fix thu-ml#98, support thu-ml#99 (thu-ml#102)

* Add auto alpha tuning and exploration noise for sac.
Add class BaseNoise and GaussianNoise for the concept of exploration noise.
Add new test for sac tested in MountainCarContinuous-v0,
which should benefits from the two above new feature.

* add exploration noise to collector, fix example to adapt modification

* fix thu-ml#98

* enable off-policy to update multiple times in one step. (thu-ml#99)

examples/ant_v2_sac.py

@@ -60,7 +60,7 @@ def test_sac(args=get_args()):
     # model
     actor = ActorProb(
         args.layer_num, args.state_shape, args.action_shape,
-        args.max_action, args.device
+        args.max_action, args.device, unbounded=True
     ).to(args.device)
     actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
     critic1 = Critic(

examples/continuous_net.py

@@ -28,7 +28,7 @@ def forward(self, s, **kwargs):
 
 class ActorProb(nn.Module):
     def __init__(self, layer_num, state_shape, action_shape,
-                 max_action, device='cpu'):
+                 max_action, device='cpu', unbounded=False):
         super().__init__()
         self.device = device
         self.model = [
@@ -40,14 +40,16 @@ def __init__(self, layer_num, state_shape, action_shape,
         self.mu = nn.Linear(128, np.prod(action_shape))
         self.sigma = nn.Linear(128, np.prod(action_shape))
         self._max = max_action
+        self._unbounded = unbounded
 
     def forward(self, s, **kwargs):
         if not isinstance(s, torch.Tensor):
             s = torch.tensor(s, device=self.device, dtype=torch.float)
         batch = s.shape[0]
         s = s.view(batch, -1)
         logits = self.model(s)
-        mu = self._max * torch.tanh(self.mu(logits))
+        if not self._unbounded:
+            mu = self._max * torch.tanh(self.mu(logits))
         sigma = torch.exp(self.sigma(logits))
         return (mu, sigma), None
 

examples/halfcheetahBullet_v0_sac.py

@@ -68,7 +68,7 @@ def test_sac(args=get_args()):
     # model
     actor = ActorProb(
         args.layer_num, args.state_shape, args.action_shape,
-        args.max_action, args.device
+        args.max_action, args.device, unbounded=True
     ).to(args.device)
     actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
     critic1 = Critic(

examples/sac_mcc.py

@@ -64,7 +64,7 @@ def test_sac(args=get_args()):
     # model
     actor = ActorProb(
         args.layer_num, args.state_shape, args.action_shape,
-        args.max_action, args.device
+        args.max_action, args.device, unbounded=True
     ).to(args.device)
     actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
     critic1 = Critic(

tianshou/trainer/offpolicy.py

@@ -18,6 +18,7 @@ def offpolicy_trainer(
         collect_per_step: int,
         episode_per_test: Union[int, List[int]],
         batch_size: int,
+        update_per_step: int = 1,
         train_fn: Optional[Callable[[int], None]] = None,
         test_fn: Optional[Callable[[int], None]] = None,
         stop_fn: Optional[Callable[[float], bool]] = None,
@@ -42,10 +43,13 @@ def offpolicy_trainer(
         in one epoch.
     :param int collect_per_step: the number of frames the collector would
         collect before the network update. In other words, collect some frames
-        and do one policy network update.
+        and do some policy network update.
     :param episode_per_test: the number of episodes for one policy evaluation.
     :param int batch_size: the batch size of sample data, which is going to
         feed in the policy network.
+    :param int update_per_step: the number of times the policy network would
+        be updated after frames be collected. In other words, collect some
+        frames and do some policy network update.
     :param function train_fn: a function receives the current number of epoch
         index and performs some operations at the beginning of training in this
         epoch.
@@ -98,7 +102,7 @@ def offpolicy_trainer(
                         policy.train()
                         if train_fn:
                             train_fn(epoch)
-                for i in range(min(
+                for i in range(update_per_step * min(
                         result['n/st'] // collect_per_step, t.total - t.n)):
                     global_step += 1
                     losses = policy.learn(train_collector.sample(batch_size))