Fix image-based normalized env loading (#1321)

* Fix

* Add test

* Update changelog

* fix memory error avoidance

* Update version

* image env test

* black

* check_shape_equal

* check shape equal in vecnormalize

* Allow spaces not to be box or dict

* rm `test_save_load_vecnormalized_image` in favor of `test_vec_env`

* Remove unused imports

---------

Co-authored-by: Antonin RAFFIN <antonin.raffin@ensta.org>
Co-authored-by: Antonin Raffin <antonin.raffin@dlr.de>

docs/misc/changelog.rst

@@ -4,7 +4,7 @@ Changelog
 ==========
 
 
-Release 1.8.0a4 (WIP)
+Release 1.8.0a5 (WIP)
 --------------------------
 
 
@@ -29,6 +29,7 @@ Bug Fixes:
 - Fixed Atari wrapper that missed the reset condition (@luizapozzobon)
 - Added the argument ``dtype`` (default to ``float32``) to the noise for consistency with gym action (@sidney-tio)
 - Fixed PPO train/n_updates metric not accounting for early stopping (@adamfrly)
+- Fixed loading of normalized image-based environments
 
 Deprecations:
 ^^^^^^^^^^^^^
@@ -212,7 +213,7 @@ Bug Fixes:
 - Fixed missing verbose parameter passing in the ``EvalCallback`` constructor (@burakdmb)
 - Fixed the issue that when updating the target network in DQN, SAC, TD3, the ``running_mean`` and ``running_var`` properties of batch norm layers are not updated (@honglu2875)
 - Fixed incorrect type annotation of the replay_buffer_class argument in ``common.OffPolicyAlgorithm`` initializer, where an instance instead of a class was required (@Rocamonde)
-- Fixed loading saved model with different number of envrionments
+- Fixed loading saved model with different number of environments
 - Removed ``forward()`` abstract method declaration from ``common.policies.BaseModel`` (already defined in ``torch.nn.Module``) to fix type errors in subclasses (@Rocamonde)
 - Fixed the return type of ``.load()`` and ``.learn()`` methods in ``BaseAlgorithm`` so that they now use ``TypeVar`` (@Rocamonde)
 - Fixed an issue where keys with different tags but the same key raised an error in ``common.logger.HumanOutputFormat`` (@Rocamonde and @AdamGleave)

stable_baselines3/common/utils.py

@@ -230,6 +230,24 @@ def check_for_correct_spaces(env: GymEnv, observation_space: spaces.Space, actio
         raise ValueError(f"Action spaces do not match: {action_space} != {env.action_space}")
 
 
+def check_shape_equal(space1: spaces.Space, space2: spaces.Space) -> None:
+    """
+    If the spaces are Box, check that they have the same shape.
+
+    If the spaces are Dict, it recursively checks the subspaces.
+
+    :param space1: Space
+    :param space2: Other space
+    """
+    if isinstance(space1, spaces.Dict):
+        assert isinstance(space2, spaces.Dict), "spaces must be of the same type"
+        assert space1.spaces.keys() == space2.spaces.keys(), "spaces must have the same keys"
+        for key in space1.spaces.keys():
+            check_shape_equal(space1.spaces[key], space2.spaces[key])
+    elif isinstance(space1, spaces.Box):
+        assert space1.shape == space2.shape, "spaces must have the same shape"
+
+
 def is_vectorized_box_observation(observation: np.ndarray, observation_space: spaces.Box) -> bool:
     """
     For box observation type, detects and validates the shape,

stable_baselines3/common/vec_env/vec_normalize.py

@@ -1,3 +1,4 @@
+import inspect
 import pickle
 from copy import deepcopy
 from typing import Any, Dict, List, Optional, Union
@@ -159,10 +160,12 @@ class VecNormalize(VecEnvWrapper):
         """
         if self.venv is not None:
             raise ValueError("Trying to set venv of already initialized VecNormalize wrapper.")
-        VecEnvWrapper.__init__(self, venv)
+        self.venv = venv
+        self.num_envs = venv.num_envs
+        self.class_attributes = dict(inspect.getmembers(self.__class__))
 
-        # Check only that the observation_space match
-        utils.check_for_correct_spaces(venv, self.observation_space, venv.action_space)
+        # Check that the observation_space shape match
+        utils.check_shape_equal(self.observation_space, venv.observation_space)
         self.returns = np.zeros(self.num_envs)
 
     def step_wait(self) -> VecEnvStepReturn:

stable_baselines3/version.txt

@@ -1 +1 @@
-1.8.0a4
+1.8.0a5

tests/test_utils.py

@@ -15,6 +15,7 @@ from stable_baselines3.common.evaluation import evaluate_policy
 from stable_baselines3.common.monitor import Monitor
 from stable_baselines3.common.noise import ActionNoise, OrnsteinUhlenbeckActionNoise, VectorizedActionNoise
 from stable_baselines3.common.utils import (
+    check_shape_equal,
     get_parameters_by_name,
     get_system_info,
     is_vectorized_observation,
@@ -509,3 +510,23 @@ def test_is_vectorized_observation():
         discrete_obs = np.ones((1, 1), dtype=np.int8)
         dict_obs = {"box": box_obs, "discrete": discrete_obs}
         is_vectorized_observation(dict_obs, dict_space)
+
+
+def test_check_shape_equal():
+    space1 = spaces.Box(low=0, high=1, shape=(2, 2))
+    space2 = spaces.Box(low=-1, high=1, shape=(2, 2))
+    check_shape_equal(space1, space2)
+
+    space1 = spaces.Box(low=0, high=1, shape=(2, 2))
+    space2 = spaces.Box(low=-1, high=2, shape=(3, 3))
+    with pytest.raises(AssertionError):
+        check_shape_equal(space1, space2)
+
+    space1 = spaces.Dict({"key1": spaces.Box(low=0, high=1, shape=(2, 2)), "key2": spaces.Box(low=0, high=1, shape=(2, 2))})
+    space2 = spaces.Dict({"key1": spaces.Box(low=-1, high=2, shape=(2, 2)), "key2": spaces.Box(low=-1, high=2, shape=(2, 2))})
+    check_shape_equal(space1, space2)
+
+    space1 = spaces.Dict({"key1": spaces.Box(low=0, high=1, shape=(2, 2)), "key2": spaces.Box(low=0, high=1, shape=(2, 2))})
+    space2 = spaces.Dict({"key1": spaces.Box(low=-1, high=2, shape=(3, 3)), "key2": spaces.Box(low=-1, high=2, shape=(2, 2))})
+    with pytest.raises(AssertionError):
+        check_shape_equal(space1, space2)

tests/test_vec_normalize.py

@@ -7,6 +7,7 @@ import pytest
 from gym import spaces
 
 from stable_baselines3 import SAC, TD3, HerReplayBuffer
+from stable_baselines3.common.envs import FakeImageEnv
 from stable_baselines3.common.monitor import Monitor
 from stable_baselines3.common.running_mean_std import RunningMeanStd
 from stable_baselines3.common.vec_env import (
@@ -118,6 +119,10 @@ def make_dict_env():
     return Monitor(DummyDictEnv())
 
 
+def make_image_env():
+    return Monitor(FakeImageEnv())
+
+
 def check_rms_equal(rmsa, rmsb):
     if isinstance(rmsa, dict):
         for key in rmsa.keys():
@@ -244,7 +249,7 @@ def test_obs_rms_vec_normalize():
     assert np.allclose(env.ret_rms.mean, 5.688, atol=1e-3)
 
 
-@pytest.mark.parametrize("make_env", [make_env, make_dict_env])
+@pytest.mark.parametrize("make_env", [make_env, make_dict_env, make_image_env])
 def test_vec_env(tmp_path, make_env):
     """Test VecNormalize Object"""
     clip_obs = 0.5