[Feature] DDPG compatibility with compile

ghstack-source-id: 4d13215ad9c4fc404b9c3ba76e55f5548ffbd6c0
Pull Request resolved: #2555

sota-implementations/ddpg/config.yaml

@@ -13,7 +13,7 @@ collector:
   frames_per_batch: 1000
   init_env_steps: 1000
   reset_at_each_iter: False
-  device: cpu
+  device:
   env_per_collector: 1
 
 
@@ -39,6 +39,9 @@ network:
   hidden_sizes: [256, 256]
   activation: relu
   noise_type: "ou" # ou or gaussian
+  compile: False
+  compile_mode:
+  cudagraphs: False
 
 # logging
 logger:

sota-implementations/ddpg/ddpg.py

@@ -10,17 +10,21 @@
 
 The helper functions are coded in the utils.py associated with this script.
 """
-import time
+import warnings
 
 import hydra
 
 import numpy as np
 import torch
 import torch.cuda
 import tqdm
-from torchrl._utils import logger as torchrl_logger
+from tensordict import TensorDict
+from tensordict.nn import CudaGraphModule
+
+from torchrl._utils import timeit
 
 from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.objectives import group_optimizers
 from torchrl.record.loggers import generate_exp_name, get_logger
 from utils import (
     dump_video,
@@ -44,6 +48,15 @@ def main(cfg: "DictConfig"):  # noqa: F821
             device = "cpu"
     device = torch.device(device)
 
+    collector_device = cfg.collector.device
+    if collector_device in ("", None):
+        if torch.cuda.is_available():
+            collector_device = "cuda:0"
+        else:
+            collector_device = "cpu"
+    collector_device = torch.device(collector_device)
+    cfg.collector.device = collector_device
+
     # Create logger
     exp_name = generate_exp_name("DDPG", cfg.logger.exp_name)
     logger = None
@@ -73,8 +86,24 @@ def main(cfg: "DictConfig"):  # noqa: F821
     # Create DDPG loss
     loss_module, target_net_updater = make_loss_module(cfg, model)
 
+    compile_mode = None
+    if cfg.network.compile:
+        if cfg.network.compile_mode not in (None, ""):
+            compile_mode = cfg.network.compile_mode
+        elif cfg.network.cudagraphs:
+            compile_mode = "default"
+        else:
+            compile_mode = "reduce-overhead"
+
     # Create off-policy collector
-    collector = make_collector(cfg, train_env, exploration_policy)
+    collector = make_collector(
+        cfg,
+        train_env,
+        exploration_policy,
+        compile=cfg.network.compile,
+        compile_mode=compile_mode,
+        cudagraph=cfg.network.cudagraphs,
+    )
 
     # Create replay buffer
     replay_buffer = make_replay_buffer(
@@ -87,9 +116,29 @@ def main(cfg: "DictConfig"):  # noqa: F821
 
     # Create optimizers
     optimizer_actor, optimizer_critic = make_optimizer(cfg, loss_module)
+    optimizer = group_optimizers(optimizer_actor, optimizer_critic)
+
+    def update(sampled_tensordict):
+        optimizer.zero_grad(set_to_none=True)
+
+        td_loss: TensorDict = loss_module(sampled_tensordict)
+        td_loss.sum(reduce=True).backward()
+        optimizer.step()
+
+        # Update qnet_target params
+        target_net_updater.step()
+        return td_loss.detach()
+
+    if cfg.network.compile:
+        update = torch.compile(update, mode=compile_mode)
+    if cfg.network.cudagraphs:
+        warnings.warn(
+            "CudaGraphModule is experimental and may lead to silently wrong results. Use with caution.",
+            category=UserWarning,
+        )
+        update = CudaGraphModule(update, warmup=50)
 
     # Main loop
-    start_time = time.time()
     collected_frames = 0
     pbar = tqdm.tqdm(total=cfg.collector.total_frames)
 
@@ -104,63 +153,42 @@ def main(cfg: "DictConfig"):  # noqa: F821
     eval_iter = cfg.logger.eval_iter
     eval_rollout_steps = cfg.env.max_episode_steps
 
-    sampling_start = time.time()
-    for _, tensordict in enumerate(collector):
-        sampling_time = time.time() - sampling_start
+    c_iter = iter(collector)
+    for i in range(len(collector)):
+        with timeit("collecting"):
+            tensordict = next(c_iter)
         # Update exploration policy
         exploration_policy[1].step(tensordict.numel())
 
         # Update weights of the inference policy
         collector.update_policy_weights_()
 
-        pbar.update(tensordict.numel())
-
-        tensordict = tensordict.reshape(-1)
         current_frames = tensordict.numel()
+        pbar.update(current_frames)
+
         # Add to replay buffer
-        replay_buffer.extend(tensordict.cpu())
+        with timeit("rb - extend"):
+            tensordict = tensordict.reshape(-1)
+            replay_buffer.extend(tensordict)
+
         collected_frames += current_frames
 
         # Optimization steps
-        training_start = time.time()
         if collected_frames >= init_random_frames:
-            (
-                actor_losses,
-                q_losses,
-            ) = ([], [])
+            tds = []
             for _ in range(num_updates):
                 # Sample from replay buffer
-                sampled_tensordict = replay_buffer.sample()
-                if sampled_tensordict.device != device:
-                    sampled_tensordict = sampled_tensordict.to(
-                        device, non_blocking=True
-                    )
-                else:
-                    sampled_tensordict = sampled_tensordict.clone()
-
-                # Update critic
-                q_loss, *_ = loss_module.loss_value(sampled_tensordict)
-                optimizer_critic.zero_grad()
-                q_loss.backward()
-                optimizer_critic.step()
-
-                # Update actor
-                actor_loss, *_ = loss_module.loss_actor(sampled_tensordict)
-                optimizer_actor.zero_grad()
-                actor_loss.backward()
-                optimizer_actor.step()
-
-                q_losses.append(q_loss.item())
-                actor_losses.append(actor_loss.item())
-
-                # Update qnet_target params
-                target_net_updater.step()
+                with timeit("rb - sample"):
+                    sampled_tensordict = replay_buffer.sample().to(device)
+                with timeit("update"):
+                    td_loss = update(sampled_tensordict)
+                tds.append(td_loss.clone())
 
                 # Update priority
                 if prb:
                     replay_buffer.update_priority(sampled_tensordict)
+            tds = torch.stack(tds)
 
-        training_time = time.time() - training_start
         episode_end = (
             tensordict["next", "done"]
             if tensordict["next", "done"].any()
@@ -178,38 +206,36 @@ def main(cfg: "DictConfig"):  # noqa: F821
             )
 
         if collected_frames >= init_random_frames:
-            metrics_to_log["train/q_loss"] = np.mean(q_losses)
-            metrics_to_log["train/a_loss"] = np.mean(actor_losses)
-            metrics_to_log["train/sampling_time"] = sampling_time
-            metrics_to_log["train/training_time"] = training_time
+            tds = TensorDict(train=tds).flatten_keys("/").mean()
+            metrics_to_log.update(tds.to_dict())
 
         # Evaluation
         if abs(collected_frames % eval_iter) < frames_per_batch:
-            with set_exploration_type(ExplorationType.DETERMINISTIC), torch.no_grad():
-                eval_start = time.time()
+            with set_exploration_type(
+                ExplorationType.DETERMINISTIC
+            ), torch.no_grad(), timeit("eval"):
                 eval_rollout = eval_env.rollout(
                     eval_rollout_steps,
                     exploration_policy,
                     auto_cast_to_device=True,
                     break_when_any_done=True,
                 )
                 eval_env.apply(dump_video)
-                eval_time = time.time() - eval_start
                 eval_reward = eval_rollout["next", "reward"].sum(-2).mean().item()
                 metrics_to_log["eval/reward"] = eval_reward
-                metrics_to_log["eval/time"] = eval_time
+        if i % 20 == 0:
+            metrics_to_log.update(timeit.todict(prefix="time"))
+            timeit.print()
+            timeit.erase()
+
         if logger is not None:
             log_metrics(logger, metrics_to_log, collected_frames)
-        sampling_start = time.time()
 
     collector.shutdown()
-    end_time = time.time()
-    execution_time = end_time - start_time
     if not eval_env.is_closed:
         eval_env.close()
     if not train_env.is_closed:
         train_env.close()
-    torchrl_logger.info(f"Training took {execution_time:.2f} seconds to finish")
 
 
 if __name__ == "__main__":

sota-implementations/ddpg/utils.py

@@ -6,7 +6,7 @@
 
 import torch
 
-from tensordict.nn import TensorDictSequential
+from tensordict.nn import TensorDictModule, TensorDictSequential
 
 from torch import nn, optim
 from torchrl.collectors import SyncDataCollector
@@ -30,8 +30,6 @@
     AdditiveGaussianModule,
     MLP,
     OrnsteinUhlenbeckProcessModule,
-    SafeModule,
-    SafeSequential,
     TanhModule,
     ValueOperator,
 )
@@ -113,7 +111,14 @@ def make_environment(cfg, logger):
 # ---------------------------
 
 
-def make_collector(cfg, train_env, actor_model_explore):
+def make_collector(
+    cfg,
+    train_env,
+    actor_model_explore,
+    compile=False,
+    compile_mode=None,
+    cudagraph=False,
+):
     """Make collector."""
     collector = SyncDataCollector(
         train_env,
@@ -122,7 +127,10 @@ def make_collector(cfg, train_env, actor_model_explore):
         init_random_frames=cfg.collector.init_random_frames,
         reset_at_each_iter=cfg.collector.reset_at_each_iter,
         total_frames=cfg.collector.total_frames,
-        device=cfg.collector.device,
+        policy_device=cfg.collector.device,
+        env_device=train_env.device,
+        compile_policy={"mode": compile_mode} if compile else False,
+        cudagraph_policy=cudagraph,
     )
     collector.set_seed(cfg.env.seed)
     return collector
@@ -172,9 +180,7 @@ def make_ddpg_agent(cfg, train_env, eval_env, device):
     """Make DDPG agent."""
     # Define Actor Network
     in_keys = ["observation"]
-    action_spec = train_env.action_spec
-    if train_env.batch_size:
-        action_spec = action_spec[(0,) * len(train_env.batch_size)]
+    action_spec = train_env.single_action_spec
     actor_net_kwargs = {
         "num_cells": cfg.network.hidden_sizes,
         "out_features": action_spec.shape[-1],
@@ -184,19 +190,16 @@ def make_ddpg_agent(cfg, train_env, eval_env, device):
     actor_net = MLP(**actor_net_kwargs)
 
     in_keys_actor = in_keys
-    actor_module = SafeModule(
+    actor_module = TensorDictModule(
         actor_net,
         in_keys=in_keys_actor,
-        out_keys=[
-            "param",
-        ],
+        out_keys=["param"],
     )
-    actor = SafeSequential(
+    actor = TensorDictSequential(
         actor_module,
         TanhModule(
             in_keys=["param"],
             out_keys=["action"],
-            spec=action_spec,
         ),
     )
 
@@ -234,6 +237,7 @@ def make_ddpg_agent(cfg, train_env, eval_env, device):
             OrnsteinUhlenbeckProcessModule(
                 spec=action_spec,
                 annealing_num_steps=1_000_000,
+                safe=False,
             ).to(device),
         )
     elif cfg.network.noise_type == "gaussian":
@@ -245,6 +249,7 @@ def make_ddpg_agent(cfg, train_env, eval_env, device):
                 sigma_init=1.0,
                 mean=0.0,
                 std=0.1,
+                safe=False,
             ).to(device),
         )
     else: