Source code for omnisafe.algorithms.off_policy.ddpg_lag

# Copyright 2023 OmniSafe Team. All Rights Reserved.
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# Licensed under the Apache License, Version 2.0 (the "License");
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#     http://www.apache.org/licenses/LICENSE-2.0
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# ==============================================================================
"""Implementation of the Lagrangian version of Deep Deterministic Policy Gradient algorithm."""


import torch

from omnisafe.algorithms import registry
from omnisafe.algorithms.off_policy.ddpg import DDPG
from omnisafe.common.lagrange import Lagrange


@registry.register
# pylint: disable-next=too-many-instance-attributes, too-few-public-methods
class DDPGLag(DDPG):
    """The Lagrangian version of Deep Deterministic Policy Gradient (DDPG) algorithm.

    References:
        - Title: Continuous control with deep reinforcement learning
        - Authors: Timothy P. Lillicrap, Jonathan J. Hunt, Alexander Pritzel, Nicolas Heess,
            Tom Erez, Yuval Tassa, David Silver, Daan Wierstra.
        - URL: `DDPG <https://arxiv.org/abs/1509.02971>`_
    """

    def _init(self) -> None:
        """The initialization of the algorithm.

        Here we additionally initialize the Lagrange multiplier.
        """
        super()._init()
        self._lagrange: Lagrange = Lagrange(**self._cfgs.lagrange_cfgs)

    def _init_log(self) -> None:
        """Log the DDPGLag specific information.

        +----------------------------+--------------------------+
        | Things to log              | Description              |
        +============================+==========================+
        | Metrics/LagrangeMultiplier | The Lagrange multiplier. |
        +----------------------------+--------------------------+
        """
        super()._init_log()
        self._logger.register_key('Metrics/LagrangeMultiplier')

    def _update(self) -> None:
        """Update actor, critic, as we used in the :class:`PolicyGradient` algorithm.

        Additionally, we update the Lagrange multiplier parameter by calling the
        :meth:`update_lagrange_multiplier` method.
        """
        super()._update()
        Jc = self._logger.get_stats('Metrics/EpCost')[0]
        if self._epoch > self._cfgs.algo_cfgs.warmup_epochs:
            self._lagrange.update_lagrange_multiplier(Jc)
        self._logger.store(
            {
                'Metrics/LagrangeMultiplier': self._lagrange.lagrangian_multiplier.data.item(),
            },
        )

    def _loss_pi(
        self,
        obs: torch.Tensor,
    ) -> torch.Tensor:
        r"""Computing ``pi/actor`` loss.

        The loss function in DDPGLag is defined as:

        .. math::

            L = -Q^V (s, \pi (s)) + \lambda Q^C (s, \pi (s))

        where :math:`Q^V` is the min value of two reward critic networks outputs, :math:`Q^C` is the
        value of cost critic network, and :math:`\pi` is the policy network.

        Args:
            obs (torch.Tensor): The ``observation`` sampled from buffer.

        Returns:
            The loss of pi/actor.
        """
        action = self._actor_critic.actor.predict(obs, deterministic=True)
        loss_r = -self._actor_critic.reward_critic(obs, action)[0]
        loss_c = (
            self._lagrange.lagrangian_multiplier.item()
            * self._actor_critic.cost_critic(obs, action)[0]
        )
        return (loss_r + loss_c).mean() / (1 + self._lagrange.lagrangian_multiplier.item())

    def _log_when_not_update(self) -> None:
        """Log default value when not update."""
        super()._log_when_not_update()
        self._logger.store(
            {
                'Metrics/LagrangeMultiplier': self._lagrange.lagrangian_multiplier.data.item(),
            },
        )