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metalearn_rnn

This is a pytorch implementation of the agent described in Wang et al., 2018.

This largely mirros and is based on on a tensorflow implementation of the same agent by Michaël Trazzi and Yasmine Hamdani, under the supervision of Olivier Sigaud, who themselves made use of awjuliani's Meta-RL implementation (a single-threaded A2C LSTM implementation). For conceptual understanding you can also read Michaels article on Medium and Arthurs post.

Additionally to previous implementations, I added more logging and put a focus on code readibility/understanding of the implementation.

Specifically:

  • basenet.py contains the basic implementation
  • basenet_onepass.py just uses one pass for each trial through the network instead of two (episode rollout and gradient tags are gathered from one forward pass of the network); the computed gradients are identical in both approaches
  • basenet_altloss.py uses a different kind of loss (as described on here); havent yet found a working hyperparameter config (or maybe my implementation is wrong)
  • basenet_altloss2.py uses a different kind of A2C based loss (using the code of Ilya Kostrikov);
  • crossentropy loss via here
  • extnet.py introduces a novel task (described in XXX). It also only uses one forward pass through the network to calculate everything nessesary.

This is my first implementation of an ANN and hence errors / suboptimal code may be contained. An online version can also be found on google colab: XXX

Requirements

The python scripts were written using python 3.7 and pytorch 1.4.0+cpu

pip install torch numpy scipy

# for visuzalization / plotting the images 
pip install matplotlib

To get the exact pytorch version that I used:

# pip install torch==1.4.0+cpu torchvision==0.5.0+cpu -f https://download.pytorch.org/whl/torch_stable.html

Execution

python -u basenet.py

# using windows powershell and logging console output via Tee
python -u .\basenet_altloss2.py 2>&1 | % ToString | tee 'consoleoutput.txt'

or from within python (untested)

from basenet import OwnRnn
from games.rsc_two_step import rsc_two_step

# load the environment
env = rsc_two_step();

# create and train the model
# an alternative optimizer is 'Adam'
rnn = OwnRnn(log_dir = 'out1/log', optimizer_str = 'RMS', learning_rate = 7e-4) 
rnn.do_training(env, num_episodes = 20000, single_episode_length = 200, stats_every_x_episodes = 500)

Findings

to view the progress in greater detail use tensorboard, i.e.

tensorboard --logdir metalearn_rnn\out1\0421-193012\tb

Results

  • convergence of the basenet.py with RMSprop otimizer @ roughly 12k
  • learns how to play the game
  • not relfected in loss but much more the cummulative reward per episode (random reward baseline would be 100)

Early weight changes anticipating market improvement (timeline from one execution)

Step/Epoch Are
8k a few LSTM weights are increased
12k centered
15k are neat

[Images here]

Tensorboard

dada

LSTM implementation in torch

even though on a high level we have a lot of different gates, the can be trained by the same forumlas, hence they were pooled into two variables in their pytorch implementation. for more background see here and here.

Loss.backward() in PyTorch for A2C/multiple types of losses

tl;dr: gradients are computed for each loss part separately and summed up at the level of weights.

I still find it quite confusing how the loss is backpropagated within pytorch. Some good explanations with very simple examples can be found here, here and here. Yet I wasnt sure how for example the gradient is computed when a single variable (i.e. the ih_weights of the LSTM) feature in two kinds of losses. Hence I tried to dissect it using the following code that plots stats about the calculated gradients at the different variables after distinct backwarded losses:

# we always need to make sure retrain=true, otherwise the saved activation per variable (i.e. weights)
# is lost after the first .backward() call
loss.backward(retain_graph=True);

print("#######################\n#-- Normal Loss backward: 0.05 * value_loss + policy_loss - 0.05 * entropy_loss")
print_tensor_param_stats(self.value_outp_layer, grad=True)
print_tensor_param_stats(self.action_outp_layer, grad=True)
print_tensor_param_stats(self.lstm, grad=True)
...
# zero the gradients again, and do a different loss backward propagation
self.optimizer.zero_grad()
alt_loss= 0.05 * entropy_loss;
alt_loss.backward(retain_graph=True)
print("#######################\n#-- entropy loss backward: 0.05 * entropy_loss")
print_tensor_param_stats(self.value_outp_layer, grad=True)
print_tensor_param_stats(self.action_outp_layer, grad=True)
print_tensor_param_stats(self.lstm, grad=True)
...

Done for all kinds of different losses This yielded the following (sample output for episode nr 20; using raw, unclipped gradient info):

Name                                    avgp    medp    stdp      minp      maxp      sump
-----------------------------------------------------------------------------------------------
#######################
#-- Normal Loss backward: 0.05 * value_loss + policy_loss - 0.05 * entropy_loss
Linear(in_featu	 g~weight         	 -2.3694	 -8.8223	+10.4206	-11.7314	+11.7338	-113.7291
Linear(in_featu	 g~bias           	-12.1059	-12.1059	    +nan	-12.1059	-12.1059	-12.1059
Linear(in_featu	 g~weight         	 -0.0000	-11.1242	+29.6898	-32.6978	+32.6978	 -0.0000
Linear(in_featu	 g~bias           	 -0.0000	-31.4037	+44.4115	-31.4037	+31.4037	 -0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -0.2958	 +0.0005	 +2.7064	-43.3604	 +2.1435	-340.8133
LSTM(6, 48)	 g~weight_hh_l0       	 -0.0020	 +0.0001	 +0.0479	 -0.3188	 +0.3197	-18.8611
LSTM(6, 48)	 g~bias_ih_l0         	 -0.0105	 +0.0016	 +0.0562	 -0.3248	 +0.1617	 -2.0241
LSTM(6, 48)	 g~bias_hh_l0         	 -0.0105	 +0.0016	 +0.0562	 -0.3248	 +0.1617	 -2.0241
#######################
#-- After second time Loss backward
Linear(in_featu	 g~weight         	 -4.7387	-17.6445	+20.8411	-23.4627	+23.4676	-227.4583
Linear(in_featu	 g~bias           	-24.2118	-24.2118	    +nan	-24.2118	-24.2118	-24.2118
Linear(in_featu	 g~weight         	 -0.0000	-22.2485	+59.3796	-65.3956	+65.3956	 -0.0001
Linear(in_featu	 g~bias           	 -0.0000	-62.8074	+88.8231	-62.8074	+62.8074	 -0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -0.5917	 +0.0011	 +5.4129	-86.7208	 +4.2870	-681.6266
LSTM(6, 48)	 g~weight_hh_l0       	 -0.0041	 +0.0001	 +0.0959	 -0.6377	 +0.6393	-37.7222
LSTM(6, 48)	 g~bias_ih_l0         	 -0.0211	 +0.0032	 +0.1124	 -0.6495	 +0.3234	 -4.0482
LSTM(6, 48)	 g~bias_hh_l0         	 -0.0211	 +0.0032	 +0.1124	 -0.6495	 +0.3234	 -4.0482
#######################
#-- After zero grad
Linear(in_featu	 g~weight         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~bias           	 +0.0000	 +0.0000	    +nan	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~weight         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~bias           	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
LSTM(6, 48)	 g~weight_hh_l0       	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
LSTM(6, 48)	 g~bias_ih_l0         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
LSTM(6, 48)	 g~bias_hh_l0         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
#######################
#-- Again after backward
Linear(in_featu	 g~weight         	 -2.3694	 -8.8223	+10.4206	-11.7314	+11.7338	-113.7291
Linear(in_featu	 g~bias           	-12.1059	-12.1059	    +nan	-12.1059	-12.1059	-12.1059
Linear(in_featu	 g~weight         	 -0.0000	-11.1242	+29.6898	-32.6978	+32.6978	 -0.0000
Linear(in_featu	 g~bias           	 -0.0000	-31.4037	+44.4115	-31.4037	+31.4037	 -0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -0.2958	 +0.0005	 +2.7064	-43.3604	 +2.1435	-340.8133
LSTM(6, 48)	 g~weight_hh_l0       	 -0.0020	 +0.0001	 +0.0479	 -0.3188	 +0.3197	-18.8611
LSTM(6, 48)	 g~bias_ih_l0         	 -0.0105	 +0.0016	 +0.0562	 -0.3248	 +0.1617	 -2.0241
LSTM(6, 48)	 g~bias_hh_l0         	 -0.0105	 +0.0016	 +0.0562	 -0.3248	 +0.1617	 -2.0241
#######################
#-- Policy loss backward
Linear(in_featu	 g~weight         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~bias           	 +0.0000	 +0.0000	    +nan	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~weight         	 -0.0000	-10.5594	+28.2874	-31.1688	+31.1688	 -0.0000
Linear(in_featu	 g~bias           	 +0.0000	-29.8683	+42.2401	-29.8683	+29.8683	 +0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -0.0401	 +0.0029	 +0.8189	-13.2338	 +9.7934	-46.2375
LSTM(6, 48)	 g~weight_hh_l0       	 +0.0003	 +0.0002	 +0.0157	 -0.0966	 +0.0970	 +2.5330
LSTM(6, 48)	 g~bias_ih_l0         	 +0.0063	 +0.0074	 +0.0290	 -0.1087	 +0.1483	 +1.2022
LSTM(6, 48)	 g~bias_hh_l0         	 +0.0063	 +0.0074	 +0.0290	 -0.1087	 +0.1483	 +1.2022
#######################
#-- Value loss backward
Linear(in_featu	 g~weight         	-47.3872	-176.4451	+208.4111	-234.6275	+234.6759	-2274.5837
Linear(in_featu	 g~bias           	-242.1179	-242.1179	    +nan	-242.1179	-242.1179	-242.1179
Linear(in_featu	 g~weight         	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
Linear(in_featu	 g~bias           	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000	 +0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -5.0818	 -0.0107	+40.3586	-591.6526	 +4.3569	-5854.2749
LSTM(6, 48)	 g~weight_hh_l0       	 -0.0465	 -0.0009	 +0.7156	 -4.3632	 +4.3728	-428.3057
LSTM(6, 48)	 g~bias_ih_l0         	 -0.3368	 -0.0750	 +0.8561	 -4.5424	 +1.0780	-64.6722
LSTM(6, 48)	 g~bias_hh_l0         	 -0.3368	 -0.0750	 +0.8561	 -4.5424	 +1.0780	-64.6722
#######################
#-- entropy and value loss backward: 0.05 * value_loss - 0.05 * entropy_loss
Linear(in_featu	 g~weight         	 -2.3694	 -8.8223	+10.4206	-11.7314	+11.7338	-113.7291
Linear(in_featu	 g~bias           	-12.1059	-12.1059	    +nan	-12.1059	-12.1059	-12.1059
Linear(in_featu	 g~weight         	 -0.0000	 -0.5648	 +1.4027	 -1.5300	 +1.5300	 -0.0000
Linear(in_featu	 g~bias           	 +0.0000	 -1.5354	 +2.1714	 -1.5354	 +1.5354	 +0.0000
LSTM(6, 48)	 g~weight_ih_l0       	 -0.2557	 -0.0005	 +2.0433	-30.1266	 +0.2279	-294.5758
LSTM(6, 48)	 g~weight_hh_l0       	 -0.0023	 -0.0000	 +0.0362	 -0.2222	 +0.2227	-21.3941
LSTM(6, 48)	 g~bias_ih_l0         	 -0.0168	 -0.0037	 +0.0432	 -0.2312	 +0.0535	 -3.2263
LSTM(6, 48)	 g~bias_hh_l0         	 -0.0168	 -0.0037	 +0.0432	 -0.2312	 +0.0535	 -3.2263
...
  • after calling self.optimizer.zero_grad(), all the gradients are reset to zero
  • The gradients double when calling a second time i.e. avg for first linear layer weight goes from -2.3694 to -4.7387
  • gradients simply add up, i.e. adding up the entropy and value loss (-294.5758) and Policy loss (-46.2375) weight sums for the LSTM ih_weights yields the Normal Loss/original loss (-340.8133).
  • value loss only assigns/adds to the gradient of the first linear layer (the value output head) but not the second, and the opposite is true for policy loss
  • there is no std for the value bias gradients (first linear layer), because we only have one bias unit and hence cannot calculate a standard deviation
  • gradients in the beginning can become rather big, so maybe its a good idea to clip it using torch.nn.utils.clip_grad_norm_(self.parameters(), 999.0)

OpenQuestions

There is certain things i do not understand fully yet

  • how exactly are the different classes of loss backpropagated, i.e. do their gradients add up or similiar (answered above)
  • why do we have to run each episode/epoch twice, one for accumulation of the episode buffer and one for the calculation of gradients, can that be merged?
  • make this faster?
  • at what level does gradient clipping work?