def get_agent(x, reuse=False):
"""
Generate the CNN agent
:param x: tensor, Input frames concatenated along axis 3
:param reuse: bool, True -> Reuse weight variables
False -> Create new ones
:return: Tensor, logits for each valid action
"""
if reuse:
tf.get_variable_scope().reuse_variables()
x = tf.divide(x, 255.0, name='Normalize')
conv_1 = tf.nn.relu(
ops.cnn_2d(x,
weight_shape=mc.conv_1,
strides=mc.stride_1,
name='conv_1'))
conv_2 = tf.nn.relu(
ops.cnn_2d(conv_1,
weight_shape=mc.conv_2,
strides=mc.stride_2,
name='conv_2'))
conv_3 = tf.nn.relu(
ops.cnn_2d(conv_2,
weight_shape=mc.conv_3,
strides=mc.stride_3,
name='conv_3'))
conv_3_r = tf.reshape(conv_3, [-1, 7 * 7 * 64], name='reshape')
dense_1 = tf.nn.relu(
ops.dense(conv_3_r, 7 * 7 * 64, mc.dense_1, name='dense_1'))
output = ops.dense(dense_1, mc.dense_1, mc.dense_2, name='dense_2')
return output
def model(self, x, action, reuse=False):
if reuse:
tf.get_variable_scope().reuse_variables()
# TODO: Use a better network for video frame prediction
# Encoder
x = tf.divide(x, 255.0)
conv_1 = tf.nn.relu(
ops.cnn_2d(x,
weight_shape=[6, 6, 4, 64],
strides=[1, 2, 2, 1],
name='conv_1'))
conv_2 = tf.nn.relu(
ops.cnn_2d(conv_1,
weight_shape=[6, 6, 64, 64],
strides=[1, 2, 2, 1],
name='conv_2',
padding="SAME"))
conv_3 = tf.nn.relu(
ops.cnn_2d(conv_2,
weight_shape=[6, 6, 64, 64],
strides=[1, 2, 2, 1],
name='conv_3',
padding="SAME"))
conv_3_flatten = tf.reshape(conv_3, shape=[-1, 6400], name='reshape_1')
dense_1 = tf.nn.relu(
ops.dense(conv_3_flatten, 6400, 1024, name='dense_1'))
dense_2 = ops.dense(dense_1, 1024, 2048, name='dense_2')
action_dense_1 = ops.dense(action, 4, 2048, name='action_dense_1')
dense_2_action = tf.multiply(dense_2,
action_dense_1,
name='dense_2_action')
# Decoder
dense_3 = ops.dense(dense_2_action, 2048, 1024, name='dense_3')
dense_4 = tf.nn.relu(
ops.dense(dense_3, 1024, 11 * 11 * 64, name='dense_4'))
dense_4_reshaped = tf.reshape(dense_4,
shape=[self.batch_size, 11, 11, 64],
name='dense_4_reshaped')
conv_t_1 = tf.nn.relu(
ops.cnn_2d_trans(dense_4_reshaped,
weight_shape=[6, 6, 64, 64],
strides=[1, 2, 2, 1],
output_shape=[self.batch_size, 21, 21, 64],
name='conv_t_1'))
conv_t_2 = tf.nn.relu(
ops.cnn_2d_trans(conv_t_1,
weight_shape=[6, 6, 64, 64],
strides=[1, 2, 2, 1],
output_shape=[self.batch_size, 42, 42, 64],
name='conv_t_2'))
output = ops.cnn_2d_trans(conv_t_2,
weight_shape=[6, 6, 1, 64],
strides=[1, 2, 2, 1],
output_shape=[self.batch_size, 84, 84, 1],
name='output_image')
return output
def discriminator(x, reuse=False):
if reuse:
tf.get_variable_scope().reuse_variables()
conv_1 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(x,
weight_shape=[4, 4, 6, 64],
strides=[1, 2, 2, 1],
name='dis_conv_1'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_1'))
conv_2 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_1,
weight_shape=[4, 4, 64, 128],
strides=[1, 2, 2, 1],
name='dis_conv_2'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_2'))
conv_3 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_2,
weight_shape=[4, 4, 128, 256],
strides=[1, 2, 2, 1],
name='dis_conv_3'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_3'))
conv_4 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_3,
weight_shape=[4, 4, 256, 512],
strides=[1, 2, 2, 1],
name='dis_conv_4'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_4'))
conv_5 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_4,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='dis_conv_5'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_5'))
conv_6 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_5,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='dis_conv_6'),
center=True,
scale=True,
is_training=True,
scope='dis_batch_Norm_6'))
output = ops.dense(conv_6, 5 * 6, 1, name='dis_output')
return output
def generator(x, reuse=False):
if reuse:
tf.get_variable_scope().reuse_variables()
# Encoder
conv_1 = ops.lrelu(
ops.cnn_2d(x,
weight_shape=[4, 4, 3, 64],
strides=[1, 2, 2, 1],
name='g_e_conv_1'))
conv_2 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_1,
weight_shape=[4, 4, 64, 128],
strides=[1, 2, 2, 1],
name='g_e_conv_2'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_2'))
conv_3 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_2,
weight_shape=[4, 4, 128, 256],
strides=[1, 2, 2, 1],
name='g_e_conv_3'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_3'))
conv_4 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_3,
weight_shape=[4, 4, 256, 512],
strides=[1, 2, 2, 1],
name='g_e_conv_4'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_4'))
conv_5 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_4,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='g_e_conv_5'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_5'))
conv_6 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_5,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='g_e_conv_6'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_6'))
conv_7 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_6,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='g_e_conv_7'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_7'))
conv_8 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_7,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
name='g_e_conv_8'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_8'))
# Decoder
dconv_1 = ops.lrelu(
tf.nn.dropout(ops.batch_norm(ops.cnn_2d_trans(
conv_8,
weight_shape=[2, 2, 512, 512],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
conv_8.get_shape()[1].value + 1,
conv_8.get_shape()[2].value + 1, 512
],
name='g_d_dconv_1'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_1'),
keep_prob=0.5))
dconv_1 = tf.concat([dconv_1, conv_7], axis=3)
dconv_2 = ops.lrelu(
tf.nn.dropout(ops.batch_norm(ops.cnn_2d_trans(
dconv_1,
weight_shape=[4, 4, 512, 1024],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_1.get_shape()[1].value * 2 - 1,
dconv_1.get_shape()[2].value * 2, 512
],
name='g_d_dconv_2'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_2'),
keep_prob=0.5))
dconv_2 = tf.concat([dconv_2, conv_6], axis=3)
dconv_3 = ops.lrelu(
tf.nn.dropout(ops.batch_norm(ops.cnn_2d_trans(
dconv_2,
weight_shape=[4, 4, 512, 1024],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_2.get_shape()[1].value * 2 - 1,
dconv_2.get_shape()[2].value * 2 - 1, 512
],
name='g_d_dconv_3'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_3'),
keep_prob=0.5))
dconv_3 = tf.concat([dconv_3, conv_5], axis=3)
dconv_4 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(dconv_3,
weight_shape=[4, 4, 512, 1024],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_3.get_shape()[1].value * 2,
dconv_3.get_shape()[2].value * 2,
512
],
name='g_d_dconv_4'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_4'))
dconv_4 = tf.concat([dconv_4, conv_4], axis=3)
dconv_5 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(dconv_4,
weight_shape=[4, 4, 256, 1024],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_4.get_shape()[1].value * 2,
dconv_4.get_shape()[2].value * 2,
256
],
name='g_d_dconv_5'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_5'))
dconv_5 = tf.concat([dconv_5, conv_3], axis=3)
dconv_6 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(dconv_5,
weight_shape=[4, 4, 128, 512],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_5.get_shape()[1].value * 2,
dconv_5.get_shape()[2].value * 2,
128
],
name='g_d_dconv_6'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_6'))
dconv_6 = tf.concat([dconv_6, conv_2], axis=3)
dconv_7 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(dconv_6,
weight_shape=[4, 4, 64, 256],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_6.get_shape()[1].value * 2,
dconv_6.get_shape()[2].value * 2,
64
],
name='g_d_dconv_7'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_7'))
dconv_7 = tf.concat([dconv_7, conv_1], axis=3)
dconv_8 = tf.nn.tanh(
ops.cnn_2d_trans(dconv_7,
weight_shape=[4, 4, 3, 128],
strides=[1, 2, 2, 1],
output_shape=[
mc.batch_size,
dconv_7.get_shape()[1].value * 2,
dconv_7.get_shape()[2].value * 2, 3
],
name='g_d_dconv_8'))
return dconv_8
def generator(self, x, action, reuse=False):
if reuse:
tf.get_variable_scope().reuse_variables()
# TODO: Use a better network for video frame prediction
x = tf.divide(x, 255.0)
# Encoder
conv_1 = ops.lrelu(
ops.cnn_2d(x,
weight_shape=[4, 4, 4, 64],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_1'))
conv_2 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_1,
weight_shape=[4, 4, 64, 128],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_2'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_2'))
conv_3 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_2,
weight_shape=[4, 4, 128, 256],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_3'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_3'))
conv_4 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_3,
weight_shape=[4, 4, 256, 512],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_4'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_4'))
conv_5 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_4,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_5'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_5'))
conv_6 = ops.lrelu(
ops.batch_norm(ops.cnn_2d(conv_5,
weight_shape=[4, 4, 512, 512],
strides=[1, 2, 2, 1],
padding="SAME",
name='g_e_conv_6'),
center=True,
scale=True,
is_training=True,
scope='g_e_batch_Norm_6'))
conv_6_reshaped = tf.reshape(conv_6, [-1, 2 * 2 * 512],
name='g_conv_6_reshape')
action_dense_1 = ops.dense(action, 4, 2048, name='g_action_dense_1')
action_dense_2 = tf.multiply(conv_6_reshaped,
action_dense_1,
name='g_action_dense_2')
action_dense_2_reshaped = tf.reshape(action_dense_2, [-1, 2, 2, 512])
# Decoder
dconv_1 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(
action_dense_2_reshaped,
weight_shape=[2, 2, 512, 512],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
action_dense_2_reshaped.get_shape()[1].value * 2 - 1,
action_dense_2_reshaped.get_shape()[2].value * 2 - 1, 512
],
name='g_d_dconv_1'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_1'))
dconv_1 = tf.concat([dconv_1, conv_5], axis=3)
dconv_2 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(
dconv_1,
weight_shape=[4, 4, 512, 1024],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
dconv_1.get_shape()[1].value * 2,
dconv_1.get_shape()[2].value * 2, 512
],
name='g_d_dconv_2'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_2'))
dconv_2 = tf.concat([dconv_2, conv_4], axis=3)
dconv_3 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(
dconv_2,
weight_shape=[4, 4, 256, 1024],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
dconv_2.get_shape()[1].value * 2 - 1,
dconv_2.get_shape()[2].value * 2 - 1, 256
],
name='g_d_dconv_3'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_3'))
dconv_3 = tf.concat([dconv_3, conv_3], axis=3)
dconv_4 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(
dconv_3,
weight_shape=[4, 4, 128, 512],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
dconv_3.get_shape()[1].value * 2 - 1,
dconv_3.get_shape()[2].value * 2 - 1, 128
],
name='g_d_dconv_4'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_4'))
dconv_4 = tf.concat([dconv_4, conv_2], axis=3)
dconv_5 = ops.lrelu(
ops.batch_norm(ops.cnn_2d_trans(
dconv_4,
weight_shape=[4, 4, 64, 256],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
dconv_4.get_shape()[1].value * 2,
dconv_4.get_shape()[2].value * 2, 64
],
name='g_d_dconv_5'),
center=True,
scale=True,
is_training=True,
scope='g_d_batch_Norm_5'))
dconv_5 = tf.concat([dconv_5, conv_1], axis=3)
output = tf.nn.tanh(
ops.cnn_2d_trans(dconv_5,
weight_shape=[4, 4, 1, 128],
strides=[1, 2, 2, 1],
output_shape=[
self.batch_size,
dconv_5.get_shape()[1].value * 2,
dconv_5.get_shape()[2].value * 2, 1
],
name='g_output'))
return output
