Revert "[RLlib] Fix bug in policy.py: normalize_actions=True has to call unsquash_action, not normalize_action." (#17002)

This reverts commit 7862dd64ea.

rllib/agents/ddpg/ddpg.py

@@ -106,21 +106,10 @@ DEFAULT_CONFIG = with_common_config({
     "prioritized_replay_eps": 1e-6,
     # Whether to LZ4 compress observations
     "compress_observations": False,
-
+    # If set, this will fix the ratio of replayed from a buffer and learned on
-    # The intensity with which to update the model (vs collecting samples from
+    # timesteps to sampled from an environment and stored in the replay buffer
-    # the env). If None, uses the "natural" value of:
+    # timesteps. Otherwise, the replay will proceed at the native ratio
-    # `train_batch_size` / (`rollout_fragment_length` x `num_workers` x
+    # determined by (train_batch_size / rollout_fragment_length).
-    # `num_envs_per_worker`).
-    # If provided, will make sure that the ratio between ts inserted into and
-    # sampled from the buffer matches the given value.
-    # Example:
-    #   training_intensity=1000.0
-    #   train_batch_size=250 rollout_fragment_length=1
-    #   num_workers=1 (or 0) num_envs_per_worker=1
-    #   -> natural value = 250 / 1 = 250.0
-    #   -> will make sure that replay+train op will be executed 4x as
-    #      often as rollout+insert op (4 * 250 = 1000).
-    # See: rllib/agents/dqn/dqn.py::calculate_rr_weights for further details.
     "training_intensity": None,
 
     # === Optimization ===

rllib/agents/dqn/dqn.py

@@ -103,21 +103,10 @@ DEFAULT_CONFIG = with_common_config({
     "compress_observations": False,
     # Callback to run before learning on a multi-agent batch of experiences.
     "before_learn_on_batch": None,
-
+    # If set, this will fix the ratio of replayed from a buffer and learned on
-    # The intensity with which to update the model (vs collecting samples from
+    # timesteps to sampled from an environment and stored in the replay buffer
-    # the env). If None, uses the "natural" value of:
+    # timesteps. Otherwise, the replay will proceed at the native ratio
-    # `train_batch_size` / (`rollout_fragment_length` x `num_workers` x
+    # determined by (train_batch_size / rollout_fragment_length).
-    # `num_envs_per_worker`).
-    # If provided, will make sure that the ratio between ts inserted into and
-    # sampled from the buffer matches the given value.
-    # Example:
-    #   training_intensity=800.0
-    #   train_batch_size=32 rollout_fragment_length=4
-    #   num_workers=1 (or 0) num_envs_per_worker=1
-    #   -> natural value = 32 / 4 = 8.0
-    #   -> will make sure that replay+train op will be executed 100x as
-    #      often as rollout+insert op (100 * 8.0 = 800.0).
-    # See: rllib/agents/dqn/dqn.py::calculate_rr_weights for further details.
     "training_intensity": None,
 
     # === Optimization ===

rllib/agents/sac/sac.py

@@ -102,21 +102,10 @@ DEFAULT_CONFIG = with_common_config({
     "final_prioritized_replay_beta": 0.4,
     # Whether to LZ4 compress observations
     "compress_observations": False,
-
+    # If set, this will fix the ratio of replayed from a buffer and learned on
-    # The intensity with which to update the model (vs collecting samples from
+    # timesteps to sampled from an environment and stored in the replay buffer
-    # the env). If None, uses the "natural" value of:
+    # timesteps. Otherwise, the replay will proceed at the native ratio
-    # `train_batch_size` / (`rollout_fragment_length` x `num_workers` x
+    # determined by (train_batch_size / rollout_fragment_length).
-    # `num_envs_per_worker`).
-    # If provided, will make sure that the ratio between ts inserted into and
-    # sampled from the buffer matches the given value.
-    # Example:
-    #   training_intensity=1000.0
-    #   train_batch_size=250 rollout_fragment_length=1
-    #   num_workers=1 (or 0) num_envs_per_worker=1
-    #   -> natural value = 250 / 1 = 250.0
-    #   -> will make sure that replay+train op will be executed 4x as
-    #      often as rollout+insert op (4 * 250 = 1000).
-    # See: rllib/agents/dqn/dqn.py::calculate_rr_weights for further details.
     "training_intensity": None,
 
     # === Optimization ===

rllib/agents/trainer.py

@@ -943,7 +943,7 @@ class Trainer(Trainable):
             policy_id: PolicyID = DEFAULT_POLICY_ID,
             full_fetch: bool = False,
             explore: bool = None,
-            unsquash_actions: Optional[bool] = None,
+            normalize_actions: Optional[bool] = None,
             clip_actions: Optional[bool] = None,
     ) -> TensorStructType:
         """Computes an action for the specified policy on the local Worker.
@@ -968,7 +968,7 @@ class Trainer(Trainable):
                 This is always set to True if RNN state is specified.
             explore (bool): Whether to pick an exploitation or exploration
                 action (default: None -> use self.config["explore"]).
-            unsquash_actions (bool): Should actions be unsquashed according to
+            normalize_actions (bool): Should actions be normalized according to
                 the env's/Policy's action space?
             clip_actions (bool): Should actions be clipped according to the
                 env's/Policy's action space?
@@ -993,7 +993,7 @@ class Trainer(Trainable):
             prev_action,
             prev_reward,
             info,
-            unsquash_actions=unsquash_actions,
+            normalize_actions=normalize_actions,
             clip_actions=clip_actions,
             explore=explore)
 

rllib/offline/off_policy_estimator.py

@@ -69,9 +69,7 @@ class OffPolicyEstimator:
             obs_batch=batch[SampleBatch.CUR_OBS],
             state_batches=[batch[k] for k in state_keys],
             prev_action_batch=batch.get(SampleBatch.PREV_ACTIONS),
-            prev_reward_batch=batch.get(SampleBatch.PREV_REWARDS),
+            prev_reward_batch=batch.get(SampleBatch.PREV_REWARDS))
-            actions_normalized=True,
-        )
         log_likelihoods = convert_to_numpy(log_likelihoods)
         return np.exp(log_likelihoods)
 

rllib/policy/eager_tf_policy.py

@@ -17,7 +17,6 @@ from ray.rllib.utils import add_mixins, force_list
 from ray.rllib.utils.annotations import override
 from ray.rllib.utils.deprecation import deprecation_warning, DEPRECATED_VALUE
 from ray.rllib.utils.framework import try_import_tf
-from ray.rllib.utils.spaces.space_utils import normalize_action
 from ray.rllib.utils.threading import with_lock
 from ray.rllib.utils.typing import TensorType
 
@@ -566,15 +565,12 @@ def build_eager_tf_policy(
 
         @with_lock
         @override(Policy)
-        def compute_log_likelihoods(
+        def compute_log_likelihoods(self,
-                self,
                                     actions,
                                     obs_batch,
                                     state_batches=None,
                                     prev_action_batch=None,
-                prev_reward_batch=None,
+                                    prev_reward_batch=None):
-                actions_normalized=True,
-        ):
             if action_sampler_fn and action_distribution_fn is None:
                 raise ValueError("Cannot compute log-prob/likelihood w/o an "
                                  "`action_distribution_fn` and a provided "
@@ -610,11 +606,6 @@ def build_eager_tf_policy(
                 dist_class = self.dist_class
 
             action_dist = dist_class(dist_inputs, self.model)
-
-            # Normalize actions if necessary.
-            if not actions_normalized and self.config["normalize_actions"]:
-                actions = normalize_action(actions, self.action_space_struct)
-
             log_likelihoods = action_dist.logp(actions)
 
             return log_likelihoods

rllib/policy/policy.py

@@ -14,7 +14,7 @@ from ray.rllib.utils.exploration.exploration import Exploration
 from ray.rllib.utils.framework import try_import_tf, try_import_torch
 from ray.rllib.utils.from_config import from_config
 from ray.rllib.utils.spaces.space_utils import clip_action, \
-    get_base_struct_from_space, unbatch, unsquash_action
+    get_base_struct_from_space, normalize_action, unbatch
 from ray.rllib.utils.typing import AgentID, ModelGradients, ModelWeights, \
     TensorType, TrainerConfigDict, Tuple, Union
 
@@ -161,7 +161,7 @@ class Policy(metaclass=ABCMeta):
             clip_actions: bool = None,
             explore: Optional[bool] = None,
             timestep: Optional[int] = None,
-            unsquash_actions: bool = None,
+            normalize_actions: bool = None,
             **kwargs) -> \
             Tuple[TensorType, List[TensorType], Dict[str, TensorType]]:
         """Unbatched version of compute_actions.
@@ -176,7 +176,7 @@ class Policy(metaclass=ABCMeta):
             episode (Optional[MultiAgentEpisode]): this provides access to all
                 of the internal episode state, which may be useful for
                 model-based or multi-agent algorithms.
-            unsquash_actions (bool): Should actions be unsquashed according to
+            normalize_actions (bool): Should actions be normalized according to
                 the Policy's action space?
             clip_actions (bool): Should actions be clipped according to the
                 Policy's action space?
@@ -195,10 +195,8 @@ class Policy(metaclass=ABCMeta):
                     if any.
                 - info (dict): Dictionary of extra features, if any.
         """
-        # If policy works in normalized space, we should unsquash the action.
+        normalize_actions = \
-        # Use value of config.normalize_actions, if None.
+            normalize_actions if normalize_actions is not None \
-        unsquash_actions = \
-            unsquash_actions if unsquash_actions is not None \
             else self.config["normalize_actions"]
         clip_actions = clip_actions if clip_actions is not None else \
             self.config["clip_actions"]
@@ -246,12 +244,9 @@ class Policy(metaclass=ABCMeta):
         assert len(single_action) == 1
         single_action = single_action[0]
 
-        # If we work in normalized action space (normalize_actions=True),
+        if normalize_actions:
-        # we re-translate here into the env's action space.
+            single_action = normalize_action(single_action,
-        if unsquash_actions:
-            single_action = unsquash_action(single_action,
                                              self.action_space_struct)
-        # Clip, according to env's action space.
         elif clip_actions:
             single_action = clip_action(single_action,
                                         self.action_space_struct)
@@ -319,10 +314,8 @@ class Policy(metaclass=ABCMeta):
             state_batches: Optional[List[TensorType]] = None,
             prev_action_batch: Optional[Union[List[TensorType],
                                               TensorType]] = None,
-            prev_reward_batch: Optional[Union[List[TensorType],
+            prev_reward_batch: Optional[Union[List[
-                                              TensorType]] = None,
+                TensorType], TensorType]] = None) -> TensorType:
-            actions_normalized: bool = True,
-    ) -> TensorType:
         """Computes the log-prob/likelihood for a given action and observation.
 
         Args:
@@ -337,10 +330,6 @@ class Policy(metaclass=ABCMeta):
                 Batch of previous action values.
             prev_reward_batch (Optional[Union[List[TensorType], TensorType]]):
                 Batch of previous rewards.
-            actions_normalized (bool): Is the given `actions` already
-                normalized (between -1.0 and 1.0) or not? If not and
-                `normalize_actions=True`, we need to normalize the given
-                actions first, before calculating log likelihoods.
 
         Returns:
             TensorType: Batch of log probs/likelihoods, with shape:

rllib/policy/tests/test_compute_log_likelihoods.py

@@ -54,11 +54,7 @@ def do_test_log_likelihood(run,
                     obs_batch[0],
                     prev_action=prev_a,
                     prev_reward=prev_r,
-                    explore=True,
+                    explore=True))
-                    # Do not unsquash actions
-                    # (remain in normalized [-1.0; 1.0] space).
-                    unsquash_actions=False,
-                ))
 
         # Test all taken actions for their log-likelihoods vs expected values.
         if continuous:
@@ -93,9 +89,7 @@ def do_test_log_likelihood(run,
                     np.array([a]),
                     preprocessed_obs_batch,
                     prev_action_batch=np.array([prev_a]) if prev_a else None,
-                    prev_reward_batch=np.array([prev_r]) if prev_r else None,
+                    prev_reward_batch=np.array([prev_r]) if prev_r else None)
-                    actions_normalized=True,
-                )
                 check(logp, expected_logp[0], rtol=0.2)
         # Test all available actions for their logp values.
         else:

rllib/policy/tf_policy.py

@@ -17,7 +17,6 @@ from ray.rllib.utils.debug import summarize
 from ray.rllib.utils.deprecation import deprecation_warning
 from ray.rllib.utils.framework import try_import_tf, get_variable
 from ray.rllib.utils.schedules import PiecewiseSchedule
-from ray.rllib.utils.spaces.space_utils import normalize_action
 from ray.rllib.utils.tf_run_builder import TFRunBuilder
 from ray.rllib.utils.typing import ModelGradients, TensorType, \
     TrainerConfigDict
@@ -400,10 +399,8 @@ class TFPolicy(Policy):
             state_batches: Optional[List[TensorType]] = None,
             prev_action_batch: Optional[Union[List[TensorType],
                                               TensorType]] = None,
-            prev_reward_batch: Optional[Union[List[TensorType],
+            prev_reward_batch: Optional[Union[List[
-                                              TensorType]] = None,
+                TensorType], TensorType]] = None) -> TensorType:
-            actions_normalized: bool = True,
-    ) -> TensorType:
 
         if self._log_likelihood is None:
             raise ValueError("Cannot compute log-prob/likelihood w/o a "
@@ -414,11 +411,6 @@ class TFPolicy(Policy):
             explore=False, tf_sess=self.get_session())
 
         builder = TFRunBuilder(self._sess, "compute_log_likelihoods")
-
-        # Normalize actions if necessary.
-        if actions_normalized is False and self.config["normalize_actions"]:
-            actions = normalize_action(actions, self.action_space_struct)
-
         # Feed actions (for which we want logp values) into graph.
         builder.add_feed_dict({self._action_input: actions})
         # Feed observations.

rllib/policy/torch_policy.py

@@ -22,7 +22,6 @@ from ray.rllib.utils.annotations import override, DeveloperAPI
 from ray.rllib.utils.deprecation import deprecation_warning
 from ray.rllib.utils.framework import try_import_torch
 from ray.rllib.utils.schedules import PiecewiseSchedule
-from ray.rllib.utils.spaces.space_utils import normalize_action
 from ray.rllib.utils.threading import with_lock
 from ray.rllib.utils.torch_ops import convert_to_non_torch_type, \
     convert_to_torch_tensor
@@ -374,10 +373,8 @@ class TorchPolicy(Policy):
             state_batches: Optional[List[TensorType]] = None,
             prev_action_batch: Optional[Union[List[TensorType],
                                               TensorType]] = None,
-            prev_reward_batch: Optional[Union[List[TensorType],
+            prev_reward_batch: Optional[Union[List[
-                                              TensorType]] = None,
+                TensorType], TensorType]] = None) -> TensorType:
-            actions_normalized: bool = True,
-    ) -> TensorType:
 
         if self.action_sampler_fn and self.action_distribution_fn is None:
             raise ValueError("Cannot compute log-prob/likelihood w/o an "
@@ -439,13 +436,7 @@ class TorchPolicy(Policy):
                                             seq_lens)
 
             action_dist = dist_class(dist_inputs, self.model)
-
+            log_likelihoods = action_dist.logp(input_dict[SampleBatch.ACTIONS])
-            # Normalize actions if necessary.
-            actions = input_dict[SampleBatch.ACTIONS]
-            if not actions_normalized and self.config["normalize_actions"]:
-                actions = normalize_action(actions, self.action_space_struct)
-
-            log_likelihoods = action_dist.logp(actions)
 
             return log_likelihoods
 

rllib/utils/spaces/space_utils.py

@@ -156,12 +156,9 @@ def clip_action(action, action_space):
 def unsquash_action(action, action_space_struct):
     """Unsquashes all components in `action` according to the given Space.
 
-    Inverse of `normalize_action()`. Useful for mapping policy action
-    outputs (normalized between -1.0 and 1.0) to an env's action space.
     Unsquashing results in cont. action component values between the
     given Space's bounds (`low` and `high`). This only applies to Box
-    components within the action space, whose dtype is float32 or float64.
+    components within the action space.
-
 
     Args:
         action (Any): The action to be unsquashed. This could be any complex
@@ -192,10 +189,8 @@ def unsquash_action(action, action_space_struct):
 def normalize_action(action, action_space_struct):
     """Normalizes all (Box) components in `action` to be in [-1.0, 1.0].
 
-    Inverse of `unsquash_action()`. Useful for mapping an env's action
+    This only applies to Box components, whose dtype is float32 or float64,
-    (arbitrary bounded values) to a [-1.0, 1.0] interval.
+    within the action space.
-    This only applies to Box components within the action space, whose
-    dtype is float32 or float64.
 
     Args:
         action (Any): The action to be normalized. This could be any complex