chore: import upstream snapshot with attribution

This commit is contained in:
wehub-resource-sync
2026-07-13 12:36:51 +08:00
commit d731240295
27 changed files with 3078 additions and 0 deletions
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# Copyright 2022 Twitter, Inc and Zhendong Wang.
# SPDX-License-Identifier: Apache-2.0
import torch
import numpy as np
class Data_Sampler(object):
def __init__(self, data, device, reward_tune='no'):
self.state = torch.from_numpy(data['observations']).float()
self.action = torch.from_numpy(data['actions']).float()
self.next_state = torch.from_numpy(data['next_observations']).float()
reward = torch.from_numpy(data['rewards']).reshape(-1, 1).float()
self.not_done = 1. - torch.from_numpy(data['dones']).reshape(-1, 1).float()
self.size = self.state.shape[0]
self.state_dim = self.state.shape[1]
self.action_dim = self.action.shape[1]
self.device = device
# 保留原 reward 调整逻辑
if reward_tune == 'normalize':
reward = (reward - reward.mean()) / reward.std()
elif reward_tune == 'iql_antmaze':
reward = reward - 1.0
elif reward_tune == 'iql_locomotion':
reward = iql_normalize(reward, self.not_done)
elif reward_tune == 'cql_antmaze':
reward = (reward - 0.5) * 4.0
elif reward_tune == 'antmaze':
reward = (reward - 0.25) * 2.0
self.reward = reward
def sample(self, batch_size):
ind = torch.randint(0, self.size, size=(batch_size,))
return (
self.state[ind].to(self.device),
self.action[ind].to(self.device),
self.next_state[ind].to(self.device),
self.reward[ind].to(self.device),
self.not_done[ind].to(self.device)
)
def iql_normalize(reward, not_done):
trajs_rt = []
episode_return = 0.0
for i in range(len(reward)):
episode_return += reward[i]
if not not_done[i]:
trajs_rt.append(episode_return)
episode_return = 0.0
rt_max, rt_min = torch.max(torch.tensor(trajs_rt)), torch.min(torch.tensor(trajs_rt))
reward /= (rt_max - rt_min)
reward *= 1000.
return reward
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"""
Based on rllab's logger.
https://github.com/rll/rllab
"""
from enum import Enum
from contextlib import contextmanager
import numpy as np
import os
import os.path as osp
import sys
import datetime
import dateutil.tz
import csv
import json
import pickle
import errno
from collections import OrderedDict
from numbers import Number
import os
from tabulate import tabulate
import dateutil.tz
import os.path as osp
def dict_to_safe_json(d):
"""
Convert each value in the dictionary into a JSON'able primitive.
:param d:
:return:
"""
new_d = {}
for key, item in d.items():
if safe_json(item):
new_d[key] = item
else:
if isinstance(item, dict):
new_d[key] = dict_to_safe_json(item)
else:
new_d[key] = str(item)
return new_d
def safe_json(data):
if data is None:
return True
elif isinstance(data, (bool, int, float)):
return True
elif isinstance(data, (tuple, list)):
return all(safe_json(x) for x in data)
elif isinstance(data, dict):
return all(isinstance(k, str) and safe_json(v) for k, v in data.items())
return False
def create_exp_name(exp_prefix, exp_id=0, seed=0):
"""
Create a semi-unique experiment name that has a timestamp
:param exp_prefix:
:param exp_id:
:return:
"""
now = datetime.datetime.now(dateutil.tz.tzlocal())
timestamp = now.strftime('%Y_%m_%d_%H_%M_%S')
return "%s_%s_%04d--s-%d" % (exp_prefix, timestamp, exp_id, seed)
def create_log_dir(
exp_prefix,
exp_id=0,
seed=0,
base_log_dir=None,
include_exp_prefix_sub_dir=True,
):
"""
Creates and returns a unique log directory.
:param exp_prefix: All experiments with this prefix will have log
directories be under this directory.
:param exp_id: The number of the specific experiment run within this
experiment.
:param base_log_dir: The directory where all log should be saved.
:return:
"""
exp_name = create_exp_name(exp_prefix, exp_id=exp_id,
seed=seed)
if base_log_dir is None:
base_log_dir = './data'
if include_exp_prefix_sub_dir:
log_dir = osp.join(base_log_dir, exp_prefix.replace("_", "-"), exp_name)
else:
log_dir = osp.join(base_log_dir, exp_name)
if osp.exists(log_dir):
print("WARNING: Log directory already exists {}".format(log_dir), flush=True)
os.makedirs(log_dir, exist_ok=True)
return log_dir
def setup_logger(
exp_prefix="default",
variant=None,
text_log_file="debug.log",
variant_log_file="variant.json",
tabular_log_file="progress.csv",
snapshot_mode="last",
snapshot_gap=1,
log_tabular_only=False,
log_dir=None,
git_infos=None,
script_name=None,
**create_log_dir_kwargs
):
"""
Set up logger to have some reasonable default settings.
Will save log output to
based_log_dir/exp_prefix/exp_name.
exp_name will be auto-generated to be unique.
If log_dir is specified, then that directory is used as the output dir.
:param exp_prefix: The sub-directory for this specific experiment.
:param variant:
:param text_log_file:
:param variant_log_file:
:param tabular_log_file:
:param snapshot_mode:
:param log_tabular_only:
:param snapshot_gap:
:param log_dir:
:param git_infos:
:param script_name: If set, save the script name to this.
:return:
"""
first_time = log_dir is None
if first_time:
log_dir = create_log_dir(exp_prefix, **create_log_dir_kwargs)
if variant is not None:
logger.log("Variant:")
logger.log(json.dumps(dict_to_safe_json(variant), indent=2))
variant_log_path = osp.join(log_dir, variant_log_file)
logger.log_variant(variant_log_path, variant)
tabular_log_path = osp.join(log_dir, tabular_log_file)
text_log_path = osp.join(log_dir, text_log_file)
logger.add_text_output(text_log_path)
if first_time:
logger.add_tabular_output(tabular_log_path)
else:
logger._add_output(tabular_log_path, logger._tabular_outputs,
logger._tabular_fds, mode='a')
for tabular_fd in logger._tabular_fds:
logger._tabular_header_written.add(tabular_fd)
logger.set_snapshot_dir(log_dir)
logger.set_snapshot_mode(snapshot_mode)
logger.set_snapshot_gap(snapshot_gap)
logger.set_log_tabular_only(log_tabular_only)
exp_name = log_dir.split("/")[-1]
logger.push_prefix("[%s] " % exp_name)
if script_name is not None:
with open(osp.join(log_dir, "script_name.txt"), "w") as f:
f.write(script_name)
return log_dir
def create_stats_ordered_dict(
name,
data,
stat_prefix=None,
always_show_all_stats=True,
exclude_max_min=False,
):
if stat_prefix is not None:
name = "{}{}".format(stat_prefix, name)
if isinstance(data, Number):
return OrderedDict({name: data})
if len(data) == 0:
return OrderedDict()
if isinstance(data, tuple):
ordered_dict = OrderedDict()
for number, d in enumerate(data):
sub_dict = create_stats_ordered_dict(
"{0}_{1}".format(name, number),
d,
)
ordered_dict.update(sub_dict)
return ordered_dict
if isinstance(data, list):
try:
iter(data[0])
except TypeError:
pass
else:
data = np.concatenate(data)
if (isinstance(data, np.ndarray) and data.size == 1
and not always_show_all_stats):
return OrderedDict({name: float(data)})
stats = OrderedDict([
(name + ' Mean', np.mean(data)),
(name + ' Std', np.std(data)),
])
if not exclude_max_min:
stats[name + ' Max'] = np.max(data)
stats[name + ' Min'] = np.min(data)
return stats
class TerminalTablePrinter(object):
def __init__(self):
self.headers = None
self.tabulars = []
def print_tabular(self, new_tabular):
if self.headers is None:
self.headers = [x[0] for x in new_tabular]
else:
assert len(self.headers) == len(new_tabular)
self.tabulars.append([x[1] for x in new_tabular])
self.refresh()
def refresh(self):
import os
rows, columns = os.popen('stty size', 'r').read().split()
tabulars = self.tabulars[-(int(rows) - 3):]
sys.stdout.write("\x1b[2J\x1b[H")
sys.stdout.write(tabulate(tabulars, self.headers))
sys.stdout.write("\n")
class MyEncoder(json.JSONEncoder):
def default(self, o):
if isinstance(o, type):
return {'$class': o.__module__ + "." + o.__name__}
elif isinstance(o, Enum):
return {
'$enum': o.__module__ + "." + o.__class__.__name__ + '.' + o.name
}
elif callable(o):
return {
'$function': o.__module__ + "." + o.__name__
}
return json.JSONEncoder.default(self, o)
def mkdir_p(path):
try:
os.makedirs(path)
except OSError as exc: # Python >2.5
if exc.errno == errno.EEXIST and os.path.isdir(path):
pass
else:
raise
class Logger(object):
def __init__(self):
self._prefixes = []
self._prefix_str = ''
self._tabular_prefixes = []
self._tabular_prefix_str = ''
self._tabular = []
self._text_outputs = []
self._tabular_outputs = []
self._text_fds = {}
self._tabular_fds = {}
self._tabular_header_written = set()
self._snapshot_dir = None
self._snapshot_mode = 'all'
self._snapshot_gap = 1
self._log_tabular_only = False
self._header_printed = False
self.table_printer = TerminalTablePrinter()
def reset(self):
self.__init__()
def _add_output(self, file_name, arr, fds, mode='a'):
if file_name not in arr:
mkdir_p(os.path.dirname(file_name))
arr.append(file_name)
fds[file_name] = open(file_name, mode)
def _remove_output(self, file_name, arr, fds):
if file_name in arr:
fds[file_name].close()
del fds[file_name]
arr.remove(file_name)
def push_prefix(self, prefix):
self._prefixes.append(prefix)
self._prefix_str = ''.join(self._prefixes)
def add_text_output(self, file_name):
self._add_output(file_name, self._text_outputs, self._text_fds,
mode='a')
def remove_text_output(self, file_name):
self._remove_output(file_name, self._text_outputs, self._text_fds)
def add_tabular_output(self, file_name, relative_to_snapshot_dir=False):
if relative_to_snapshot_dir:
file_name = osp.join(self._snapshot_dir, file_name)
self._add_output(file_name, self._tabular_outputs, self._tabular_fds,
mode='w')
def remove_tabular_output(self, file_name, relative_to_snapshot_dir=False):
if relative_to_snapshot_dir:
file_name = osp.join(self._snapshot_dir, file_name)
if self._tabular_fds[file_name] in self._tabular_header_written:
self._tabular_header_written.remove(self._tabular_fds[file_name])
self._remove_output(file_name, self._tabular_outputs, self._tabular_fds)
def set_snapshot_dir(self, dir_name):
self._snapshot_dir = dir_name
def get_snapshot_dir(self, ):
return self._snapshot_dir
def get_snapshot_mode(self, ):
return self._snapshot_mode
def set_snapshot_mode(self, mode):
self._snapshot_mode = mode
def get_snapshot_gap(self, ):
return self._snapshot_gap
def set_snapshot_gap(self, gap):
self._snapshot_gap = gap
def set_log_tabular_only(self, log_tabular_only):
self._log_tabular_only = log_tabular_only
def get_log_tabular_only(self, ):
return self._log_tabular_only
def log(self, s, with_prefix=True, with_timestamp=True):
out = s
if with_prefix:
out = self._prefix_str + out
if with_timestamp:
now = datetime.datetime.now(dateutil.tz.tzlocal())
timestamp = now.strftime('%y-%m-%d.%H:%M') # :%S
out = "%s|%s" % (timestamp, out)
if not self._log_tabular_only:
# Also log to stdout
print(out, flush=True)
for fd in list(self._text_fds.values()):
fd.write(out + '\n')
fd.flush()
sys.stdout.flush()
def record_tabular(self, key, val):
self._tabular.append((self._tabular_prefix_str + str(key), str(val)))
def record_dict(self, d, prefix=None):
if prefix is not None:
self.push_tabular_prefix(prefix)
for k, v in d.items():
self.record_tabular(k, v)
if prefix is not None:
self.pop_tabular_prefix()
def push_tabular_prefix(self, key):
self._tabular_prefixes.append(key)
self._tabular_prefix_str = ''.join(self._tabular_prefixes)
def pop_tabular_prefix(self, ):
del self._tabular_prefixes[-1]
self._tabular_prefix_str = ''.join(self._tabular_prefixes)
def save_extra_data(self, data, file_name='extra_data.pkl', mode='joblib'):
"""
Data saved here will always override the last entry
:param data: Something pickle'able.
"""
file_name = osp.join(self._snapshot_dir, file_name)
if mode == 'joblib':
import joblib
joblib.dump(data, file_name, compress=3)
elif mode == 'pickle':
pickle.dump(data, open(file_name, "wb"))
else:
raise ValueError("Invalid mode: {}".format(mode))
return file_name
def get_table_dict(self, ):
return dict(self._tabular)
def get_table_key_set(self, ):
return set(key for key, value in self._tabular)
@contextmanager
def prefix(self, key):
self.push_prefix(key)
try:
yield
finally:
self.pop_prefix()
@contextmanager
def tabular_prefix(self, key):
self.push_tabular_prefix(key)
yield
self.pop_tabular_prefix()
def log_variant(self, log_file, variant_data):
mkdir_p(os.path.dirname(log_file))
with open(log_file, "w") as f:
json.dump(variant_data, f, indent=2, sort_keys=True, cls=MyEncoder)
def record_tabular_misc_stat(self, key, values, placement='back'):
if placement == 'front':
prefix = ""
suffix = key
else:
prefix = key
suffix = ""
if len(values) > 0:
self.record_tabular(prefix + "Average" + suffix, np.average(values))
self.record_tabular(prefix + "Std" + suffix, np.std(values))
self.record_tabular(prefix + "Median" + suffix, np.median(values))
self.record_tabular(prefix + "Min" + suffix, np.min(values))
self.record_tabular(prefix + "Max" + suffix, np.max(values))
else:
self.record_tabular(prefix + "Average" + suffix, np.nan)
self.record_tabular(prefix + "Std" + suffix, np.nan)
self.record_tabular(prefix + "Median" + suffix, np.nan)
self.record_tabular(prefix + "Min" + suffix, np.nan)
self.record_tabular(prefix + "Max" + suffix, np.nan)
def dump_tabular(self, *args, **kwargs):
wh = kwargs.pop("write_header", None)
if len(self._tabular) > 0:
if self._log_tabular_only:
self.table_printer.print_tabular(self._tabular)
else:
for line in tabulate(self._tabular).split('\n'):
self.log(line, *args, **kwargs)
tabular_dict = dict(self._tabular)
# Also write to the csv files
# This assumes that the keys in each iteration won't change!
for tabular_fd in list(self._tabular_fds.values()):
writer = csv.DictWriter(tabular_fd,
fieldnames=list(tabular_dict.keys()))
if wh or (
wh is None and tabular_fd not in self._tabular_header_written):
writer.writeheader()
self._tabular_header_written.add(tabular_fd)
writer.writerow(tabular_dict)
tabular_fd.flush()
del self._tabular[:]
def pop_prefix(self, ):
del self._prefixes[-1]
self._prefix_str = ''.join(self._prefixes)
def save_itr_params(self, itr, params):
if self._snapshot_dir:
if self._snapshot_mode == 'all':
file_name = osp.join(self._snapshot_dir, 'itr_%d.pkl' % itr)
pickle.dump(params, open(file_name, "wb"))
elif self._snapshot_mode == 'last':
# override previous params
file_name = osp.join(self._snapshot_dir, 'params.pkl')
pickle.dump(params, open(file_name, "wb"))
elif self._snapshot_mode == "gap":
if itr % self._snapshot_gap == 0:
file_name = osp.join(self._snapshot_dir, 'itr_%d.pkl' % itr)
pickle.dump(params, open(file_name, "wb"))
elif self._snapshot_mode == "gap_and_last":
if itr % self._snapshot_gap == 0:
file_name = osp.join(self._snapshot_dir, 'itr_%d.pkl' % itr)
pickle.dump(params, open(file_name, "wb"))
file_name = osp.join(self._snapshot_dir, 'params.pkl')
pickle.dump(params, open(file_name, "wb"))
elif self._snapshot_mode == 'none':
pass
else:
raise NotImplementedError
logger = Logger()
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# Copyright 2022 Twitter, Inc and Zhendong Wang.
# SPDX-License-Identifier: Apache-2.0
import torch
import numpy as np
def soft_update_from_to(source, target, tau):
for target_param, param in zip(target.parameters(), source.parameters()):
target_param.data.copy_(
target_param.data * (1.0 - tau) + param.data * tau
)
def copy_model_params_from_to(source, target):
for target_param, param in zip(target.parameters(), source.parameters()):
target_param.data.copy_(param.data)
def fanin_init(tensor, scale=1):
size = tensor.size()
if len(size) == 2:
fan_in = size[0]
elif len(size) > 2:
fan_in = np.prod(size[1:])
else:
raise Exception("Shape must be have dimension at least 2.")
bound = scale / np.sqrt(fan_in)
return tensor.data.uniform_(-bound, bound)
def orthogonal_init(tensor, gain=0.01):
torch.nn.init.orthogonal_(tensor, gain=gain)
def fanin_init_weights_like(tensor):
size = tensor.size()
if len(size) == 2:
fan_in = size[0]
elif len(size) > 2:
fan_in = np.prod(size[1:])
else:
raise Exception("Shape must be have dimension at least 2.")
bound = 1. / np.sqrt(fan_in)
new_tensor = torch.FloatTensor(tensor.size())
new_tensor.uniform_(-bound, bound)
return new_tensor
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# Copyright 2022 Twitter, Inc and Zhendong Wang.
# SPDX-License-Identifier: Apache-2.0
import time
import math
import torch
import numpy as np
def print_banner(s, separator="-", num_star=60):
print(separator * num_star, flush=True)
print(s, flush=True)
print(separator * num_star, flush=True)
class Progress:
def __init__(self, total, name='Progress', ncol=3, max_length=20, indent=0, line_width=100, speed_update_freq=100):
self.total = total
self.name = name
self.ncol = ncol
self.max_length = max_length
self.indent = indent
self.line_width = line_width
self._speed_update_freq = speed_update_freq
self._step = 0
self._prev_line = '\033[F'
self._clear_line = ' ' * self.line_width
self._pbar_size = self.ncol * self.max_length
self._complete_pbar = '#' * self._pbar_size
self._incomplete_pbar = ' ' * self._pbar_size
self.lines = ['']
self.fraction = '{} / {}'.format(0, self.total)
self.resume()
def update(self, description, n=1):
self._step += n
if self._step % self._speed_update_freq == 0:
self._time0 = time.time()
self._step0 = self._step
self.set_description(description)
def resume(self):
self._skip_lines = 1
print('\n', end='')
self._time0 = time.time()
self._step0 = self._step
def pause(self):
self._clear()
self._skip_lines = 1
def set_description(self, params=[]):
if type(params) == dict:
params = sorted([
(key, val)
for key, val in params.items()
])
############
# Position #
############
self._clear()
###########
# Percent #
###########
percent, fraction = self._format_percent(self._step, self.total)
self.fraction = fraction
#########
# Speed #
#########
speed = self._format_speed(self._step)
##########
# Params #
##########
num_params = len(params)
nrow = math.ceil(num_params / self.ncol)
params_split = self._chunk(params, self.ncol)
params_string, lines = self._format(params_split)
self.lines = lines
description = '{} | {}{}'.format(percent, speed, params_string)
print(description)
self._skip_lines = nrow + 1
def append_description(self, descr):
self.lines.append(descr)
def _clear(self):
position = self._prev_line * self._skip_lines
empty = '\n'.join([self._clear_line for _ in range(self._skip_lines)])
print(position, end='')
print(empty)
print(position, end='')
def _format_percent(self, n, total):
if total:
percent = n / float(total)
complete_entries = int(percent * self._pbar_size)
incomplete_entries = self._pbar_size - complete_entries
pbar = self._complete_pbar[:complete_entries] + self._incomplete_pbar[:incomplete_entries]
fraction = '{} / {}'.format(n, total)
string = '{} [{}] {:3d}%'.format(fraction, pbar, int(percent * 100))
else:
fraction = '{}'.format(n)
string = '{} iterations'.format(n)
return string, fraction
def _format_speed(self, n):
num_steps = n - self._step0
t = time.time() - self._time0
speed = num_steps / t
string = '{:.1f} Hz'.format(speed)
if num_steps > 0:
self._speed = string
return string
def _chunk(self, l, n):
return [l[i:i + n] for i in range(0, len(l), n)]
def _format(self, chunks):
lines = [self._format_chunk(chunk) for chunk in chunks]
lines.insert(0, '')
padding = '\n' + ' ' * self.indent
string = padding.join(lines)
return string, lines
def _format_chunk(self, chunk):
line = ' | '.join([self._format_param(param) for param in chunk])
return line
def _format_param(self, param):
k, v = param
return '{} : {}'.format(k, v)[:self.max_length]
def stamp(self):
if self.lines != ['']:
params = ' | '.join(self.lines)
string = '[ {} ] {}{} | {}'.format(self.name, self.fraction, params, self._speed)
self._clear()
print(string, end='\n')
self._skip_lines = 1
else:
self._clear()
self._skip_lines = 0
def close(self):
self.pause()
class Silent:
def __init__(self, *args, **kwargs):
pass
def __getattr__(self, attr):
return lambda *args: None
class EarlyStopping(object):
def __init__(self, tolerance=5, min_delta=0):
self.tolerance = tolerance
self.min_delta = min_delta
self.counter = 0
self.early_stop = False
def __call__(self, train_loss, validation_loss):
if (validation_loss - train_loss) > self.min_delta:
self.counter += 1
if self.counter >= self.tolerance:
return True
else:
self.counter = 0
return False