
+        # Collect new data
+        new_data = collector.collect(train_iter=learner.train_iter, policy_kwargs=collect_kwargs)
+
+        # Determine updates per collection
+        update_per_collect = calculate_update_per_collect(cfg, new_data, world_size)
+
+        # Update replay buffer
+        replay_buffer.push_game_segments(new_data)
+        replay_buffer.remove_oldest_data_to_fit()
+
+        # Periodically reanalyze buffer
+        if cfg.policy.buffer_reanalyze_freq >= 1:
+            # Reanalyze buffer <buffer_reanalyze_freq> times in one train_epoch
+            reanalyze_interval = update_per_collect // cfg.policy.buffer_reanalyze_freq
+        else:
+            # Reanalyze buffer each <1/buffer_reanalyze_freq> train_epoch
+            if train_epoch > 0 and train_epoch % int(1/cfg.policy.buffer_reanalyze_freq) == 0 and replay_buffer.get_num_of_transitions()//cfg.policy.num_unroll_steps > int(reanalyze_batch_size/cfg.policy.reanalyze_partition):
+                with timer:
+                    # Each reanalyze process will reanalyze <reanalyze_batch_size> sequences (<cfg.policy.num_unroll_steps> transitions per sequence)
+                    replay_buffer.reanalyze_buffer(reanalyze_batch_size, policy)
+                buffer_reanalyze_count += 1
+                logging.info(f'Buffer reanalyze count: {buffer_reanalyze_count}')
+                logging.info(f'Buffer reanalyze time: {timer.value}')
+
+        # Train the policy if sufficient data is available
+        if collector.envstep > cfg.policy.train_start_after_envsteps:
+            if cfg.policy.sample_type == 'episode':
+                data_sufficient = replay_buffer.get_num_of_game_segments() > batch_size
+            else:
+                data_sufficient = replay_buffer.get_num_of_transitions() > batch_size
+            if not data_sufficient:
+                logging.warning(
+                    f'The data in replay_buffer is not sufficient to sample a mini-batch: '
+                    f'batch_size: {batch_size}, replay_buffer: {replay_buffer}. Continue to collect now ....'
+                )
+                continue
+
+            for i in range(update_per_collect):
+                if cfg.policy.buffer_reanalyze_freq >= 1:
+                    # Reanalyze buffer <buffer_reanalyze_freq> times in one train_epoch
+                    if i % reanalyze_interval == 0 and replay_buffer.get_num_of_transitions()//cfg.policy.num_unroll_steps > int(reanalyze_batch_size/cfg.policy.reanalyze_partition):
+                        with timer:
+                            # Each reanalyze process will reanalyze <reanalyze_batch_size> sequences (<cfg.policy.num_unroll_steps> transitions per sequence)
+                            replay_buffer.reanalyze_buffer(reanalyze_batch_size, policy)
+                        buffer_reanalyze_count += 1
+                        logging.info(f'Buffer reanalyze count: {buffer_reanalyze_count}')
+                        logging.info(f'Buffer reanalyze time: {timer.value}')
+
+                train_data = replay_buffer.sample(batch_size, policy)
+                if cfg.policy.use_wandb:
+                    policy.set_train_iter_env_step(learner.train_iter, collector.envstep)
+
+                train_data_augmented = reward_model.estimate(train_data)
+                train_data_augmented.append(learner.train_iter)
+
+                log_vars = learner.train(train_data_augmented, collector.envstep)
+                reward_model.train_with_policy_batch(train_data)
+                logging.info(f'[{i}/{update_per_collect}]: learner and reward_model ended training step.')
+
+                if cfg.policy.use_priority:
+                    replay_buffer.update_priority(train_data, log_vars[0]['value_priority_orig'])
+
+        train_epoch += 1
+        policy.recompute_pos_emb_diff_and_clear_cache()
+
+        # Check stopping criteria
+        if collector.envstep >= max_env_step or learner.train_iter >= max_train_iter:
+            break
+
+    learner.call_hook('after_run')
+    if cfg.policy.use_wandb:
+        wandb.finish()
+    return policy

lzero/entry/utils.py

@@ -147,8 +147,8 @@ def random_collect(
         collector_env: 'BaseEnvManager',  # noqa
         replay_buffer: 'IBuffer',  # noqa
         postprocess_data_fn: Optional[Callable] = None
-) -> None:  # noqa
-    assert policy_cfg.random_collect_episode_num > 0
+) -> list:  # noqa
+    assert policy_cfg.random_collect_data, "random_collect_data should be True."
 
     random_policy = RandomPolicy(cfg=policy_cfg, action_space=collector_env.env_ref.action_space)
     # set the policy to random policy
@@ -159,7 +159,7 @@ def random_collect(
     collect_kwargs = {'temperature': 1, 'epsilon': 0.0}
 
     # Collect data by default config n_sample/n_episode.
-    new_data = collector.collect(n_episode=policy_cfg.random_collect_episode_num, train_iter=0,
+    new_data = collector.collect(train_iter=0,
                                  policy_kwargs=collect_kwargs)
 
     if postprocess_data_fn is not None:
@@ -172,6 +172,7 @@ def random_collect(
 
     # restore the policy
     collector.reset_policy(policy.collect_mode)
+    return new_data
 
 
 def log_buffer_memory_usage(train_iter: int, buffer: "GameBuffer", writer: SummaryWriter) -> None:

lzero/mcts/buffer/game_buffer_unizero.py

@@ -630,3 +630,34 @@ def _compute_target_reward_value(self, reward_value_context: List[Any], model: A
         batch_target_values = np.asarray(batch_target_values)
 
         return batch_rewards, batch_target_values
+
+    def update_priority(self, train_data: List[np.ndarray], batch_priorities: np.ndarray) -> None:
+        """
+        Overview:
+            Update the priority of training data.
+        Arguments:
+            - train_data (:obj:`List[np.ndarray]`): training data to be updated priority.
+            - batch_priorities (:obj:`np.ndarray`): priorities to update to.
+        NOTE:
+            train_data = [current_batch, target_batch]
+            current_batch = [obs_list, action_list, bootstrap_action_list, mask_list, batch_index_list, weights_list, make_time_list, timestep_list]
+        """
+        # TODO: NOTE: -4 is batch_index_list
+        indices = train_data[0][-4]
+        metas = {'make_time': train_data[0][-1], 'batch_priorities': batch_priorities}
+        # only update the priorities for data still in replay buffer
+        for i in range(len(indices)):
+            # ==================== START OF FINAL FIX ====================
+
+            # FIX 1: Handle ValueError by using the first timestamp of the segment for comparison.
+            first_transition_time = metas['make_time'][i][0]
+
+            if first_transition_time > self.clear_time:
+                # FIX 2: Handle IndexError by converting the float index to an integer before use.
+                idx = int(indices[i])
+                prio = metas['batch_priorities'][i]
+
+                # Now, idx is a valid integer index.
+                self.game_pos_priorities[idx] = prio
+
+            # ===================== END OF FINAL FIX =====================

lzero/model/common.py

@@ -641,11 +641,11 @@ def __init__(
         self.embedding_dim = embedding_dim
 
         if self.observation_shape[1] == 64:
-            self.last_linear = nn.Linear(64 * 8 * 8, self.embedding_dim, bias=False)
+            self.last_linear = nn.Linear(num_channels * 8 * 8, self.embedding_dim, bias=False)
 
         elif self.observation_shape[1] in [84, 96]:
-            self.last_linear = nn.Linear(64 * 6 * 6, self.embedding_dim, bias=False)
-
+            self.last_linear = nn.Linear(num_channels * 6 * 6, self.embedding_dim, bias=False)
+        
         self.final_norm_option_in_encoder = final_norm_option_in_encoder
         if self.final_norm_option_in_encoder == 'LayerNorm':
             self.final_norm = nn.LayerNorm(self.embedding_dim, eps=1e-5)
@@ -678,7 +678,6 @@ def forward(self, x: torch.Tensor) -> torch.Tensor:
 
         x = x.view(-1, self.embedding_dim)
 
-        # NOTE: very important for training stability.
         x = self.final_norm(x)
 
         return x