sac.py

# Copyright 2024 The Brax Authors.
#
# 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.

"""Soft Actor-Critic training.

See: https://arxiv.org/pdf/1812.05905.pdf
"""

import functools
import time
from typing import Any, Callable, Optional, Tuple, Union, Generic, NamedTuple, Sequence

from absl import logging
from brax import base
from brax import envs
from brax.io import model
from brax.training import gradients
from brax.training import pmap
from brax.training.replay_buffers_test import jit_wrap
from brax.training import types
from brax.training.acme import running_statistics
from brax.training.acme import specs
from brax.training.agents.sac import losses as sac_losses
from brax.training.agents.sac import networks as sac_networks
from brax.training.acme.types import NestedArray
from brax.training.types import Params, Policy
from brax.training.types import PRNGKey
from brax.v1 import envs as envs_v1
import flax
import jax
import jax.numpy as jnp
import optax

from envs.wrappers import TrajectoryIdWrapper
from src.evaluator import CrlEvaluator
from src.replay_buffer import QueueBase, Sample

Metrics = types.Metrics
# Transition = types.Transition
Env = Union[envs.Env, envs_v1.Env, envs_v1.Wrapper]
State = Union[envs.State, envs_v1.State]


class Transition(NamedTuple):
    """Container for a transition."""

    observation: NestedArray
    next_observation: NestedArray
    action: NestedArray
    reward: NestedArray
    discount: NestedArray
    extras: NestedArray = ()  # pytype: disable=annotation-type-mismatch  # jax-ndarray


def actor_step(
    env: Env,
    env_state: State,
    policy: Policy,
    key: PRNGKey,
    extra_fields: Sequence[str] = (),
) -> Tuple[State, Transition]:
    """Collect data."""
    actions, policy_extras = policy(env_state.obs, key)
    nstate = env.step(env_state, actions)
    state_extras = {x: nstate.info[x] for x in extra_fields}
    return nstate, Transition(  # pytype: disable=wrong-arg-types  # jax-ndarray
        observation=env_state.obs,
        action=actions,
        reward=nstate.reward,
        discount=1 - nstate.done,
        next_observation=nstate.obs,
        extras={"policy_extras": policy_extras, "state_extras": state_extras},
    )


InferenceParams = Tuple[running_statistics.NestedMeanStd, Params]

ReplayBufferState = Any

_PMAP_AXIS_NAME = "i"


class TrajectoryUniformSamplingQueue(QueueBase[Sample], Generic[Sample]):
    """Implements an uniform sampling limited-size replay queue BUT WITH TRAJECTORIES."""

    def sample_internal(self, buffer_state: ReplayBufferState) -> Tuple[ReplayBufferState, Sample]:
        if buffer_state.data.shape != self._data_shape:
            raise ValueError(
                f"Data shape expected by the replay buffer ({self._data_shape}) does "
                f"not match the shape of the buffer state ({buffer_state.data.shape})"
            )
        key, sample_key, shuffle_key = jax.random.split(buffer_state.key, 3)
        # NOTE: this is the number of envs to sample but it can be modified if there is OOM
        shape = self.num_envs

        # Sampling envs idxs
        envs_idxs = jax.random.choice(sample_key, jnp.arange(self.num_envs), shape=(shape,), replace=False)

        @functools.partial(jax.jit, static_argnames=("rows", "cols"))
        def create_matrix(rows, cols, min_val, max_val, rng_key):
            rng_key, subkey = jax.random.split(rng_key)
            start_values = jax.random.randint(subkey, shape=(rows,), minval=min_val, maxval=max_val)
            row_indices = jnp.arange(cols)
            matrix = start_values[:, jnp.newaxis] + row_indices
            return matrix

        @jax.jit
        def create_batch(arr_2d, indices):
            return jnp.take(arr_2d, indices, axis=0, mode="wrap")

        create_batch_vmaped = jax.vmap(create_batch, in_axes=(1, 0))

        matrix = create_matrix(
            shape,
            self.episode_length,
            buffer_state.sample_position,
            buffer_state.insert_position - self.episode_length,
            sample_key,
        )

        batch = create_batch_vmaped(buffer_state.data[:, envs_idxs, :], matrix)
        transitions = self._unflatten_fn(batch)
        return buffer_state.replace(key=key), transitions

    @staticmethod
    @functools.partial(jax.jit, static_argnames=["config", "env"])
    def flatten_crl_fn(config, env, transition: Transition, sample_key: PRNGKey) -> Transition:
        if config.use_her:
            # Find truncation indexes if present
            seq_len = transition.observation.shape[0]
            arrangement = jnp.arange(seq_len)
            is_future_mask = jnp.array(arrangement[:, None] < arrangement[None], dtype=jnp.float32)
            single_trajectories = jnp.concatenate(
                [transition.extras["state_extras"]["traj_id"][:, jnp.newaxis].T] * seq_len, axis=0
            )

            # final_step_mask.shape == (seq_len, seq_len)
            final_step_mask = is_future_mask * jnp.equal(single_trajectories, single_trajectories.T) + jnp.eye(seq_len) * 1e-5
            final_step_mask = jnp.logical_and(final_step_mask, transition.extras["state_extras"]["truncation"][None, :])
            non_zero_columns = jnp.nonzero(final_step_mask, size=seq_len)[1]

            # If final state is not present use original goal (i.e. don't change anything)
            new_goals_idx = jnp.where(non_zero_columns == 0, arrangement, non_zero_columns)
            binary_mask = jnp.logical_and(non_zero_columns, non_zero_columns)

            new_goals = (
                binary_mask[:, None] * transition.observation[new_goals_idx][:, env.goal_indices]
                + jnp.logical_not(binary_mask)[:, None] * transition.observation[new_goals_idx][:, env.state_dim :]
            )

            # Transform observation
            state = transition.observation[:, : env.state_dim]
            new_obs = jnp.concatenate([state, new_goals], axis=1)

            # Recalculate reward
            dist = jnp.linalg.norm(new_obs[:, env.state_dim :] - new_obs[:, env.goal_indices], axis=1)
            new_reward = jnp.array(dist < env.goal_reach_thresh, dtype=float)

            # Transform next observation
            next_state = transition.next_observation[:, : env.state_dim]
            new_next_obs = jnp.concatenate([next_state, new_goals], axis=1)

            return transition._replace(
                observation=jnp.squeeze(new_obs),
                next_observation=jnp.squeeze(new_next_obs),
                reward=jnp.squeeze(new_reward),
            )

        return transition


@flax.struct.dataclass
class TrainingState:
    """Contains training state for the learner."""

    policy_optimizer_state: optax.OptState
    policy_params: Params
    q_optimizer_state: optax.OptState
    q_params: Params
    target_q_params: Params
    gradient_steps: jnp.ndarray
    env_steps: jnp.ndarray
    alpha_optimizer_state: optax.OptState
    alpha_params: Params
    normalizer_params: running_statistics.RunningStatisticsState


def _unpmap(v):
    return jax.tree_util.tree_map(lambda x: x[0], v)


def _init_training_state(
    key: PRNGKey,
    obs_size: int,
    local_devices_to_use: int,
    sac_network: sac_networks.SACNetworks,
    alpha_optimizer: optax.GradientTransformation,
    policy_optimizer: optax.GradientTransformation,
    q_optimizer: optax.GradientTransformation,
) -> TrainingState:
    """Inits the training state and replicates it over devices."""
    key_policy, key_q = jax.random.split(key)
    log_alpha = jnp.asarray(0.0, dtype=jnp.float32)
    alpha_optimizer_state = alpha_optimizer.init(log_alpha)

    policy_params = sac_network.policy_network.init(key_policy)
    policy_optimizer_state = policy_optimizer.init(policy_params)
    q_params = sac_network.q_network.init(key_q)
    q_optimizer_state = q_optimizer.init(q_params)

    normalizer_params = running_statistics.init_state(specs.Array((obs_size,), jnp.dtype("float32")))

    training_state = TrainingState(
        policy_optimizer_state=policy_optimizer_state,
        policy_params=policy_params,
        q_optimizer_state=q_optimizer_state,
        q_params=q_params,
        target_q_params=q_params,
        gradient_steps=jnp.zeros(()),
        env_steps=jnp.zeros(()),
        alpha_optimizer_state=alpha_optimizer_state,
        alpha_params=log_alpha,
        normalizer_params=normalizer_params,
    )
    return jax.device_put_replicated(training_state, jax.local_devices()[:local_devices_to_use])


def train(
    environment: Union[envs_v1.Env, envs.Env],
    num_timesteps,
    episode_length: int,
    action_repeat: int = 1,
    num_envs: int = 1,
    num_eval_envs: int = 128,
    learning_rate: float = 1e-4,
    discounting: float = 0.9,
    seed: int = 0,
    batch_size: int = 256,
    num_evals: int = 1,
    normalize_observations: bool = False,
    max_devices_per_host: Optional[int] = None,
    reward_scaling: float = 1.0,
    tau: float = 0.005,
    min_replay_size: int = 0,
    max_replay_size: Optional[int] = None,
    deterministic_eval: bool = False,
    network_factory: types.NetworkFactory[sac_networks.SACNetworks] = sac_networks.make_sac_networks,
    progress_fn: Callable[[int, Metrics], None] = lambda *args: None,
    train_step_multiplier: int = 1,
    unroll_length: int = 50,
    config: NamedTuple = None,
    checkpoint_logdir: Optional[str] = None,
    eval_env: Optional[envs.Env] = None,
    randomization_fn: Optional[Callable[[base.System, jnp.ndarray], Tuple[base.System, base.System]]] = None,
    visualization_interval: int = 5,
):
    """SAC training."""
    process_id = jax.process_index()
    local_devices_to_use = jax.local_device_count()
    if max_devices_per_host is not None:
        local_devices_to_use = min(local_devices_to_use, max_devices_per_host)
    device_count = local_devices_to_use * jax.process_count()
    logging.info("local_device_count: %s; total_device_count: %s", local_devices_to_use, device_count)

    if min_replay_size >= num_timesteps:
        raise ValueError("No training will happen because min_replay_size >= num_timesteps")

    if max_replay_size is None:
        max_replay_size = num_timesteps

    # The number of environment steps executed for every `actor_step()` call.
    env_steps_per_actor_step = action_repeat * num_envs * unroll_length
    num_prefill_actor_steps = min_replay_size // unroll_length + 1
    print("Num_prefill_actor_steps: ", num_prefill_actor_steps)
    num_prefill_env_steps = num_prefill_actor_steps * env_steps_per_actor_step
    assert num_timesteps - min_replay_size >= 0
    num_evals_after_init = max(num_evals - 1, 1)
    # The number of epoch calls per training
    # equals to
    # ceil(num_timesteps - num_prefill_env_steps /
    #      (num_evals_after_init * env_steps_per_actor_step))
    num_training_steps_per_epoch = -(
        -(num_timesteps - num_prefill_env_steps) // (num_evals_after_init * env_steps_per_actor_step)
    )

    assert num_envs % device_count == 0
    env = environment
    if isinstance(env, envs.Env):
        wrap_for_training = envs.training.wrap
    else:
        wrap_for_training = envs_v1.wrappers.wrap_for_training

    rng = jax.random.PRNGKey(seed)
    rng, key = jax.random.split(rng)
    v_randomization_fn = None
    if randomization_fn is not None:
        v_randomization_fn = functools.partial(
            randomization_fn,
            rng=jax.random.split(key, num_envs // jax.process_count() // local_devices_to_use),
        )
    env = TrajectoryIdWrapper(env)
    env = wrap_for_training(
        env,
        episode_length=episode_length,
        action_repeat=action_repeat,
        randomization_fn=v_randomization_fn,
    )
    unwrapped_env = environment

    obs_size = env.observation_size
    action_size = env.action_size

    normalize_fn = lambda x, y: x
    if normalize_observations:
        normalize_fn = running_statistics.normalize
    sac_network = network_factory(
        observation_size=obs_size, action_size=action_size, preprocess_observations_fn=normalize_fn
    )
    make_policy = sac_networks.make_inference_fn(sac_network)

    alpha_optimizer = optax.adam(learning_rate=3e-4)

    policy_optimizer = optax.adam(learning_rate=learning_rate)
    q_optimizer = optax.adam(learning_rate=learning_rate)

    dummy_obs = jnp.zeros((obs_size,))
    dummy_action = jnp.zeros((action_size,))
    dummy_transition = Transition(  # pytype: disable=wrong-arg-types  # jax-ndarray
        observation=dummy_obs,
        next_observation=dummy_obs,
        action=dummy_action,
        reward=0.0,
        discount=0.0,
        extras={
            "state_extras": {
                "truncation": 0.0,
                "traj_id": 0.0,
            },
            "policy_extras": {},
        },
    )
    replay_buffer = jit_wrap(
        TrajectoryUniformSamplingQueue(
            max_replay_size=max_replay_size // device_count,
            dummy_data_sample=dummy_transition,
            sample_batch_size=batch_size // device_count,
            num_envs=num_envs,
            episode_length=episode_length,
        )
    )

    alpha_loss, critic_loss, actor_loss = sac_losses.make_losses(
        sac_network=sac_network, reward_scaling=reward_scaling, discounting=discounting, action_size=action_size
    )
    alpha_update = gradients.gradient_update_fn(  # pytype: disable=wrong-arg-types  # jax-ndarray
        alpha_loss, alpha_optimizer, pmap_axis_name=_PMAP_AXIS_NAME
    )
    critic_update = gradients.gradient_update_fn(  # pytype: disable=wrong-arg-types  # jax-ndarray
        critic_loss, q_optimizer, pmap_axis_name=_PMAP_AXIS_NAME
    )
    actor_update = gradients.gradient_update_fn(  # pytype: disable=wrong-arg-types  # jax-ndarray
        actor_loss, policy_optimizer, pmap_axis_name=_PMAP_AXIS_NAME
    )

    def update_step(
        carry: Tuple[TrainingState, PRNGKey], transitions: Transition
    ) -> Tuple[Tuple[TrainingState, PRNGKey], Metrics]:
        training_state, key = carry

        key, key_alpha, key_critic, key_actor = jax.random.split(key, 4)

        alpha_loss, alpha_params, alpha_optimizer_state = alpha_update(
            training_state.alpha_params,
            training_state.policy_params,
            training_state.normalizer_params,
            transitions,
            key_alpha,
            optimizer_state=training_state.alpha_optimizer_state,
        )
        alpha = jnp.exp(training_state.alpha_params)
        critic_loss, q_params, q_optimizer_state = critic_update(
            training_state.q_params,
            training_state.policy_params,
            training_state.normalizer_params,
            training_state.target_q_params,
            alpha,
            transitions,
            key_critic,
            optimizer_state=training_state.q_optimizer_state,
        )
        actor_loss, policy_params, policy_optimizer_state = actor_update(
            training_state.policy_params,
            training_state.normalizer_params,
            training_state.q_params,
            alpha,
            transitions,
            key_actor,
            optimizer_state=training_state.policy_optimizer_state,
        )

        new_target_q_params = jax.tree_util.tree_map(
            lambda x, y: x * (1 - tau) + y * tau, training_state.target_q_params, q_params
        )

        metrics = {
            "critic_loss": critic_loss,
            "actor_loss": actor_loss,
            "alpha_loss": alpha_loss,
            "alpha": jnp.exp(alpha_params),
        }

        new_training_state = TrainingState(
            policy_optimizer_state=policy_optimizer_state,
            policy_params=policy_params,
            q_optimizer_state=q_optimizer_state,
            q_params=q_params,
            target_q_params=new_target_q_params,
            gradient_steps=training_state.gradient_steps + 1,
            env_steps=training_state.env_steps,
            alpha_optimizer_state=alpha_optimizer_state,
            alpha_params=alpha_params,
            normalizer_params=training_state.normalizer_params,
        )
        return (new_training_state, key), metrics

    def get_experience(
        normalizer_params: running_statistics.RunningStatisticsState,
        policy_params: Params,
        env_state: Union[envs.State, envs_v1.State],
        buffer_state: ReplayBufferState,
        key: PRNGKey,
    ) -> Tuple[
        running_statistics.RunningStatisticsState,
        Union[envs.State, envs_v1.State],
        ReplayBufferState,
    ]:
        policy = make_policy((normalizer_params, policy_params))

        @jax.jit
        def f(carry, unused_t):
            env_state, current_key = carry
            current_key, next_key = jax.random.split(current_key)
            env_state, transition = actor_step(
                env,
                env_state,
                policy,
                current_key,
                extra_fields=(
                    "truncation",
                    "traj_id",
                ),
            )
            return (env_state, next_key), transition

        (env_state, _), data = jax.lax.scan(f, (env_state, key), (), length=unroll_length)

        normalizer_params = running_statistics.update(
            normalizer_params,
            jax.tree_util.tree_map(
                lambda x: jnp.reshape(x, (-1,) + x.shape[2:]), data
            ).observation,  # so that batch size*unroll_length is the first dimension
            pmap_axis_name=_PMAP_AXIS_NAME,
        )
        buffer_state = replay_buffer.insert(buffer_state, data)
        return normalizer_params, env_state, buffer_state

    def training_step(
        training_state: TrainingState,
        env_state: envs.State,
        buffer_state: ReplayBufferState,
        key: PRNGKey,
    ) -> Tuple[TrainingState, Union[envs.State, envs_v1.State], ReplayBufferState, Metrics]:
        experience_key, training_key = jax.random.split(key)
        normalizer_params, env_state, buffer_state = get_experience(
            training_state.normalizer_params,
            training_state.policy_params,
            env_state,
            buffer_state,
            experience_key,
        )
        training_state = training_state.replace(
            normalizer_params=normalizer_params,
            env_steps=training_state.env_steps + env_steps_per_actor_step,
        )

        training_state, buffer_state, metrics = train_steps(training_state, buffer_state, training_key)
        return training_state, env_state, buffer_state, metrics

    def prefill_replay_buffer(
        training_state: TrainingState,
        env_state: envs.State,
        buffer_state: ReplayBufferState,
        key: PRNGKey,
    ) -> Tuple[TrainingState, envs.State, ReplayBufferState, PRNGKey]:
        def f(carry, unused):
            del unused
            training_state, env_state, buffer_state, key = carry
            key, new_key = jax.random.split(key)
            new_normalizer_params, env_state, buffer_state = get_experience(
                training_state.normalizer_params,
                training_state.policy_params,
                env_state,
                buffer_state,
                key,
            )
            new_training_state = training_state.replace(
                normalizer_params=new_normalizer_params,
                env_steps=training_state.env_steps + env_steps_per_actor_step,
            )
            return (new_training_state, env_state, buffer_state, new_key), ()

        return jax.lax.scan(
            f,
            (training_state, env_state, buffer_state, key),
            (),
            length=num_prefill_actor_steps,
        )[0]

    prefill_replay_buffer = jax.pmap(prefill_replay_buffer, axis_name=_PMAP_AXIS_NAME)

    def train_steps(
        training_state: TrainingState,
        buffer_state: ReplayBufferState,
        key: PRNGKey,
    ) -> Tuple[TrainingState, ReplayBufferState, Metrics]:
        experience_key, training_key, sampling_key = jax.random.split(key, 3)
        buffer_state, transitions = replay_buffer.sample(buffer_state)

        batch_keys = jax.random.split(sampling_key, transitions.observation.shape[0])
        transitions = jax.vmap(TrajectoryUniformSamplingQueue.flatten_crl_fn, in_axes=(None, None, 0, 0))(
            config, env, transitions, batch_keys
        )

        # Shuffle transitions and reshape them into (number_of_sgd_steps, batch_size, ...)
        transitions = jax.tree_util.tree_map(
            lambda x: jnp.reshape(x, (-1,) + x.shape[2:], order="F"),
            transitions,
        )
        permutation = jax.random.permutation(experience_key, len(transitions.observation))
        transitions = jax.tree_util.tree_map(lambda x: x[permutation], transitions)
        transitions = jax.tree_util.tree_map(
            lambda x: jnp.reshape(x, (-1, batch_size) + x.shape[1:]),
            transitions,
        )

        (training_state, _), metrics = jax.lax.scan(update_step, (training_state, training_key), transitions)
        return training_state, buffer_state, metrics

    def scan_train_steps(n, ts, bs, update_key):

        def body(carry, unsued_t):
            ts, bs, update_key = carry
            new_key, update_key = jax.random.split(update_key)
            ts, bs, metrics = train_steps(ts, bs, update_key)
            return (ts, bs, new_key), metrics

        return jax.lax.scan(body, (ts, bs, update_key), (), length=n)

    def training_epoch(
        training_state: TrainingState,
        env_state: envs.State,
        buffer_state: ReplayBufferState,
        key: PRNGKey,
    ) -> Tuple[TrainingState, envs.State, ReplayBufferState, Metrics]:
        def f(carry, unused_t):
            ts, es, bs, k = carry
            k, new_key, update_key = jax.random.split(k, 3)
            ts, es, bs, metrics = training_step(ts, es, bs, k)
            (ts, bs, update_key), _ = scan_train_steps(train_step_multiplier - 1, ts, bs, update_key)
            return (ts, es, bs, new_key), metrics

        (training_state, env_state, buffer_state, key), metrics = jax.lax.scan(
            f,
            (training_state, env_state, buffer_state, key),
            (),
            length=num_training_steps_per_epoch,
        )
        metrics["buffer_current_size"] = replay_buffer.size(buffer_state)
        metrics = jax.tree_util.tree_map(jnp.mean, metrics)
        return training_state, env_state, buffer_state, metrics

    training_epoch = jax.pmap(training_epoch, axis_name=_PMAP_AXIS_NAME)

    # Note that this is NOT a pure jittable method.
    def training_epoch_with_timing(
        training_state: TrainingState, env_state: envs.State, buffer_state: ReplayBufferState, key: PRNGKey
    ) -> Tuple[TrainingState, envs.State, ReplayBufferState, Metrics]:
        nonlocal training_walltime
        t = time.time()
        (training_state, env_state, buffer_state, metrics) = training_epoch(
            training_state, env_state, buffer_state, key
        )
        metrics = jax.tree_util.tree_map(jnp.mean, metrics)
        jax.tree_util.tree_map(lambda x: x.block_until_ready(), metrics)

        epoch_training_time = time.time() - t
        training_walltime += epoch_training_time
        sps = (env_steps_per_actor_step * num_training_steps_per_epoch) / epoch_training_time
        metrics = {
            "training/sps": sps,
            "training/walltime": training_walltime,
            **{f"training/{name}": value for name, value in metrics.items()},
        }
        return training_state, env_state, buffer_state, metrics  # pytype: disable=bad-return-type  # py311-upgrade

    global_key, local_key = jax.random.split(rng)
    local_key = jax.random.fold_in(local_key, process_id)

    # Training state init
    training_state = _init_training_state(
        key=global_key,
        obs_size=obs_size,
        local_devices_to_use=local_devices_to_use,
        sac_network=sac_network,
        alpha_optimizer=alpha_optimizer,
        policy_optimizer=policy_optimizer,
        q_optimizer=q_optimizer,
    )
    del global_key

    local_key, rb_key, env_key, eval_key = jax.random.split(local_key, 4)

    # Env init
    env_keys = jax.random.split(env_key, num_envs // jax.process_count())
    env_keys = jnp.reshape(env_keys, (local_devices_to_use, -1) + env_keys.shape[1:])
    env_state = jax.pmap(env.reset)(env_keys)

    # Replay buffer init
    buffer_state = jax.pmap(replay_buffer.init)(jax.random.split(rb_key, local_devices_to_use))

    if not eval_env:
        eval_env = environment
    if randomization_fn is not None:
        v_randomization_fn = functools.partial(randomization_fn, rng=jax.random.split(eval_key, num_eval_envs))
    eval_env = TrajectoryIdWrapper(eval_env)
    eval_env = wrap_for_training(
        eval_env,
        episode_length=episode_length,
        action_repeat=action_repeat,
        randomization_fn=v_randomization_fn,
    )

    evaluator = CrlEvaluator(
        eval_env,
        functools.partial(make_policy, deterministic=deterministic_eval),
        num_eval_envs=num_eval_envs,
        episode_length=episode_length,
        action_repeat=action_repeat,
        key=eval_key,
    )

    # Run initial eval
    metrics = {}
    if process_id == 0 and num_evals > 1:
        metrics = evaluator.run_evaluation(
            _unpmap((training_state.normalizer_params, training_state.policy_params)), training_metrics={}
        )
        logging.info(metrics)
        progress_fn(0, metrics, make_policy, _unpmap((training_state.normalizer_params, training_state.policy_params)), unwrapped_env)

    # Create and initialize the replay buffer.
    t = time.time()
    prefill_key, local_key = jax.random.split(local_key)
    prefill_keys = jax.random.split(prefill_key, local_devices_to_use)
    training_state, env_state, buffer_state, _ = prefill_replay_buffer(
        training_state, env_state, buffer_state, prefill_keys
    )

    replay_size = jnp.sum(jax.vmap(replay_buffer.size)(buffer_state)) * jax.process_count()
    logging.info("replay size after prefill %s", replay_size)
    assert replay_size >= min_replay_size
    training_walltime = time.time() - t

    current_step = 0
    for eval_epoch_num in range(num_evals_after_init):
        logging.info("step %s", current_step)

        # Optimization
        epoch_key, local_key = jax.random.split(local_key)
        epoch_keys = jax.random.split(epoch_key, local_devices_to_use)
        (training_state, env_state, buffer_state, training_metrics) = training_epoch_with_timing(
            training_state, env_state, buffer_state, epoch_keys
        )
        current_step = int(_unpmap(training_state.env_steps))

        # Eval and logging
        if process_id == 0:
            if checkpoint_logdir:
                # Save current policy.
                params = _unpmap((training_state.normalizer_params, training_state.policy_params))
                path = f"{checkpoint_logdir}_sac_{current_step}.pkl"
                model.save_params(path, params)

            # Run evals.
            metrics = evaluator.run_evaluation(
                _unpmap((training_state.normalizer_params, training_state.policy_params)), training_metrics
            )
            logging.info(metrics)
            do_render = (eval_epoch_num % visualization_interval) == 0
            progress_fn(current_step, metrics, make_policy, _unpmap((training_state.normalizer_params, training_state.policy_params)), unwrapped_env, do_render)

    total_steps = current_step
    assert total_steps >= num_timesteps

    params = _unpmap((training_state.normalizer_params, training_state.policy_params))

    # If there was no mistakes the training_state should still be identical on all
    # devices.
    pmap.assert_is_replicated(training_state)
    logging.info("total steps: %s", total_steps)
    pmap.synchronize_hosts()
    return (make_policy, params, metrics)