[BugFix] RewardSum transform for multiple reward keys (#1544)

Signed-off-by: Matteo Bettini <[email protected]>
Co-authored-by: vmoens <[email protected]>

test/test_transforms.py

@@ -32,11 +32,14 @@
     IncrementingEnv,
     MockBatchedLockedEnv,
     MockBatchedUnLockedEnv,
+    MultiKeyCountingEnv,
+    MultiKeyCountingEnvPolicy,
     NestedCountingEnv,
 )
 from tensordict import unravel_key
 from tensordict.nn import TensorDictSequential
 from tensordict.tensordict import TensorDict, TensorDictBase
+from tensordict.utils import _unravel_key_to_tuple
 from torch import multiprocessing as mp, nn, Tensor
 from torchrl._utils import prod
 from torchrl.data import (
@@ -104,7 +107,7 @@
 from torchrl.envs.transforms.transforms import _has_tv
 from torchrl.envs.transforms.vc1 import _has_vc
 from torchrl.envs.transforms.vip import _VIPNet, VIPRewardTransform
-from torchrl.envs.utils import check_env_specs, step_mdp
+from torchrl.envs.utils import _replace_last, check_env_specs, step_mdp
 from torchrl.modules import LSTMModule, MLP, ProbabilisticActor, TanhNormal
 
 TIMEOUT = 100.0
@@ -4527,6 +4530,36 @@ def test_trans_parallel_env_check(self):
         r = env.rollout(4)
         assert r["next", "episode_reward"].unique().numel() > 1
 
+    @pytest.mark.parametrize("has_in_keys,", [True, False])
+    def test_trans_multi_key(
+        self, has_in_keys, n_workers=2, batch_size=(3, 2), max_steps=5
+    ):
+        torch.manual_seed(0)
+        env_fun = lambda: MultiKeyCountingEnv(batch_size=batch_size)
+        base_env = SerialEnv(n_workers, env_fun)
+        if has_in_keys:
+            t = RewardSum(in_keys=base_env.reward_keys, reset_keys=base_env.reset_keys)
+        else:
+            t = RewardSum()
+        env = TransformedEnv(
+            base_env,
+            Compose(t),
+        )
+        policy = MultiKeyCountingEnvPolicy(
+            full_action_spec=env.action_spec, deterministic=True
+        )
+
+        check_env_specs(env)
+        td = env.rollout(max_steps, policy=policy)
+        for reward_key in env.reward_keys:
+            reward_key = _unravel_key_to_tuple(reward_key)
+            assert (
+                td.get(
+                    ("next", _replace_last(reward_key, f"episode_{reward_key[-1]}"))
+                )[(0,) * (len(batch_size) + 1)][-1]
+                == max_steps
+            ).all()
+
     @pytest.mark.parametrize("in_key", ["reward", ("some", "nested")])
     def test_transform_no_env(self, in_key):
         t = RewardSum(in_keys=[in_key], out_keys=[("some", "nested_sum")])
@@ -4550,7 +4583,8 @@ def test_transform_no_env(self, in_key):
     def test_transform_compose(
         self,
     ):
-        t = Compose(RewardSum())
+        # reset keys should not be needed for offline run
+        t = Compose(RewardSum(in_keys=["reward"], out_keys=["episode_reward"]))
         reward = torch.randn(10)
         td = TensorDict({("next", "reward"): reward}, [])
         with pytest.raises(
@@ -4649,6 +4683,9 @@ def test_sum_reward(self, keys, device):
 
         # reset environments
         td.set("_reset", torch.ones(batch, dtype=torch.bool, device=device))
+        with pytest.raises(TypeError, match="reset_keys not provided but parent"):
+            rs.reset(td)
+        rs._reset_keys = ["_reset"]
         rs.reset(td)
 
         # apply a third time, episode_reward should be equal to reward again

torchrl/envs/transforms/transforms.py

@@ -40,7 +40,7 @@
 from torchrl.envs.common import _EnvPostInit, EnvBase, make_tensordict
 from torchrl.envs.transforms import functional as F
 from torchrl.envs.transforms.utils import check_finite
-from torchrl.envs.utils import _sort_keys, step_mdp
+from torchrl.envs.utils import _replace_last, _sort_keys, step_mdp
 from torchrl.objectives.value.functional import reward2go
 
 try:
@@ -242,7 +242,7 @@ def _apply_transform(self, obs: torch.Tensor) -> None:
 
         """
         raise NotImplementedError(
-            f"{self.__class__.__name__}_apply_transform is not coded. If the transform is coded in "
+            f"{self.__class__.__name__}._apply_transform is not coded. If the transform is coded in "
             "transform._call, make sure that this method is called instead of"
             "transform.forward, which is reserved for usage inside nn.Modules"
             "or appended to a replay buffer."
@@ -4342,74 +4342,140 @@ class RewardSum(Transform):
     """Tracks episode cumulative rewards.
 
     This transform accepts a list of tensordict reward keys (i.e. ´in_keys´) and tracks their cumulative
-    value along each episode. When called, the transform creates a new tensordict key for each in_key named
-    ´episode_{in_key}´ where  the cumulative values are written. All ´in_keys´ should be part of the env
-    reward and be present in the env reward_spec.
+    value along the time dimension for each episode.
 
-    If no in_keys are specified, this transform assumes ´reward´ to be the input key. However, multiple rewards
-    (e.g. reward1 and reward2) can also be specified. If ´in_keys´ are not present in the provided tensordict,
-    this transform hos no effect.
+    When called, the transform writes a new tensordict entry for each ``in_key`` named
+    ``episode_{in_key}`` where the cumulative values are written.
 
-    .. note:: :class:`~RewardSum` currently only supports ``"done"`` signal at the root.
-        Nested ``"done"``, such as those found in MARL settings, are currently not supported.
-        If this feature is needed, please raise an issue on TorchRL repo.
+    Args:
+        in_keys (list of NestedKeys, optional): Input reward keys.
+            All ´in_keys´ should be part of the environment reward_spec.
+            If no ``in_keys`` are specified, this transform assumes ``"reward"`` to be the input key.
+            However, multiple rewards (e.g. ``"reward1"`` and ``"reward2""``) can also be specified.
+        out_keys (list of NestedKeys, optional): The output sum keys, should be one per each input key.
+        reset_keys (list of NestedKeys, optional): the list of reset_keys to be
+            used, if the parent environment cannot be found. If provided, this
+            value will prevail over the environment ``reset_keys``.
 
+    Examples:
+        >>> from torchrl.envs.transforms import RewardSum, TransformedEnv
+        >>> from torchrl.envs.libs.gym import GymEnv
+        >>> env = TransformedEnv(GymEnv("Pendulum-v1"), RewardSum())
+        >>> td = env.reset()
+        >>> print(td["episode_reward"])
+        tensor([0.])
+        >>> td = env.rollout(3)
+        >>> print(td["next", "episode_reward"])
+        tensor([[-0.5926],
+                [-1.4578],
+                [-2.7885]])
     """
 
     def __init__(
         self,
         in_keys: Optional[Sequence[NestedKey]] = None,
         out_keys: Optional[Sequence[NestedKey]] = None,
+        reset_keys: Optional[Sequence[NestedKey]] = None,
     ):
         """Initialises the transform. Filters out non-reward input keys and defines output keys."""
-        if in_keys is None:
-            in_keys = ["reward"]
-        if out_keys is None and in_keys == ["reward"]:
-            out_keys = ["episode_reward"]
-        elif out_keys is None:
-            raise RuntimeError(
-                "the out_keys must be specified for non-conventional in-keys in RewardSum."
+        super().__init__(in_keys=in_keys, out_keys=out_keys)
+        self._reset_keys = reset_keys
+
+    @property
+    def in_keys(self):
+        in_keys = self.__dict__.get("_in_keys", None)
+        if in_keys in (None, []):
+            # retrieve rewards from parent env
+            parent = self.parent
+            if parent is None:
+                in_keys = ["reward"]
+            else:
+                in_keys = copy(parent.reward_keys)
+            self._in_keys = in_keys
+        return in_keys
+
+    @in_keys.setter
+    def in_keys(self, value):
+        if value is not None:
+            if isinstance(value, (str, tuple)):
+                value = [value]
+            value = [unravel_key(val) for val in value]
+        self._in_keys = value
+
+    @property
+    def out_keys(self):
+        out_keys = self.__dict__.get("_out_keys", None)
+        if out_keys in (None, []):
+            out_keys = [
+                _replace_last(in_key, f"episode_{_unravel_key_to_tuple(in_key)[-1]}")
+                for in_key in self.in_keys
+            ]
+            self._out_keys = out_keys
+        return out_keys
+
+    @out_keys.setter
+    def out_keys(self, value):
+        # we must access the private attribute because this check occurs before
+        # the parent env is defined
+        if value is not None and len(self._in_keys) != len(value):
+            raise ValueError(
+                "RewardSum expects the same number of input and output keys"
             )
+        if value is not None:
+            if isinstance(value, (str, tuple)):
+                value = [value]
+            value = [unravel_key(val) for val in value]
+        self._out_keys = value
 
-        super().__init__(in_keys=in_keys, out_keys=out_keys)
+    @property
+    def reset_keys(self):
+        reset_keys = self.__dict__.get("_reset_keys", None)
+        if reset_keys is None:
+            parent = self.parent
+            if parent is None:
+                raise TypeError(
+                    "reset_keys not provided but parent env not found. "
+                    "Make sure that the reset_keys are provided during "
+                    "construction if the transform does not have a container env."
+                )
+            reset_keys = copy(parent.reset_keys)
+            self._reset_keys = reset_keys
+        return reset_keys
+
+    @reset_keys.setter
+    def reset_keys(self, value):
+        if value is not None:
+            if isinstance(value, (str, tuple)):
+                value = [value]
+            value = [unravel_key(val) for val in value]
+        self._reset_keys = value
 
     def reset(self, tensordict: TensorDictBase) -> TensorDictBase:
         """Resets episode rewards."""
-        # Non-batched environments
-        _reset = tensordict.get("_reset", None)
-        if _reset is None:
-            _reset = torch.ones(
-                self.parent.done_spec.shape if self.parent else tensordict.batch_size,
-                dtype=torch.bool,
-                device=tensordict.device,
-            )
+        for in_key, reset_key, out_key in zip(
+            self.in_keys, self.reset_keys, self.out_keys
+        ):
+            _reset = tensordict.get(reset_key, None)
 
-        if _reset.any():
-            _reset = _reset.sum(
-                tuple(range(tensordict.batch_dims, _reset.ndim)), dtype=torch.bool
-            )
-            reward_key = self.parent.reward_key if self.parent else "reward"
-            for in_key, out_key in zip(self.in_keys, self.out_keys):
-                if out_key in tensordict.keys(True, True):
-                    value = tensordict[out_key]
-                    tensordict[out_key] = value.masked_fill(
-                        expand_as_right(_reset, value), 0.0
-                    )
-                elif unravel_key(in_key) == unravel_key(reward_key):
+            if _reset is None or _reset.any():
+                value = tensordict.get(out_key, default=None)
+                if value is not None:
+                    if _reset is None:
+                        tensordict.set(out_key, torch.zeros_like(value))
+                    else:
+                        tensordict.set(
+                            out_key,
+                            value.masked_fill(
+                                expand_as_right(_reset.squeeze(-1), value), 0.0
+                            ),
+                        )
+                else:
                     # Since the episode reward is not in the tensordict, we need to allocate it
                     # with zeros entirely (regardless of the _reset mask)
-                    tensordict[out_key] = self.parent.reward_spec.zero()
-                else:
-                    try:
-                        tensordict[out_key] = self.parent.observation_spec[
-                            in_key
-                        ].zero()
-                    except KeyError as err:
-                        raise KeyError(
-                            f"The key {in_key} was not found in the parent "
-                            f"observation_spec with keys "
-                            f"{list(self.parent.observation_spec.keys(True))}. "
-                        ) from err
+                    tensordict.set(
+                        out_key,
+                        self.parent.full_reward_spec[in_key].zero(),
+                    )
         return tensordict
 
     def _step(
@@ -4430,76 +4496,48 @@ def transform_input_spec(self, input_spec: TensorSpec) -> TensorSpec:
         state_spec = input_spec["full_state_spec"]
         if state_spec is None:
             state_spec = CompositeSpec(shape=input_spec.shape, device=input_spec.device)
-        reward_spec = self.parent.output_spec["full_reward_spec"]
-        reward_spec_keys = list(reward_spec.keys(True, True))
+        state_spec.update(self._generate_episode_reward_spec())
+        input_spec["full_state_spec"] = state_spec
+        return input_spec
+
+    def _generate_episode_reward_spec(self) -> CompositeSpec:
+        episode_reward_spec = CompositeSpec()
+        reward_spec = self.parent.full_reward_spec
+        reward_spec_keys = self.parent.reward_keys
         # Define episode specs for all out_keys
         for in_key, out_key in zip(self.in_keys, self.out_keys):
             if (
                 in_key in reward_spec_keys
             ):  # if this out_key has a corresponding key in reward_spec
                 out_key = _unravel_key_to_tuple(out_key)
-                temp_state_spec = state_spec
+                temp_episode_reward_spec = episode_reward_spec
                 temp_rew_spec = reward_spec
                 for sub_key in out_key[:-1]:
                     if (
                         not isinstance(temp_rew_spec, CompositeSpec)
                         or sub_key not in temp_rew_spec.keys()
                     ):
                         break
-                    if sub_key not in temp_state_spec.keys():
-                        temp_state_spec[sub_key] = temp_rew_spec[sub_key].empty()
+                    if sub_key not in temp_episode_reward_spec.keys():
+                        temp_episode_reward_spec[sub_key] = temp_rew_spec[
+                            sub_key
+                        ].empty()
                     temp_rew_spec = temp_rew_spec[sub_key]
-                    temp_state_spec = temp_state_spec[sub_key]
-                state_spec[out_key] = reward_spec[in_key].clone()
+                    temp_episode_reward_spec = temp_episode_reward_spec[sub_key]
+                episode_reward_spec[out_key] = reward_spec[in_key].clone()
             else:
                 raise ValueError(
                     f"The in_key: {in_key} is not present in the reward spec {reward_spec}."
                 )
-        input_spec["full_state_spec"] = state_spec
-        return input_spec
+        return episode_reward_spec
 
     def transform_observation_spec(self, observation_spec: TensorSpec) -> TensorSpec:
         """Transforms the observation spec, adding the new keys generated by RewardSum."""
-        # Retrieve parent reward spec
-        reward_spec = self.parent.reward_spec
-        reward_key = self.parent.reward_key if self.parent else "reward"
-
-        episode_specs = {}
-        if isinstance(reward_spec, CompositeSpec):
-            # If reward_spec is a CompositeSpec, all in_keys should be keys of reward_spec
-            if not all(k in reward_spec.keys(True, True) for k in self.in_keys):
-                raise KeyError("Not all in_keys are present in ´reward_spec´")
-
-            # Define episode specs for all out_keys
-            for out_key in self.out_keys:
-                episode_spec = UnboundedContinuousTensorSpec(
-                    shape=reward_spec.shape,
-                    device=reward_spec.device,
-                    dtype=reward_spec.dtype,
-                )
-                episode_specs.update({out_key: episode_spec})
-
-        else:
-            # If reward_spec is not a CompositeSpec, the only in_key should be ´reward´
-            if set(unravel_key_list(self.in_keys)) != {unravel_key(reward_key)}:
-                raise KeyError(
-                    "reward_spec is not a CompositeSpec class, in_keys should only include ´reward´"
-                )
-
-            # Define episode spec
-            episode_spec = UnboundedContinuousTensorSpec(
-                device=reward_spec.device,
-                dtype=reward_spec.dtype,
-                shape=reward_spec.shape,
-            )
-            episode_specs.update({self.out_keys[0]: episode_spec})
-
-        # Update observation_spec with episode_specs
         if not isinstance(observation_spec, CompositeSpec):
             observation_spec = CompositeSpec(
                 observation=observation_spec, shape=self.parent.batch_size
             )
-        observation_spec.update(episode_specs)
+        observation_spec.update(self._generate_episode_reward_spec())
         return observation_spec
 
     def forward(self, tensordict: TensorDictBase) -> TensorDictBase: