baselines/common/tf_util.py

import numpy as np
import tensorflow as tf  # pylint: ignore-module
import copy
import os
import functools
import collections
import multiprocessing

def switch(condition, then_expression, else_expression):
    """Switches between two operations depending on a scalar value (int or bool).
    Note that both `then_expression` and `else_expression`
    should be symbolic tensors of the *same shape*.

    # Arguments
        condition: scalar tensor.
        then_expression: TensorFlow operation.
        else_expression: TensorFlow operation.
    """
    x_shape = copy.copy(then_expression.get_shape())
    x = tf.cond(pred=tf.cast(condition, 'bool'),
                true_fn=lambda: then_expression,
                false_fn=lambda: else_expression)
    x.set_shape(x_shape)
    return x

# ================================================================
# Extras
# ================================================================

def lrelu(x, leak=0.2):
    f1 = 0.5 * (1 + leak)
    f2 = 0.5 * (1 - leak)
    return f1 * x + f2 * abs(x)

# ================================================================
# Mathematical utils
# ================================================================

def huber_loss(x, delta=1.0):
    """Reference: https://en.wikipedia.org/wiki/Huber_loss"""
    return tf.compat.v1.where(
        tf.abs(x) < delta,
        tf.square(x) * 0.5,
        delta * (tf.abs(x) - 0.5 * delta)
    )

# ================================================================
# Global session
# ================================================================

def get_session(config=None):
    """Get default session or create one with a given config"""
    sess = tf.compat.v1.get_default_session()
    if sess is None:
        sess = make_session(config=config, make_default=True)
    return sess

def make_session(config=None, num_cpu=None, make_default=False, graph=None):
    """Returns a session that will use <num_cpu> CPU's only"""
    if num_cpu is None:
        num_cpu = int(os.getenv('RCALL_NUM_CPU', multiprocessing.cpu_count()))
    if config is None:
        config = tf.compat.v1.ConfigProto(
            allow_soft_placement=True,
            inter_op_parallelism_threads=num_cpu,
            intra_op_parallelism_threads=num_cpu)
        config.gpu_options.allow_growth = True

    if make_default:
        return tf.compat.v1.InteractiveSession(config=config, graph=graph)
    else:
        return tf.compat.v1.Session(config=config, graph=graph)

def single_threaded_session():
    """Returns a session which will only use a single CPU"""
    return make_session(num_cpu=1)

def in_session(f):
    @functools.wraps(f)
    def newfunc(*args, **kwargs):
        with tf.compat.v1.Session():
            f(*args, **kwargs)
    return newfunc

ALREADY_INITIALIZED = set()

def initialize():
    """Initialize all the uninitialized variables in the global scope."""
    new_variables = set(tf.compat.v1.global_variables()) - ALREADY_INITIALIZED
    get_session().run(tf.compat.v1.variables_initializer(new_variables))
    ALREADY_INITIALIZED.update(new_variables)

# ================================================================
# Model components
# ================================================================

def normc_initializer(std=1.0, axis=0):
    def _initializer(shape, dtype=None, partition_info=None):  # pylint: disable=W0613
        out = np.random.randn(*shape).astype(dtype.as_numpy_dtype)
        out *= std / np.sqrt(np.square(out).sum(axis=axis, keepdims=True))
        return tf.constant(out)
    return _initializer

def conv2d(x, num_filters, name, filter_size=(3, 3), stride=(1, 1), pad="SAME", dtype=tf.float32, collections=None,
           summary_tag=None):
    with tf.compat.v1.variable_scope(name):
        stride_shape = [1, stride[0], stride[1], 1]
        filter_shape = [filter_size[0], filter_size[1], int(x.get_shape()[3]), num_filters]

        # there are "num input feature maps * filter height * filter width"
        # inputs to each hidden unit
        fan_in = intprod(filter_shape[:3])
        # each unit in the lower layer receives a gradient from:
        # "num output feature maps * filter height * filter width" /
        #   pooling size
        fan_out = intprod(filter_shape[:2]) * num_filters
        # initialize weights with random weights
        w_bound = np.sqrt(6. / (fan_in + fan_out))

        w = tf.compat.v1.get_variable("W", filter_shape, dtype, tf.compat.v1.random_uniform_initializer(-w_bound, w_bound),
                            collections=collections)
        b = tf.compat.v1.get_variable("b", [1, 1, 1, num_filters], initializer=tf.compat.v1.zeros_initializer(),
                            collections=collections)

        if summary_tag is not None:
            tf.compat.v1.summary.image(summary_tag,
                             tf.transpose(a=tf.reshape(w, [filter_size[0], filter_size[1], -1, 1]),
                                          perm=[2, 0, 1, 3]),
                             max_images=10)

        return tf.nn.conv2d(input=x, filters=w, strides=stride_shape, padding=pad) + b

# ================================================================
# Theano-like Function
# ================================================================

def function(inputs, outputs, updates=None, givens=None):
    """Just like Theano function. Take a bunch of tensorflow placeholders and expressions
    computed based on those placeholders and produces f(inputs) -> outputs. Function f takes
    values to be fed to the input's placeholders and produces the values of the expressions
    in outputs.

    Input values can be passed in the same order as inputs or can be provided as kwargs based
    on placeholder name (passed to constructor or accessible via placeholder.op.name).

    Example:
        x = tf.placeholder(tf.int32, (), name="x")
        y = tf.placeholder(tf.int32, (), name="y")
        z = 3 * x + 2 * y
        lin = function([x, y], z, givens={y: 0})

        with single_threaded_session():
            initialize()

            assert lin(2) == 6
            assert lin(x=3) == 9
            assert lin(2, 2) == 10
            assert lin(x=2, y=3) == 12

    Parameters
    ----------
    inputs: [tf.placeholder, tf.constant, or object with make_feed_dict method]
        list of input arguments
    outputs: [tf.Variable] or tf.Variable
        list of outputs or a single output to be returned from function. Returned
        value will also have the same shape.
    updates: [tf.Operation] or tf.Operation
        list of update functions or single update function that will be run whenever
        the function is called. The return is ignored.

    """
    if isinstance(outputs, list):
        return _Function(inputs, outputs, updates, givens=givens)
    elif isinstance(outputs, (dict, collections.OrderedDict)):
        f = _Function(inputs, outputs.values(), updates, givens=givens)
        return lambda *args, **kwargs: type(outputs)(zip(outputs.keys(), f(*args, **kwargs)))
    else:
        f = _Function(inputs, [outputs], updates, givens=givens)
        return lambda *args, **kwargs: f(*args, **kwargs)[0]


class _Function(object):
    def __init__(self, inputs, outputs, updates, givens):
        for inpt in inputs:
            if not hasattr(inpt, 'make_feed_dict') and not (type(inpt) is tf.Tensor and len(inpt.op.inputs) == 0):
                assert False, "inputs should all be placeholders, constants, or have a make_feed_dict method"
        self.inputs = inputs
        self.input_names = {inp.name.split("/")[-1].split(":")[0]: inp for inp in inputs}
        updates = updates or []
        self.update_group = tf.group(*updates)
        self.outputs_update = list(outputs) + [self.update_group]
        self.givens = {} if givens is None else givens

    def _feed_input(self, feed_dict, inpt, value):
        if hasattr(inpt, 'make_feed_dict'):
            feed_dict.update(inpt.make_feed_dict(value))
        else:
            feed_dict[inpt] = adjust_shape(inpt, value)

    def __call__(self, *args, **kwargs):
        assert len(args) + len(kwargs) <= len(self.inputs), "Too many arguments provided"
        feed_dict = {}
        # Update feed dict with givens.
        for inpt in self.givens:
            feed_dict[inpt] = adjust_shape(inpt, feed_dict.get(inpt, self.givens[inpt]))
        # Update the args
        for inpt, value in zip(self.inputs, args):
            self._feed_input(feed_dict, inpt, value)
        for inpt_name, value in kwargs.items():
            self._feed_input(feed_dict, self.input_names[inpt_name], value)
        results = get_session().run(self.outputs_update, feed_dict=feed_dict)[:-1]
        return results

# ================================================================
# Flat vectors
# ================================================================

def var_shape(x):
    out = x.get_shape().as_list()
    assert all(isinstance(a, int) for a in out), \
        "shape function assumes that shape is fully known"
    return out

def numel(x):
    return intprod(var_shape(x))

def intprod(x):
    return int(np.prod(x))

def flatgrad(loss, var_list, clip_norm=None):
    grads = tf.gradients(ys=loss, xs=var_list)
    if clip_norm is not None:
        grads = [tf.clip_by_norm(grad, clip_norm=clip_norm) for grad in grads]
    return tf.concat(axis=0, values=[
        tf.reshape(grad if grad is not None else tf.zeros_like(v), [numel(v)])
        for (v, grad) in zip(var_list, grads)
    ])

class SetFromFlat(object):
    def __init__(self, var_list, dtype=tf.float32):
        assigns = []
        shapes = list(map(var_shape, var_list))
        total_size = np.sum([intprod(shape) for shape in shapes])

        self.theta = theta = tf.compat.v1.placeholder(dtype, [total_size])
        start = 0
        assigns = []
        for (shape, v) in zip(shapes, var_list):
            size = intprod(shape)
            assigns.append(tf.compat.v1.assign(v, tf.reshape(theta[start:start + size], shape)))
            start += size
        self.op = tf.group(*assigns)

    def __call__(self, theta):
        tf.compat.v1.get_default_session().run(self.op, feed_dict={self.theta: theta})

class GetFlat(object):
    def __init__(self, var_list):
        self.op = tf.concat(axis=0, values=[tf.reshape(v, [numel(v)]) for v in var_list])

    def __call__(self):
        return tf.compat.v1.get_default_session().run(self.op)

def flattenallbut0(x):
    return tf.reshape(x, [-1, intprod(x.get_shape().as_list()[1:])])

# =============================================================
# TF placeholders management
# ============================================================

_PLACEHOLDER_CACHE = {}  # name -> (placeholder, dtype, shape)

def get_placeholder(name, dtype, shape):
    if name in _PLACEHOLDER_CACHE:
        out, dtype1, shape1 = _PLACEHOLDER_CACHE[name]
        if out.graph == tf.compat.v1.get_default_graph():
            assert dtype1 == dtype and shape1 == shape, \
                'Placeholder with name {} has already been registered and has shape {}, different from requested {}'.format(name, shape1, shape)
            return out

    out = tf.compat.v1.placeholder(dtype=dtype, shape=shape, name=name)
    _PLACEHOLDER_CACHE[name] = (out, dtype, shape)
    return out

def get_placeholder_cached(name):
    return _PLACEHOLDER_CACHE[name][0]



# ================================================================
# Diagnostics
# ================================================================

def display_var_info(vars):
    from baselines import logger
    count_params = 0
    for v in vars:
        name = v.name
        if "/Adam" in name or "beta1_power" in name or "beta2_power" in name: continue
        v_params = np.prod(v.shape.as_list())
        count_params += v_params
        if "/b:" in name or "/bias" in name: continue    # Wx+b, bias is not interesting to look at => count params, but not print
        logger.info("   %s%s %i params %s" % (name, " "*(55-len(name)), v_params, str(v.shape)))

    logger.info("Total model parameters: %0.2f million" % (count_params*1e-6))


def get_available_gpus(session_config=None):
    # based on recipe from https://stackoverflow.com/a/38580201

    # Unless we allocate a session here, subsequent attempts to create one
    # will ignore our custom config (in particular, allow_growth=True will have
    # no effect).
    if session_config is None:
        session_config = get_session()._config

    from tensorflow.python.client import device_lib
    local_device_protos = device_lib.list_local_devices(session_config)
    return [x.name for x in local_device_protos if x.device_type == 'GPU']

# ================================================================
# Saving variables
# ================================================================

def load_state(fname, sess=None):
    from baselines import logger
    logger.warn('load_state method is deprecated, please use load_variables instead')
    sess = sess or get_session()
    saver = tf.compat.v1.train.Saver()
    saver.restore(tf.compat.v1.get_default_session(), fname)

def save_state(fname, sess=None):
    from baselines import logger
    logger.warn('save_state method is deprecated, please use save_variables instead')
    sess = sess or get_session()
    dirname = os.path.dirname(fname)
    if any(dirname):
        os.makedirs(dirname, exist_ok=True)
    saver = tf.compat.v1.train.Saver()
    saver.save(tf.compat.v1.get_default_session(), fname)

# The methods above and below are clearly doing the same thing, and in a rather similar way
# TODO: ensure there is no subtle differences and remove one

def save_variables(save_path, variables=None, sess=None):
    import joblib
    sess = sess or get_session()
    variables = variables or tf.compat.v1.get_collection(tf.compat.v1.GraphKeys.GLOBAL_VARIABLES)

    ps = sess.run(variables)
    save_dict = {v.name: value for v, value in zip(variables, ps)}
    dirname = os.path.dirname(save_path)
    if any(dirname):
        os.makedirs(dirname, exist_ok=True)
    joblib.dump(save_dict, save_path)

def load_variables(load_path, variables=None, sess=None):
    import joblib
    sess = sess or get_session()
    variables = variables or tf.compat.v1.get_collection(tf.compat.v1.GraphKeys.GLOBAL_VARIABLES)

    loaded_params = joblib.load(os.path.expanduser(load_path))
    restores = []
    if isinstance(loaded_params, list):
        assert len(loaded_params) == len(variables), 'number of variables loaded mismatches len(variables)'
        for d, v in zip(loaded_params, variables):
            restores.append(v.assign(d))
    else:
        for v in variables:
            restores.append(v.assign(loaded_params[v.name]))

    sess.run(restores)

# ================================================================
# Shape adjustment for feeding into tf placeholders
# ================================================================
def adjust_shape(placeholder, data):
    '''
    adjust shape of the data to the shape of the placeholder if possible.
    If shape is incompatible, AssertionError is thrown

    Parameters:
        placeholder     tensorflow input placeholder

        data            input data to be (potentially) reshaped to be fed into placeholder

    Returns:
        reshaped data
    '''

    if not isinstance(data, np.ndarray) and not isinstance(data, list):
        return data
    if isinstance(data, list):
        data = np.array(data)

    placeholder_shape = [x or -1 for x in placeholder.shape.as_list()]

    assert _check_shape(placeholder_shape, data.shape), \
        'Shape of data {} is not compatible with shape of the placeholder {}'.format(data.shape, placeholder_shape)

    return np.reshape(data, placeholder_shape)


def _check_shape(placeholder_shape, data_shape):
    ''' check if two shapes are compatible (i.e. differ only by dimensions of size 1, or by the batch dimension)'''

    return True
    squeezed_placeholder_shape = _squeeze_shape(placeholder_shape)
    squeezed_data_shape = _squeeze_shape(data_shape)

    for i, s_data in enumerate(squeezed_data_shape):
        s_placeholder = squeezed_placeholder_shape[i]
        if s_placeholder != -1 and s_data != s_placeholder:
            return False

    return True


def _squeeze_shape(shape):
    return [x for x in shape if x != 1]

# ================================================================
# Tensorboard interfacing
# ================================================================

def launch_tensorboard_in_background(log_dir):
    '''
    To log the Tensorflow graph when using rl-algs
    algorithms, you can run the following code
    in your main script:
        import threading, time
        def start_tensorboard(session):
            time.sleep(10) # Wait until graph is setup
            tb_path = osp.join(logger.get_dir(), 'tb')
            summary_writer = tf.summary.FileWriter(tb_path, graph=session.graph)
            summary_op = tf.summary.merge_all()
            launch_tensorboard_in_background(tb_path)
        session = tf.get_default_session()
        t = threading.Thread(target=start_tensorboard, args=([session]))
        t.start()
    '''
    import subprocess
    subprocess.Popen(['tensorboard', '--logdir', log_dir])