[Feature] TD3-bc compatibility with compile

ghstack-source-id: ea5ddee5919663234d8fb84c57267fc234964c79
Pull Request resolved: #2657

sota-implementations/td3_bc/config.yaml

@@ -43,3 +43,8 @@ logger:
   eval_steps: 1000
   eval_envs: 1
   video: False
+
+compile:
+  compile: False
+  compile_mode:
+  cudagraphs: False

sota-implementations/td3_bc/td3_bc.py

@@ -11,13 +11,16 @@
 """
 from __future__ import annotations
 
-import time
+import warnings
 
 import hydra
 import numpy as np
 import torch
 import tqdm
-from torchrl._utils import logger as torchrl_logger
+from tensordict import TensorDict
+from tensordict.nn import CudaGraphModule
+
+from torchrl._utils import compile_with_warmup, timeit
 
 from torchrl.envs import set_gym_backend
 from torchrl.envs.utils import ExplorationType, set_exploration_type
@@ -72,7 +75,16 @@ def main(cfg: "DictConfig"):  # noqa: F821
     )
 
     # Create replay buffer
-    replay_buffer = make_offline_replay_buffer(cfg.replay_buffer)
+    replay_buffer = make_offline_replay_buffer(cfg.replay_buffer, device=device)
+
+    compile_mode = None
+    if cfg.compile.compile:
+        compile_mode = cfg.compile.compile_mode
+        if compile_mode in ("", None):
+            if cfg.compile.cudagraphs:
+                compile_mode = "default"
+            else:
+                compile_mode = "reduce-overhead"
 
     # Create agent
     model, _ = make_td3_agent(cfg, eval_env, device)
@@ -83,67 +95,86 @@ def main(cfg: "DictConfig"):  # noqa: F821
     # Create optimizer
     optimizer_actor, optimizer_critic = make_optimizer(cfg.optim, loss_module)
 
-    gradient_steps = cfg.optim.gradient_steps
-    evaluation_interval = cfg.logger.eval_iter
-    eval_steps = cfg.logger.eval_steps
-    delayed_updates = cfg.optim.policy_update_delay
-    update_counter = 0
-    pbar = tqdm.tqdm(range(gradient_steps))
-    # Training loop
-    start_time = time.time()
-    for i in pbar:
-        pbar.update(1)
-        # Update actor every delayed_updates
-        update_counter += 1
-        update_actor = update_counter % delayed_updates == 0
-
-        # Sample from replay buffer
-        sampled_tensordict = replay_buffer.sample()
-        if sampled_tensordict.device != device:
-            sampled_tensordict = sampled_tensordict.to(device)
-        else:
-            sampled_tensordict = sampled_tensordict.clone()
-
+    def update(sampled_tensordict, update_actor):
         # Compute loss
         q_loss, *_ = loss_module.qvalue_loss(sampled_tensordict)
 
         # Update critic
-        optimizer_critic.zero_grad()
         q_loss.backward()
         optimizer_critic.step()
-        q_loss.item()
-
-        to_log = {"q_loss": q_loss.item()}
+        optimizer_critic.zero_grad(set_to_none=True)
 
         # Update actor
         if update_actor:
             actor_loss, actorloss_metadata = loss_module.actor_loss(sampled_tensordict)
-            optimizer_actor.zero_grad()
             actor_loss.backward()
             optimizer_actor.step()
+            optimizer_actor.zero_grad(set_to_none=True)
 
             # Update target params
             target_net_updater.step()
+        else:
+            actorloss_metadata = {}
+            actor_loss = q_loss.new_zeros(())
+        metadata = TensorDict(actorloss_metadata)
+        metadata.set("q_loss", q_loss.detach())
+        metadata.set("actor_loss", actor_loss.detach())
+        return metadata
+
+    if cfg.compile.compile:
+        update = compile_with_warmup(update, mode=compile_mode, warmup=1)
+
+    if cfg.compile.cudagraphs:
+        warnings.warn(
+            "CudaGraphModule is experimental and may lead to silently wrong results. Use with caution.",
+            category=UserWarning,
+        )
+        update = CudaGraphModule(update, in_keys=[], out_keys=[], warmup=5)
+
+    gradient_steps = cfg.optim.gradient_steps
+    evaluation_interval = cfg.logger.eval_iter
+    eval_steps = cfg.logger.eval_steps
+    delayed_updates = cfg.optim.policy_update_delay
+    pbar = tqdm.tqdm(range(gradient_steps))
+    # Training loop
+    for update_counter in pbar:
+        timeit.printevery(num_prints=1000, total_count=gradient_steps, erase=True)
 
-            to_log["actor_loss"] = actor_loss.item()
-            to_log.update(actorloss_metadata)
+        # Update actor every delayed_updates
+        update_actor = update_counter % delayed_updates == 0
+
+        with timeit("rb - sample"):
+            # Sample from replay buffer
+            sampled_tensordict = replay_buffer.sample()
+
+        with timeit("update"):
+            torch.compiler.cudagraph_mark_step_begin()
+            metadata = update(sampled_tensordict, update_actor).clone()
+
+        to_log = {}
+        if update_actor:
+            to_log.update(metadata.to_dict())
+        else:
+            to_log.update(metadata.exclude("actor_loss").to_dict())
 
         # evaluation
-        if i % evaluation_interval == 0:
-            with set_exploration_type(ExplorationType.DETERMINISTIC), torch.no_grad():
+        if update_counter % evaluation_interval == 0:
+            with set_exploration_type(
+                ExplorationType.DETERMINISTIC
+            ), torch.no_grad(), timeit("eval"):
                 eval_td = eval_env.rollout(
                     max_steps=eval_steps, policy=model[0], auto_cast_to_device=True
                 )
                 eval_env.apply(dump_video)
             eval_reward = eval_td["next", "reward"].sum(1).mean().item()
             to_log["evaluation_reward"] = eval_reward
         if logger is not None:
-            log_metrics(logger, to_log, i)
+            to_log.update(timeit.todict(prefix="time"))
+            log_metrics(logger, to_log, update_counter)
 
     if not eval_env.is_closed:
         eval_env.close()
     pbar.close()
-    torchrl_logger.info(f"Training time: {time.time() - start_time}")
 
 
 if __name__ == "__main__":

sota-implementations/td3_bc/utils.py

@@ -7,7 +7,7 @@
 import functools
 
 import torch
-from tensordict.nn import TensorDictSequential
+from tensordict.nn import TensorDictModule, TensorDictSequential
 
 from torch import nn, optim
 from torchrl.data.datasets.d4rl import D4RLExperienceReplay
@@ -26,14 +26,7 @@
 )
 from torchrl.envs.libs.gym import GymEnv, set_gym_backend
 from torchrl.envs.utils import ExplorationType, set_exploration_type
-from torchrl.modules import (
-    AdditiveGaussianModule,
-    MLP,
-    SafeModule,
-    SafeSequential,
-    TanhModule,
-    ValueOperator,
-)
+from torchrl.modules import AdditiveGaussianModule, MLP, TanhModule, ValueOperator
 
 from torchrl.objectives import SoftUpdate
 from torchrl.objectives.td3_bc import TD3BCLoss
@@ -98,7 +91,7 @@ def make_environment(cfg, logger=None):
 # ---------------------------
 
 
-def make_offline_replay_buffer(rb_cfg):
+def make_offline_replay_buffer(rb_cfg, device):
     data = D4RLExperienceReplay(
         dataset_id=rb_cfg.dataset,
         split_trajs=False,
@@ -109,6 +102,7 @@ def make_offline_replay_buffer(rb_cfg):
     )
 
     data.append_transform(DoubleToFloat())
+    data.append_transform(lambda td: td.to(device))
 
     return data
 
@@ -122,26 +116,22 @@ def make_td3_agent(cfg, train_env, device):
     """Make TD3 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)]
-    actor_net_kwargs = {
-        "num_cells": cfg.network.hidden_sizes,
-        "out_features": action_spec.shape[-1],
-        "activation_class": get_activation(cfg),
-    }
+    action_spec = train_env.action_spec_unbatched.to(device)
 
-    actor_net = MLP(**actor_net_kwargs)
+    actor_net = MLP(
+        num_cells=cfg.network.hidden_sizes,
+        out_features=action_spec.shape[-1],
+        activation_class=get_activation(cfg),
+        device=device,
+    )
 
     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"],
@@ -151,22 +141,19 @@ def make_td3_agent(cfg, train_env, device):
     )
 
     # Define Critic Network
-    qvalue_net_kwargs = {
-        "num_cells": cfg.network.hidden_sizes,
-        "out_features": 1,
-        "activation_class": get_activation(cfg),
-    }
-
     qvalue_net = MLP(
-        **qvalue_net_kwargs,
+        num_cells=cfg.network.hidden_sizes,
+        out_features=1,
+        activation_class=get_activation(cfg),
+        device=device,
     )
 
     qvalue = ValueOperator(
         in_keys=["action"] + in_keys,
         module=qvalue_net,
     )
 
-    model = nn.ModuleList([actor, qvalue]).to(device)
+    model = nn.ModuleList([actor, qvalue])
 
     # init nets
     with torch.no_grad(), set_exploration_type(ExplorationType.RANDOM):