class ModelPolicyNetworkSymbolicText(AbstractModel):
def __init__(self, config, constants):
AbstractModel.__init__(self, config, constants)
self.none_action = config["num_actions"]
landmark_names = get_all_landmark_names()
self.radius_module = RadiusModule(15)
self.angle_module = AngleModule(48)
self.landmark_module = LandmarkModule(63)
self.image_module = ImageResnetModule(
image_emb_size=constants["image_emb_dim"],
input_num_channels=3,
image_height=config["image_height"],
image_width=config["image_width"],
using_recurrence=True)
self.image_recurrence_module = RecurrenceSimpleModule(
input_emb_dim=constants["image_emb_dim"],
output_emb_dim=constants["image_emb_dim"])
self.text_module = SymbolicInstructionModule(
radius_embedding=self.radius_module,
theta_embedding=self.angle_module,
landmark_embedding=self.landmark_module)
self.action_module = ActionSimpleModule(
num_actions=config["num_actions"],
action_emb_size=constants["action_emb_dim"])
total_emb_size = (constants["image_emb_dim"]
+ 32 * 4
+ constants["action_emb_dim"])
final_module = MultimodalRecurrentSimpleModule(
image_module=self.image_module,
image_recurrence_module=self.image_recurrence_module,
text_module=self.text_module,
action_module=self.action_module,
total_emb_size=total_emb_size,
num_actions=config["num_actions"])
self.final_module = final_module
if torch.cuda.is_available():
self.image_module.cuda()
self.text_module.cuda()
self.action_module.cuda()
self.final_module.cuda()
self.radius_module.cuda()
self.angle_module.cuda()
self.landmark_module.cuda()
def get_probs_batch(self, agent_observed_state_list, mode=None):
for aos in agent_observed_state_list:
assert isinstance(aos, AgentObservedState)
# print "batch size:", len(agent_observed_state_list)
# sort list by instruction length
agent_observed_state_list = sorted(
agent_observed_state_list,
key=lambda aos_: len(aos_.get_instruction()),
reverse=True
)
image_seq_lens = [aos.get_num_images()
for aos in agent_observed_state_list]
image_seq_lens_batch = cuda_tensor(
torch.from_numpy(np.array(image_seq_lens)))
max_len = max(image_seq_lens)
image_seqs = [aos.get_image()[:max_len]
for aos in agent_observed_state_list]
image_batch = cuda_var(torch.from_numpy(np.array(image_seqs)).float())
instructions_batch = [aos.get_symbolic_instruction()
for aos in agent_observed_state_list]
prev_actions_raw = [aos.get_previous_action()
for aos in agent_observed_state_list]
prev_actions = [self.none_action if a is None else a
for a in prev_actions_raw]
prev_actions_batch = cuda_var(torch.from_numpy(np.array(prev_actions)))
probs_batch = self.final_module(image_batch, image_seq_lens_batch,
instructions_batch, prev_actions_batch,
mode)
return probs_batch
def load_saved_model(self, load_dir):
if torch.cuda.is_available():
torch_load = torch.load
else:
torch_load = lambda f_: torch.load(f_, map_location=lambda s_, l_: s_)
image_module_path = os.path.join(load_dir, "image_module_state.bin")
self.image_module.load_state_dict(torch_load(image_module_path))
text_module_path = os.path.join(load_dir, "text_module_state.bin")
self.text_module.load_state_dict(torch_load(text_module_path))
action_module_path = os.path.join(load_dir, "action_module_state.bin")
self.action_module.load_state_dict(torch_load(action_module_path))
final_module_path = os.path.join(load_dir, "final_module_state.bin")
self.final_module.load_state_dict(torch_load(final_module_path))
radius_module_path = os.path.join(load_dir, "radius_module_state.bin")
self.radius_module.load_state_dict(torch_load(radius_module_path))
angle_module_path = os.path.join(load_dir, "angle_module_state.bin")
self.angle_module.load_state_dict(torch_load(angle_module_path))
landmark_module_path = os.path.join(load_dir, "landmark_module_state.bin")
self.landmark_module.load_state_dict(torch_load(landmark_module_path))
def save_model(self, save_dir):
if not os.path.exists(save_dir):
os.makedirs(save_dir)
# save state file for image nn
image_module_path = os.path.join(save_dir, "image_module_state.bin")
torch.save(self.image_module.state_dict(), image_module_path)
# save state file for text nn
text_module_path = os.path.join(save_dir, "text_module_state.bin")
torch.save(self.text_module.state_dict(), text_module_path)
# save state file for action emb
action_module_path = os.path.join(save_dir, "action_module_state.bin")
torch.save(self.action_module.state_dict(), action_module_path)
# save state file for final nn
final_module_path = os.path.join(save_dir, "final_module_state.bin")
torch.save(self.final_module.state_dict(), final_module_path)
# save state file for radius nn
radius_module_path = os.path.join(save_dir, "radius_module_state.bin")
torch.save(self.radius_module.state_dict(), radius_module_path)
# save state file for angle nn
angle_module_path = os.path.join(save_dir, "angle_module_state.bin")
torch.save(self.angle_module.state_dict(), angle_module_path)
# save state file for landmark nn
landmark_module_path = os.path.join(save_dir, "landmark_module_state.bin")
torch.save(self.landmark_module.state_dict(), landmark_module_path)
def get_parameters(self):
parameters = list(self.image_module.parameters())
parameters += list(self.text_module.parameters())
parameters += list(self.action_module.parameters())
parameters += list(self.final_module.parameters())
parameters += list(self.radius_module.parameters())
parameters += list(self.angle_module.parameters())
parameters += list(self.landmark_module.parameters())
return parameters
class ModelPolicyNetworkSymbolicAll360(AbstractModel):
def __init__(self, config, constants):
AbstractModel.__init__(self, config, constants)
self.none_action = config["num_actions"]
landmark_names = get_all_landmark_names()
self.radius_module = RadiusModule(15)
self.angle_module = AngleModule(48)
self.landmark_module = LandmarkModule(63)
self.image_module = SymbolicImageModule(
landmark_names=landmark_names,
radius_module=self.radius_module,
angle_module=self.angle_module,
landmark_module=self.landmark_module)
self.text_module = SymbolicInstructionModule(
radius_embedding=self.radius_module,
theta_embedding=self.angle_module,
landmark_embedding=self.landmark_module)
self.action_module = ActionSimpleModule(
num_actions=config["num_actions"],
action_emb_size=constants["action_emb_dim"])
total_emb_size = (32 * 3 * 63
+ 32 * 4
+ constants["action_emb_dim"])
final_module = MultimodalSimpleModule(
image_module=self.image_module,
text_module=self.text_module,
action_module=self.action_module,
total_emb_size=total_emb_size,
num_actions=config["num_actions"])
self.final_module = final_module
if torch.cuda.is_available():
self.image_module.cuda()
self.text_module.cuda()
self.action_module.cuda()
self.final_module.cuda()
self.radius_module.cuda()
self.angle_module.cuda()
self.landmark_module.cuda()
def get_probs_batch(self, agent_observed_state_list, mode=None):
for aos in agent_observed_state_list:
assert isinstance(aos, AgentObservedState)
# print "batch size:", len(agent_observed_state_list)
# sort list by instruction length
agent_observed_state_list = sorted(
agent_observed_state_list,
key=lambda aos_: len(aos_.get_instruction()),
reverse=True
)
symbolic_image_list = []
for aos in agent_observed_state_list:
x_pos, z_pos, y_angle = aos.get_position_orientation()
landmark_pos_dict = aos.get_landmark_pos_dict()
symbolic_image = get_visible_landmark_r_theta(
x_pos, z_pos, y_angle, landmark_pos_dict)
symbolic_image_list.append(symbolic_image)
image_batch = symbolic_image_list
instructions_batch = [aos.get_symbolic_instruction()
for aos in agent_observed_state_list]
prev_actions_raw = [aos.get_previous_action()
for aos in agent_observed_state_list]
prev_actions = [self.none_action if a is None else a
for a in prev_actions_raw]
prev_actions_batch = cuda_var(torch.from_numpy(np.array(prev_actions)))
probs_batch = self.final_module(image_batch, instructions_batch,
prev_actions_batch, mode)
return probs_batch
def load_saved_model(self, load_dir):
if torch.cuda.is_available():
torch_load = torch.load
else:
torch_load = lambda f_: torch.load(f_, map_location=lambda s_, l_: s_)
image_module_path = os.path.join(load_dir, "image_module_state.bin")
self.image_module.load_state_dict(torch_load(image_module_path))
text_module_path = os.path.join(load_dir, "text_module_state.bin")
self.text_module.load_state_dict(torch_load(text_module_path))
action_module_path = os.path.join(load_dir, "action_module_state.bin")
self.action_module.load_state_dict(torch_load(action_module_path))
final_module_path = os.path.join(load_dir, "final_module_state.bin")
self.final_module.load_state_dict(torch_load(final_module_path))
radius_module_path = os.path.join(load_dir, "radius_module_state.bin")
self.radius_module.load_state_dict(torch_load(radius_module_path))
angle_module_path = os.path.join(load_dir, "angle_module_state.bin")
self.angle_module.load_state_dict(torch_load(angle_module_path))
landmark_module_path = os.path.join(load_dir, "landmark_module_state.bin")
self.landmark_module.load_state_dict(torch_load(landmark_module_path))
def save_model(self, save_dir):
if not os.path.exists(save_dir):
os.makedirs(save_dir)
# save state file for image nn
image_module_path = os.path.join(save_dir, "image_module_state.bin")
torch.save(self.image_module.state_dict(), image_module_path)
# save state file for text nn
text_module_path = os.path.join(save_dir, "text_module_state.bin")
torch.save(self.text_module.state_dict(), text_module_path)
# save state file for action emb
action_module_path = os.path.join(save_dir, "action_module_state.bin")
torch.save(self.action_module.state_dict(), action_module_path)
# save state file for final nn
final_module_path = os.path.join(save_dir, "final_module_state.bin")
torch.save(self.final_module.state_dict(), final_module_path)
# save state file for radius nn
radius_module_path = os.path.join(save_dir, "radius_module_state.bin")
torch.save(self.radius_module.state_dict(), radius_module_path)
# save state file for angle nn
angle_module_path = os.path.join(save_dir, "angle_module_state.bin")
torch.save(self.angle_module.state_dict(), angle_module_path)
# save state file for landmark nn
landmark_module_path = os.path.join(save_dir, "landmark_module_state.bin")
torch.save(self.landmark_module.state_dict(), landmark_module_path)
def get_parameters(self):
parameters = list(self.image_module.parameters())
parameters += list(self.text_module.parameters())
parameters += list(self.action_module.parameters())
parameters += list(self.final_module.parameters())
parameters += list(self.radius_module.parameters())
parameters += list(self.angle_module.parameters())
parameters += list(self.landmark_module.parameters())
return parameters