from typing import Literal
import torch
from evox.core import Algorithm, Mutable, Parameter
from .adam_step import adam_single_tensor
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class OpenES(Algorithm):
"""The OpenES algorithm as described in "Evolution Strategies as a Scalable Alternative to Reinforcement Learning" from https://arxiv.org/abs/1703.03864."""
def __init__(
self,
pop_size: int,
# TODO: we will support a parameter dictionary as center_init in the future
center_init: torch.Tensor,
learning_rate: float,
noise_stdev: float,
optimizer: Literal["adam"] | None = None,
mirrored_sampling: bool = True,
device: torch.device | None = None,
):
"""Initialize the OpenES algorithm with the given parameters.
:param pop_size: The size of the population.
:param center_init: The initial center of the population. Must be a 1D tensor.
:param learning_rate: The learning rate for the optimizer.
:param noise_stdev: The standard deviation of the noise.
:param optimizer: The optimizer to use. Defaults to None. Currently, only "adam" or None is supported.
:param mirrored_sampling: Whether to use mirrored sampling. Defaults to True.
:param device: The device to use for the tensors. Defaults to None.
"""
super().__init__()
device = torch.get_default_device() if device is None else device
assert noise_stdev > 0, "noise_stdev must be greater than 0."
assert learning_rate > 0, "learning_rate must be greater than 0."
assert pop_size > 0, "pop_size must be greater than 0."
if mirrored_sampling is True:
assert pop_size % 2 == 0, "When mirrored_sampling is True, pop_size must be a multiple of 2."
assert optimizer in [None, "adam"], "optimizer must be None or 'adam'."
# set hyperparameters
self.learning_rate = Parameter(learning_rate, device=device)
self.noise_stdev = Parameter(noise_stdev, device=device)
# set value
center_init = center_init.to(device=device)
self.pop_size = pop_size
self.dim = center_init.shape[0]
self.mirrored_sampling = mirrored_sampling
self.optimizer = optimizer
# setup
self.center = Mutable(center_init)
# TODO: use submodule instead of string for optimizer in the future
if optimizer == "adam":
self.exp_avg = Mutable(torch.zeros_like(self.center))
self.exp_avg_sq = Mutable(torch.zeros_like(self.center))
self.beta1 = Parameter(0.9, device=device)
self.beta2 = Parameter(0.999, device=device)
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def step(self):
"""Step the OpenES algorithm by evaluating the fitness of the current population and updating the center."""
device = self.center.device
if self.mirrored_sampling:
noise = torch.randn(self.pop_size // 2, self.dim, device=device)
noise = torch.cat([noise, -noise], dim=0)
else:
noise = torch.randn(self.pop_size, self.dim, device=device)
pop = self.center[None, :] + self.noise_stdev * noise
fitness = self.evaluate(pop)
grad = noise.T @ fitness / self.pop_size / self.noise_stdev
if self.optimizer is None:
center = self.center - self.learning_rate * grad
else:
center, self.exp_avg, self.exp_avg_sq = adam_single_tensor(
self.center,
grad,
self.exp_avg,
self.exp_avg_sq,
self.beta1,
self.beta2,
self.learning_rate,
)
self.center = center
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def record_step(self):
return {"center": self.center}
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