Merge branch 'dev-ptz' of https://github.com/puyuan1996/DI-engine int…

…o dev-ptz

ding/entry/serial_entry.py

@@ -47,7 +47,15 @@ def serial_pipeline(
         cfg, create_cfg = deepcopy(input_cfg)
     create_cfg.policy.type = create_cfg.policy.type + '_command'
     env_fn = None if env_setting is None else env_setting[0]
-    cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
+    cfg = compile_config(
+        cfg,
+        seed=seed,
+        env=env_fn,
+        auto=True,
+        create_cfg=create_cfg,
+        save_cfg=True,
+        renew_dir=not cfg.policy.learn.get('resume_training', False)
+    )
     # Create main components: env, policy
     if env_setting is None:
         env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
@@ -86,6 +94,8 @@ def serial_pipeline(
     # ==========
     # Learner's before_run hook.
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     # Accumulate plenty of data at the beginning of training.
     if cfg.policy.get('random_collect_size', 0) > 0:

ding/entry/serial_entry_mbrl.py

@@ -30,7 +30,15 @@ def mbrl_entry_setup(
         cfg, create_cfg = deepcopy(input_cfg)
     create_cfg.policy.type = create_cfg.policy.type + '_command'
     env_fn = None if env_setting is None else env_setting[0]
-    cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
+    cfg = compile_config(
+        cfg,
+        seed=seed,
+        env=env_fn,
+        auto=True,
+        create_cfg=create_cfg,
+        save_cfg=True,
+        renew_dir=not cfg.policy.learn.get('resume_training', False)
+    )
 
     if env_setting is None:
         env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
@@ -70,18 +78,7 @@ def mbrl_entry_setup(
         cfg.policy.other.commander, learner, collector, evaluator, env_buffer, policy.command_mode
     )
 
-    return (
-        cfg,
-        policy,
-        world_model,
-        env_buffer,
-        learner,
-        collector,
-        collector_env,
-        evaluator,
-        commander,
-        tb_logger,
-    )
+    return (cfg, policy, world_model, env_buffer, learner, collector, collector_env, evaluator, commander, tb_logger)
 
 
 def create_img_buffer(
@@ -131,6 +128,8 @@ def serial_pipeline_dyna(
     img_buffer = create_img_buffer(cfg, input_cfg, world_model, tb_logger)
 
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     if cfg.policy.get('random_collect_size', 0) > 0:
         random_collect(cfg.policy, policy, collector, collector_env, commander, env_buffer)
@@ -202,6 +201,8 @@ def serial_pipeline_dream(
         mbrl_entry_setup(input_cfg, seed, env_setting, model)
 
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     if cfg.policy.get('random_collect_size', 0) > 0:
         random_collect(cfg.policy, policy, collector, collector_env, commander, env_buffer)

ding/entry/serial_entry_ngu.py

@@ -47,7 +47,15 @@ def serial_pipeline_ngu(
         cfg, create_cfg = deepcopy(input_cfg)
     create_cfg.policy.type = create_cfg.policy.type + '_command'
     env_fn = None if env_setting is None else env_setting[0]
-    cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
+    cfg = compile_config(
+        cfg,
+        seed=seed,
+        env=env_fn,
+        auto=True,
+        create_cfg=create_cfg,
+        save_cfg=True,
+        renew_dir=not cfg.policy.learn.get('resume_training', False)
+    )
     # Create main components: env, policy
     if env_setting is None:
         env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
@@ -89,6 +97,8 @@ def serial_pipeline_ngu(
     # ==========
     # Learner's before_run hook.
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     # Accumulate plenty of data at the beginning of training.
     if cfg.policy.get('random_collect_size', 0) > 0:

ding/entry/serial_entry_onpolicy.py

@@ -45,7 +45,16 @@ def serial_pipeline_onpolicy(
         cfg, create_cfg = deepcopy(input_cfg)
     create_cfg.policy.type = create_cfg.policy.type + '_command'
     env_fn = None if env_setting is None else env_setting[0]
-    cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
+    cfg = compile_config(
+        cfg,
+        seed=seed,
+        env=env_fn,
+        auto=True,
+        create_cfg=create_cfg,
+        save_cfg=True,
+        renew_dir=not cfg.policy.learn.get('resume_training', False)
+    )
+
     # Create main components: env, policy
     if env_setting is None:
         env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
@@ -80,6 +89,8 @@ def serial_pipeline_onpolicy(
     # ==========
     # Learner's before_run hook.
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     while True:
         collect_kwargs = commander.step()

ding/entry/serial_entry_onpolicy_ppg.py

@@ -45,7 +45,15 @@ def serial_pipeline_onpolicy_ppg(
         cfg, create_cfg = deepcopy(input_cfg)
     create_cfg.policy.type = create_cfg.policy.type + '_command'
     env_fn = None if env_setting is None else env_setting[0]
-    cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
+    cfg = compile_config(
+        cfg,
+        seed=seed,
+        env=env_fn,
+        auto=True,
+        create_cfg=create_cfg,
+        save_cfg=True,
+        renew_dir=not cfg.policy.learn.get('resume_training', False)
+    )
     # Create main components: env, policy
     if env_setting is None:
         env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
@@ -80,6 +88,8 @@ def serial_pipeline_onpolicy_ppg(
     # ==========
     # Learner's before_run hook.
     learner.call_hook('before_run')
+    if cfg.policy.learn.get('resume_training', False):
+        collector.envstep = learner.collector_envstep
 
     while True:
         collect_kwargs = commander.step()

ding/policy/base_policy.py

@@ -93,6 +93,10 @@ def default_config(cls: type) -> EasyDict:
         traj_len_inf=False,
         # neural network model config
         model=dict(),
+        # If resume_training is True, the environment step count (collector.envstep) and training iteration (train_iter)
+        # will be loaded from the pretrained checkpoint, allowing training to resume seamlessly
+        # from where the ckpt left off.
+        learn=dict(resume_training=False),
     )
 
     def __init__(

ding/worker/collector/battle_episode_serial_collector.py

@@ -162,10 +162,20 @@ def envstep(self) -> int:
         Overview:
             Print the total envstep count.
         Return:
-            - envstep (:obj:`int`): the total envstep count
+            - envstep (:obj:`int`): The total envstep count.
         """
         return self._total_envstep_count
 
+    @envstep.setter
+    def envstep(self, value: int) -> None:
+        """
+        Overview:
+            Set the total envstep count.
+        Arguments:
+            - value (:obj:`int`): The total envstep count.
+        """
+        self._total_envstep_count = value
+
     def close(self) -> None:
         """
         Overview:

ding/worker/collector/battle_sample_serial_collector.py

@@ -175,10 +175,20 @@ def envstep(self) -> int:
         Overview:
             Print the total envstep count.
         Return:
-            - envstep (:obj:`int`): the total envstep count
+            - envstep (:obj:`int`): The total envstep count.
         """
         return self._total_envstep_count
 
+    @envstep.setter
+    def envstep(self, value: int) -> None:
+        """
+        Overview:
+            Set the total envstep count.
+        Arguments:
+            - value (:obj:`int`): The total envstep count.
+        """
+        self._total_envstep_count = value
+
     def close(self) -> None:
         """
         Overview:

ding/worker/collector/episode_serial_collector.py

@@ -157,10 +157,20 @@ def envstep(self) -> int:
         Overview:
             Print the total envstep count.
         Return:
-            - envstep (:obj:`int`): the total envstep count
+            - envstep (:obj:`int`): The total envstep count.
         """
         return self._total_envstep_count
 
+    @envstep.setter
+    def envstep(self, value: int) -> None:
+        """
+        Overview:
+            Set the total envstep count.
+        Arguments:
+            - value (:obj:`int`): The total envstep count.
+        """
+        self._total_envstep_count = value
+
     def close(self) -> None:
         """
         Overview:

ding/worker/collector/sample_serial_collector.py

@@ -185,10 +185,20 @@ def envstep(self) -> int:
         Overview:
             Print the total envstep count.
         Return:
-            - envstep (:obj:`int`): the total envstep count
+            - envstep (:obj:`int`): The total envstep count.
         """
         return self._total_envstep_count
 
+    @envstep.setter
+    def envstep(self, value: int) -> None:
+        """
+        Overview:
+            Set the total envstep count.
+        Arguments:
+            - value (:obj:`int`): The total envstep count.
+        """
+        self._total_envstep_count = value
+
     def close(self) -> None:
         """
         Overview:

ding/worker/learner/base_learner.py

@@ -122,6 +122,8 @@ def __init__(
         self._hooks = {'before_run': [], 'before_iter': [], 'after_iter': [], 'after_run': []}
         # Last iteration. Used to record current iter.
         self._last_iter = CountVar(init_val=0)
+        # Collector envstep. Used to record current envstep.
+        self._collector_envstep = 0
 
         # Setup time wrapper and hook.
         self._setup_wrapper()
@@ -177,6 +179,26 @@ def register_hook(self, hook: LearnerHook) -> None:
         """
         add_learner_hook(self._hooks, hook)
 
+    @property
+    def collector_envstep(self) -> int:
+        """
+        Overview:
+            Get current collector envstep.
+        Returns:
+            - collector_envstep (:obj:`int`): Current collector envstep.
+        """
+        return self._collector_envstep
+
+    @collector_envstep.setter
+    def collector_envstep(self, value: int) -> None:
+        """
+        Overview:
+            Set current collector envstep.
+        Arguments:
+            - value (:obj:`int`): Current collector envstep.
+        """
+        self._collector_envstep = value
+
     def train(self, data: dict, envstep: int = -1, policy_kwargs: Optional[dict] = None) -> None:
         """
         Overview:

ding/worker/learner/learner_hook.py

@@ -117,6 +117,9 @@ def __call__(self, engine: 'BaseLearner') -> None:  # noqa
         if 'last_iter' in state_dict:
             last_iter = state_dict.pop('last_iter')
             engine.last_iter.update(last_iter)
+        if 'last_step' in state_dict:
+            last_step = state_dict.pop('last_step')
+            engine._collector_envstep = last_step
         engine.policy.load_state_dict(state_dict)
         engine.info('{} load ckpt in {}'.format(engine.instance_name, path))
 
@@ -166,6 +169,7 @@ def __call__(self, engine: 'BaseLearner') -> None:  # noqa
             path = os.path.join(dirname, ckpt_name)
             state_dict = engine.policy.state_dict()
             state_dict.update({'last_iter': engine.last_iter.val})
+            state_dict.update({'last_step': engine.collector_envstep})
             save_file(path, state_dict)
             engine.info('{} save ckpt in {}'.format(engine.instance_name, path))
 

dizoo/classic_control/cartpole/config/cartpole_ppo_config.py

@@ -26,7 +26,15 @@
             value_weight=0.5,
             entropy_weight=0.01,
             clip_ratio=0.2,
-            learner=dict(hook=dict(save_ckpt_after_iter=100)),
+            # Path to the pretrained checkpoint (ckpt).
+            # If set to an empty string (''), no pretrained model will be loaded.
+            # To load a pretrained ckpt, specify the path like this:
+            # learner=dict(hook=dict(load_ckpt_before_run='/path/to/your/ckpt/iteration_100.pth.tar')),
+
+            # If True, the environment step count (collector.envstep) and training iteration (train_iter)
+            # will be loaded from the pretrained checkpoint, allowing training to resume seamlessly
+            # from where the ckpt left off.
+            resume_training=False,
         ),
         collect=dict(
             n_sample=256,

dizoo/cliffwalking/envs/cliffwalking_env.py

@@ -24,8 +24,8 @@ def __init__(self, cfg: dict) -> None:
         self._replay_path = None
         self._observation_space = gym.spaces.Box(low=0, high=1, shape=(48, ), dtype=np.float32)
         self._env = gym.make(
-                "CliffWalking", render_mode=self._cfg.render_mode, max_episode_steps=self._cfg.max_episode_steps
-            )
+            "CliffWalking", render_mode=self._cfg.render_mode, max_episode_steps=self._cfg.max_episode_steps
+        )
         self._action_space = self._env.action_space
         self._reward_space = gym.spaces.Box(
             low=self._env.reward_range[0], high=self._env.reward_range[1], shape=(1, ), dtype=np.float32

dizoo/d4rl/config/antmaze_umaze_pd_config.py

@@ -45,7 +45,7 @@
             value_model_cfg=dict(
                 model='TemporalValue',
                 model_cfg=dict(
-                    horizon = 256,
+                    horizon=256,
                     transition_dim=37,
                     dim=32,
                     dim_mults=[1, 2, 4, 8],
@@ -92,10 +92,8 @@
         import_names=['dizoo.d4rl.envs.d4rl_env'],
     ),
     env_manager=dict(type='subprocess'),
-    policy=dict(
-        type='pd',
-    ),
+    policy=dict(type='pd', ),
     replay_buffer=dict(type='naive', ),
 )
 create_config = EasyDict(create_config)
-create_config = create_config
+create_config = create_config

dizoo/d4rl/config/halfcheetah_medium_expert_pd_config.py

@@ -45,7 +45,7 @@
             value_model_cfg=dict(
                 model='TemporalValue',
                 model_cfg=dict(
-                    horizon = 4,
+                    horizon=4,
                     transition_dim=23,
                     dim=32,
                     dim_mults=[1, 4, 8],
@@ -92,9 +92,7 @@
         import_names=['dizoo.d4rl.envs.d4rl_env'],
     ),
     env_manager=dict(type='subprocess'),
-    policy=dict(
-        type='pd',
-    ),
+    policy=dict(type='pd', ),
     replay_buffer=dict(type='naive', ),
 )
 create_config = EasyDict(create_config)