Add more rnn options and batch norm

ygoai/rl/jax/agent.py

@@ -8,7 +8,7 @@ import jax.numpy as jnp
 import flax.linen as nn
 
 from ygoai.rl.jax.transformer import EncoderLayer, PositionalEncoding, LlamaEncoderLayer
-from ygoai.rl.jax.modules import MLP, GLUMlp, RMSNorm, make_bin_params, bytes_to_bin, decode_id
+from ygoai.rl.jax.modules import MLP, GLUMlp, BatchRenorm, make_bin_params, bytes_to_bin, decode_id
 from ygoai.rl.jax.rwkv import Rwkv6SelfAttention
 
 
@@ -487,7 +487,7 @@ class Critic(nn.Module):
     param_dtype: jnp.dtype = jnp.float32
     
     @nn.compact
-    def __call__(self, f_state):
+    def __call__(self, f_state, train):
         f_state = f_state.astype(self.dtype)
         mlp = partial(MLP, dtype=self.dtype, param_dtype=self.param_dtype)
         x = mlp(self.channels, last_lin=False)(f_state)
@@ -495,6 +495,33 @@ class Critic(nn.Module):
         return x
 
 
+class CrossCritic(nn.Module):
+    channels: Sequence[int] = (128, 128, 128)
+    # dropout_rate: Optional[float] = None
+    batch_norm_momentum: float = 0.99
+    dtype: Optional[jnp.dtype] = None
+    param_dtype: jnp.dtype = jnp.float32
+    
+    @nn.compact
+    def __call__(self, f_state, train):
+        x = f_state.astype(self.dtype)
+        linear = partial(nn.Dense, dtype=self.dtype, param_dtype=self.param_dtype, use_bias=False)
+        BN = partial(
+            BatchRenorm, dtype=self.dtype, param_dtype=self.param_dtype,
+            momentum=self.batch_norm_momentum, axis_name="local_devices",
+            use_running_average=not train)
+        x = BN()(x)
+        for c in self.channels:
+            x = linear(c)(x)
+            # if self.use_layer_norm:
+            #     x = nn.LayerNorm()(x)
+            x = nn.relu()(x)
+            # x = nn.leaky_relu(x, negative_slope=0.1)
+            x = BN()(x)
+        x = nn.Dense(1, dtype=jnp.float32, param_dtype=self.param_dtype)(x)
+        return x
+
+
 class GlobalCritic(nn.Module):
     channels: Sequence[int] = (128, 128)
     dtype: Optional[jnp.dtype] = None
@@ -580,6 +607,14 @@ class ModelArgs(EncoderArgs):
     """whether to use FiLM for the actor"""
     oppo_info: bool = False
     """whether to use opponent's information"""
+    rnn_shortcut: bool = False
+    """whether to use shortcut for the RNN"""
+    batch_norm: bool = False
+    """whether to use batch normalization for the critic"""
+    critic_width: int = 128
+    """the width of the critic"""
+    critic_depth: int = 3
+    """the depth of the critic"""
     rwkv_head_size: int = 32
     """the head size for the RWKV"""
 
@@ -596,6 +631,10 @@ class RNNAgent(nn.Module):
     rwkv_head_size: int = 32
     action_feats: bool = True
     oppo_info: bool = False
+    rnn_shortcut: bool = False
+    batch_norm: bool = False
+    critic_width: int = 128
+    critic_depth: int = 3
     version: int = 0
 
     switch: bool = True
@@ -606,7 +645,7 @@ class RNNAgent(nn.Module):
     param_dtype: jnp.dtype = jnp.float32
 
     @nn.compact
-    def __call__(self, x, rstate, done=None, switch_or_main=None):
+    def __call__(self, x, rstate, done=None, switch_or_main=None, train=False):
         batch_size = jax.tree.leaves(rstate)[0].shape[0]
 
         c = self.num_channels
@@ -669,6 +708,10 @@ class RNNAgent(nn.Module):
                 rstate, f_state_r = rnn_step_by_main(
                     rnn_layer, rstate, f_state, done, switch_or_main)
 
+        if self.rnn_shortcut:
+            # f_state_r = ReZero(channel_wise=True)(f_state_r)
+            f_state_r = jnp.concatenate([f_state, f_state_r], axis=-1)
+
         if self.film:
             actor = FiLMActor(
                 channels=c, dtype=jnp.float32, param_dtype=self.param_dtype, noam=self.noam)
@@ -694,13 +737,16 @@ class RNNAgent(nn.Module):
                     lambda x1, x2: jnp.where(main, x2, x1), rstate1, rstate2)
             value = critic(rstate1_t, rstate2_t, f_g)
         else:
-            critic = Critic(
-                channels=[c, c, c], dtype=self.dtype, param_dtype=self.param_dtype)
-            value = critic(f_state_r)
+            CriticCls = CrossCritic if self.batch_norm else Critic
+            cs = [self.critic_width] * self.critic_depth
+            critic = CriticCls(
+                channels=cs, dtype=self.dtype, param_dtype=self.param_dtype)
+            value = critic(f_state_r, train)
 
         if self.int_head:
+            cs = [self.critic_width] * self.critic_depth
             critic_int = Critic(
-                channels=[c, c, c], dtype=self.dtype, param_dtype=self.param_dtype)
+                channels=cs, dtype=self.dtype, param_dtype=self.param_dtype)
             value_int = critic_int(f_state_r)
             value = (value, value_int)
         return rstate, logits, value, valid

ygoai/rl/jax/modules.py

-from typing import Tuple, Union, Optional
+from typing import Tuple, Union, Optional, Any
 import functools
 
 import jax
 import jax.numpy as jnp
 import flax.linen as nn
+from flax.linen.normalization import _compute_stats, _normalize, _canonicalize_axes
 
 
 def decode_id(x):
@@ -110,3 +111,144 @@ class RMSNorm(nn.Module):
         )
         x = x * scale
         return jnp.asarray(x, self.dtype)
+
+
+class ReZero(nn.Module):
+    channel_wise: bool = False
+    param_dtype: jnp.dtype = jnp.float32
+
+    @nn.compact
+    def __call__(self, x):
+        shape = (x.shape[-1],) if self.channel_wise else ()
+        scale = self.param("scale", nn.initializers.zeros, shape, self.param_dtype)
+        return x * scale
+
+
+class BatchRenorm(nn.Module):
+    """BatchRenorm Module, implemented based on the Batch Renormalization paper (https://arxiv.org/abs/1702.03275).
+    and adapted from Flax's BatchNorm implementation: 
+    https://github.com/google/flax/blob/ce8a3c74d8d1f4a7d8f14b9fb84b2cc76d7f8dbf/flax/linen/normalization.py#L228
+
+
+    Attributes:
+        use_running_average: if True, the statistics stored in batch_stats will be
+            used instead of computing the batch statistics on the input.
+        axis: the feature or non-batch axis of the input.
+        momentum: decay rate for the exponential moving average of the batch
+            statistics.
+        epsilon: a small float added to variance to avoid dividing by zero.
+        dtype: the dtype of the result (default: infer from input and params).
+        param_dtype: the dtype passed to parameter initializers (default: float32).
+        use_bias:  if True, bias (beta) is added.
+        use_scale: if True, multiply by scale (gamma). When the next layer is linear
+            (also e.g. nn.relu), this can be disabled since the scaling will be done
+            by the next layer.
+        bias_init: initializer for bias, by default, zero.
+        scale_init: initializer for scale, by default, one.
+        axis_name: the axis name used to combine batch statistics from multiple
+            devices. See `jax.pmap` for a description of axis names (default: None).
+        axis_index_groups: groups of axis indices within that named axis
+            representing subsets of devices to reduce over (default: None). For
+            example, `[[0, 1], [2, 3]]` would independently batch-normalize over the
+            examples on the first two and last two devices. See `jax.lax.psum` for
+            more details.
+        use_fast_variance: If true, use a faster, but less numerically stable,
+            calculation for the variance.
+  """
+
+    use_running_average: Optional[bool] = None
+    axis: int = -1
+    momentum: float = 0.999
+    epsilon: float = 0.001
+    dtype: Optional[jnp.dtype] = None
+    param_dtype: jnp.dtype = jnp.float32
+    use_bias: bool = True
+    use_scale: bool = True
+    bias_init: nn.initializers.Initializer = nn.initializers.zeros
+    scale_init: nn.initializers.Initializer = nn.initializers.ones
+    axis_name: Optional[str] = None
+    axis_index_groups: Any = None
+    use_fast_variance: bool = True
+
+    @nn.compact
+    def __call__(self, x, use_running_average: Optional[bool] = None):
+        """
+        Args:
+            x: the input to be normalized.
+            use_running_average: if true, the statistics stored in batch_stats will be
+            used instead of computing the batch statistics on the input.
+
+        Returns:
+            Normalized inputs (the same shape as inputs).
+        """
+
+        use_running_average = nn.merge_param(
+            'use_running_average', self.use_running_average, use_running_average
+        )
+        feature_axes = _canonicalize_axes(x.ndim, self.axis)
+        reduction_axes = tuple(i for i in range(x.ndim) if i not in feature_axes)
+        feature_shape = [x.shape[ax] for ax in feature_axes]
+
+        ra_mean = self.variable(
+            'batch_stats', 'mean', lambda s: jnp.zeros(s, jnp.float32), feature_shape)
+        ra_var = self.variable(
+            'batch_stats', 'var', lambda s: jnp.ones(s, jnp.float32), feature_shape)
+
+        r_max = self.variable('batch_stats', 'r_max', lambda s: s, 3)
+        d_max = self.variable('batch_stats', 'd_max', lambda s: s, 5)
+        steps = self.variable('batch_stats', 'steps', lambda s: s, 0)
+
+        if use_running_average:
+            mean, var = ra_mean.value, ra_var.value
+            custom_mean = mean
+            custom_var = var
+        else:
+            mean, var = _compute_stats(
+                x,
+                reduction_axes,
+                dtype=self.dtype,
+                axis_name=self.axis_name if not self.is_initializing() else None,
+                axis_index_groups=self.axis_index_groups,
+                use_fast_variance=self.use_fast_variance,
+            )
+            custom_mean = mean
+            custom_var = var
+            if not self.is_initializing():
+                # The code below is implemented following the Batch Renormalization paper
+                r = 1
+                d = 0
+                std = jnp.sqrt(var + self.epsilon)
+                ra_std = jnp.sqrt(ra_var.value + self.epsilon)
+                r = jax.lax.stop_gradient(std / ra_std)
+                r = jnp.clip(r, 1 / r_max.value, r_max.value)
+                d = jax.lax.stop_gradient((mean - ra_mean.value) / ra_std)
+                d = jnp.clip(d, -d_max.value, d_max.value)
+                tmp_var = var / (r**2)
+                tmp_mean = mean - d * jnp.sqrt(custom_var) / r
+
+                # Warm up batch renorm for 100_000 steps to build up proper running statistics
+                warmed_up = jnp.greater_equal(steps.value, 100_000).astype(jnp.float32)
+                custom_var = warmed_up * tmp_var + (1. - warmed_up) * custom_var
+                custom_mean = warmed_up * tmp_mean + (1. - warmed_up) * custom_mean
+
+                ra_mean.value = (
+                    self.momentum * ra_mean.value + (1 - self.momentum) * mean
+                )
+                ra_var.value = self.momentum * ra_var.value + (1 - self.momentum) * var
+                steps.value += 1
+
+        return _normalize(
+            self,
+            x,
+            custom_mean,
+            custom_var,
+            reduction_axes,
+            feature_axes,
+            self.dtype,
+            self.param_dtype,
+            self.epsilon,
+            self.use_bias,
+            self.use_scale,
+            self.bias_init,
+            self.scale_init,
+        )

ygoai/rl/jax/utils.py

+from typing import Any, Callable
+
 import jax
 import jax.numpy as jnp
 
+from flax import core, struct
+from flax.linen.fp8_ops import OVERWRITE_WITH_GRADIENT
+
+import optax
+
 import numpy as np
 
 from ygoai.rl.env import RecordEpisodeStatistics
@@ -67,3 +74,72 @@ def update_mean_var_count_from_moments(
     new_count = tot_count
 
     return new_mean, new_var, new_count
+
+
+class TrainState(struct.PyTreeNode):
+    step: int
+    apply_fn: Callable = struct.field(pytree_node=False)
+    params: core.FrozenDict[str, Any] = struct.field(pytree_node=True)
+    tx: optax.GradientTransformation = struct.field(pytree_node=False)
+    opt_state: optax.OptState = struct.field(pytree_node=True)
+    batch_stats: core.FrozenDict[str, Any] = struct.field(pytree_node=True)
+
+    def apply_gradients(self, *, grads, **kwargs):
+        """Updates ``step``, ``params``, ``opt_state`` and ``**kwargs`` in return value.
+
+        Note that internally this function calls ``.tx.update()`` followed by a call
+        to ``optax.apply_updates()`` to update ``params`` and ``opt_state``.
+
+        Args:
+            grads: Gradients that have the same pytree structure as ``.params``.
+            **kwargs: Additional dataclass attributes that should be ``.replace()``-ed.
+
+        Returns:
+            An updated instance of ``self`` with ``step`` incremented by one, ``params``
+            and ``opt_state`` updated by applying ``grads``, and additional attributes
+            replaced as specified by ``kwargs``.
+        """
+        if OVERWRITE_WITH_GRADIENT in grads:
+            grads_with_opt = grads['params']
+            params_with_opt = self.params['params']
+        else:
+            grads_with_opt = grads
+            params_with_opt = self.params
+
+        updates, new_opt_state = self.tx.update(
+            grads_with_opt, self.opt_state, params_with_opt
+        )
+        new_params_with_opt = optax.apply_updates(params_with_opt, updates)
+
+        # As implied by the OWG name, the gradients are used directly to update the
+        # parameters.
+        if OVERWRITE_WITH_GRADIENT in grads:
+            new_params = {
+                'params': new_params_with_opt,
+                OVERWRITE_WITH_GRADIENT: grads[OVERWRITE_WITH_GRADIENT],
+            }
+        else:
+            new_params = new_params_with_opt
+            return self.replace(
+            step=self.step + 1,
+            params=new_params,
+            opt_state=new_opt_state,
+            **kwargs,
+        )
+
+    @classmethod
+    def create(cls, *, apply_fn, params, tx, **kwargs):
+        """Creates a new instance with ``step=0`` and initialized ``opt_state``."""
+        # We exclude OWG params when present because they do not need opt states.
+        params_with_opt = (
+            params['params'] if OVERWRITE_WITH_GRADIENT in params else params
+        )
+        opt_state = tx.init(params_with_opt)
+        return cls(
+            step=0,
+            apply_fn=apply_fn,
+            params=params,
+            tx=tx,
+            opt_state=opt_state,
+            **kwargs,
+        )
\ No newline at end of file