Generic hidden state for RecurrentPPO #4
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rhaps0dy
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rhaps0dy
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Oct 9, 2023
| @@ -375,23 +371,21 @@ def train(self) -> None: | |||
| # Convert discrete action from float to long | |||
| actions = rollout_data.actions.long().flatten() | |||
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| # Convert mask from float to bool | |||
| mask = rollout_data.mask > 1e-8 | |||
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The rollout_data.mask is now already a bool
| @@ -260,7 +257,7 @@ def collect_rollouts( # type: ignore[override] | |||
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| callback.on_rollout_start() | |||
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| lstm_states = deepcopy(self._last_lstm_states) | |||
| lstm_states = non_null(self._last_lstm_states) | |||
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It's not actually necessary to copy each tensor. They don't get overwritten.
.circleci/config.yml
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| @@ -9,7 +9,7 @@ parameters: | |||
| docker_img_version: | |||
| # Docker image version for running tests. | |||
| type: string | |||
| default: "a0d53ea" | |||
| default: "03a594c" | |||
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This is a more recent image -- a few dependencies were added, though they don't impact this codebase (only learned-planners).
.circleci/config.yml
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| @@ -51,7 +51,7 @@ jobs: | |||
| command: ruff . | |||
| - run: | |||
| name: Typecheck (mypy) | |||
| command: mypy --exclude '^stable_baselines3/common/recurrent/policies\.py$' stable_baselines3/common tests | |||
| command: mypy . | |||
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Start typechecking all the things again!
rhaps0dy
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rhaps0dy
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dan-pandori
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Oct 12, 2023
| "Get only the vf features, not advancing the hidden state" | ||
| if self.lstm_critic is None: | ||
| if self.shared_lstm: | ||
| with th.no_grad(): |
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I would have thought that we need this with th.no_grad(): at the top level (ie, at line 257 and applying to all parts of this function).
In particular, I'm wondering if we might accidentally alter gradients on line 266 otherwise.
| buffer_size = self.env.num_envs * self.n_steps | ||
| assert buffer_size > 1 or ( | ||
| not normalize_advantage | ||
| ), f"`n_steps * n_envs` must be greater than 1. Currently n_steps={self.n_steps} and n_envs={self.env.num_envs}" |
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f"`n_steps * n_envs` must be greater than 1 when `normalize_advantage` is true.
etc
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(This PR is after #7 and #8 , which I factored out to make review easier.)
Add the remaining parts for generic-state recurrent PPO.
common/recurrent/policies.pyis still based on LSTMs, but now uses therecurrent_initial_state(...)interface to indicate what its hidden state is.RecurrentPPOis fully generic over hidden state types.