[Feature] CatFrames.make_rb_transform_and_sampler

ghstack-source-id: 7ecf952ec9f102a831aefdba533027ff8c4c29cc Pull Request resolved: #2643
pytorch · Dec 13, 2024 · 7365fb5 · 7365fb5
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diff --git a/examples/replay-buffers/catframes-in-buffer.py b/examples/replay-buffers/catframes-in-buffer.py
@@ -0,0 +1,99 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+import torch
+from torchrl.data import LazyTensorStorage, ReplayBuffer
+from torchrl.envs import (
+    CatFrames,
+    Compose,
+    DMControlEnv,
+    StepCounter,
+    ToTensorImage,
+    TransformedEnv,
+    UnsqueezeTransform,
+)
+
+# Number of frames to stack together
+frame_stack = 4
+# Dimension along which the stack should occur
+stack_dim = -4
+# Max size of the buffer
+max_size = 100_000
+# Batch size of the replay buffer
+training_batch_size = 32
+
+seed = 123
+
+
+def main():
+    catframes = CatFrames(
+        N=frame_stack,
+        dim=stack_dim,
+        in_keys=["pixels_trsf"],
+        out_keys=["pixels_trsf"],
+    )
+    env = TransformedEnv(
+        DMControlEnv(
+            env_name="cartpole",
+            task_name="balance",
+            device="cpu",
+            from_pixels=True,
+            pixels_only=True,
+        ),
+        Compose(
+            ToTensorImage(
+                from_int=True,
+                dtype=torch.float32,
+                in_keys=["pixels"],
+                out_keys=["pixels_trsf"],
+                shape_tolerant=True,
+            ),
+            UnsqueezeTransform(
+                dim=stack_dim, in_keys=["pixels_trsf"], out_keys=["pixels_trsf"]
+            ),
+            catframes,
+            StepCounter(),
+        ),
+    )
+    env.set_seed(seed)
+
+    transform, sampler = catframes.make_rb_transform_and_sampler(
+        batch_size=training_batch_size,
+        traj_key=("collector", "traj_ids"),
+        strict_length=True,
+    )
+
+    rb_transforms = Compose(
+        ToTensorImage(
+            from_int=True,
+            dtype=torch.float32,
+            in_keys=["pixels", ("next", "pixels")],
+            out_keys=["pixels_trsf", ("next", "pixels_trsf")],
+            shape_tolerant=True,
+        ),  # C W' H' -> C W' H' (unchanged due to shape_tolerant)
+        UnsqueezeTransform(
+            dim=stack_dim,
+            in_keys=["pixels_trsf", ("next", "pixels_trsf")],
+            out_keys=["pixels_trsf", ("next", "pixels_trsf")],
+        ),  # 1 C W' H'
+        transform,
+    )
+
+    rb = ReplayBuffer(
+        storage=LazyTensorStorage(max_size=max_size, device="cpu"),
+        sampler=sampler,
+        batch_size=training_batch_size,
+        transform=rb_transforms,
+    )
+
+    data = env.rollout(1000, break_when_any_done=False)
+    rb.extend(data)
+
+    training_batch = rb.sample()
+    print(training_batch)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/test/test_transforms.py b/test/test_transforms.py
@@ -933,6 +933,29 @@ def test_transform_rb(self, dim, N, padding, rbclass):
         assert (tdsample["out_" + key1] == td["out_" + key1]).all()
         assert (tdsample["next", "out_" + key1] == td["next", "out_" + key1]).all()
 
+    def test_transform_rb_maker(self):
+        env = CountingEnv(max_steps=10)
+        catframes = CatFrames(
+            in_keys=["observation"], out_keys=["observation_stack"], dim=-1, N=4
+        )
+        env.append_transform(catframes)
+        policy = lambda td: td.update(env.full_action_spec.zeros() + 1)
+        rollout = env.rollout(150, policy, break_when_any_done=False)
+        transform, sampler = catframes.make_rb_transform_and_sampler(batch_size=32)
+        rb = ReplayBuffer(
+            sampler=sampler, storage=LazyTensorStorage(150), transform=transform
+        )
+        rb.extend(rollout)
+        sample = rb.sample(32)
+        assert "observation_stack" not in rb._storage._storage
+        assert sample.shape == (32,)
+        assert sample["observation_stack"].shape == (32, 4)
+        assert sample["next", "observation_stack"].shape == (32, 4)
+        assert (
+            sample["observation_stack"]
+            == sample["observation_stack"][:, :1] + torch.arange(4)
+        ).all()
+
     @pytest.mark.parametrize("dim", [-1])
     @pytest.mark.parametrize("N", [3, 4])
     @pytest.mark.parametrize("padding", ["same", "constant"])

diff --git a/torchrl/data/replay_buffers/samplers.py b/torchrl/data/replay_buffers/samplers.py
@@ -968,6 +968,9 @@ class SliceSampler(Sampler):
 
     """
 
+    # We use this whenever we need to sample N times too many transitions to then select only a 1/N fraction of them
+    _batch_size_multiplier: int | None = 1
+
     def __init__(
         self,
         *,
@@ -1295,6 +1298,8 @@ def _adjusted_batch_size(self, batch_size):
         return seq_length, num_slices
 
     def sample(self, storage: Storage, batch_size: int) -> Tuple[torch.Tensor, dict]:
+        if self._batch_size_multiplier is not None:
+            batch_size = batch_size * self._batch_size_multiplier
         # pick up as many trajs as we need
         start_idx, stop_idx, lengths = self._get_stop_and_length(storage)
         # we have to make sure that the number of dims of the storage
@@ -1747,6 +1752,8 @@ def _storage_len(self, storage):
     def sample(
         self, storage: Storage, batch_size: int
     ) -> Tuple[Tuple[torch.Tensor, ...], dict]:
+        if self._batch_size_multiplier is not None:
+            batch_size = batch_size * self._batch_size_multiplier
         start_idx, stop_idx, lengths = self._get_stop_and_length(storage)
         # we have to make sure that the number of dims of the storage
         # is the same as the stop/start signals since we will

diff --git a/torchrl/envs/transforms/transforms.py b/torchrl/envs/transforms/transforms.py
@@ -2825,9 +2825,9 @@ def _reset(
 class CatFrames(ObservationTransform):
     """Concatenates successive observation frames into a single tensor.
 
-    This can, for instance, account for movement/velocity of the observed
-    feature. Proposed in "Playing Atari with Deep Reinforcement Learning" (
-    https://arxiv.org/pdf/1312.5602.pdf).
+    This transform is useful for creating a sense of movement or velocity in the observed features.
+    It can also be used with models that require access to past observations such as transformers and the like.
+    It was first proposed in "Playing Atari with Deep Reinforcement Learning" (https://arxiv.org/pdf/1312.5602.pdf).
 
     When used within a transformed environment,
     :class:`CatFrames` is a stateful class, and it can be reset to its native state by
@@ -2915,6 +2915,14 @@ class CatFrames(ObservationTransform):
         such as those found in MARL settings, are currently not supported.
         If this feature is needed, please raise an issue on TorchRL repo.
 
+    .. note:: Storing stacks of frames in the replay buffer can significantly increase memory consumption (by N times).
+        To mitigate this, you can store trajectories directly in the replay buffer and apply :class:`CatFrames` at sampling time.
+        This approach involves sampling slices of the stored trajectories and then applying the frame stacking transform.
+        For convenience, :class:`CatFrames` provides a :meth:`~.make_rb_transform_and_sampler` method that creates:
+
+        - A modified version of the transform suitable for use in replay buffers
+        - A corresponding :class:`SliceSampler` to use with the buffer
+
     """
 
     inplace = False
@@ -2964,6 +2972,75 @@ def __init__(
         self.reset_key = reset_key
         self.done_key = done_key
 
+    def make_rb_transform_and_sampler(
+        self, batch_size: int, **sampler_kwargs
+    ) -> Tuple[Transform, "torchrl.data.replay_buffers.SliceSampler"]:  # noqa: F821
+        """Creates a transform and sampler to be used with a replay buffer when storing frame-stacked data.
+
+        This method helps reduce redundancy in stored data by avoiding the need to
+        store the entire stack of frames in the buffer. Instead, it creates a
+        transform that stacks frames on-the-fly during sampling, and a sampler that
+        ensures the correct sequence length is maintained.
+
+        Args:
+            batch_size (int): The batch size to use for the sampler.
+            **sampler_kwargs: Additional keyword arguments to pass to the
+                :class:`~torchrl.data.replay_buffers.SliceSampler` constructor.
+
+        Returns:
+            A tuple containing:
+                - transform (Transform): A transform that stacks frames on-the-fly during sampling.
+                - sampler (SliceSampler): A sampler that ensures the correct sequence length is maintained.
+
+        Example:
+            >>> env = TransformedEnv(...)
+            >>> catframes = CatFrames(N=4, ...)
+            >>> transform, sampler = catframes.make_rb_transform_and_sampler(batch_size=32)
+            >>> rb = ReplayBuffer(..., sampler=sampler, transform=transform)
+
+        .. note:: When working with images, it's recommended to use distinct ``in_keys`` and ``out_keys`` in the preceding
+            :class:`~torchrl.envs.ToTensorImage` transform. This ensures that the tensors stored in the buffer are separate
+            from their processed counterparts, which we don't want to store.
+            For non-image data, consider inserting a :class:`~torchrl.envs.RenameTransform` before :class:`CatFrames` to create
+            a copy of the data that will be stored in the buffer.
+
+        .. note:: When adding the transform to the replay buffer, one should pay attention to also pass the transforms
+            that precede CatFrames, such as :class:`~torchrl.envs.ToTensorImage` or :class:`~torchrl.envs.UnsqueezeTransform`
+            in such a way that the :class:`~torchrl.envs.CatFrames` transforms sees data formatted as it was during data
+            collection.
+
+        .. note:: For a more complete example, refer to torchrl's github repo `examples` folder:
+            https://github.com/pytorch/rl/tree/main/examples/replay-buffers/catframes-in-buffer.py
+
+        """
+        from torchrl.data.replay_buffers import SliceSampler
+
+        in_keys = self.in_keys
+        in_keys = in_keys + [unravel_key(("next", key)) for key in in_keys]
+        out_keys = self.out_keys
+        out_keys = out_keys + [unravel_key(("next", key)) for key in out_keys]
+        catframes = type(self)(
+            N=self.N,
+            in_keys=in_keys,
+            out_keys=out_keys,
+            dim=self.dim,
+            padding=self.padding,
+            padding_value=self.padding_value,
+            as_inverse=False,
+            reset_key=self.reset_key,
+            done_key=self.done_key,
+        )
+        sampler = SliceSampler(slice_len=self.N, **sampler_kwargs)
+        sampler._batch_size_multiplier = self.N
+        transform = Compose(
+            lambda td: td.reshape(-1, self.N),
+            catframes,
+            lambda td: td[:, -1],
+            # We only store "pixels" to the replay buffer to save memory
+            ExcludeTransform(*out_keys, inverse=True),
+        )
+        return transform, sampler
+
     @property
     def done_key(self):
         done_key = self.__dict__.get("_done_key", None)