def __init__(self, config):
self.num_hierarchies = 2
dim_in = config.dims.target + config.dims.ctrl_encoder
dim_out_1 = config.dims.auxiliary
dim_out_2 = config.dims.switch
dims_stems = config.dims_encoder
activations_stems = config.activations_encoders
dim_in_stem_2 = dims_stems[0][-1] if len(dims_stems[0]) > 0 else dim_in
dim_in_dist_params_1 = (dims_stems[0][-1]
if len(dims_stems[0]) > 0 else dim_in)
dim_in_dist_params_2 = (dims_stems[1][-1]
if len(dims_stems[1]) > 0 else dim_in_stem_2)
super().__init__(
allow_cat_inputs=True,
stem=nn.ModuleList([
MLP(
dim_in=dim_in,
dims=dims_stems[0],
activations=activations_stems[0],
),
MLP(
dim_in=dim_in_stem_2,
dims=dims_stems[1],
activations=activations_stems[1],
),
]),
dist_params=nn.ModuleList([
nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params_1,
out_features=dim_out_1,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params_1,
dim_out_1,
),
}),
nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params_2,
out_features=dim_out_2,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params_2,
dim_out_2,
),
}),
]),
dist_cls=[MultivariateNormal, MultivariateNormal],
)
def __init__(self, config):
super().__init__()
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg(config)
self.conditional_dist = ParametrisedConditionalDistribution(
stem=MLP(
dim_in=dim_in, dims=dims_stem, activations=activations_stem,
),
dist_params=nn.ModuleDict(
{
"loc": nn.Sequential(Linear(dim_in_dist_params, dim_out),),
"scale_tril": DefaultScaleTransform(
dim_in_dist_params,
dim_out,
),
}
),
dist_cls=MultivariateNormal,
)
def __init__(self, config):
super().__init__()
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg(config)
self.conditional_dist = ParametrisedConditionalDistribution(
stem=MLP(
dim_in=dim_in, dims=dims_stem, activations=activations_stem,
),
dist_params=nn.ModuleDict(
{
"loc": nn.Sequential(Linear(dim_in_dist_params, dim_out),),
"scale_tril": Constant(
val=0,
shp_append=(dim_out, dim_out),
n_dims_from_input=-1, # x.shape[:-1]
),
}
),
dist_cls=MultivariateNormal,
)
def __init__(self, config):
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg_obs(config=config)
super().__init__(
allow_cat_inputs=True,
stem=MLP(
dim_in=dim_in,
dims=dims_stem,
activations=activations_stem,
),
dist_params=nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params,
out_features=dim_out,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params,
dim_out,
),
}),
dist_cls=MultivariateNormal,
)
def __init__(self, config):
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg_obs(config=config)
super().__init__(
allow_cat_inputs=True,
stem=MLP(
dim_in=dim_in,
dims=dims_stem,
activations=activations_stem,
),
dist_params=nn.ModuleDict({
"logits":
nn.Sequential(
Linear(
in_features=dim_in_dist_params,
out_features=dim_out,
),
SigmoidLimiter(limits=[-5, 5]),
)
}),
dist_cls=OneHotCategorical,
)
def __init__(
self,
dim_in: int,
dims: Tuple[int],
activations: (Tuple[nn.Module], nn.Module, None),
norm_type: Optional[NormalizationType] = None,
# norm_type: Optional[NormalizationType] = NormalizationType.layer_learnable,
):
super().__init__()
assert isinstance(dims, (tuple, list))
if not isinstance(activations, (tuple, list)):
activations = tuple(activations for _ in range(len(dims)))
dims_in = (dim_in, ) + tuple(dims[:-1])
dims_out = dims
for l, (n_in, n_out,
activation) in enumerate(zip(dims_in, dims_out, activations)):
self.add_module(name=f"linear_{l}", module=Linear(n_in, n_out))
norm_layer = make_norm_layer(
norm_type=norm_type,
shp_features=[n_out], # after Dense -> out
)
if norm_layer is not None:
self.add_module(name=f"norm_{norm_type.name}_{l}",
module=norm_layer)
if activation is not None:
self.add_module(name=f"activation_{l}", module=activation)
def __init__(self, config):
dim_in = config.dims.target
dim_out = config.dims.auxiliary
dims_stem = config.dims_encoder
activations_stem = config.activations_decoder
dim_in_dist_params = dims_stem[-1] if len(dims_stem) > 0 else dim_in
super().__init__(
allow_cat_inputs=True,
stem=MLP(
dim_in=dim_in,
dims=dims_stem,
activations=activations_stem,
),
dist_params=nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params,
out_features=dim_out,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params,
dim_out,
),
}),
dist_cls=MultivariateNormal,
)
def __init__(self, config):
super().__init__()
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg(config=config)
if dim_in is None:
self.dist = ParametrisedOneHotCategorical(
logits=torch.zeros(dim_out), requires_grad=True,
)
else:
self.dist = ParametrisedConditionalDistribution(
stem=MLP(
dim_in=dim_in,
dims=dims_stem,
activations=activations_stem,
),
dist_params=nn.ModuleDict(
{
"logits": nn.Sequential(
Linear(
in_features=dim_in_dist_params,
out_features=dim_out,
),
# SigmoidLimiter(limits=[-10, 10]),
)
}
),
dist_cls=OneHotCategorical,
)
def __init__(self, config):
shp_enc_out, dim_out_flat_conv = compute_cnn_output_filters_and_dims(
dims_img=config.dims_img,
dims_filter=config.dims_conv,
kernel_sizes=config.kernel_sizes_conv,
strides=config.kernel_sizes_conv,
paddings=config.paddings_conv,
)
super().__init__(
stem=nn.Sequential(
Reshape(config.dims_img), # TxPxB will be flattened before.
Conv2d(
in_channels=config.dims_img[0],
out_channels=config.dims_conv[0],
kernel_size=config.kernel_sizes_conv[0],
stride=config.strides_conv[0],
padding=config.paddings_conv[0],
),
nn.ReLU(),
Conv2d(
in_channels=config.dims_conv[0],
out_channels=config.dims_conv[1],
kernel_size=config.kernel_sizes_conv[1],
stride=config.strides_conv[1],
padding=config.paddings_conv[1],
),
nn.ReLU(),
Conv2d(
in_channels=config.dims_conv[1],
out_channels=config.dims_conv[2],
kernel_size=config.kernel_sizes_conv[2],
stride=config.strides_conv[2],
padding=config.paddings_conv[2],
),
nn.ReLU(),
Reshape((dim_out_flat_conv, )), # Flatten image dims
),
dist_params=nn.ModuleDict({
"logits":
Linear(
in_features=dim_out_flat_conv,
out_features=config.dims.switch,
),
}),
dist_cls=OneHotCategorical,
)
def __init__(self, config):
super().__init__()
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg(config=config)
if dim_in is None:
covariance_matrix = (
(config.switch_prior_scale ** 2) or 1.0
) * torch.eye(dim_out)
LVinv_tril, LVinv_logdiag = make_inv_tril_parametrization(
covariance_matrix
)
self.dist = ParametrisedMultivariateNormal(
m=torch.ones(config.dims.switch) * config.switch_prior_loc,
LVinv_tril=LVinv_tril,
LVinv_logdiag=LVinv_logdiag,
requires_grad_m=config.requires_grad_switch_prior,
requires_diag_LVinv_tril=False,
requires_diag_LVinv_logdiag=config.requires_grad_switch_prior,
)
else:
self.dist = ParametrisedConditionalDistribution(
stem=MLP(
dim_in=dim_in,
dims=dims_stem,
activations=activations_stem,
),
dist_params=nn.ModuleDict(
{
"loc": nn.Sequential(
Linear(dim_in_dist_params, dim_out),
),
"scale_tril": DefaultScaleTransform(
dim_in_dist_params, dim_out,
),
}
),
dist_cls=MultivariateNormal,
)
def __init__(self, config):
super().__init__()
(
dim_in,
dim_out,
dims_stem,
activations_stem,
dim_in_dist_params,
) = _extract_dims_from_cfg(config)
dim_in_dist_params = dims_stem[-1] if len(dims_stem) > 0 else dim_in
self.conditional_dist = ParametrisedConditionalDistribution(
stem=MLP(
dim_in=dim_in, dims=dims_stem, activations=activations_stem,
),
dist_params=nn.ModuleDict(
{
"logits": nn.Sequential(
Linear(dim_in_dist_params, dim_out),
SigmoidLimiter(limits=[-10, 10]),
)
}
),
dist_cls=OneHotCategorical,
)
def __init__(self, config):
self.num_hierarchies = 2
if config.dims.ctrl_encoder not in [None, 0]:
raise ValueError(
"no controls. would require different architecture "
"or mixing with images.")
shp_enc_out, dim_out_flat_conv = compute_cnn_output_filters_and_dims(
dims_img=config.dims_img,
dims_filter=config.dims_filter,
kernel_sizes=config.kernel_sizes,
strides=config.strides,
paddings=config.paddings,
)
assert config.dims_encoder[0] is None, (
"first stem is a conv net. "
"config is given differently...")
dims_stem_2 = ( # TODO: really past self?
32,
32,
)
activations_stem_2 = nn.ReLU()
dim_out_1 = config.dims.auxiliary
dim_out_2 = config.dims.switch
dim_in_dist_params_1 = dim_out_flat_conv
dim_in_dist_params_2 = (dims_stem_2[-1]
if len(dims_stem_2) > 0 else dim_out_flat_conv)
super().__init__(
allow_cat_inputs=False, # images and scalar...
stem=nn.ModuleList([
nn.Sequential(
Reshape(
config.dims_img), # TxPxB will be flattened before.
Conv2d(
in_channels=config.dims_img[0],
out_channels=config.dims_filter[0],
kernel_size=config.kernel_sizes[0],
stride=config.strides[0],
padding=config.paddings[0],
),
nn.ReLU(),
Conv2d(
in_channels=config.dims_filter[0],
out_channels=config.dims_filter[1],
kernel_size=config.kernel_sizes[1],
stride=config.strides[1],
padding=config.paddings[1],
),
nn.ReLU(),
Conv2d(
in_channels=config.dims_filter[1],
out_channels=config.dims_filter[2],
kernel_size=config.kernel_sizes[2],
stride=config.strides[2],
padding=config.paddings[2],
),
nn.ReLU(),
Reshape((dim_out_flat_conv, )), # Flatten image dims
),
MLP(
dim_in=dim_out_flat_conv,
dims=dims_stem_2,
activations=activations_stem_2,
),
]),
dist_params=nn.ModuleList([
nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params_1,
out_features=dim_out_1,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params_1,
dim_out_1,
),
}),
nn.ModuleDict({
"loc":
nn.Sequential(
Linear(
in_features=dim_in_dist_params_2,
out_features=dim_out_2,
), ),
"scale_tril":
DefaultScaleTransform(
dim_in_dist_params_2,
dim_out_2,
),
}),
]),
dist_cls=[MultivariateNormal, MultivariateNormal],
)
def __init__(self, config):
shp_enc_out, dim_out_flat_conv = compute_cnn_output_filters_and_dims(
dims_img=config.dims_img,
dims_filter=config.dims_filter,
kernel_sizes=config.kernel_sizes,
strides=config.strides,
paddings=config.paddings,
)
if not config.requires_grad_Q and isinstance(config.init_scale_Q_diag,
float):
fixed_max_scale = True
elif config.requires_grad_Q and not isinstance(
config.init_scale_Q_diag, float):
fixed_max_scale = False
else:
raise ValueError("unclear what encoder scale rectifier to use.")
super().__init__(
stem=nn.Sequential(
Reshape(config.dims_img), # TxPxB will be flattened before.
nn.ZeroPad2d(padding=[0, 1, 0, 1]),
Conv2d(
in_channels=config.dims_img[0],
out_channels=config.dims_filter[0],
kernel_size=config.kernel_sizes[0],
stride=config.strides[0],
padding=0,
),
nn.ReLU(),
nn.ZeroPad2d(padding=[0, 1, 0, 1]),
Conv2d(
in_channels=config.dims_filter[0],
out_channels=config.dims_filter[1],
kernel_size=config.kernel_sizes[1],
stride=config.strides[1],
padding=0,
),
nn.ReLU(),
nn.ZeroPad2d(padding=[0, 1, 0, 1]),
Conv2d(
in_channels=config.dims_filter[1],
out_channels=config.dims_filter[2],
kernel_size=config.kernel_sizes[2],
stride=config.strides[2],
padding=0,
),
nn.ReLU(),
Reshape((dim_out_flat_conv, )), # Flatten image dims
),
dist_params=nn.ModuleDict({
"loc":
Linear(
in_features=dim_out_flat_conv,
out_features=config.dims.auxiliary,
),
"scale":
nn.Sequential(
Linear(
in_features=dim_out_flat_conv,
out_features=config.dims.auxiliary,
),
ScaledSqrtSigmoid(max_scale=config.init_scale_Q_diag),
) if fixed_max_scale else DefaultScaleTransform(
dim_out_flat_conv,
config.dims.auxiliary,
make_diag_cov_matrix=False,
),
}),
dist_cls=IndependentNormal,
)
def __init__(self, config):
shp_enc_out, dim_out_flat_conv = compute_cnn_output_filters_and_dims(
dims_img=config.dims_img,
dims_filter=config.dims_filter,
kernel_sizes=config.kernel_sizes,
strides=config.strides,
paddings=config.paddings,
)
super().__init__(
stem=nn.Sequential(
Linear(
in_features=config.dims.auxiliary,
out_features=int(np.prod(shp_enc_out)),
),
Reshape(shp_enc_out), # TxPxB will be flattened before.
Conv2d(
in_channels=shp_enc_out[0],
out_channels=config.dims_filter[-1] *
config.upscale_factor**2,
kernel_size=config.kernel_sizes[-1],
stride=1, # Pixelshuffle instead.
padding=config.paddings[-1],
),
nn.PixelShuffle(upscale_factor=config.upscale_factor),
nn.ReLU(),
Conv2d(
in_channels=config.dims_filter[-1],
out_channels=config.dims_filter[-2] *
config.upscale_factor**2,
kernel_size=config.kernel_sizes[-2],
stride=1, # Pixelshuffle instead.
padding=config.paddings[-2],
),
nn.PixelShuffle(upscale_factor=config.upscale_factor),
nn.ReLU(),
Conv2d(
in_channels=config.dims_filter[-2],
out_channels=config.dims_filter[-3] *
config.upscale_factor**2,
kernel_size=config.kernel_sizes[-3],
stride=1, # Pixelshuffle instead.
padding=config.paddings[-3],
),
nn.PixelShuffle(upscale_factor=config.upscale_factor),
nn.ReLU(),
),
dist_params=nn.ModuleDict({
"logits":
nn.Sequential(
Conv2d(
in_channels=config.dims_filter[-3],
out_channels=1,
kernel_size=1,
stride=1,
padding=0,
),
Reshape((config.dims.target, )),
)
}),
dist_cls=IndependentBernoulli,
)
