def __init__(self, input_shape, output_dim, name="GaussianMLPRegressor", mean_network=None, hidden_sizes=(32, 32), hidden_nonlinearity=tf.nn.tanh, optimizer=None, optimizer_args=None, use_trust_region=True, max_kl_step=0.01, learn_std=True, init_std=1.0, adaptive_std=False, std_share_network=False, std_hidden_sizes=(32, 32), std_nonlinearity=None, normalize_inputs=True, normalize_outputs=True, subsample_factor=1.0): """ :param input_shape: Shape of the input data. :param output_dim: Dimension of output. :param hidden_sizes: Number of hidden units of each layer of the mean network. :param hidden_nonlinearity: Non-linearity used for each layer of the mean network. :param optimizer: Optimizer for minimizing the negative log-likelihood. :param use_trust_region: Whether to use trust region constraint. :param max_kl_step: KL divergence constraint for each iteration :param learn_std: Whether to learn the standard deviations. Only effective if adaptive_std is False. If adaptive_std is True, this parameter is ignored, and the weights for the std network are always earned. :param adaptive_std: Whether to make the std a function of the states. :param std_share_network: Whether to use the same network as the mean. :param std_hidden_sizes: Number of hidden units of each layer of the std network. Only used if `std_share_network` is False. It defaults to the same architecture as the mean. :param std_nonlinearity: Non-linearity used for each layer of the std network. Only used if `std_share_network` is False. It defaults to the same non-linearity as the mean. """ Parameterized.__init__(self) Serializable.quick_init(self, locals()) self._mean_network_name = "mean_network" self._std_network_name = "std_network" with tf.variable_scope(name): if optimizer_args is None: optimizer_args = dict() if optimizer is None: if use_trust_region: optimizer = PenaltyLbfgsOptimizer(**optimizer_args) else: optimizer = LbfgsOptimizer(**optimizer_args) else: optimizer = optimizer(**optimizer_args) self._optimizer = optimizer self._subsample_factor = subsample_factor if mean_network is None: if std_share_network: mean_network = MLP( name="mean_network", input_shape=input_shape, output_dim=2 * output_dim, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=None, ) l_mean = L.SliceLayer( mean_network.output_layer, slice(output_dim), name="mean_slice", ) else: mean_network = MLP( name="mean_network", input_shape=input_shape, output_dim=output_dim, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=None, ) l_mean = mean_network.output_layer if adaptive_std: l_log_std = MLP( name="log_std_network", input_shape=input_shape, input_var=mean_network.input_layer.input_var, output_dim=output_dim, hidden_sizes=std_hidden_sizes, hidden_nonlinearity=std_nonlinearity, output_nonlinearity=None, ).output_layer elif std_share_network: l_log_std = L.SliceLayer( mean_network.output_layer, slice(output_dim, 2 * output_dim), name="log_std_slice", ) else: l_log_std = L.ParamLayer( mean_network.input_layer, num_units=output_dim, param=tf.constant_initializer(np.log(init_std)), name="output_log_std", trainable=learn_std, ) LayersPowered.__init__(self, [l_mean, l_log_std]) xs_var = mean_network.input_layer.input_var ys_var = tf.placeholder(dtype=tf.float32, name="ys", shape=(None, output_dim)) old_means_var = tf.placeholder(dtype=tf.float32, name="ys", shape=(None, output_dim)) old_log_stds_var = tf.placeholder(dtype=tf.float32, name="old_log_stds", shape=(None, output_dim)) x_mean_var = tf.Variable( np.zeros((1, ) + input_shape, dtype=np.float32), name="x_mean", ) x_std_var = tf.Variable( np.ones((1, ) + input_shape, dtype=np.float32), name="x_std", ) y_mean_var = tf.Variable( np.zeros((1, output_dim), dtype=np.float32), name="y_mean", ) y_std_var = tf.Variable( np.ones((1, output_dim), dtype=np.float32), name="y_std", ) normalized_xs_var = (xs_var - x_mean_var) / x_std_var normalized_ys_var = (ys_var - y_mean_var) / y_std_var with tf.name_scope(self._mean_network_name, values=[normalized_xs_var]): normalized_means_var = L.get_output( l_mean, {mean_network.input_layer: normalized_xs_var}) with tf.name_scope(self._std_network_name, values=[normalized_xs_var]): normalized_log_stds_var = L.get_output( l_log_std, {mean_network.input_layer: normalized_xs_var}) means_var = normalized_means_var * y_std_var + y_mean_var log_stds_var = normalized_log_stds_var + tf.log(y_std_var) normalized_old_means_var = (old_means_var - y_mean_var) / y_std_var normalized_old_log_stds_var = old_log_stds_var - tf.log(y_std_var) dist = self._dist = DiagonalGaussian(output_dim) normalized_dist_info_vars = dict(mean=normalized_means_var, log_std=normalized_log_stds_var) mean_kl = tf.reduce_mean( dist.kl_sym( dict(mean=normalized_old_means_var, log_std=normalized_old_log_stds_var), normalized_dist_info_vars, )) loss = -tf.reduce_mean( dist.log_likelihood_sym(normalized_ys_var, normalized_dist_info_vars)) self._f_predict = tensor_utils.compile_function([xs_var], means_var) self._f_pdists = tensor_utils.compile_function( [xs_var], [means_var, log_stds_var]) self._l_mean = l_mean self._l_log_std = l_log_std optimizer_args = dict( loss=loss, target=self, network_outputs=[ normalized_means_var, normalized_log_stds_var ], ) if use_trust_region: optimizer_args["leq_constraint"] = (mean_kl, max_kl_step) optimizer_args["inputs"] = [ xs_var, ys_var, old_means_var, old_log_stds_var ] else: optimizer_args["inputs"] = [xs_var, ys_var] self._optimizer.update_opt(**optimizer_args) self._use_trust_region = use_trust_region self._name = name self._normalize_inputs = normalize_inputs self._normalize_outputs = normalize_outputs self._mean_network = mean_network self._x_mean_var = x_mean_var self._x_std_var = x_std_var self._y_mean_var = y_mean_var self._y_std_var = y_std_var # Optionally create assign operations for normalization if self._normalize_inputs: self._x_mean_var_ph = tf.placeholder( shape=(1, ) + input_shape, dtype=tf.float32, ) self._x_std_var_ph = tf.placeholder( shape=(1, ) + input_shape, dtype=tf.float32, ) self._assign_x_mean = tf.assign(self._x_mean_var, self._x_mean_var_ph) self._assign_x_std = tf.assign(self._x_std_var, self._x_std_var_ph) if self._normalize_outputs: self._y_mean_var_ph = tf.placeholder( shape=(1, output_dim), dtype=tf.float32, ) self._y_std_var_ph = tf.placeholder( shape=(1, output_dim), dtype=tf.float32, ) self._assign_y_mean = tf.assign(self._y_mean_var, self._y_mean_var_ph) self._assign_y_std = tf.assign(self._y_std_var, self._y_std_var_ph)
def __init__(self, env_spec, name=None, hidden_sizes=(32, 32), learn_std=True, init_std=1.0, adaptive_std=False, std_share_network=False, std_hidden_sizes=(32, 32), min_std=1e-6, std_hidden_nonlinearity=tf.nn.tanh, hidden_nonlinearity=tf.nn.tanh, output_nonlinearity=None, mean_network=None, std_network=None, std_parametrization='exp'): """ :param env_spec: :param hidden_sizes: list of sizes for the fully-connected hidden layers :param learn_std: Is std trainable :param init_std: Initial std :param adaptive_std: :param std_share_network: :param std_hidden_sizes: list of sizes for the fully-connected layers for std :param min_std: whether to make sure that the std is at least some threshold value, to avoid numerical issues :param std_hidden_nonlinearity: :param hidden_nonlinearity: nonlinearity used for each hidden layer :param output_nonlinearity: nonlinearity for the output layer :param mean_network: custom network for the output mean :param std_network: custom network for the output log std :param std_parametrization: how the std should be parametrized. There are a few options: - exp: the logarithm of the std will be stored, and applied a exponential transformation - softplus: the std will be computed as log(1+exp(x)) :return: """ Serializable.quick_init(self, locals()) assert isinstance(env_spec.action_space, Box) self.name = name self._mean_network_name = "mean_network" self._std_network_name = "std_network" with tf.variable_scope(name, "GaussianMLPPolicy"): obs_dim = env_spec.observation_space.flat_dim action_dim = env_spec.action_space.flat_dim # create network if mean_network is None: if std_share_network: if std_parametrization == "exp": init_std_param = np.log(init_std) elif std_parametrization == "softplus": init_std_param = np.log(np.exp(init_std) - 1) else: raise NotImplementedError init_b = tf.constant_initializer(init_std_param) with tf.variable_scope(self._mean_network_name): mean_network = MLP( name="mlp", input_shape=(obs_dim, ), output_dim=2 * action_dim, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity, output_b_init=init_b, ) l_mean = L.SliceLayer( mean_network.output_layer, slice(action_dim), name="mean_slice", ) else: mean_network = MLP( name=self._mean_network_name, input_shape=(obs_dim, ), output_dim=action_dim, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity, ) l_mean = mean_network.output_layer self._mean_network = mean_network obs_var = mean_network.input_layer.input_var if std_network is not None: l_std_param = std_network.output_layer else: if adaptive_std: std_network = MLP( name=self._std_network_name, input_shape=(obs_dim, ), input_layer=mean_network.input_layer, output_dim=action_dim, hidden_sizes=std_hidden_sizes, hidden_nonlinearity=std_hidden_nonlinearity, output_nonlinearity=None, ) l_std_param = std_network.output_layer elif std_share_network: with tf.variable_scope(self._std_network_name): l_std_param = L.SliceLayer( mean_network.output_layer, slice(action_dim, 2 * action_dim), name="std_slice", ) else: if std_parametrization == 'exp': init_std_param = np.log(init_std) elif std_parametrization == 'softplus': init_std_param = np.log(np.exp(init_std) - 1) else: raise NotImplementedError with tf.variable_scope(self._std_network_name): l_std_param = L.ParamLayer( mean_network.input_layer, num_units=action_dim, param=tf.constant_initializer(init_std_param), name="output_std_param", trainable=learn_std, ) self.std_parametrization = std_parametrization if std_parametrization == 'exp': min_std_param = np.log(min_std) elif std_parametrization == 'softplus': min_std_param = np.log(np.exp(min_std) - 1) else: raise NotImplementedError self.min_std_param = min_std_param # mean_var, log_std_var = L.get_output([l_mean, l_std_param]) # # if self.min_std_param is not None: # log_std_var = tf.maximum(log_std_var, np.log(min_std)) # # self._mean_var, self._log_std_var = mean_var, log_std_var self._l_mean = l_mean self._l_std_param = l_std_param self._dist = DiagonalGaussian(action_dim) LayersPowered.__init__(self, [l_mean, l_std_param]) super(GaussianMLPPolicy, self).__init__(env_spec) dist_info_sym = self.dist_info_sym( mean_network.input_layer.input_var, dict()) mean_var = tf.identity(dist_info_sym["mean"], name="mean") log_std_var = tf.identity(dist_info_sym["log_std"], name="standard_dev") self._f_dist = tensor_utils.compile_function( inputs=[obs_var], outputs=[mean_var, log_std_var], )
def __init__( self, env_spec, name="GaussianGRUPolicy", hidden_dim=32, feature_network=None, state_include_action=True, hidden_nonlinearity=tf.tanh, gru_layer_cls=L.GRULayer, learn_std=True, init_std=1.0, output_nonlinearity=None, std_share_network=False, ): """ :param env_spec: A spec for the env. :param hidden_dim: dimension of hidden layer :param hidden_nonlinearity: nonlinearity used for each hidden layer :return: """ assert isinstance(env_spec.action_space, Box) self._mean_network_name = "mean_network" self._std_network_name = "std_network" with tf.variable_scope(name, "GaussianGRUPolicy"): Serializable.quick_init(self, locals()) super(GaussianGRUPolicy, self).__init__(env_spec) obs_dim = env_spec.observation_space.flat_dim action_dim = env_spec.action_space.flat_dim if state_include_action: input_dim = obs_dim + action_dim else: input_dim = obs_dim l_input = L.InputLayer(shape=(None, None, input_dim), name="input") if feature_network is None: feature_dim = input_dim l_flat_feature = None l_feature = l_input else: feature_dim = feature_network.output_layer.output_shape[-1] l_flat_feature = feature_network.output_layer l_feature = L.OpLayer( l_flat_feature, extras=[l_input], name="reshape_feature", op=lambda flat_feature, input: tf.reshape( flat_feature, tf.stack([ tf.shape(input)[0], tf.shape(input)[1], feature_dim ])), shape_op=lambda _, input_shape: (input_shape[0], input_shape[1], feature_dim)) if std_share_network: mean_network = GRUNetwork( input_shape=(feature_dim, ), input_layer=l_feature, output_dim=2 * action_dim, hidden_dim=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity, gru_layer_cls=gru_layer_cls, name="gru_mean_network") l_mean = L.SliceLayer(mean_network.output_layer, slice(action_dim), name="mean_slice") l_step_mean = L.SliceLayer(mean_network.step_output_layer, slice(action_dim), name="step_mean_slice") l_log_std = L.SliceLayer(mean_network.output_layer, slice(action_dim, 2 * action_dim), name="log_std_slice") l_step_log_std = L.SliceLayer(mean_network.step_output_layer, slice(action_dim, 2 * action_dim), name="step_log_std_slice") else: mean_network = GRUNetwork( input_shape=(feature_dim, ), input_layer=l_feature, output_dim=action_dim, hidden_dim=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity, gru_layer_cls=gru_layer_cls, name="gru_mean_network") l_mean = mean_network.output_layer l_step_mean = mean_network.step_output_layer l_log_std = L.ParamLayer( mean_network.input_layer, num_units=action_dim, param=tf.constant_initializer(np.log(init_std)), name="output_log_std", trainable=learn_std, ) l_step_log_std = L.ParamLayer( mean_network.step_input_layer, num_units=action_dim, param=l_log_std.param, name="step_output_log_std", trainable=learn_std, ) self.mean_network = mean_network self.feature_network = feature_network self.l_input = l_input self.state_include_action = state_include_action flat_input_var = tf.placeholder(dtype=tf.float32, shape=(None, input_dim), name="flat_input") if feature_network is None: feature_var = flat_input_var else: feature_var = L.get_output( l_flat_feature, {feature_network.input_layer: flat_input_var}) with tf.name_scope(self._mean_network_name): out_step_mean, out_step_hidden_mean = L.get_output( [l_step_mean, mean_network.step_hidden_layer], {mean_network.step_input_layer: feature_var}) out_step_mean = tf.identity(out_step_mean, "step_mean") out_step_hidden_mean = tf.identity(out_step_hidden_mean, "step_hidden_mean") with tf.name_scope(self._std_network_name): out_step_log_std = L.get_output( l_step_log_std, {mean_network.step_input_layer: feature_var}) out_step_log_std = tf.identity(out_step_log_std, "step_log_std") self.f_step_mean_std = tensor_utils.compile_function([ flat_input_var, mean_network.step_prev_state_layer.input_var, ], [out_step_mean, out_step_log_std, out_step_hidden_mean]) self.l_mean = l_mean self.l_log_std = l_log_std self.input_dim = input_dim self.action_dim = action_dim self.hidden_dim = hidden_dim self.prev_actions = None self.prev_hiddens = None self.dist = RecurrentDiagonalGaussian(action_dim) self.name = name out_layers = [l_mean, l_log_std, l_step_log_std] if feature_network is not None: out_layers.append(feature_network.output_layer) LayersPowered.__init__(self, out_layers)
def __init__(self, input_shape, extra_input_shape, output_dim, hidden_sizes, conv_filters, conv_filter_sizes, conv_strides, conv_pads, name=None, extra_hidden_sizes=None, hidden_w_init=ly.XavierUniformInitializer(), hidden_b_init=tf.zeros_initializer(), output_w_init=ly.XavierUniformInitializer(), output_b_init=tf.zeros_initializer(), hidden_nonlinearity=tf.nn.relu, output_nonlinearity=None, input_var=None, input_layer=None): Serializable.quick_init(self, locals()) if extra_hidden_sizes is None: extra_hidden_sizes = [] with tf.variable_scope(name, 'ConvMergeNetwork'): input_flat_dim = np.prod(input_shape) extra_input_flat_dim = np.prod(extra_input_shape) total_input_flat_dim = input_flat_dim + extra_input_flat_dim if input_layer is None: l_in = ly.InputLayer(shape=(None, total_input_flat_dim), input_var=input_var, name='input') else: l_in = input_layer l_conv_in = ly.reshape(ly.SliceLayer(l_in, indices=slice(input_flat_dim), name='conv_slice'), ([0], ) + input_shape, name='conv_reshaped') l_extra_in = ly.reshape(ly.SliceLayer(l_in, indices=slice( input_flat_dim, None), name='extra_slice'), ([0], ) + extra_input_shape, name='extra_reshaped') l_conv_hid = l_conv_in for idx, conv_filter, filter_size, stride, pad in zip( range(len(conv_filters)), conv_filters, conv_filter_sizes, conv_strides, conv_pads, ): l_conv_hid = ly.Conv2DLayer( l_conv_hid, num_filters=conv_filter, filter_size=filter_size, stride=(stride, stride), pad=pad, nonlinearity=hidden_nonlinearity, name='conv_hidden_%d' % idx, ) l_extra_hid = l_extra_in for idx, hidden_size in enumerate(extra_hidden_sizes): l_extra_hid = ly.DenseLayer( l_extra_hid, num_units=hidden_size, nonlinearity=hidden_nonlinearity, name='extra_hidden_%d' % idx, w=hidden_w_init, b=hidden_b_init, ) l_joint_hid = ly.concat( [ly.flatten(l_conv_hid, name='conv_hidden_flat'), l_extra_hid], name='joint_hidden') for idx, hidden_size in enumerate(hidden_sizes): l_joint_hid = ly.DenseLayer( l_joint_hid, num_units=hidden_size, nonlinearity=hidden_nonlinearity, name='joint_hidden_%d' % idx, w=hidden_w_init, b=hidden_b_init, ) l_out = ly.DenseLayer( l_joint_hid, num_units=output_dim, nonlinearity=output_nonlinearity, name='output', w=output_w_init, b=output_b_init, ) self._l_in = l_in self._l_out = l_out LayersPowered.__init__(self, [l_out], input_layers=[l_in])
def __init__(self, input_shape, output_dim, hidden_dim, name=None, hidden_nonlinearity=tf.nn.relu, output_w_init=ly.XavierUniformInitializer(), recurrent_nonlinearity=tf.nn.sigmoid, recurrent_w_x_init=ly.XavierUniformInitializer(), recurrent_w_h_init=ly.OrthogonalInitializer(), lstm_layer_cls=ly.LSTMLayer, output_nonlinearity=None, input_var=None, input_layer=None, forget_bias=1.0, use_peepholes=False, layer_args=None): with tf.variable_scope(name, 'LSTMNetwork'): if input_layer is None: l_in = ly.InputLayer(shape=(None, None) + input_shape, input_var=input_var, name='input') else: l_in = input_layer l_step_input = ly.InputLayer(shape=(None, ) + input_shape, name='step_input') # contains previous hidden and cell state l_step_prev_state = ly.InputLayer(shape=(None, hidden_dim * 2), name='step_prev_state') if layer_args is None: layer_args = dict() l_lstm = lstm_layer_cls(l_in, num_units=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, gate_nonlinearity=recurrent_nonlinearity, hidden_init_trainable=False, name='lstm_layer', forget_bias=forget_bias, cell_init_trainable=False, w_x_init=recurrent_w_x_init, w_h_init=recurrent_w_h_init, use_peepholes=use_peepholes, **layer_args) l_lstm_flat = ly.ReshapeLayer(l_lstm, shape=(-1, hidden_dim), name='lstm_flat') l_output_flat = ly.DenseLayer(l_lstm_flat, num_units=output_dim, nonlinearity=output_nonlinearity, w=output_w_init, name='output_flat') l_output = ly.OpLayer( l_output_flat, op=lambda flat_output, l_input: tf.reshape( flat_output, tf.stack( (tf.shape(l_input)[0], tf.shape(l_input)[1], -1))), shape_op=lambda flat_output_shape, l_input_shape: (l_input_shape[0], l_input_shape[1], flat_output_shape[-1]), extras=[l_in], name='output') l_step_state = l_lstm.get_step_layer(l_step_input, l_step_prev_state, name='step_state') l_step_hidden = ly.SliceLayer(l_step_state, indices=slice(hidden_dim), name='step_hidden') l_step_cell = ly.SliceLayer(l_step_state, indices=slice(hidden_dim, None), name='step_cell') l_step_output = ly.DenseLayer(l_step_hidden, num_units=output_dim, nonlinearity=output_nonlinearity, w=l_output_flat.w, b=l_output_flat.b, name='step_output') self._l_in = l_in self._hid_init_param = l_lstm.h0 self._cell_init_param = l_lstm.c0 self._l_lstm = l_lstm self._l_out = l_output self._l_step_input = l_step_input self._l_step_prev_state = l_step_prev_state self._l_step_hidden = l_step_hidden self._l_step_cell = l_step_cell self._l_step_state = l_step_state self._l_step_output = l_step_output self._hidden_dim = hidden_dim
def __init__(self, input_shape, output_dim, conv_filters, conv_filter_sizes, conv_strides, conv_pads, hidden_sizes, hidden_nonlinearity=tf.nn.tanh, output_nonlinearity=None, name='GaussianConvRegressor', mean_network=None, learn_std=True, init_std=1.0, adaptive_std=False, std_share_network=False, std_conv_filters=[], std_conv_filter_sizes=[], std_conv_strides=[], std_conv_pads=[], std_hidden_sizes=[], std_hidden_nonlinearity=None, std_output_nonlinearity=None, normalize_inputs=True, normalize_outputs=True, subsample_factor=1., optimizer=None, optimizer_args=dict(), use_trust_region=True, max_kl_step=0.01): Parameterized.__init__(self) Serializable.quick_init(self, locals()) self._mean_network_name = 'mean_network' self._std_network_name = 'std_network' with tf.compat.v1.variable_scope(name): if optimizer is None: if use_trust_region: optimizer = PenaltyLbfgsOptimizer(**optimizer_args) else: optimizer = LbfgsOptimizer(**optimizer_args) else: optimizer = optimizer(**optimizer_args) self._optimizer = optimizer self._subsample_factor = subsample_factor if mean_network is None: if std_share_network: b = np.concatenate( [ np.zeros(output_dim), np.full(output_dim, np.log(init_std)) ], axis=0) # yapf: disable b = tf.constant_initializer(b) mean_network = ConvNetwork( name=self._mean_network_name, input_shape=input_shape, output_dim=2 * output_dim, conv_filters=conv_filters, conv_filter_sizes=conv_filter_sizes, conv_strides=conv_strides, conv_pads=conv_pads, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity, output_b_init=b) l_mean = layers.SliceLayer( mean_network.output_layer, slice(output_dim), name='mean_slice', ) else: mean_network = ConvNetwork( name=self._mean_network_name, input_shape=input_shape, output_dim=output_dim, conv_filters=conv_filters, conv_filter_sizes=conv_filter_sizes, conv_strides=conv_strides, conv_pads=conv_pads, hidden_sizes=hidden_sizes, hidden_nonlinearity=hidden_nonlinearity, output_nonlinearity=output_nonlinearity) l_mean = mean_network.output_layer if adaptive_std: l_log_std = ConvNetwork( name=self._std_network_name, input_shape=input_shape, output_dim=output_dim, conv_filters=std_conv_filters, conv_filter_sizes=std_conv_filter_sizes, conv_strides=std_conv_strides, conv_pads=std_conv_pads, hidden_sizes=std_hidden_sizes, hidden_nonlinearity=std_hidden_nonlinearity, output_nonlinearity=std_output_nonlinearity, output_b_init=tf.constant_initializer(np.log(init_std)), ).output_layer elif std_share_network: l_log_std = layers.SliceLayer( mean_network.output_layer, slice(output_dim, 2 * output_dim), name='log_std_slice', ) else: l_log_std = layers.ParamLayer( mean_network.input_layer, num_units=output_dim, param=tf.constant_initializer(np.log(init_std)), trainable=learn_std, name=self._std_network_name, ) LayersPowered.__init__(self, [l_mean, l_log_std]) xs_var = mean_network.input_layer.input_var ys_var = tf.compat.v1.placeholder( dtype=tf.float32, name='ys', shape=(None, output_dim)) old_means_var = tf.compat.v1.placeholder( dtype=tf.float32, name='ys', shape=(None, output_dim)) old_log_stds_var = tf.compat.v1.placeholder( dtype=tf.float32, name='old_log_stds', shape=(None, output_dim)) x_mean_var = tf.Variable( np.zeros((1, np.prod(input_shape)), dtype=np.float32), name='x_mean', ) x_std_var = tf.Variable( np.ones((1, np.prod(input_shape)), dtype=np.float32), name='x_std', ) y_mean_var = tf.Variable( np.zeros((1, output_dim), dtype=np.float32), name='y_mean', ) y_std_var = tf.Variable( np.ones((1, output_dim), dtype=np.float32), name='y_std', ) normalized_xs_var = (xs_var - x_mean_var) / x_std_var normalized_ys_var = (ys_var - y_mean_var) / y_std_var with tf.name_scope( self._mean_network_name, values=[normalized_xs_var]): normalized_means_var = layers.get_output( l_mean, {mean_network.input_layer: normalized_xs_var}) with tf.name_scope( self._std_network_name, values=[normalized_xs_var]): normalized_log_stds_var = layers.get_output( l_log_std, {mean_network.input_layer: normalized_xs_var}) means_var = normalized_means_var * y_std_var + y_mean_var log_stds_var = normalized_log_stds_var + tf.math.log(y_std_var) normalized_old_means_var = (old_means_var - y_mean_var) / y_std_var normalized_old_log_stds_var = ( old_log_stds_var - tf.math.log(y_std_var)) dist = self._dist = DiagonalGaussian(output_dim) normalized_dist_info_vars = dict( mean=normalized_means_var, log_std=normalized_log_stds_var) mean_kl = tf.reduce_mean( dist.kl_sym( dict( mean=normalized_old_means_var, log_std=normalized_old_log_stds_var), normalized_dist_info_vars, )) loss = -tf.reduce_mean( dist.log_likelihood_sym(normalized_ys_var, normalized_dist_info_vars)) self._f_predict = tensor_utils.compile_function([xs_var], means_var) self._f_pdists = tensor_utils.compile_function( [xs_var], [means_var, log_stds_var]) self._l_mean = l_mean self._l_log_std = l_log_std optimizer_args = dict( loss=loss, target=self, network_outputs=[ normalized_means_var, normalized_log_stds_var ], ) if use_trust_region: optimizer_args['leq_constraint'] = (mean_kl, max_kl_step) optimizer_args['inputs'] = [ xs_var, ys_var, old_means_var, old_log_stds_var ] else: optimizer_args['inputs'] = [xs_var, ys_var] self._optimizer.update_opt(**optimizer_args) self._use_trust_region = use_trust_region self._name = name self._normalize_inputs = normalize_inputs self._normalize_outputs = normalize_outputs self._mean_network = mean_network self._x_mean_var = x_mean_var self._x_std_var = x_std_var self._y_mean_var = y_mean_var self._y_std_var = y_std_var
def __init__( self, env_spec, name='GaussianLSTMPolicy', hidden_dim=32, hidden_nonlinearity=tf.tanh, recurrent_nonlinearity=tf.nn.sigmoid, recurrent_w_x_init=L.XavierUniformInitializer(), recurrent_w_h_init=L.OrthogonalInitializer(), output_nonlinearity=None, output_w_init=L.XavierUniformInitializer(), feature_network=None, state_include_action=True, learn_std=True, init_std=1.0, lstm_layer_cls=L.LSTMLayer, use_peepholes=False, std_share_network=False, ): """ :param env_spec: A spec for the env. :param hidden_dim: dimension of hidden layer :param hidden_nonlinearity: nonlinearity used for each hidden layer :return: """ assert isinstance(env_spec.action_space, akro.Box) self._mean_network_name = 'mean_network' self._std_network_name = 'std_network' with tf.variable_scope(name, 'GaussianLSTMPolicy'): Serializable.quick_init(self, locals()) super(GaussianLSTMPolicy, self).__init__(env_spec) obs_dim = env_spec.observation_space.flat_dim action_dim = env_spec.action_space.flat_dim if state_include_action: input_dim = obs_dim + action_dim else: input_dim = obs_dim l_input = L.InputLayer(shape=(None, None, input_dim), name='input') if feature_network is None: feature_dim = input_dim l_flat_feature = None l_feature = l_input else: feature_dim = feature_network.output_layer.output_shape[-1] l_flat_feature = feature_network.output_layer l_feature = L.OpLayer( l_flat_feature, extras=[l_input], name='reshape_feature', op=lambda flat_feature, input: tf.reshape( flat_feature, tf.stack([ tf.shape(input)[0], tf.shape(input)[1], feature_dim ])), shape_op=lambda _, input_shape: (input_shape[0], input_shape[1], feature_dim)) if std_share_network: mean_network = LSTMNetwork( input_shape=(feature_dim, ), input_layer=l_feature, output_dim=2 * action_dim, hidden_dim=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, recurrent_nonlinearity=recurrent_nonlinearity, recurrent_w_x_init=recurrent_w_x_init, recurrent_w_h_init=recurrent_w_h_init, output_nonlinearity=output_nonlinearity, output_w_init=output_w_init, lstm_layer_cls=lstm_layer_cls, name='lstm_mean_network', use_peepholes=use_peepholes, ) l_mean = L.SliceLayer( mean_network.output_layer, slice(action_dim), name='mean_slice', ) l_step_mean = L.SliceLayer( mean_network.step_output_layer, slice(action_dim), name='step_mean_slice', ) l_log_std = L.SliceLayer( mean_network.output_layer, slice(action_dim, 2 * action_dim), name='log_std_slice', ) l_step_log_std = L.SliceLayer( mean_network.step_output_layer, slice(action_dim, 2 * action_dim), name='step_log_std_slice', ) else: mean_network = LSTMNetwork( input_shape=(feature_dim, ), input_layer=l_feature, output_dim=action_dim, hidden_dim=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, recurrent_nonlinearity=recurrent_nonlinearity, recurrent_w_x_init=recurrent_w_x_init, recurrent_w_h_init=recurrent_w_h_init, output_nonlinearity=output_nonlinearity, output_w_init=output_w_init, lstm_layer_cls=lstm_layer_cls, name='lstm_mean_network', use_peepholes=use_peepholes, ) l_mean = mean_network.output_layer l_step_mean = mean_network.step_output_layer l_log_std = L.ParamLayer( mean_network.input_layer, num_units=action_dim, param=tf.constant_initializer(np.log(init_std)), name='output_log_std', trainable=learn_std, ) l_step_log_std = L.ParamLayer( mean_network.step_input_layer, num_units=action_dim, param=l_log_std.param, name='step_output_log_std', trainable=learn_std, ) self.mean_network = mean_network self.feature_network = feature_network self.l_input = l_input self.state_include_action = state_include_action self.name = name flat_input_var = tf.placeholder(dtype=tf.float32, shape=(None, input_dim), name='flat_input') if feature_network is None: feature_var = flat_input_var else: feature_var = L.get_output( l_flat_feature, {feature_network.input_layer: flat_input_var}) with tf.name_scope(self._mean_network_name, values=[feature_var]): (out_step_mean, out_step_hidden, out_mean_cell) = L.get_output( [ l_step_mean, mean_network.step_hidden_layer, mean_network.step_cell_layer ], {mean_network.step_input_layer: feature_var}) out_step_mean = tf.identity(out_step_mean, 'step_mean') out_step_hidden = tf.identity(out_step_hidden, 'step_hidden') out_mean_cell = tf.identity(out_mean_cell, 'mean_cell') with tf.name_scope(self._std_network_name, values=[feature_var]): out_step_log_std = L.get_output( l_step_log_std, {mean_network.step_input_layer: feature_var}) out_step_log_std = tf.identity(out_step_log_std, 'step_log_std') self.f_step_mean_std = tensor_utils.compile_function([ flat_input_var, mean_network.step_prev_state_layer.input_var, ], [ out_step_mean, out_step_log_std, out_step_hidden, out_mean_cell ]) self.l_mean = l_mean self.l_log_std = l_log_std self.input_dim = input_dim self.action_dim = action_dim self.hidden_dim = hidden_dim self.prev_actions = None self.prev_hiddens = None self.prev_cells = None self.dist = RecurrentDiagonalGaussian(action_dim) out_layers = [l_mean, l_log_std] if feature_network is not None: out_layers.append(feature_network.output_layer) LayersPowered.__init__(self, out_layers)
def __init__(self, input_shape, output_dim, hidden_dim, name=None, hidden_nonlinearity=tf.nn.relu, lstm_layer_cls=ly.LSTMLayer, output_nonlinearity=None, input_var=None, input_layer=None, forget_bias=1.0, use_peepholes=False, layer_args=None): with tf.variable_scope(name, "LSTMNetwork"): if input_layer is None: l_in = ly.InputLayer( shape=(None, None) + input_shape, input_var=input_var, name="input") else: l_in = input_layer l_step_input = ly.InputLayer( shape=(None, ) + input_shape, name="step_input") # contains previous hidden and cell state l_step_prev_state = ly.InputLayer( shape=(None, hidden_dim * 2), name="step_prev_state") if layer_args is None: layer_args = dict() l_lstm = lstm_layer_cls( l_in, num_units=hidden_dim, hidden_nonlinearity=hidden_nonlinearity, hidden_init_trainable=False, name="lstm_layer", forget_bias=forget_bias, cell_init_trainable=False, use_peepholes=use_peepholes, **layer_args) l_lstm_flat = ly.ReshapeLayer( l_lstm, shape=(-1, hidden_dim), name="lstm_flat") l_output_flat = ly.DenseLayer( l_lstm_flat, num_units=output_dim, nonlinearity=output_nonlinearity, name="output_flat") l_output = ly.OpLayer( l_output_flat, op=lambda flat_output, l_input: tf.reshape( flat_output, tf.stack((tf.shape(l_input)[0], tf.shape(l_input)[1], -1)) ), shape_op=lambda flat_output_shape, l_input_shape: ( l_input_shape[0], l_input_shape[1], flat_output_shape[-1]), extras=[l_in], name="output") l_step_state = l_lstm.get_step_layer( l_step_input, l_step_prev_state, name="step_state") l_step_hidden = ly.SliceLayer( l_step_state, indices=slice(hidden_dim), name="step_hidden") l_step_cell = ly.SliceLayer( l_step_state, indices=slice(hidden_dim, None), name="step_cell") l_step_output = ly.DenseLayer( l_step_hidden, num_units=output_dim, nonlinearity=output_nonlinearity, w=l_output_flat.w, b=l_output_flat.b, name="step_output") self._l_in = l_in self._hid_init_param = l_lstm.h0 self._cell_init_param = l_lstm.c0 self._l_lstm = l_lstm self._l_out = l_output self._l_step_input = l_step_input self._l_step_prev_state = l_step_prev_state self._l_step_hidden = l_step_hidden self._l_step_cell = l_step_cell self._l_step_state = l_step_state self._l_step_output = l_step_output self._hidden_dim = hidden_dim