def compute_estimate(self,
mini_batch: AgentBuffer,
use_vail_noise: bool = False) -> torch.Tensor:
"""
Given a mini_batch, computes the estimate (How much the discriminator believes
the data was sampled from the demonstration data).
:param mini_batch: The AgentBuffer of data
:param use_vail_noise: Only when using VAIL : If true, will sample the code, if
false, will return the mean of the code.
"""
vec_inputs, vis_inputs = self.get_state_inputs(mini_batch)
if self._settings.use_actions:
actions = self.get_action_input(mini_batch)
dones = torch.as_tensor(mini_batch["done"],
dtype=torch.float).unsqueeze(1)
action_inputs = torch.cat([actions, dones], dim=1)
hidden, _ = self.encoder(vec_inputs, vis_inputs, action_inputs)
else:
hidden, _ = self.encoder(vec_inputs, vis_inputs)
z_mu: Optional[torch.Tensor] = None
if self._settings.use_vail:
z_mu = self._z_mu_layer(hidden)
hidden = torch.normal(z_mu, self._z_sigma * use_vail_noise)
estimate = self._estimator(hidden)
return estimate, z_mu
def compute_gradient_magnitude(self, policy_batch: AgentBuffer,
expert_batch: AgentBuffer) -> torch.Tensor:
"""
Gradient penalty from https://arxiv.org/pdf/1704.00028. Adds stability esp.
for off-policy. Compute gradients w.r.t randomly interpolated input.
"""
policy_inputs = self.get_state_inputs(policy_batch)
expert_inputs = self.get_state_inputs(expert_batch)
interp_inputs = []
for policy_input, expert_input in zip(policy_inputs, expert_inputs):
obs_epsilon = torch.rand(policy_input.shape)
interp_input = obs_epsilon * policy_input + (
1 - obs_epsilon) * expert_input
interp_input.requires_grad = True # For gradient calculation
interp_inputs.append(interp_input)
if self._settings.use_actions:
policy_action = self.get_action_input(policy_batch)
expert_action = self.get_action_input(expert_batch)
action_epsilon = torch.rand(policy_action.shape)
policy_dones = torch.as_tensor(policy_batch["done"],
dtype=torch.float).unsqueeze(1)
expert_dones = torch.as_tensor(expert_batch["done"],
dtype=torch.float).unsqueeze(1)
dones_epsilon = torch.rand(policy_dones.shape)
action_inputs = torch.cat(
[
action_epsilon * policy_action +
(1 - action_epsilon) * expert_action,
dones_epsilon * policy_dones +
(1 - dones_epsilon) * expert_dones,
],
dim=1,
)
action_inputs.requires_grad = True
hidden, _ = self.encoder(interp_inputs, action_inputs)
encoder_input = tuple(interp_inputs + [action_inputs])
else:
hidden, _ = self.encoder(interp_inputs)
encoder_input = tuple(interp_inputs)
if self._settings.use_vail:
use_vail_noise = True
z_mu = self._z_mu_layer(hidden)
hidden = torch.normal(z_mu, self._z_sigma * use_vail_noise)
estimate = self._estimator(hidden).squeeze(1).sum()
gradient = torch.autograd.grad(estimate,
encoder_input,
create_graph=True)[0]
# Norm's gradient could be NaN at 0. Use our own safe_norm
safe_norm = (torch.sum(gradient**2, dim=1) + self.EPSILON).sqrt()
gradient_mag = torch.mean((safe_norm - 1)**2)
return gradient_mag
