stable-baselines3/stable_baselines3/common/utils.py

import glob
import os
import platform
import random
import re
from collections import deque
from inspect import signature
from itertools import zip_longest
from typing import Dict, Iterable, List, Optional, Tuple, Union

import gymnasium as gym
import numpy as np
import torch as th
from gymnasium import spaces

import stable_baselines3 as sb3

# Check if tensorboard is available for pytorch
try:
    from torch.utils.tensorboard import SummaryWriter
except ImportError:
    SummaryWriter = None

from stable_baselines3.common.logger import Logger, configure
from stable_baselines3.common.type_aliases import GymEnv, Schedule, TensorDict, TrainFreq, TrainFrequencyUnit


def set_random_seed(seed: int, using_cuda: bool = False) -> None:
    """
    Seed the different random generators.

    :param seed:
    :param using_cuda:
    """
    # Seed python RNG
    random.seed(seed)
    # Seed numpy RNG
    np.random.seed(seed)
    # seed the RNG for all devices (both CPU and CUDA)
    th.manual_seed(seed)

    if using_cuda:
        # Deterministic operations for CuDNN, it may impact performances
        th.backends.cudnn.deterministic = True
        th.backends.cudnn.benchmark = False


# From stable baselines
def explained_variance(y_pred: np.ndarray, y_true: np.ndarray) -> np.ndarray:
    """
    Computes fraction of variance that ypred explains about y.
    Returns 1 - Var[y-ypred] / Var[y]

    interpretation:
        ev=0  =>  might as well have predicted zero
        ev=1  =>  perfect prediction
        ev<0  =>  worse than just predicting zero

    :param y_pred: the prediction
    :param y_true: the expected value
    :return: explained variance of ypred and y
    """
    assert y_true.ndim == 1 and y_pred.ndim == 1
    var_y = np.var(y_true)
    return np.nan if var_y == 0 else 1 - np.var(y_true - y_pred) / var_y


def update_learning_rate(optimizer: th.optim.Optimizer, learning_rate: float) -> None:
    """
    Update the learning rate for a given optimizer.
    Useful when doing linear schedule.

    :param optimizer: Pytorch optimizer
    :param learning_rate: New learning rate value
    """
    for param_group in optimizer.param_groups:
        param_group["lr"] = learning_rate


def get_schedule_fn(value_schedule: Union[Schedule, float]) -> Schedule:
    """
    Transform (if needed) learning rate and clip range (for PPO)
    to callable.

    :param value_schedule: Constant value of schedule function
    :return: Schedule function (can return constant value)
    """
    # If the passed schedule is a float
    # create a constant function
    if isinstance(value_schedule, (float, int)):
        # Cast to float to avoid errors
        value_schedule = constant_fn(float(value_schedule))
    else:
        assert callable(value_schedule)
    return value_schedule


def get_linear_fn(start: float, end: float, end_fraction: float) -> Schedule:
    """
    Create a function that interpolates linearly between start and end
    between ``progress_remaining`` = 1 and ``progress_remaining`` = ``end_fraction``.
    This is used in DQN for linearly annealing the exploration fraction
    (epsilon for the epsilon-greedy strategy).

    :params start: value to start with if ``progress_remaining`` = 1
    :params end: value to end with if ``progress_remaining`` = 0
    :params end_fraction: fraction of ``progress_remaining``
        where end is reached e.g 0.1 then end is reached after 10%
        of the complete training process.
    :return: Linear schedule function.
    """

    def func(progress_remaining: float) -> float:
        if (1 - progress_remaining) > end_fraction:
            return end
        else:
            return start + (1 - progress_remaining) * (end - start) / end_fraction

    return func


def constant_fn(val: float) -> Schedule:
    """
    Create a function that returns a constant
    It is useful for learning rate schedule (to avoid code duplication)

    :param val: constant value
    :return: Constant schedule function.
    """

    def func(_):
        return val

    return func


def get_device(device: Union[th.device, str] = "auto") -> th.device:
    """
    Retrieve PyTorch device.
    It checks that the requested device is available first.
    For now, it supports only cpu and cuda.
    By default, it tries to use the gpu.

    :param device: One for 'auto', 'cuda', 'cpu'
    :return: Supported Pytorch device
    """
    # Cuda by default
    if device == "auto":
        device = "cuda"
    # Force conversion to th.device
    device = th.device(device)

    # Cuda not available
    if device.type == th.device("cuda").type and not th.cuda.is_available():
        return th.device("cpu")

    return device


def get_latest_run_id(log_path: str = "", log_name: str = "") -> int:
    """
    Returns the latest run number for the given log name and log path,
    by finding the greatest number in the directories.

    :param log_path: Path to the log folder containing several runs.
    :param log_name: Name of the experiment. Each run is stored
        in a folder named ``log_name_1``, ``log_name_2``, ...
    :return: latest run number
    """
    max_run_id = 0
    for path in glob.glob(os.path.join(log_path, f"{glob.escape(log_name)}_[0-9]*")):
        file_name = path.split(os.sep)[-1]
        ext = file_name.split("_")[-1]
        if log_name == "_".join(file_name.split("_")[:-1]) and ext.isdigit() and int(ext) > max_run_id:
            max_run_id = int(ext)
    return max_run_id


def configure_logger(
    verbose: int = 0,
    tensorboard_log: Optional[str] = None,
    tb_log_name: str = "",
    reset_num_timesteps: bool = True,
) -> Logger:
    """
    Configure the logger's outputs.

    :param verbose: Verbosity level: 0 for no output, 1 for the standard output to be part of the logger outputs
    :param tensorboard_log: the log location for tensorboard (if None, no logging)
    :param tb_log_name: tensorboard log
    :param reset_num_timesteps:  Whether the ``num_timesteps`` attribute is reset or not.
        It allows to continue a previous learning curve (``reset_num_timesteps=False``)
        or start from t=0 (``reset_num_timesteps=True``, the default).
    :return: The logger object
    """
    save_path, format_strings = None, ["stdout"]

    if tensorboard_log is not None and SummaryWriter is None:
        raise ImportError("Trying to log data to tensorboard but tensorboard is not installed.")

    if tensorboard_log is not None and SummaryWriter is not None:
        latest_run_id = get_latest_run_id(tensorboard_log, tb_log_name)
        if not reset_num_timesteps:
            # Continue training in the same directory
            latest_run_id -= 1
        save_path = os.path.join(tensorboard_log, f"{tb_log_name}_{latest_run_id + 1}")
        if verbose >= 1:
            format_strings = ["stdout", "tensorboard"]
        else:
            format_strings = ["tensorboard"]
    elif verbose == 0:
        format_strings = [""]
    return configure(save_path, format_strings=format_strings)


def check_for_correct_spaces(env: GymEnv, observation_space: spaces.Space, action_space: spaces.Space) -> None:
    """
    Checks that the environment has same spaces as provided ones. Used by BaseAlgorithm to check if
    spaces match after loading the model with given env.
    Checked parameters:
    - observation_space
    - action_space

    :param env: Environment to check for valid spaces
    :param observation_space: Observation space to check against
    :param action_space: Action space to check against
    """
    if observation_space != env.observation_space:
        raise ValueError(f"Observation spaces do not match: {observation_space} != {env.observation_space}")
    if action_space != env.action_space:
        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,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """
    if observation.shape == observation_space.shape:
        return False
    elif observation.shape[1:] == observation_space.shape:
        return True
    else:
        raise ValueError(
            f"Error: Unexpected observation shape {observation.shape} for "
            + f"Box environment, please use {observation_space.shape} "
            + "or (n_env, {}) for the observation shape.".format(", ".join(map(str, observation_space.shape)))
        )


def is_vectorized_discrete_observation(observation: Union[int, np.ndarray], observation_space: spaces.Discrete) -> bool:
    """
    For discrete observation type, detects and validates the shape,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """
    if isinstance(observation, int) or observation.shape == ():  # A numpy array of a number, has shape empty tuple '()'
        return False
    elif len(observation.shape) == 1:
        return True
    else:
        raise ValueError(
            f"Error: Unexpected observation shape {observation.shape} for "
            + "Discrete environment, please use () or (n_env,) for the observation shape."
        )


def is_vectorized_multidiscrete_observation(observation: np.ndarray, observation_space: spaces.MultiDiscrete) -> bool:
    """
    For multidiscrete observation type, detects and validates the shape,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """
    if observation.shape == (len(observation_space.nvec),):
        return False
    elif len(observation.shape) == 2 and observation.shape[1] == len(observation_space.nvec):
        return True
    else:
        raise ValueError(
            f"Error: Unexpected observation shape {observation.shape} for MultiDiscrete "
            + f"environment, please use ({len(observation_space.nvec)},) or "
            + f"(n_env, {len(observation_space.nvec)}) for the observation shape."
        )


def is_vectorized_multibinary_observation(observation: np.ndarray, observation_space: spaces.MultiBinary) -> bool:
    """
    For multibinary observation type, detects and validates the shape,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """
    if observation.shape == observation_space.shape:
        return False
    elif len(observation.shape) == len(observation_space.shape) + 1 and observation.shape[1:] == observation_space.shape:
        return True
    else:
        raise ValueError(
            f"Error: Unexpected observation shape {observation.shape} for MultiBinary "
            + f"environment, please use {observation_space.shape} or "
            + f"(n_env, {observation_space.n}) for the observation shape."
        )


def is_vectorized_dict_observation(observation: np.ndarray, observation_space: spaces.Dict) -> bool:
    """
    For dict observation type, detects and validates the shape,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """
    # We first assume that all observations are not vectorized
    all_non_vectorized = True
    for key, subspace in observation_space.spaces.items():
        # This fails when the observation is not vectorized
        # or when it has the wrong shape
        if observation[key].shape != subspace.shape:
            all_non_vectorized = False
            break

    if all_non_vectorized:
        return False

    all_vectorized = True
    # Now we check that all observation are vectorized and have the correct shape
    for key, subspace in observation_space.spaces.items():
        if observation[key].shape[1:] != subspace.shape:
            all_vectorized = False
            break

    if all_vectorized:
        return True
    else:
        # Retrieve error message
        error_msg = ""
        try:
            is_vectorized_observation(observation[key], observation_space.spaces[key])
        except ValueError as e:
            error_msg = f"{e}"
        raise ValueError(
            f"There seems to be a mix of vectorized and non-vectorized observations. "
            f"Unexpected observation shape {observation[key].shape} for key {key} "
            f"of type {observation_space.spaces[key]}. {error_msg}"
        )


def is_vectorized_observation(observation: Union[int, np.ndarray], observation_space: spaces.Space) -> bool:
    """
    For every observation type, detects and validates the shape,
    then returns whether or not the observation is vectorized.

    :param observation: the input observation to validate
    :param observation_space: the observation space
    :return: whether the given observation is vectorized or not
    """

    is_vec_obs_func_dict = {
        spaces.Box: is_vectorized_box_observation,
        spaces.Discrete: is_vectorized_discrete_observation,
        spaces.MultiDiscrete: is_vectorized_multidiscrete_observation,
        spaces.MultiBinary: is_vectorized_multibinary_observation,
        spaces.Dict: is_vectorized_dict_observation,
    }

    for space_type, is_vec_obs_func in is_vec_obs_func_dict.items():
        if isinstance(observation_space, space_type):
            return is_vec_obs_func(observation, observation_space)
    else:
        # for-else happens if no break is called
        raise ValueError(f"Error: Cannot determine if the observation is vectorized with the space type {observation_space}.")


def safe_mean(arr: Union[np.ndarray, list, deque]) -> np.ndarray:
    """
    Compute the mean of an array if there is at least one element.
    For empty array, return NaN. It is used for logging only.

    :param arr: Numpy array or list of values
    :return:
    """
    return np.nan if len(arr) == 0 else np.mean(arr)


def get_parameters_by_name(model: th.nn.Module, included_names: Iterable[str]) -> List[th.Tensor]:
    """
    Extract parameters from the state dict of ``model``
    if the name contains one of the strings in ``included_names``.

    :param model: the model where the parameters come from.
    :param included_names: substrings of names to include.
    :return: List of parameters values (Pytorch tensors)
        that matches the queried names.
    """
    return [param for name, param in model.state_dict().items() if any([key in name for key in included_names])]


def zip_strict(*iterables: Iterable) -> Iterable:
    r"""
    ``zip()`` function but enforces that iterables are of equal length.
    Raises ``ValueError`` if iterables not of equal length.
    Code inspired by Stackoverflow answer for question #32954486.

    :param \*iterables: iterables to ``zip()``
    """
    # As in Stackoverflow #32954486, use
    # new object for "empty" in case we have
    # Nones in iterable.
    sentinel = object()
    for combo in zip_longest(*iterables, fillvalue=sentinel):
        if sentinel in combo:
            raise ValueError("Iterables have different lengths")
        yield combo


def polyak_update(
    params: Iterable[th.Tensor],
    target_params: Iterable[th.Tensor],
    tau: float,
) -> None:
    """
    Perform a Polyak average update on ``target_params`` using ``params``:
    target parameters are slowly updated towards the main parameters.
    ``tau``, the soft update coefficient controls the interpolation:
    ``tau=1`` corresponds to copying the parameters to the target ones whereas nothing happens when ``tau=0``.
    The Polyak update is done in place, with ``no_grad``, and therefore does not create intermediate tensors,
    or a computation graph, reducing memory cost and improving performance.  We scale the target params
    by ``1-tau`` (in-place), add the new weights, scaled by ``tau`` and store the result of the sum in the target
    params (in place).
    See https://github.com/DLR-RM/stable-baselines3/issues/93

    :param params: parameters to use to update the target params
    :param target_params: parameters to update
    :param tau: the soft update coefficient ("Polyak update", between 0 and 1)
    """
    with th.no_grad():
        # zip does not raise an exception if length of parameters does not match.
        for param, target_param in zip_strict(params, target_params):
            target_param.data.mul_(1 - tau)
            th.add(target_param.data, param.data, alpha=tau, out=target_param.data)


def obs_as_tensor(obs: Union[np.ndarray, Dict[str, np.ndarray]], device: th.device) -> Union[th.Tensor, TensorDict]:
    """
    Moves the observation to the given device.

    :param obs:
    :param device: PyTorch device
    :return: PyTorch tensor of the observation on a desired device.
    """
    if isinstance(obs, np.ndarray):
        return th.as_tensor(obs, device=device)
    elif isinstance(obs, dict):
        return {key: th.as_tensor(_obs, device=device) for (key, _obs) in obs.items()}
    else:
        raise Exception(f"Unrecognized type of observation {type(obs)}")


def should_collect_more_steps(
    train_freq: TrainFreq,
    num_collected_steps: int,
    num_collected_episodes: int,
) -> bool:
    """
    Helper used in ``collect_rollouts()`` of off-policy algorithms
    to determine the termination condition.

    :param train_freq: How much experience should be collected before updating the policy.
    :param num_collected_steps: The number of already collected steps.
    :param num_collected_episodes: The number of already collected episodes.
    :return: Whether to continue or not collecting experience
        by doing rollouts of the current policy.
    """
    if train_freq.unit == TrainFrequencyUnit.STEP:
        return num_collected_steps < train_freq.frequency

    elif train_freq.unit == TrainFrequencyUnit.EPISODE:
        return num_collected_episodes < train_freq.frequency

    else:
        raise ValueError(
            "The unit of the `train_freq` must be either TrainFrequencyUnit.STEP "
            f"or TrainFrequencyUnit.EPISODE not '{train_freq.unit}'!"
        )


def get_system_info(print_info: bool = True) -> Tuple[Dict[str, str], str]:
    """
    Retrieve system and python env info for the current system.

    :param print_info: Whether to print or not those infos
    :return: Dictionary summing up the version for each relevant package
        and a formatted string.
    """
    env_info = {
        # In OS, a regex is used to add a space between a "#" and a number to avoid
        # wrongly linking to another issue on GitHub. Example: turn "#42" to "# 42".
        "OS": re.sub(r"#(\d)", r"# \1", f"{platform.platform()} {platform.version()}"),
        "Python": platform.python_version(),
        "Stable-Baselines3": sb3.__version__,
        "PyTorch": th.__version__,
        "GPU Enabled": str(th.cuda.is_available()),
        "Numpy": np.__version__,
        "Gym": gym.__version__,
    }
    env_info_str = ""
    for key, value in env_info.items():
        env_info_str += f"- {key}: {value}\n"
    if print_info:
        print(env_info_str)
    return env_info, env_info_str


def compat_gym_seed(env: GymEnv, seed: int) -> None:
    """
    Compatibility helper to seed Gym envs.

    :param env: The Gym environment.
    :param seed: The seed for the pseudo random generator
    """
    if "seed" in signature(env.unwrapped.reset).parameters:
        # gym >= 0.23.1
        env.reset(seed=seed)
    else:
        # VecEnv and backward compatibility
        env.seed(seed)