def __init__(
self,
name,
model,
abstract_dim,
reward_fn=None,
hidden_dim=32,
hidden_nonlinearity=tf.tanh,
output_nonlinearity=None,
lstm_layer_cls=L.LSTMLayer,
):
# possible to pass in reward_fn?
with tf.variable_scope(name):
self.obs_dim = abstract_dim
self.net = LSTMNetwork(
input_shape=self.obs_dim,
input_layer=l_feature,
output_dim=self.obs_dim,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
output_nonlinearity=output_nonlinearity,
lstm_layer_cls=lstm_layer_cls,
name="planner",
)
self.obs_var = self.net.input_layer.input_var
self.output = L.get_output(self.net.output_layer, self.obs_var)
env = HalfCheetahTargEnv()
target_init = tf.constant(env.TARGET)
target = tf.get_variable('target',
initializer=init,
trainable=False)
self.loss = -self.model.get_loglikelihood(
self.obs_var, self.output) * tf.norm(target - self.output)
self.optimizer = optim
self.train_op = optim.minimize(self.loss)
config = tf.ConfigProto()
config.gpu_options.allow_growth = True
self.sess = tf.Session(config=config)
self.sess.run(tf.global_variables_initializer())
def __init__(
self,
name,
env_spec,
hidden_dim=32,
feature_network=None,
state_include_action=True,
hidden_nonlinearity=tf.tanh,
learn_std=True,
init_std=1.0,
output_nonlinearity=None,
lstm_layer_cls=L.LSTMLayer,
):
"""
: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:
"""
with tf.variable_scope(name):
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))
mean_network = LSTMNetwork(input_shape=(feature_dim, ),
input_layer=l_feature,
output_dim=action_dim,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
output_nonlinearity=output_nonlinearity,
lstm_layer_cls=lstm_layer_cls,
name="mean_network")
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})
self.f_step_mean_std = tensor_utils.compile_function(
[
flat_input_var,
mean_network.step_prev_state_layer.input_var,
],
L.get_output([
mean_network.step_output_layer, l_step_log_std,
mean_network.step_hidden_layer,
mean_network.step_cell_layer
], {mean_network.step_input_layer: feature_var}))
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 = [mean_network.output_layer, l_log_std]
if feature_network is not None:
out_layers.append(feature_network.output_layer)
LayersPowered.__init__(self, out_layers)
def __init__(self,
name,
env_spec,
hidden_dim=32,
feature_network=None,
prob_network=None,
state_include_action=True,
hidden_nonlinearity=tf.tanh,
forget_bias=1.0,
use_peepholes=False,
lstm_layer_cls=L.LSTMLayer):
"""
: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:
"""
with tf.variable_scope(name):
assert isinstance(env_spec.action_space, Discrete)
Serializable.quick_init(self, locals())
super(CategoricalLSTMPolicy, 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 prob_network is None:
prob_network = LSTMNetwork(
input_shape=(feature_dim, ),
input_layer=l_feature,
output_dim=env_spec.action_space.n,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
output_nonlinearity=tf.nn.softmax,
forget_bias=forget_bias,
use_peepholes=use_peepholes,
lstm_layer_cls=lstm_layer_cls,
name="prob_network")
self.prob_network = prob_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})
self.f_step_prob = tensor_utils.compile_function(
[
flat_input_var,
#prob_network.step_prev_hidden_layer.input_var,
#prob_network.step_prev_cell_layer.input_var
prob_network.step_prev_state_layer.input_var,
],
L.get_output([
prob_network.step_output_layer,
prob_network.step_hidden_layer,
prob_network.step_cell_layer
], {prob_network.step_input_layer: feature_var}))
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 = RecurrentCategorical(env_spec.action_space.n)
out_layers = [prob_network.output_layer]
if feature_network is not None:
out_layers.append(feature_network.output_layer)
LayersPowered.__init__(self, out_layers)