def _init(self, ob_space, ac_space):
self.pdtype = distributions.make_pdtype(ac_space)
ob = U.get_placeholder(name='ob', dtype=tf.int32, shape=[None] + list(ob_space.shape))
next_blocks, my_grid, opp_grid = tf.split(ob, [16, 12 * 6, 12 * 6], axis=1)
with tf.variable_scope('next_blocks'):
next_blocks = tf.one_hot(next_blocks, depth=5)
next_blocks = U.flattenallbut0(next_blocks)
next_blocks = tf.nn.leaky_relu(tf.layers.dense(next_blocks, 12, name='l1', kernel_initializer=U.normc_initializer(1.0)), alpha=0.1)
next_blocks = tf.nn.leaky_relu(tf.layers.dense(next_blocks, 12, name='l2', kernel_initializer=U.normc_initializer(1.0)), alpha=0.1)
with tf.variable_scope('grids', reuse=False):
my_grid = _grid_cnn(my_grid)
with tf.variable_scope('grids', reuse=True):
opp_grid = _grid_cnn(opp_grid)
x = tf.concat([next_blocks, my_grid, opp_grid], axis=1)
x = tf.nn.leaky_relu(tf.layers.dense(x, 64, name='lin', kernel_initializer=U.normc_initializer(1.0)), alpha=0.1)
logits = tf.layers.dense(x, self.pdtype.param_shape()[0], name='logits', kernel_initializer=U.normc_initializer(0.01))
self.pd = self.pdtype.pdfromflat(logits)
self.vpred = tf.layers.dense(x, 1, name='value', kernel_initializer=U.normc_initializer(1.0))[:, 0]
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(U.dense(last_out, hid_size, "vffc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
self.vpred = U.dense(last_out, 1, "vffinal", weight_init=U.normc_initializer(1.0))[:,0]
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(U.dense(last_out, hid_size, "polfc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = U.dense(last_out, pdtype.param_shape()[0]//2, "polfinal", U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = U.dense(last_out, pdtype.param_shape()[0], "polfinal", U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0,
5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"vffc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
self.vpred = U.dense(last_out,
1,
"vffinal",
weight_init=U.normc_initializer(1.0))[:, 0]
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"polfc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = U.dense(last_out,
pdtype.param_shape()[0] // 2, "polfinal",
U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = U.dense(last_out,
pdtype.param_shape()[0], "polfinal",
U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, rnn_hid_units, gaussian_fixed_var=True):
#assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
# Apply rnn_to reduce history
with tf.variable_scope("vf"):
last_out = self.rnn(ob, ob_space.shape[0], rnn_hid_units)
for i in range(num_hid_layers):
last_out = U.dense(last_out, hid_size, "vf_dense%i"%i, weight_init=U.normc_initializer(1.0))
self.vpred = U.dense(last_out, 1, "vffinal", weight_init=U.normc_initializer(1.0))[:,0]
# Apply rnn_to reduce history
with tf.variable_scope("pf"):
last_out = self.rnn(ob, ob_space.shape[0], rnn_hid_units)
for i in range(num_hid_layers):
last_out = U.dense(last_out, hid_size, "pf_dense%i"%i, weight_init=U.normc_initializer(1.0))
assert gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box)
mean = U.dense(last_out, pdtype.param_shape()[0]//2, "polfinal", U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _create_logit_value(self,
action_layer,
value_layer,
gaussian_fixed_var=False):
# actor
if gaussian_fixed_var and isinstance(self.ac_space, gym.spaces.Box):
mean = U.dense(action_layer,
self.pdtype.param_shape()[0] // 2, "polfinal",
U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[1, self.pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = U.dense(action_layer,
self.pdtype.param_shape()[0], "polfinal",
U.normc_initializer(0.01))
self.pd = self.pdtype.pdfromflat(pdparam)
self.ac = U.switch(self.stochastic, self.pd.sample(), self.pd.mode())
# critic
self.vpred = U.dense(value_layer,
1,
"vffinal",
weight_init=U.normc_initializer(1.0))[:, 0]
def _policy_nn(self, odim, adim, train):
# activ = tf.nn.tanh
# self.pdtype = make_pdtype(self.ac_space)
# self.pdtype = DiagGaussianPdType(self.ac_space.shape[0])
# hid1_size = 64
# out = tf.layers.dense(self.x, adim, trainable=train,
# kernel_initializer=tf.random_normal_initializer(stddev=np.sqrt(1/adim)), name='out')
#
# self.pd = self.pdtype.pdfromflat(out)
# self._act = U.function([self.ob], self.pd.sample()) # [self.pd.sample(), mean, logstd]
# self .ac = self.pd.sample()
# logits = tf.layers.dense(self.x, self.pdtype.param_shape()[0], name='logits',
# kernel_initializer=U.normc_initializer(0.01))
# self.pd = self.pdtype.pdfromflat(logits)
mean = tf.layers.dense(self.x,
self.pdtype.param_shape()[0] // 2,
name="polfinal",
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd",
shape=[1,
self.pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
# 链接
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
self.pd = self.pdtype.pdfromflat(pdparam)
stochastic = U.get_placeholder(dtype=tf.bool,
shape=(),
name="stochastic")
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, self.ob], ac)
self.ac = ac
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
exploration_rate,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
# with tf.variable_scope("obfilter"):
# self.ob_rms = RunningMeanStd(shape=ob_space.shape)
# obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
obz = ob
valueFunction = Sequential()
valueFunction.add(InputLayer(input_tensor=obz))
valueFunction.add(Dense(64, activation='tanh'))
valueFunction.add(Dense(64, activation='tanh'))
self.vpred = self.dense(x=valueFunction.output,
size=1,
name="vffinal",
weight_init=U.normc_initializer(1.0),
bias=True)[:, 0]
model = Sequential()
model.add(InputLayer(input_tensor=obz))
model.add(Dense(64, activation='tanh'))
model.add(Dense(64, activation='tanh'))
model.add(Dense(23))
model.load_weights("neural_kick")
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = model.output
logstd = tf.get_variable(
name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.constant_initializer(exploration_rate))
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(model.output,
pdtype.param_shape()[0], "polfinal",
U.normc_initializer(0.01))
my_var = tf.strided_slice(mean, [0], [1], [1], shrink_axis_mask=1)
my_var_out = tf.identity(my_var, name='output_node')
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, kind):
print type(ob_space)
assert isinstance(ob_space, gym.spaces.box.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
self.ob = [ob]
#process ob_
x = ob / 255.0
ob_last = self.img_encoder(x, kind)
with tf.variable_scope("vf"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.relu(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope("pol"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
logits = tf.layers.dense(last_out, pdtype.param_shape()[0], name='logits', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(logits)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode()) # XXX
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
tau,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
print('use zpmpl_Adv')
self.ac_space = ac_space
self.hid_size = hid_size
self.num_hid_layers = num_hid_layers
self.gaussian_fixed_var = gaussian_fixed_var
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
self.ob = U.get_placeholder(name="ob_adv",
dtype=tf.float32,
shape=[sequence_length] +
list(ob_space.shape))
self.ob_ = U.get_placeholder(name="adv_ob_",
dtype=tf.float32,
shape=[sequence_length] +
list(ob_space.shape))
with tf.variable_scope("obfilter_adv"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('adv_vf'):
self.obz = tf.clip_by_value(
(self.ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = self.obz
for i in range(self.num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
self.hid_size,
name="adv_vffc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
last_out,
1,
name="adv_vffinal",
kernel_initializer=U.normc_initializer(1.0))[:, 0]
self.pdparam = self.build_action(self.ob)
self.pdparam_ = self.build_action(self.ob_, reuse=True)
self.pd = pdtype.pdfromflat(self.pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self.ac = self.pd.sample()
self.ac_, _ = self.sample_()
self._act = U.function([stochastic, self.ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
# to store current input observation
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
# construct value function estimator
with tf.variable_scope('vf'):
# to store clipped normalized current input observation
#obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
obz = ob
# last layer is input obz
last_out = obz
for i in range(num_hid_layers):
#last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=tf.zeros_initializer()))
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
# close off the neural network
#self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=tf.zeros_initializer())[:,0]
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
# construct policy network
with tf.variable_scope('pol'):
last_out = obz
for i in range(num_hid_layers):
#last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=tf.zeros_initializer()))
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
# continuous action space, and want state-independent variance on
# output gaussian means
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
#mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=tf.zeros_initializer())
mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01))
self.mean = mean
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
#pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=tf.zeros_initializer())
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
# apparently unnecessary
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, activation='tanh', gaussian_fixed_var=True, keep=1.0):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob_shape = OBSERVATION_DIM if PREPROCESS else ob_space.shape[0]
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length, ob_shape])
if activation == 'tanh':
activ = tf.nn.tanh
elif activation == 'elu':
activ = tf.nn.elu
elif activation == 'lrelu':
activ = lambda x: tf.maximum(x, 0.01 * x)
else:
raise NotImplementedError("Not available activation: " + activation)
if PREPROCESS:
last_out = ob
else:
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = activ(U.dense(last_out, hid_size, "vffc%i" % (i + 1), weight_init=U.normc_initializer(1.0)))
last_out = tf.nn.dropout(last_out, keep_prob=keep, name="vdrop%i" % (i + 1))
self.vpred = U.dense(last_out, 1, "vffinal", weight_init=U.normc_initializer(1.0))[:, 0]
last_out = ob
for i in range(num_hid_layers):
last_out = activ(U.dense(last_out, hid_size, "polfc%i" % (i + 1), weight_init=U.normc_initializer(1.0)))
last_out = tf.nn.dropout(last_out, keep_prob=keep, name="pdrop%i" % (i + 1))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = U.dense(last_out, pdtype.param_shape()[0] // 2, "polfinal", U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = U.dense(last_out, pdtype.param_shape()[0], "polfinal", U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def __init__(self,
name,
observation_shape,
action_shape,
hid_size,
num_hid_layers,
stochastic=True):
with tf.variable_scope(name):
self.stochastic = stochastic
self.hid_size, self.num_hid_layers = hid_size, num_hid_layers
self.action_shape, self.observation_shape = action_shape, observation_shape
self.scope = tf.get_variable_scope().name
self.pdtype = DiagGaussianPdType(action_shape[0])
observations_ph = U.get_placeholder(name='ob',
dtype=tf.float32,
shape=[None] +
list(observation_shape))
stochastic_ph = tf.placeholder(dtype=tf.bool, shape=())
with tf.variable_scope('obfilter'):
self.ob_rms = RunningMeanStd(shape=observation_shape)
with tf.variable_scope('pol'):
last_out = tf.clip_by_value(
(observations_ph - self.ob_rms.mean) / self.ob_rms.std,
-5.0, 5.0)
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name='fc%i' % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
mean = tf.layers.dense(
last_out,
self.pdtype.param_shape()[0] // 2,
name='final',
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(
name='logstd',
shape=[1, self.pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
self.pd = self.pdtype.pdfromflat(pdparam)
action_op = U.switch(stochastic_ph, self.pd.sample(),
self.pd.mode())
self._act = U.function([stochastic_ph, observations_ph], action_op)
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, gaussian_fixed_var=True):
# pdb.set_trace()
# var_is_good = any(isinstance(ob_space, t) for t in [gym.spaces.Box,Box])
assert isinstance(ob_space, (gym.spaces.Box))
if isinstance(hid_size,int):
hid_size = [hid_size] * num_hid_layers
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size[i], name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope('sigma'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size[i], name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.sigmapred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope('pol'):
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size[i], name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred, self.sigmapred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, gaussian_fixed_var=True):
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
last_out = tf.one_hot(indices=tf.cast(last_out, dtype=tf.int32), depth=ob_space.n)
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope('pol'):
last_out = obz
last_out = tf.one_hot(indices=tf.cast(last_out, dtype=tf.int32), depth=ob_space.n)
def sub_pol(input_m, scope):
state_embedding = tf.tile(tf.expand_dims(input_m, axis=1), [1, 1, 1])
rnn_cell = rnn.BasicLSTMCell(
num_units=pdtype.param_shape()[0])
last_out, states = tf.nn.dynamic_rnn(
cell=rnn_cell,
inputs=state_embedding,
dtype=tf.float32, scope=scope)
return tf.squeeze(last_out, axis=1)
ppsl = []
for i in range(4):
ppsl.append(sub_pol(last_out, 'pol' + '/' + str(i)))
last_out = tf.concat(ppsl, axis=1)
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01), activity_regularizer=tf.contrib.layers.l2_regularizer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01), activity_regularizer=tf.contrib.layers.l2_regularizer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std,
-5.0, 5.0)
last_out = obz
# for i in range(num_hid_layers):
# last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
# self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
self.vpred = discriminator_model([last_out], drop_rate=0.5)
with tf.variable_scope('pol'):
last_out = obz
# for i in range(num_hid_layers):
# last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
pdparam = generator_model([last_out],
pdtype.param_shape()[0],
drop_rate=0.5)
# if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
# mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01))
# logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
# pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
# else:
# pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, gaussian_fixed_var=True, summaries = False, should_act = True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = tf.get_default_graph().get_tensor_by_name("observations:0");
if ob is None:
ob = U.get_placeholder(name="observations", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope('pol'):
last_out = ob
for i in range(num_hid_layers):
last_out = tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0))
last_out = tf.nn.elu(last_out);
#last_out = tf.nn.tanh(last_out)
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, tf.ones(shape=mean.shape)* logstd], axis=1)
else:
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
with tf.variable_scope("distribution"):
self.pd = pdtype.pdfromflat(pdparam)
if should_act:
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
#obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = ob
for i in range(num_hid_layers):
last_out = tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0))
last_out = tf.nn.tanh(last_out);
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
self.state_in = []
self.state_out = []
with tf.variable_scope("distribution"):
stochastic = tf.placeholder(dtype=tf.bool, shape=(), name = "stochastic")
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack, reuse=False):
nbatch = nenv*nsteps
ob_shape = (nbatch, ob_space.shape[0]*nstack)
nact = ac_space.shape[0]
X = tf.placeholder(tf.float32, ob_shape) #obs
self.pdtype = pdtype = make_pdtype(ac_space)
with tf.variable_scope("obfilter", reuse=reuse):
self.ob_rms = RunningMeanStd(shape=ob_shape[1:])
with tf.variable_scope("retfilter", reuse=reuse):
self.ret_rms = RunningMeanStd(shape=(1,))
obz = tf.clip_by_value((X - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
#obz = X
with tf.variable_scope("model", reuse=reuse):
h1 = tf.nn.tanh(dense(obz, 128, "fc1", weight_init=U.normc_initializer(1.0), bias_init=0.0))
h2 = tf.nn.tanh(dense(h1, 128, "fc2", weight_init=U.normc_initializer(1.0), bias_init=0.0))
h3 = tf.nn.tanh(dense(h2, 128, "fc3", weight_init=U.normc_initializer(1.0), bias_init=0.0))
mean = dense(h3, nact, "mean", weight_init=U.normc_initializer(0.1), bias_init=0.0)
logstd = tf.get_variable("logstd", [nact], tf.float32, tf.zeros_initializer())
logstd = tf.expand_dims(logstd, 0)
pdparam = U.concatenate([mean, mean * 0.0 + logstd], axis=1)
vf = dense(h3, 1, "v", weight_init=U.normc_initializer(1.0), bias_init=0.0)
v0 = vf[:, 0]
self.pd = pdtype.pdfromflat(pdparam)
stochastic = tf.placeholder(dtype=tf.bool, shape=())
a0 = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self.initial_state = [] #not stateful
def step(stoch, ob, *_args, **_kwargs):
a, v = sess.run([a0, v0], {stochastic:stoch, X:ob})
return a, v, [] #dummy state
def value(ob, *_args, **_kwargs):
return sess.run(v0, {X:ob})
self.X = X
self.vf = vf
self.vnorm = (self.vf - self.ret_rms.mean) / self.ret_rms.std
self.step = step
self.value = value
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, kind):
assert isinstance(ob_space, tuple)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob_p = U.get_placeholder(name="ob_physics", dtype=tf.float32, shape=[sequence_length] + list(ob_space[0].shape))
ob_f= U.get_placeholder(name="ob_frames", dtype=tf.float32, shape=[sequence_length]+list(ob_space[1].shape))
self.ob = [ob_p, ob_f]
#process ob_p
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape = ob_space[0].shape)
obpz = tf.clip_by_value((ob_p - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
#process ob_f
x = ob_f / 255.0
x = self.img_encoder(x, kind)
ob_last = tf.concat((obpz, x), axis=-1)
with tf.variable_scope("vf"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.relu(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred_ext = tf.layers.dense(last_out, 1, name='vf_ext', kernel_initializer=U.normc_initializer(1.0))[:,0]
self.vpred_int = tf.layers.dense(last_out, 1, name='vf_int', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope("pol"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
logits = tf.layers.dense(last_out, pdtype.param_shape()[0], name='logits', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(logits)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob_p, ob_f], [ac, self.vpred_ext, self.vpred_int])
def _init(self, ob_space, ac_space, layers_val, layers_pol, gaussian_fixed_var=True,
dist='gaussian', ):
assert isinstance(ob_space, gym.spaces.Box)
self.dist = dist
self.pdtype = pdtype = make_pdtype(ac_space, dist=dist)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i, size in enumerate(layers_val):
last_out = tf.nn.relu(tf.layers.dense(last_out, size, name="fc%i" % (i + 1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:, 0]
with tf.variable_scope('pol'):
last_out = obz
for i, size in enumerate(layers_pol):
last_out = tf.nn.tanh(tf.layers.dense(last_out, size, name='fc%i' % (i + 1), kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(last_out, pdtype.param_shape()[0] // 2, name='final', kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0] // 2], initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
if dist == 'gaussian':
self._act = U.function([stochastic, ob], [ac, self.vpred, self.pd.std, self.pd.mean, self.pd.logstd])
elif dist == 'beta':
self._act = U.function([stochastic, ob], [ac, self.vpred, self.pd.alpha, self.pd.beta, self.pd.alpha_beta])
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, exploration_rate, gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob", dtype=tf.float32, shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope('pol'):
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(0.01)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(last_out, pdtype.param_shape()[0]//2, name='final', kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(name="logstd", shape=[1, pdtype.param_shape()[0]//2], initializer=tf.constant_initializer(exploration_rate))
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(last_out, pdtype.param_shape()[0], name='final', kernel_initializer=U.normc_initializer(0.01))
my_var = tf.strided_slice(mean, [0], [1], [1], shrink_axis_mask=1)
my_var_out = tf.identity(my_var, name='output_node')
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _build(self):
ac_space = self._ac_space
num_hid_layers = self._num_hid_layers
hid_size = self._hid_size
gaussian_fixed_var = self._gaussian_fixed_var
# obs
self._obs = {}
for ob_name, ob_shape in self._ob_shape.items():
self._obs[ob_name] = U.get_placeholder(
name="ob_{}_primitive".format(ob_name),
dtype=tf.float32,
shape=[None] + self._ob_shape[ob_name])
# obs normalization
self.ob_rms = {}
for ob_name in self.ob_type:
with tf.variable_scope("ob_rms_{}".format(ob_name)):
self.ob_rms[ob_name] = RunningMeanStd(
shape=self._ob_shape[ob_name])
obz = [(self._obs[ob_name] - self.ob_rms[ob_name].mean) /
self.ob_rms[ob_name].std for ob_name in self.ob_type]
obz = [tf.clip_by_value(ob, -5.0, 5.0) for ob in obz]
obz = tf.concat(obz, -1)
# value function
with tf.variable_scope("vf"):
last_out = obz
for i in range(num_hid_layers):
last_out = self._activation(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
last_out,
1,
name="final",
kernel_initializer=U.normc_initializer(1.0))[:, 0]
# primitive policy
self.pdtype = pdtype = make_pdtype(ac_space)
with tf.variable_scope("pol"):
last_out = obz
for i in range(num_hid_layers):
last_out = self._activation(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(
last_out,
pdtype.param_shape()[0] // 2,
name="final",
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(
last_out,
pdtype.param_shape()[0],
name="final",
kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
# sample action
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self.obs = [self._obs[ob_name] for ob_name in self.ob_type]
self._act = U.function([stochastic] + self.obs, [ac, self.vpred])
self._value = U.function(self.obs, self.vpred)
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
feature_funcs = []
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
self.std = tf.constant(1.0)
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std,
-5.0, 5.0)
import numpy as np
# for i in range(0, ob_space.shape[0]):
# # Polinomial
# # feature_funcs.append(lambda s, i=i: tf.pow(s, i))
# # Fourier
# # feature_funcs.append(lambda s, i=i: tf.cos(i*np.pi*s))
# # RBF
# feature_funcs.append(lambda s, i=i: tf.exp(-tf.pow(s - self.ob_rms.mean, 2)/(2*self.ob_rms.std
# **2)))
# obz = tf.concat([func(ob) for func in feature_funcs], axis = 1)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
last_out,
1,
name='final',
kernel_initializer=U.normc_initializer(0.1))[:, 0]
with tf.variable_scope('pol'):
last_out = obz
# for i in range(num_hid_layers):
# last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name = 'fc%i' % (i + 1), kernel_initializer = U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(
last_out,
pdtype.param_shape()[0] // 2,
name='final',
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.multiply(
tf.ones(shape=[1, pdtype.param_shape()[0] // 2]),
tf.constant(0.05))
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(
last_out,
pdtype.param_shape()[0],
name='final',
kernel_initializer=U.normc_initializer(0.01))
pdparam = tf.clip_by_value(pdparam, -10.0, 10.0)
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
next_ob = U.get_placeholder(name="next_ob",
dtype=tf.float32,
shape=[sequence_length] +
list(ob_space.shape))
act = U.get_placeholder(name="act",
dtype=tf.float32,
shape=[sequence_length] + list(ac_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('qf'):
obz = tf.clip_by_value(
(next_ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
if i == num_hid_layers - 1:
last_out = tf.concat([last_out, act], axis=-1)
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.qpred = tf.layers.dense(
last_out,
1,
name='final',
kernel_initializer=U.normc_initializer(1.0))[:, 0]
with tf.variable_scope('vf'):
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std,
-5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
last_out,
1,
name='final',
kernel_initializer=U.normc_initializer(1.0))[:, 0]
with tf.variable_scope('pol'):
# out_std = tf.exp(0.5*logstd + 0.0)
# pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name='fc%i' % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(
last_out,
pdtype.param_shape()[0] // 2,
name='final',
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
# pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
import numpy as np
pdparam = tf.concat([
mean, mean * 0.0 +
np.random.randn(pdtype.param_shape()[0] // 2) * logstd
],
axis=1)
else:
pdparam = tf.layers.dense(
last_out,
pdtype.param_shape()[0],
name='final',
kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True):
assert isinstance(ob_space, gym.spaces.Box)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope('vf'):
obz = ob #tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
last_out,
1,
name='final',
kernel_initializer=U.normc_initializer(1.0))[:, 0]
with tf.variable_scope('pol'):
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
tf.layers.dense(
last_out,
hid_size,
name='fc%i' % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(
last_out,
pdtype.param_shape()[0] // 2,
name='final',
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(
last_out,
pdtype.param_shape()[0],
name='final',
kernel_initializer=U.normc_initializer(0.01))
# Since we are using a Box for the action space
# this distribution is used DiagGaussianPd
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
# if stocastic = true, the call the sample of the distribion
# otherwise just use the mean
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob], [ac, self.vpred])
def _build(self):
num_primitives = self.num_primitives
num_hid_layers = self._num_hid_layers
hid_size = self._hid_size
self._obs = {}
for ob_name, ob_shape in self._ob_shape.items():
self._obs[ob_name] = U.get_placeholder(
name="ob_{}".format(ob_name),
dtype=tf.float32,
shape=[None] + self._ob_shape[ob_name])
self._prev_primitive = prev_primitive = U.get_placeholder(
name="prev_primitive", dtype=tf.int32, shape=[None])
with tf.variable_scope(self.name):
self._scope = tf.get_variable_scope().name
self.ob_rms = {}
for ob_name in self.ob_type:
with tf.variable_scope("ob_rms_{}".format(ob_name)):
self.ob_rms[ob_name] = RunningMeanStd(
shape=self._ob_shape[ob_name])
obz = [(self._obs[ob_name] - self.ob_rms[ob_name].mean) /
self.ob_rms[ob_name].std for ob_name in self.ob_type]
obz = [tf.clip_by_value(ob, -5.0, 5.0) for ob in obz]
obz = tf.concat(obz, -1)
prev_primitive_one_hot = tf.one_hot(prev_primitive,
num_primitives,
name="prev_primitive_one_hot")
obz = tf.concat([obz, prev_primitive_one_hot], -1)
# value function
with tf.variable_scope("vf"):
_ = obz
for i in range(num_hid_layers):
_ = self._activation(
tf.layers.dense(
_,
hid_size,
name="fc%d" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(
_,
1,
name="vpred",
kernel_initializer=U.normc_initializer(1.0))[:, 0]
# meta policy
with tf.variable_scope("pol"):
_ = obz
for i in range(num_hid_layers):
_ = self._activation(
tf.layers.dense(
_,
hid_size,
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
self.selector = tf.layers.dense(
_,
num_primitives,
name="action",
kernel_initializer=U.normc_initializer(0.01))
self.pdtype = pdtype = CategoricalPdType(num_primitives)
self.pd = pdtype.pdfromflat(self.selector)
# sample action
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self.obs = [self._obs[ob_name] for ob_name in self.ob_type]
self._act = U.function([stochastic, self._prev_primitive] + self.obs,
[ac, self.vpred])
def __init__(self, observations, action_space, latent, optimizer=None, sess=None, train=True, beta=1.0,
l2=0., lr=0.001, init_scale=0.01, init_bias=0.0, trainable_variance=True, trainable_bias=True,
init_logstd=0., scope_name="pi", clip=None, state_dependent_variance=True, **tensors):
"""
Parameters:
----------
env RL environment
observations tensorflow placeholder in which the observations will be fed
latent latent state from which policy distribution parameters should be inferred
sess tensorflow session to run calculations in (if None, default session is used)
**tensors tensorflow tensors for additional attributes such as state or mask
"""
self.X = observations
self.state = tf.constant([])
self.initial_state = None
self.__dict__.update(tensors)
latent = tf.layers.flatten(latent)
self.action_space = action_space
self.pdtype = make_pdtype(action_space)
self.pd, self.pi = self.pdtype.pdfromlatent(latent, init_scale=init_scale,
init_bias=init_bias,
trainable_variance=trainable_variance,
state_dependent_variance=state_dependent_variance,
trainable_bias=trainable_bias,
init_logstd=init_logstd,
clip=clip, beta=beta) # init_bias=0.0
self.stochastic = tf.placeholder(dtype=tf.bool, shape=())
self.action = tf_util.switch(self.stochastic, self.pd.sample(), self.pd.mode())
self.neglogp = self.pd.neglogp(self.action)
if beta == 1.0:
self.prob = tf.nn.softmax(self.pd.flatparam())
else:
self.prob = boltzmann(self.pd.flatparam(), beta=beta)
if optimizer is None:
self.optimizer = tf.train.AdamOptimizer(learning_rate=lr)
else:
self.optimizer = optimizer
self.sess = sess or tf.get_default_session()
self.vars = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope=scope_name)
try:
self.action_ph = tf.placeholder(tf.int64, [None], name='targets_placeholder')
self.action_selected = action_selected = tf.one_hot(self.action_ph, self.action_space.n)
#out = tf.reduce_sum(tf.reduce_sum(tf.log(self.logits+1e-5)*action_selected, axis=1))
out = tf.reduce_mean(tf.log(tf.reduce_sum(self.prob*action_selected, axis=1)))
gradients = tf.gradients(out, self.vars)
except:
self.action_ph = tf.placeholder(dtype=tf.float32, shape=(None,) + action_space.shape,
name='targets_placeholder')
gradients = tf.gradients(-self.pd.neglogp(self.action_ph), self.vars)
self.cont = cont = not isinstance(self.action_space, Discrete)
self.compute_gradients = tf_util.function(
inputs=[self.X, self.action_ph],
outputs=[gradients, tf.exp(- self.pd.neglogp(self.action_ph)), - self.pd.neglogp(self.action_ph),
self.pd.mean]
)
'''self.compute_cont_gradients = tf_util.function(
inputs=[self.X, self.action_ph],
outputs=tf.gradients(-self.pd.neglogp(self.action_ph), self.vars)
)'''
self.debug = tf_util.function(
inputs=[self.X, self.action_ph],
outputs=[gradients, self.prob, self.action_ph]
)
self.set_from_flat = tf_util.SetFromFlat(self.vars)
if self.cont:
total_error = tf.reduce_sum(tf.square(self.action_ph - tf.reduce_mean(self.action_ph, axis=0)), axis=0)
unexplained_error = tf.reduce_sum(tf.square(self.action_ph - self.pd.mean), axis=0)
R_squared = 1 - (unexplained_error / total_error)
self.accuracy = accuracy = R_squared
else:
self.accuracy = accuracy = tf.reduce_mean(tf.cast(tf.math.equal(self.pd.mode(), self.action_ph), tf.float32))
self.entropy = entropy = tf.reduce_mean(self.pd.entropy())
if train:
self.gamma = l2
self._build_train(cont=cont, state_dependent_variance=state_dependent_variance)
self.pdf = tf.exp(self.pd.logp(self.action_ph))
def _init(self, ob_space, ac_space, hid_size, num_hid_layers, lstm_hid_size, kind):
print("This is lstm policy for only sensors.")
assert isinstance(ob_space, tuple)
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob_p = U.get_placeholder(name="ob_physics", dtype=tf.float32, shape=[sequence_length] + list(ob_space[0].shape))
ob_f= U.get_placeholder(name="ob_frames", dtype=tf.float32, shape=[sequence_length]+list(ob_space[1].shape))
#process ob_p
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape = ob_space[0].shape)
obpz = tf.clip_by_value((ob_p - self.ob_rms.mean) / self.ob_rms.std, -5.0, 5.0)
#process ob_f
x = ob_f / 255.0
if kind == 'small': # from A3C paper
x = tf.nn.relu(U.conv2d(x, 16, "l1", [8, 8], [4, 4], pad="VALID"))
x = tf.nn.relu(U.conv2d(x, 32, "l2", [4, 4], [2, 2], pad="VALID"))
x = U.flattenallbut0(x)
x = tf.nn.relu(tf.layers.dense(x, 256, name='lin', kernel_initializer=U.normc_initializer(1.0)))
elif kind == 'large': # Nature DQN
x = tf.nn.relu(U.conv2d(x, 32, "l1", [8, 8], [4, 4], pad="VALID"))
x = tf.nn.relu(U.conv2d(x, 64, "l2", [4, 4], [2, 2], pad="VALID"))
x = tf.nn.relu(U.conv2d(x, 64, "l3", [3, 3], [1, 1], pad="VALID"))
x = U.flattenallbut0(x)
x = tf.nn.relu(tf.layers.dense(x, 512, name='lin', kernel_initializer=U.normc_initializer(1.0)))
else:
raise NotImplementedError
# lstm layer for memmory
lstm_cell = tf.contrib.rnn.BasicLSTMCell(lstm_hid_size, state_is_tuple=True, name = "rnn")
c_init = np.zeros((1, lstm_cell.state_size.c), np.float32)
h_init = np.zeros((1, lstm_cell.state_size.h), np.float32)
self.state_init = (c_init, h_init)
c_in = U.get_placeholder(name="state_c", dtype=tf.float32,shape=(None, lstm_cell.state_size.c))
h_in = U.get_placeholder(name="state_h", dtype=tf.float32,shape=(None, lstm_cell.state_size.h))
self.state_in = (c_in, h_in)
state_in = tf.contrib.rnn.LSTMStateTuple(c_in, h_in)
lstm_outputs, lstm_states = lstm_cell(x, state_in)
lstm_c, lstm_h = lstm_states
self.state_out = (lstm_c, lstm_h)
rnn_out = tf.reshape(lstm_outputs, (-1, lstm_hid_size))
# conjugate sensor and physics
ob_last = tf.concat((rnn_out, obpz), axis = -1)
# value network
with tf.variable_scope("vf"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.relu(tf.layers.dense(last_out, hid_size, name="fc%i"%(i+1), kernel_initializer=U.normc_initializer(1.0)))
self.vpred = tf.layers.dense(last_out, 1, name='final', kernel_initializer=U.normc_initializer(1.0))[:,0]
with tf.variable_scope("pol"):
last_out = ob_last
for i in range(num_hid_layers):
last_out = tf.nn.tanh(tf.layers.dense(last_out, hid_size, name='fc%i'%(i+1), kernel_initializer=U.normc_initializer(1.0)))
logits = tf.layers.dense(last_out, pdtype.param_shape()[0], name='logits', kernel_initializer=U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(logits)
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic, ob_p, ob_f, c_in, h_in], [ac, self.vpred, lstm_c, lstm_h])
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True,
num_options=2,
dc=0):
assert isinstance(ob_space, gym.spaces.Box)
self.ac_space_dim = ac_space.shape[0]
self.ob_space_dim = ob_space.shape[0]
self.dc = dc
self.last_action = tf.zeros(ac_space.shape, dtype=tf.float32)
self.last_action_init = tf.zeros(ac_space.shape, dtype=tf.float32)
self.num_options = num_options
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
option = U.get_placeholder(name="option", dtype=tf.int32, shape=[None])
# create a filter for the pure shape, meaning excluding u[k-1]
obs_shape_pure = ((self.ob_space_dim - self.ac_space_dim), )
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
with tf.variable_scope("obfilter_pure"):
self.ob_rms_only = RunningMeanStd(shape=obs_shape_pure)
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0,
5.0)
obz_pure = tf.clip_by_value(
(ob[:, :-self.ac_space_dim] - self.ob_rms_only.mean) /
self.ob_rms_only.std, -5.0, 5.0)
last_out0 = obz # for option 0
last_out1 = obz_pure # for option 1
for i in range(num_hid_layers):
last_out0 = tf.nn.tanh(
U.dense(last_out0,
hid_size,
"vffc0%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
last_out1 = tf.nn.tanh(
U.dense(last_out1,
hid_size,
"vffc1%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
last_out0 = U.dense(last_out0,
1,
"vfff0",
weight_init=U.normc_initializer(1.0))
last_out1 = U.dense(last_out1,
1,
"vfff1",
weight_init=U.normc_initializer(1.0))
#self.vpred = dense3D2(last_out, 1, "vffinal", option, num_options=num_options, weight_init=U.normc_initializer(1.0))[:,0]
#last_out0 = tf.Print(last_out0,[tf.size(last_out0[:,0])])
self.vpred = U.switch(option[0], last_out1, last_out0)[:, 0]
#self.op_pi = tf.nn.softmax(U.dense(tf.stop_gradient(last_out), num_options, "OPfc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
last_out0 = obz # for option 0
last_out1 = obz_pure # for option 1
for i in range(num_hid_layers):
last_out0 = tf.nn.tanh(
U.dense(last_out0,
hid_size,
"oppi0%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
last_out1 = tf.nn.tanh(
U.dense(last_out1,
hid_size,
"oppi1%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
last_out0 = U.dense(last_out0,
1,
"oppif0",
weight_init=U.normc_initializer(1.0))
last_out1 = U.dense(last_out1,
1,
"oppif1",
weight_init=U.normc_initializer(1.0))
last_out = tf.concat([last_out0, last_out1], 1)
self.op_pi = tf.nn.softmax(last_out)
self.tpred = tf.nn.sigmoid(
dense3D2(tf.stop_gradient(last_out),
1,
"termhead",
option,
num_options=num_options,
weight_init=U.normc_initializer(1.0)))[:, 0]
#termination_sample = tf.greater(self.tpred, tf.random_uniform(shape=tf.shape(self.tpred),maxval=1.))
termination_sample = tf.constant([True])
# define the angle
#ctrl_in = tf.reshape([(tf.math.atan2(ob[:,1],ob[:,0])),(ob[:,2])], [-1,2])
#last_out = ctrl_in
last_out = obz_pure
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"polfc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = dense3D2(last_out,
pdtype.param_shape()[0] // 2,
"polfinal",
option,
num_options=num_options,
weight_init=U.normc_initializer(0.01),
bias=False)
mean = tf.nn.tanh(mean)
logstd = tf.get_variable(
name="logstd",
shape=[num_options, 1,
pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd[option[0]]],
axis=1)
else:
pdparam = U.dense(last_out,
pdtype.param_shape()[0], "polfinal",
U.normc_initializer(0.01))
#self.op_pi = tf.nn.softmax(U.dense(tf.stop_gradient(last_out), num_options, "OPfc%i"%(i+1), weight_init=U.normc_initializer(1.0)))
self.pd = pdtype.pdfromflat(pdparam)
self.state_in = []
self.state_out = []
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
#ac = tf.Print (ac, [ac,option,ob], "action and option before selecting: ")
ac = U.switch(option[0], ac,
tf.stop_gradient(ob[:, -self.ac_space_dim:]))
ac = tf.clip_by_value(ac, -1.0, 1.0)
#ac = U.switch(option[0], tf.constant(1.0), tf.constant(0.0))
#ac = tf.Print (ac, [ac], "action after selection: ")
self.last_action = tf.stop_gradient(ac)
self._act = U.function([stochastic, ob, option],
[ac, self.vpred, last_out, logstd])
self._get_v = U.function([ob, option], [self.vpred])
self.get_term = U.function([ob, option], [termination_sample])
self.get_tpred = U.function([ob, option], [self.tpred])
self.get_vpred = U.function([ob, option], [self.vpred])
self._get_op = U.function([ob], [self.op_pi])
def _build(self):
ac_space = self._ac_space
num_hid_layers = self._num_hid_layers
hid_size = self._hid_size
gaussian_fixed_var = self._gaussian_fixed_var
if not isinstance(hid_size, list):
hid_size = [hid_size]
if len(hid_size) != num_hid_layers:
hid_size += [hid_size[-1]] * (num_hid_layers - len(hid_size))
self.obs = []
self.pds = []
for j in range(self._config.num_contexts):
# obs
_ob = {}
for ob_name, ob_shape in self._ob_shape.items():
_ob[ob_name] = U.get_placeholder(
name="ob_{}/from_{}".format(ob_name, j),
dtype=tf.float32,
shape=[None] + self._ob_shape[ob_name])
# obs normalization
if self._config.obs_norm == 'learn':
obz = [(_ob[ob_name] - self.ob_rms[ob_name].mean) /
self.ob_rms[ob_name].std for ob_name in self.ob_type]
else:
obz = [_ob[ob_name] for ob_name in self.ob_type]
obz = [tf.clip_by_value(ob, -5.0, 5.0) for ob in obz]
obz = tf.concat(obz, -1)
# value function
with tf.variable_scope('vf', reuse=tf.AUTO_REUSE):
last_out = obz
for i in range(num_hid_layers):
last_out = self._activation(
tf.layers.dense(
last_out,
hid_size[i],
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
vpred = tf.layers.dense(
last_out,
1,
name="final",
kernel_initializer=U.normc_initializer(1.0))[:, 0]
if j == self._id:
self.vpred = vpred
# policy
pdtype = make_pdtype(ac_space)
if j == self._id:
self.pdtype = pdtype
with tf.variable_scope('pol', reuse=tf.AUTO_REUSE):
last_out = obz
for i in range(num_hid_layers):
last_out = self._activation(
tf.layers.dense(
last_out,
hid_size[i],
name="fc%i" % (i + 1),
kernel_initializer=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = tf.layers.dense(
last_out,
pdtype.param_shape()[0] // 2,
name="final",
kernel_initializer=U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[1, pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = tf.concat([mean, mean * 0.0 + logstd], axis=1)
else:
pdparam = tf.layers.dense(
last_out,
pdtype.param_shape()[0],
name="final",
kernel_initializer=U.normc_initializer(0.01))
self.obs.append([_ob[ob_name] for ob_name in self.ob_type])
self.pds.append(pdtype.pdfromflat(pdparam))
self.ob = self.obs[self._id]
self.pd = self.pds[self._id]
# sample action
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
self._act = U.function([stochastic] + self.ob, [ac, self.vpred])
self._value = U.function([stochastic] + self.ob, self.vpred)
def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, reuse=False,
name='policy', args=None): #pylint: disable=W0613
policy_variance_state_dependent = args.policy_variance_state_dependent
ac_fn = args.ac_fn
hidden_sizes = args.hidden_sizes
num_sharing_layers = args.num_sharing_layers
num_layers = args.num_layers
assert ac_fn in ['tanh', 'sigmoid', 'relu']
if isinstance(hidden_sizes, int):
assert num_layers is not None
hidden_sizes = [hidden_sizes] * num_layers
if num_layers is None:
num_layers = len(hidden_sizes)
assert num_layers == len(hidden_sizes)
# print(f'Policy hidden_sizes:{hidden_sizes}')
self.pdtype = make_pdtype(ac_space)
with tf.variable_scope(name, reuse=reuse):
X, processed_x = observation_input(ob_space, nbatch)
activ = getattr( tf.nn, ac_fn )
processed_x = tf.layers.flatten(processed_x)
# --- share layers
for ind_layer in range(num_sharing_layers):
processed_x = activ( fc(processed_x, f'share_fc{ind_layer}', nh=hidden_sizes[ind_layer], init_scale=np.sqrt(2)) )
# --- policy
pi_h = processed_x
for ind_layer in range( num_sharing_layers, num_layers ):
pi_h = activ(fc(pi_h, f'pi_fc{ind_layer}', nh=hidden_sizes[ind_layer], init_scale=np.sqrt(2)))
from gym import spaces
params_addtional = {}
if policy_variance_state_dependent and isinstance( ac_space, spaces.Box ):
latent_logstd = processed_x
for ind_layer in range(num_sharing_layers, num_layers):
latent_logstd = activ(fc(latent_logstd, f'logstd_fc{ind_layer}', nh=hidden_sizes[ind_layer], init_scale=np.sqrt(2)))
params_addtional['latent_logstd'] = latent_logstd
self.pd, self.pi = self.pdtype.pdfromlatent(pi_h, init_scale=0.01, logstd_initial=args.logstd, **params_addtional)
# --- value function
vf_h = processed_x
for ind_layer in range( num_sharing_layers, num_layers ):
vf_h = activ(fc(vf_h, f'vf_fc{ind_layer}', nh=hidden_sizes[ind_layer], init_scale=np.sqrt(2)))
vf = fc(vf_h, 'vf', 1)[:,0]
a_sample = self.pd.sample()
neglogp_sample = self.pd.neglogp(a_sample)
self.initial_state = None
# --- predict function
# use placeholder
# use stochastic action
# use deterministic action
if args.coef_predict_task > 0:
import tensorflow.contrib.distributions as dists
assert isinstance( ac_space, Box ), 'Only Implement for Box action space'
A_type = tf.placeholder_with_default('pl', dtype=tf.string)
A_pl = self.pdtype.sample_placeholder([None])
self.A = A_pl
self.A_type = A_type
A_input_1 = U.switch( tf.equal( A_type, 'det' ), self.pd.mode(), a_sample )
A_input = U.switch( tf.equal( A_type, 'pl' ), A_pl,A_input_1)
predict_h = tf.concat( (processed_x, A_input))
for ind_layer in range(num_sharing_layers, num_layers):
predict_h = activ(fc(predict_h, f'predict_fc{ind_layer}', nh=hidden_sizes[ind_layer], init_scale=np.sqrt(2)))
predict_mean = fc(predict_h, f'predict_fc{ind_layer}', nh=ob_space.shape[0], init_scale=np.sqrt(2))
predict_cov_init_value = np.identity( shape=ob_space.shape )
predict_cov = tf.get_variable( name='predict_cov', shape=predict_cov_init_value, initializer=tf.constant_initializer(predict_cov_init_value) )
predict_dist = dists.MultivariateNormalTriL( predict_mean, predict_cov )
self.predict_dist = predict_dist
scope_model = tf.get_variable_scope().name
self.variables_all = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope_model)
self.variables_trainable = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, scope_model)
#--- set logstd
# if isinstance( ac_space, Box ):
# if not policy_variance_state_dependent:
# logstd_pl, _ = observation_input( ac_space, batch_size=1, name='ac' )
# assign_logstd = tf.assign( self.pdtype.logstd, logstd_pl )
# set_logstd_entity = U.function([logstd_pl], assign_logstd)
# def set_logstd(logstd_new):
# # if isinstance( logstd_new, float ):
# # logstd_new = [[logstd_new] * ac_space.shape[0]]
# set_logstd_entity(logstd_new)
# self.set_logstd = set_logstd
# self.get_logstd = U.function([], self.pdtype.logstd)
def step(ob, *_args, **_kwargs):
a, v, neglogp = sess.run([a_sample, vf, neglogp_sample], {X:ob})
return a, v, self.initial_state, neglogp
def value(ob, *_args, **_kwargs):
return sess.run(vf, {X:ob})
def step_policyflat(ob, *_args, **_kwargs):
a, v, neglogp, polciyflat = sess.run([a_sample, vf, neglogp_sample, self.pd.flatparam()], {X:ob}) #TODO: TEST flat for discrete action space
return a, v, self.initial_state, neglogp, polciyflat
def step_test(ob, *_args, **_kwargs):
a = sess.run([self.pd.mode()], {X:ob})
return a
self.X = X
self.vf = vf
self.step = step
self.step_policyflat = step_policyflat
self.value = value
self.step_test = step_test
def _init(self,
ob_space,
ac_space,
hid_size,
num_hid_layers,
gaussian_fixed_var=True,
num_options=2,
dc=0,
w_intfc=True):
assert isinstance(ob_space, gym.spaces.Box)
self.w_intfc = w_intfc
self.state_in = []
self.state_out = []
self.dc = dc
self.num_options = num_options
self.pdtype = pdtype = make_pdtype(ac_space)
sequence_length = None
ob = U.get_placeholder(name="ob",
dtype=tf.float32,
shape=[sequence_length] + list(ob_space.shape))
option = U.get_placeholder(name="option", dtype=tf.int32, shape=[None])
with tf.variable_scope("obfilter"):
self.ob_rms = RunningMeanStd(shape=ob_space.shape)
obz = tf.clip_by_value((ob - self.ob_rms.mean) / self.ob_rms.std, -5.0,
5.0)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"vffc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
self.vpred = dense3D2(last_out,
1,
"vffinal",
option,
num_options=num_options,
weight_init=U.normc_initializer(1.0))[:, 0]
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"termfc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
self.tpred = tf.nn.sigmoid(
dense3D2(tf.stop_gradient(last_out),
1,
"termhead",
option,
num_options=num_options,
weight_init=U.normc_initializer(1.0)))[:, 0]
termination_sample = tf.greater(
self.tpred, tf.random_uniform(shape=tf.shape(self.tpred),
maxval=1.))
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"polfc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
if gaussian_fixed_var and isinstance(ac_space, gym.spaces.Box):
mean = dense3D2(last_out,
pdtype.param_shape()[0] // 2,
"polfinal",
option,
num_options=num_options,
weight_init=U.normc_initializer(0.01))
logstd = tf.get_variable(
name="logstd",
shape=[num_options, 1,
pdtype.param_shape()[0] // 2],
initializer=tf.zeros_initializer())
pdparam = U.concatenate([mean, mean * 0.0 + logstd[option[0]]],
axis=1)
else:
pdparam = U.dense(last_out,
pdtype.param_shape()[0], "polfinal",
U.normc_initializer(0.01))
self.pd = pdtype.pdfromflat(pdparam)
stochastic = tf.placeholder(dtype=tf.bool, shape=())
ac = U.switch(stochastic, self.pd.sample(), self.pd.mode())
# self.op_pi = tf.nn.softmax(U.dense(tf.stop_gradient(last_out), num_options, "OP", weight_init=U.normc_initializer(1.0)))
# pdb.set_trace()
# self.op_pi = tf.constant(1./num_options)
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"intfc%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
self.intfc = tf.sigmoid(
U.dense(last_out,
num_options,
"intfcfinal",
weight_init=U.normc_initializer(1.0)))
last_out = obz
for i in range(num_hid_layers):
last_out = tf.nn.tanh(
U.dense(last_out,
hid_size,
"OP%i" % (i + 1),
weight_init=U.normc_initializer(1.0)))
self.op_pi = tf.nn.softmax(
U.dense(last_out,
num_options,
"OPfinal",
weight_init=U.normc_initializer(1.0)))
self._act = U.function([stochastic, ob, option], [ac])
self.get_term = U.function([ob, option], [termination_sample])
self.get_tpred = U.function([ob, option], [self.tpred])
self.get_vpred = U.function([ob, option], [self.vpred])
self._get_op_int = U.function([ob], [self.op_pi, self.intfc])
self._get_intfc = U.function([ob], [self.intfc])
self._get_op = U.function([ob], [self.op_pi])