Merge remote-tracking branch 'upstream/master'

.pfnci/run.sh

@@ -75,7 +75,7 @@ main() {
   # pytest does not run with attrs==19.2.0 (https://github.com/pytest-dev/pytest/issues/3280)  # NOQA
   "${PYTHON}" -m pip install \
       'pytest==4.1.1' 'attrs==19.1.0' 'pytest-xdist==1.26.1' \
-      'gym[atari,classic_control]==0.19.0' 'optuna' 'zipp==1.0.0' 'pybullet==2.8.1' 'jupyterlab==2.1.5' 'traitlets==5.1.1'
+      'gym[atari,classic_control]==0.19.0' 'optuna' 'zipp==1.0.0' 'pybullet==2.8.1' 'jupyterlab==2.1.5' 'traitlets==5.1.1' 'pyglet==1.5.27'
 
   git config --global user.email "you@example.com"
   git config --global user.name "Your Name"

examples/atari/reproduction/a3c/train_a3c.py

@@ -16,7 +16,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("--processes", type=int, default=16)
     parser.add_argument("--env", type=str, default="BreakoutNoFrameskip-v4")
@@ -176,7 +175,6 @@ def phi(x):
             )
         )
     else:
-
         # Linearly decay the learning rate to zero
         def lr_setter(env, agent, value):
             for pg in agent.optimizer.param_groups:

examples/atari/train_acer_ale.py

@@ -19,7 +19,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument("processes", type=int)
     parser.add_argument("--env", type=str, default="BreakoutNoFrameskip-v4")
@@ -185,7 +184,6 @@ def make_env(process_idx, test):
             )
         )
     else:
-
         # Linearly decay the learning rate to zero
         def lr_setter(env, agent, value):
             for pg in agent.optimizer.param_groups:

examples/atlas/train_soft_actor_critic_atlas.py

@@ -45,7 +45,6 @@ def make_env(args, seed, test):
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--outdir",

examples/gym/train_dqn_gym.py

@@ -210,7 +210,6 @@ def make_env(idx=0, test=False):
         )
 
     elif not args.actor_learner:
-
         print(
             "WARNING: Since https://github.com/pfnet/pfrl/pull/112 we have started"
             " setting `eval_during_episode=True` in this script, which affects the"

examples/mujoco/reproduction/ddpg/train_ddpg.py

@@ -22,7 +22,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--outdir",

examples/mujoco/reproduction/soft_actor_critic/train_soft_actor_critic.py

@@ -21,7 +21,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--outdir",

examples/mujoco/reproduction/td3/train_td3.py

@@ -19,7 +19,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--outdir",

examples/mujoco/reproduction/trpo/train_trpo.py

@@ -16,7 +16,6 @@
 
 
 def main():
-
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "--gpu", type=int, default=0, help="GPU device ID. Set to -1 to use CPUs only."
@@ -215,7 +214,6 @@ def ortho_init(layer, gain):
         with open(os.path.join(args.outdir, "demo_scores.json"), "w") as f:
             json.dump(eval_stats, f)
     else:
-
         pfrl.experiments.train_agent_with_evaluation(
             agent=agent,
             env=env,

pfrl/agents/a2c.py

@@ -71,7 +71,6 @@ def __init__(
         average_value_decay=0.999,
         batch_states=batch_states,
     ):
-
         self.model = model
         if gpu is not None and gpu >= 0:
             assert torch.cuda.is_available()

pfrl/agents/a3c.py

@@ -64,7 +64,6 @@ def __init__(
         average_value_decay=0.999,
         batch_states=batch_states,
     ):
-
         # Globally shared model
         self.shared_model = model
 
@@ -241,7 +240,6 @@ def observe(self, obs, reward, done, reset):
             self._observe_eval(obs, reward, done, reset)
 
     def _act_train(self, obs):
-
         self.past_obs[self.t] = obs
 
         with torch.no_grad():

pfrl/agents/acer.py

@@ -332,7 +332,6 @@ def __init__(
         average_kl_decay=0.999,
         logger=None,
     ):
-
         # Globally shared model
         self.shared_model = model
 
@@ -472,7 +471,6 @@ def compute_loss(
         action_distribs_mu,
         avg_action_distribs,
     ):
-
         assert np.isscalar(R)
         pi_loss = 0
         Q_loss = 0
@@ -566,7 +564,6 @@ def update(
         action_distribs_mu,
         avg_action_distribs,
     ):
-
         assert np.isscalar(R)
         self.assert_shared_memory()
 
@@ -595,7 +592,6 @@ def update(
         self.sync_parameters()
 
     def update_from_replay(self):
-
         if self.replay_buffer is None:
             return
 
@@ -715,7 +711,6 @@ def observe(self, obs, reward, done, reset):
             self._observe_eval(obs, reward, done, reset)
 
     def _act_train(self, obs):
-
         statevar = batch_states([obs], self.device, self.phi)
 
         if self.recurrent:

pfrl/agents/al.py

@@ -21,7 +21,6 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 
     def _compute_y_and_t(self, exp_batch):
-
         batch_state = exp_batch["state"]
         batch_size = len(exp_batch["reward"])
 

pfrl/agents/ddpg.py

@@ -81,7 +81,6 @@ def __init__(
         batch_states=batch_states,
         burnin_action_func=None,
     ):
-
         self.model = nn.ModuleList([policy, q_func])
         if gpu is not None and gpu >= 0:
             assert torch.cuda.is_available()
@@ -223,7 +222,6 @@ def update_from_episodes(self, episodes, errors_out=None):
             batches.append(batch)
 
         with self.model.state_reset(), self.target_model.state_reset():
-
             # Since the target model is evaluated one-step ahead,
             # its internal states need to be updated
             self.target_q_function.update_state(
@@ -238,7 +236,6 @@ def update_from_episodes(self, episodes, errors_out=None):
             self.critic_optimizer.update(lambda: critic_loss / max_epi_len)
 
         with self.model.state_reset():
-
             # Update actor through time
             actor_loss = 0
             for batch in batches:

pfrl/agents/double_dqn.py

@@ -10,7 +10,6 @@ class DoubleDQN(dqn.DQN):
     """
 
     def _compute_target_values(self, exp_batch):
-
         batch_next_state = exp_batch["next_state"]
 
         with evaluating(self.model):

pfrl/agents/double_pal.py

@@ -6,7 +6,6 @@
 
 class DoublePAL(pal.PAL):
     def _compute_y_and_t(self, exp_batch):
-
         batch_state = exp_batch["state"]
         batch_size = len(exp_batch["reward"])
 

pfrl/agents/dpp.py

@@ -17,7 +17,6 @@ def _l_operator(self, qout):
         raise NotImplementedError()
 
     def _compute_target_values(self, exp_batch):
-
         batch_next_state = exp_batch["next_state"]
 
         if self.recurrent:
@@ -38,7 +37,6 @@ def _compute_target_values(self, exp_batch):
         )
 
     def _compute_y_and_t(self, exp_batch):
-
         batch_state = exp_batch["state"]
         batch_size = len(exp_batch["reward"])
 

pfrl/agents/dqn.py

@@ -3,7 +3,9 @@
 import ctypes
 import multiprocessing as mp
 import multiprocessing.synchronize
+import os
 import time
+import typing
 from logging import Logger, getLogger
 from typing import Any, Callable, Dict, List, Optional, Sequence, Tuple
 
@@ -36,7 +38,7 @@
 
 def _mean_or_nan(xs: Sequence[float]) -> float:
     """Return its mean a non-empty sequence, numpy.nan for a empty one."""
-    return np.mean(xs) if xs else np.nan
+    return typing.cast(float, np.mean(xs)) if xs else np.nan
 
 
 def compute_value_loss(
@@ -511,7 +513,6 @@ def _batch_observe_train(
         batch_done: Sequence[bool],
         batch_reset: Sequence[bool],
     ) -> None:
-
         for i in range(len(batch_obs)):
             self.t += 1
             self._cumulative_steps += 1
@@ -790,6 +791,24 @@ def stop_episode(self) -> None:
         if self.recurrent:
             self.test_recurrent_states = None
 
+    def save_snapshot(self, dirname: str) -> None:
+        self.save(dirname)
+        torch.save(self.t, os.path.join(dirname, "t.pt"))
+        torch.save(self.optim_t, os.path.join(dirname, "optim_t.pt"))
+        torch.save(
+            self._cumulative_steps, os.path.join(dirname, "_cumulative_steps.pt")
+        )
+        self.replay_buffer.save(os.path.join(dirname, "replay_buffer.pkl"))
+
+    def load_snapshot(self, dirname: str) -> None:
+        self.load(dirname)
+        self.t = torch.load(os.path.join(dirname, "t.pt"))
+        self.optim_t = torch.load(os.path.join(dirname, "optim_t.pt"))
+        self._cumulative_steps = torch.load(
+            os.path.join(dirname, "_cumulative_steps.pt")
+        )
+        self.replay_buffer.load(os.path.join(dirname, "replay_buffer.pkl"))
+
     def get_statistics(self):
         return [
             ("average_q", _mean_or_nan(self.q_record)),

pfrl/agents/pal.py

@@ -21,7 +21,6 @@ def __init__(self, *args, **kwargs):
         super().__init__(*args, **kwargs)
 
     def _compute_y_and_t(self, exp_batch):
-
         batch_state = exp_batch["state"]
         batch_size = len(exp_batch["reward"])
 

pfrl/agents/ppo.py

@@ -115,7 +115,6 @@ def _add_log_prob_and_value_to_episodes(
     obs_normalizer,
     device,
 ):
-
     dataset = list(itertools.chain.from_iterable(episodes))
 
     # Compute v_pred and next_v_pred
@@ -533,7 +532,6 @@ def _update(self, dataset):
             self.n_updates += 1
 
     def _update_once_recurrent(self, episodes, mean_advs, std_advs):
-
         assert std_advs is None or std_advs > 0
 
         device = self.device
@@ -636,7 +634,6 @@ def _update_recurrent(self, dataset):
     def _lossfun(
         self, entropy, vs_pred, log_probs, vs_pred_old, log_probs_old, advs, vs_teacher
     ):
-
         prob_ratio = torch.exp(log_probs - log_probs_old)
 
         loss_policy = -torch.mean(

pfrl/agents/reinforce.py

@@ -57,7 +57,6 @@ def __init__(
         max_grad_norm=None,
         logger=None,
     ):
-
         self.model = model
         if gpu is not None and gpu >= 0:
             assert torch.cuda.is_available()
@@ -103,7 +102,6 @@ def observe(self, obs, reward, done, reset):
             self._observe_eval(obs, reward, done, reset)
 
     def _act_train(self, obs):
-
         batch_obs = self.batch_states([obs], self.device, self.phi)
         if self.recurrent:
             action_distrib, self.train_recurrent_states = one_step_forward(

pfrl/agents/soft_actor_critic.py

@@ -119,7 +119,6 @@ def __init__(
         temperature_optimizer_lr=None,
         act_deterministically=True,
     ):
-
         self.policy = policy
         self.q_func1 = q_func1
         self.q_func2 = q_func2

pfrl/agents/td3.py

@@ -101,7 +101,6 @@ def __init__(
         policy_update_delay=2,
         target_policy_smoothing_func=default_target_policy_smoothing_func,
     ):
-
         self.policy = policy
         self.q_func1 = q_func1
         self.q_func2 = q_func2

pfrl/agents/trpo.py

@@ -193,7 +193,6 @@ def __init__(
         policy_step_size_stats_window=100,
         logger=getLogger(__name__),
     ):
-
         self.policy = policy
         self.vf = vf
         self.vf_optimizer = vf_optimizer
@@ -335,7 +334,6 @@ def _update_recurrent(self, dataset):
         self._update_vf_recurrent(dataset)
 
     def _update_vf_recurrent(self, dataset):
-
         for epoch in range(self.vf_epochs):
             random.shuffle(dataset)
             for (
@@ -346,7 +344,6 @@ def _update_vf_recurrent(self, dataset):
                 self._update_vf_once_recurrent(minibatch)
 
     def _update_vf_once_recurrent(self, episodes):
-
         # Sort episodes desc by length for pack_sequence
         episodes = sorted(episodes, key=len, reverse=True)
 

pfrl/experiments/train_agent.py

@@ -35,7 +35,6 @@ def train_agent(
     eval_during_episode=False,
     logger=None,
 ):
-
     logger = logger or logging.getLogger(__name__)
 
     episode_r = 0
@@ -52,7 +51,6 @@ def train_agent(
     episode_len = 0
     try:
         while t < steps:
-
             # a_t
             action = agent.act(obs)
             # o_{t+1}, r_{t+1}