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logger.py
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import csv
import datetime
from collections import defaultdict
import numpy as np
import torch
import torchvision
from termcolor import colored
from torch.utils.tensorboard import SummaryWriter
import wandb
TRAIN_FORMAT = [('step', 'S', 'int'), ('batch_reward', 'BR', 'float'),
('fps', 'FPS', 'float'), ('total_time', 'T', 'time')]
EVAL_FORMAT = [('step', 'S', 'int'), ('episode_length', 'L', 'int'),
('episode_reward', 'R', 'float'),
('distance2goal', 'DG', 'float'),
('std', 'STD', 'float'),
('expert_reward', 'ER', 'float'),
('env_id', 'TASK', 'int'),
('total_time', 'T', 'time')]
MTGOAL_FORMAT = [('step', 'S', 'int'),
('dist2goal1', 'DG1', 'float'),
('dist2goal2', 'DG2', 'float'),
('dist2goal3', 'DG3', 'float'),
('dist2goal4', 'DG4', 'float'),
('dist2goal5', 'DG5', 'float'),
('total_time', 'T', 'time')]
MTRL_FORMAT = [('step', 'S', 'int'),
('reward', 'R', 'float'),
('std', 'STD', 'float'),
('total_time', 'T', 'time')]
class AverageMeter(object):
def __init__(self):
self._sum = 0
self._count = 0
def update(self, value, n=1):
self._sum += value
self._count += n
def value(self):
return self._sum / max(1, self._count)
class MetersGroup(object):
def __init__(self, csv_file_name, formating, use_wandb):
self._csv_file_name = csv_file_name
self._formating = formating
self._meters = defaultdict(AverageMeter)
self._csv_file = None
self._csv_writer = None
self.use_wandb = use_wandb
def log(self, key, value, n=1):
self._meters[key].update(value, n)
def _prime_meters(self):
data = dict()
for key, meter in self._meters.items():
if key.startswith('train'):
key = key[len('train') + 1:]
else:
key = key[len('eval') + 1:]
key = key.replace('/', '_')
data[key] = meter.value()
return data
def _remove_old_entries(self, data):
rows = []
with self._csv_file_name.open('r') as f:
reader = csv.DictReader(f)
for row in reader:
if 'episode' in row.keys():
if float(row['episode']) >= data['episode']:
break
rows.append(row)
with self._csv_file_name.open('w') as f:
writer = csv.DictWriter(f,
fieldnames=sorted(data.keys()),
restval=0.0)
writer.writeheader()
for row in rows:
writer.writerow(row)
def _dump_to_csv(self, data):
if self._csv_writer is None:
should_write_header = True
if self._csv_file_name.exists():
self._remove_old_entries(data)
should_write_header = False
self._csv_file = self._csv_file_name.open('a')
self._csv_writer = csv.DictWriter(self._csv_file,
fieldnames=sorted(data.keys()),
restval=0.0)
if should_write_header:
self._csv_writer.writeheader()
self._csv_writer.writerow(data)
self._csv_file.flush()
def _format(self, key, value, ty):
if ty == 'int':
value = int(value)
return f'{key}: {value}'
elif ty == 'float':
return f'{key}: {value:.04f}'
elif ty == 'time':
value = str(datetime.timedelta(seconds=int(value)))
return f'{key}: {value}'
elif ty == 'str':
return f'{key}: {value}'
else:
raise f'invalid format type: {ty}'
def _dump_to_console(self, data, prefix):
prefix = colored(prefix, 'yellow' if prefix == 'train' else 'green')
pieces = [f'| {prefix: <14}']
for key, disp_key, ty in self._formating:
value = data.get(key, 0)
pieces.append(self._format(disp_key, value, ty))
print(' | '.join(pieces))
def _dump_to_wandb(self, data):
wandb.log(data)
def dump(self, step, prefix):
if len(self._meters) == 0:
return
data = self._prime_meters()
data['frame'] = step
if self.use_wandb:
wandb_data = {prefix + '/' + key: val for key,val in data.items()}
self._dump_to_wandb(data=wandb_data)
self._dump_to_csv(data)
self._dump_to_console(data, prefix)
self._meters.clear()
class Logger(object):
def __init__(self, log_dir, use_tb, use_wandb, mode=None):
self._log_dir = log_dir
self._train_mg = MetersGroup(log_dir / 'train.csv',
formating=TRAIN_FORMAT,
use_wandb=use_wandb)
if mode is None:
self._valid_mg = MetersGroup(log_dir / 'valid.csv',
formating=EVAL_FORMAT,
use_wandb=use_wandb)
self._eval_mg = MetersGroup(log_dir / 'eval.csv',
formating=EVAL_FORMAT,
use_wandb=use_wandb)
elif mode == 'multi_goal':
self._eval_mg = MetersGroup(log_dir / 'eval.csv',
formating=MTGOAL_FORMAT,
use_wandb=use_wandb)
elif mode == 'mtrl':
self._eval_mg = MetersGroup(log_dir / 'eval.csv',
formating=MTRL_FORMAT,
use_wandb=use_wandb)
if use_tb:
self._sw = SummaryWriter(str(log_dir / 'tb'))
else:
self._sw = None
self.use_wandb = use_wandb
def _try_sw_log(self, key, value, step):
if self._sw is not None:
self._sw.add_scalar(key, value, step)
def log(self, key, value, step):
assert key.startswith('train') or key.startswith('eval') or key.startswith('valid')
if type(value) == torch.Tensor:
value = value.item()
self._try_sw_log(key, value, step)
if key.startswith('train'):
mg = self._train_mg
elif key.startswith('valid'):
mg = self._valid_mg
else: # key.startswith('eval'):
mg = self._eval_mg
# mg = self._train_mg if key.startswith('train') else self._eval_mg
mg.log(key, value)
def log_metrics(self, metrics, step, ty):
for key, value in metrics.items():
self.log(f'{ty}/{key}', value, step)
def dump(self, step, ty=None):
if ty is None or ty == 'eval':
self._eval_mg.dump(step, 'eval')
if ty is None or ty == 'train':
self._train_mg.dump(step, 'train')
if ty is None or ty =='valid':
self._valid_mg.dump(step, 'valid')
def log_and_dump_ctx(self, step, ty):
return LogAndDumpCtx(self, step, ty)
class LogAndDumpCtx:
def __init__(self, logger, step, ty):
self._logger = logger
self._step = step
self._ty = ty
def __enter__(self):
return self
def __call__(self, key, value):
self._logger.log(f'{self._ty}/{key}', value, self._step)
def __exit__(self, *args):
self._logger.dump(self._step, self._ty)