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 PersistentES(Algorithm):
"""The implementation of the Persistent ES algorithm.
Reference:
Unbiased Gradient Estimation in Unrolled Computation Graphs with Persistent Evolution Strategies
(http://proceedings.mlr.press/v139/vicol21a.html)
This code has been inspired by or utilizes the algorithmic implementation from evosax.
More information about evosax can be found at the following URL:
GitHub Link: https://github.com/RobertTLange/evosax
"""
def __init__(
self,
pop_size: int,
center_init: torch.Tensor,
optimizer: Literal["adam"] | None = None,
lr: float = 0.05,
sigma: float = 0.03,
T: int = 100,
K: int = 10,
sigma_decay: float = 1.0,
sigma_limit: float = 0.01,
device: torch.device | None = None,
):
"""Initialize the Persistent-ES 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 optimizer: The optimizer to use. Defaults to None. Currently, only "adam" or None is supported.
:param lr: The learning rate for the optimizer. Defaults to 0.05.
:param sigma: The standard deviation of the noise. Defaults to 0.03.
:param sigma_decay: The decay factor for the standard deviation. Defaults to 1.0.
:param sigma_limit: The minimum value for the standard deviation. Defaults to 0.01.
:param T: The inner problem length. Defaults to 100.
:param K: The number of inner problems. Defaults to 10.
:param device: The device to use for the tensors. Defaults to None.
"""
super().__init__()
assert pop_size > 1 and pop_size % 2 == 0 # Population size must be even
dim = center_init.shape[0]
# set hyperparameters
self.lr = Parameter(lr, device=device)
self.T = Parameter(T, device=device)
self.K = Parameter(K, device=device)
self.sigma_decay = Parameter(sigma_decay, device=device)
self.sigma_limit = Parameter(sigma_limit, device=device)
# set value
self.dim = dim
self.pop_size = pop_size
self.optimizer = optimizer
# setup
center_init = center_init.to(device=device)
self.sigma = Mutable(torch.tensor(sigma))
self.center = Mutable(center_init)
self.inner_step_counter = Mutable(torch.tensor(0.0))
self.pert_accum = Mutable(torch.zeros(pop_size, dim, device=device))
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):
device = self.center.device
pos_perts = torch.randn(self.pop_size // 2, self.dim, device=device) * self.sigma
neg_perts = -pos_perts
perts = torch.cat([pos_perts, neg_perts], dim=0)
pert_accum = self.pert_accum + perts
population = self.center + perts
fitness = self.evaluate(population)
theta_grad = torch.mean(pert_accum * fitness.reshape(-1, 1) / (self.sigma**2), dim=0)
if self.optimizer is None:
center = self.center - self.lr * theta_grad
else:
center, self.exp_avg, self.exp_avg_sq = adam_single_tensor(
self.center,
theta_grad,
self.exp_avg,
self.exp_avg_sq,
self.beta1,
self.beta2,
self.lr,
)
self.center = center
inner_step_counter = self.inner_step_counter + self.K
self.inner_step_counter = inner_step_counter
reset = self.inner_step_counter >= self.T
inner_step_counter = torch.where(reset, 0, inner_step_counter)
pert_accum = torch.where(reset, torch.zeros(self.pop_size, self.dim, device=device), pert_accum)
sigma = self.sigma_decay * self.sigma
sigma = torch.maximum(sigma, self.sigma_limit)
self.sigma = sigma
self.pert_accum = pert_accum
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def record_step(self):
return {"center": self.center, "sigma": self.sigma}
EvoX