lerobot/common/utils/random_utils.py

#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import random
from contextlib import contextmanager
from pathlib import Path
from typing import Any, Generator

import numpy as np
import torch
from safetensors.torch import load_file, save_file

from lerobot.common.constants import RNG_STATE
from lerobot.common.datasets.utils import flatten_dict, unflatten_dict


def serialize_python_rng_state() -> dict[str, torch.Tensor]:
    """
    Returns the rng state for `random` in the form of a flat dict[str, torch.Tensor] to be saved using
    `safetensors.save_file()` or `torch.save()`.
    """
    py_state = random.getstate()
    return {
        "py_rng_version": torch.tensor([py_state[0]], dtype=torch.int64),
        "py_rng_state": torch.tensor(py_state[1], dtype=torch.int64),
    }


def deserialize_python_rng_state(rng_state_dict: dict[str, torch.Tensor]) -> None:
    """
    Restores the rng state for `random` from a dictionary produced by `serialize_python_rng_state()`.
    """
    py_state = (rng_state_dict["py_rng_version"].item(), tuple(rng_state_dict["py_rng_state"].tolist()), None)
    random.setstate(py_state)


def serialize_numpy_rng_state() -> dict[str, torch.Tensor]:
    """
    Returns the rng state for `numpy` in the form of a flat dict[str, torch.Tensor] to be saved using
    `safetensors.save_file()` or `torch.save()`.
    """
    np_state = np.random.get_state()
    # Ensure no breaking changes from numpy
    assert np_state[0] == "MT19937"
    return {
        "np_rng_state_values": torch.tensor(np_state[1], dtype=torch.int64),
        "np_rng_state_index": torch.tensor([np_state[2]], dtype=torch.int64),
        "np_rng_has_gauss": torch.tensor([np_state[3]], dtype=torch.int64),
        "np_rng_cached_gaussian": torch.tensor([np_state[4]], dtype=torch.float32),
    }


def deserialize_numpy_rng_state(rng_state_dict: dict[str, torch.Tensor]) -> None:
    """
    Restores the rng state for `numpy` from a dictionary produced by `serialize_numpy_rng_state()`.
    """
    np_state = (
        "MT19937",
        rng_state_dict["np_rng_state_values"].numpy(),
        rng_state_dict["np_rng_state_index"].item(),
        rng_state_dict["np_rng_has_gauss"].item(),
        rng_state_dict["np_rng_cached_gaussian"].item(),
    )
    np.random.set_state(np_state)


def serialize_torch_rng_state() -> dict[str, torch.Tensor]:
    """
    Returns the rng state for `torch` in the form of a flat dict[str, torch.Tensor] to be saved using
    `safetensors.save_file()` or `torch.save()`.
    """
    torch_rng_state_dict = {"torch_rng_state": torch.get_rng_state()}
    if torch.cuda.is_available():
        torch_rng_state_dict["torch_cuda_rng_state"] = torch.cuda.get_rng_state()
    return torch_rng_state_dict


def deserialize_torch_rng_state(rng_state_dict: dict[str, torch.Tensor]) -> None:
    """
    Restores the rng state for `torch` from a dictionary produced by `serialize_torch_rng_state()`.
    """
    torch.set_rng_state(rng_state_dict["torch_rng_state"])
    if torch.cuda.is_available() and "torch_cuda_rng_state" in rng_state_dict:
        torch.cuda.set_rng_state(rng_state_dict["torch_cuda_rng_state"])


def serialize_rng_state() -> dict[str, torch.Tensor]:
    """
    Returns the rng state for `random`, `numpy`, and `torch`, in the form of a flat
    dict[str, torch.Tensor] to be saved using `safetensors.save_file()` `torch.save()`.
    """
    py_rng_state_dict = serialize_python_rng_state()
    np_rng_state_dict = serialize_numpy_rng_state()
    torch_rng_state_dict = serialize_torch_rng_state()

    return {
        **py_rng_state_dict,
        **np_rng_state_dict,
        **torch_rng_state_dict,
    }


def deserialize_rng_state(rng_state_dict: dict[str, torch.Tensor]) -> None:
    """
    Restores the rng state for `random`, `numpy`, and `torch` from a dictionary produced by
    `serialize_rng_state()`.
    """
    py_rng_state_dict = {k: v for k, v in rng_state_dict.items() if k.startswith("py")}
    np_rng_state_dict = {k: v for k, v in rng_state_dict.items() if k.startswith("np")}
    torch_rng_state_dict = {k: v for k, v in rng_state_dict.items() if k.startswith("torch")}

    deserialize_python_rng_state(py_rng_state_dict)
    deserialize_numpy_rng_state(np_rng_state_dict)
    deserialize_torch_rng_state(torch_rng_state_dict)


def save_rng_state(save_dir: Path) -> None:
    rng_state_dict = serialize_rng_state()
    flat_rng_state_dict = flatten_dict(rng_state_dict)
    save_file(flat_rng_state_dict, save_dir / RNG_STATE)


def load_rng_state(save_dir: Path) -> None:
    flat_rng_state_dict = load_file(save_dir / RNG_STATE)
    rng_state_dict = unflatten_dict(flat_rng_state_dict)
    deserialize_rng_state(rng_state_dict)


def get_rng_state() -> dict[str, Any]:
    """Get the random state for `random`, `numpy`, and `torch`."""
    random_state_dict = {
        "random_state": random.getstate(),
        "numpy_random_state": np.random.get_state(),
        "torch_random_state": torch.random.get_rng_state(),
    }
    if torch.cuda.is_available():
        random_state_dict["torch_cuda_random_state"] = torch.cuda.random.get_rng_state()
    return random_state_dict


def set_rng_state(random_state_dict: dict[str, Any]):
    """Set the random state for `random`, `numpy`, and `torch`.

    Args:
        random_state_dict: A dictionary of the form returned by `get_rng_state`.
    """
    random.setstate(random_state_dict["random_state"])
    np.random.set_state(random_state_dict["numpy_random_state"])
    torch.random.set_rng_state(random_state_dict["torch_random_state"])
    if torch.cuda.is_available():
        torch.cuda.random.set_rng_state(random_state_dict["torch_cuda_random_state"])


def set_seed(seed) -> None:
    """Set seed for reproducibility."""
    random.seed(seed)
    np.random.seed(seed)
    torch.manual_seed(seed)
    if torch.cuda.is_available():
        torch.cuda.manual_seed_all(seed)


@contextmanager
def seeded_context(seed: int) -> Generator[None, None, None]:
    """Set the seed when entering a context, and restore the prior random state at exit.

    Example usage:

    ```
    a = random.random()  # produces some random number
    with seeded_context(1337):
        b = random.random()  # produces some other random number
    c = random.random()  # produces yet another random number, but the same it would have if we never made `b`
    ```
    """
    random_state_dict = get_rng_state()
    set_seed(seed)
    yield None
    set_rng_state(random_state_dict)