def __init__(self, filters, num_outputs, input_shape):
super(VisionNet, self).__init__()
layers = []
(w, h, in_channels) = input_shape
in_size = [w, h]
layers = []
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn="relu"))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
# final FC layer.
layers.append(
SlimConv2d(
32,
num_outputs,
[1, 1],
stride,
None, # padding=valid
activation_fn='relu'))
# squeeze into [B, num_outputs]
layers.append(nn.Flatten(start_dim=1, end_dim=3))
# Put everything in sequence.
self._model = nn.Sequential(*layers)
def __init__(self, obs_space, action_space, num_outputs, model_config,
name):
num_options = model_config.get('oc_num_options')
TorchModelV2.__init__(self, obs_space, action_space, num_outputs * num_options,
model_config, name)
nn.Module.__init__(self)
layers = []
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
# Convolutional layers
for out_channels, kernel, stride in OCNET_FILTERS:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(nn.Conv2d(in_channels, out_channels, kernel, stride, padding))
layers.append(nn.ReLU())
in_channels = out_channels
in_size = out_size
# Dense layer after flattening output, using ReLU
hSize = OCNET_DENSE
self.option_epsilon = model_config.get('oc_option_epsilon')
layers.append(nn.Flatten())
layers.append(nn.Linear(in_size, hSize))
layers.append(nn.ReLU())
self._convs = nn.Sequential(*layers)
# q, pi, beta, and v
self.q = nn.Linear(hSize, num_options) # Value for each option
#self.v = nn.Linear(hSize, 1) # Value for state alone? Or do
self.pi = nn.Sequential(nn.Linear(hSize, num_options * num_outputs), View((num_options, num_outputs)), nn.Softmax(dim=-1)) # Action probabilities for each option
self.beta = nn.Sequential(nn.Linear(hSize, num_options), nn.Sigmoid) # Termination probabilities
# Holds the current "base" output (before heads).
self._features = self._q = self._v = self._pi = self._beta = None
def __init__(self, activation, in_size, kernel, stride, output_size, channels=256):
nn.Module.__init__(self)
self.activation = activation
self.channels = channels
self.output_size = output_size
in_size = [
np.ceil((in_size[0] - kernel[0]) / stride),
np.ceil((in_size[1] - kernel[1]) / stride)
]
padding, _ = same_padding(in_size, [1, 1], [1, 1])
self.layer1 = SlimConv2d(
self.channels,
self.channels,
kernel=1, # change to different value when representation function is changed?
stride=1,
padding=None,
activation_fn=self.activation)
self.layer2 = SlimConv2d(
self.channels,
self.output_size,
[1, 1],
1,
padding,
activation_fn=None)
self.policy = nn.Sequential(self.layer1, self.layer2, nn.Flatten(), nn.Softmax())
self.vlayer1 = SlimConv2d(
self.channels,
self.channels,
kernel=1, # change to different value when representation function is changed?
stride=1,
padding=None,
activation_fn=self.activation)
self.vlayer2 = SlimFC(
self.channels,
1,
activation_fn=None)
self.value = nn.Sequential(self.vlayer1, nn.Flatten(), self.vlayer2)
def __init__(self, obs_space, action_space, num_outputs, model_config,
name):
if not model_config.get("conv_filters"):
model_config["conv_filters"] = get_filter_config(obs_space.shape)
TorchModelV2.__init__(self, obs_space, action_space, num_outputs,
model_config, name)
nn.Module.__init__(self)
activation = self.model_config.get("conv_activation")
filters = self.model_config["conv_filters"]
no_final_linear = self.model_config.get("no_final_linear")
vf_share_layers = self.model_config.get("vf_share_layers")
# Whether the last layer is the output of a Flattened (rather than
# a n x (1,1) Conv2D).
self.last_layer_is_flattened = False
self._logits = None
layers = []
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
# No final linear: Last layer is a Conv2D and uses num_outputs.
if no_final_linear and num_outputs:
layers.append(
SlimConv2d(
in_channels,
num_outputs,
kernel,
stride,
None, # padding=valid
activation_fn=activation))
out_channels = num_outputs
# Finish network normally (w/o overriding last layer size with
# `num_outputs`), then add another linear one of size `num_outputs`.
else:
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None, # padding=valid
activation_fn=activation))
# num_outputs defined. Use that to create an exact
# `num_output`-sized (1,1)-Conv2D.
if num_outputs:
in_size = [
np.ceil((in_size[0] - kernel[0]) / stride),
np.ceil((in_size[1] - kernel[1]) / stride)
]
padding, _ = same_padding(in_size, [1, 1], [1, 1])
self._logits = SlimConv2d(out_channels,
num_outputs, [1, 1],
1,
padding,
activation_fn=None)
# num_outputs not known -> Flatten, then set self.num_outputs
# to the resulting number of nodes.
else:
self.last_layer_is_flattened = True
layers.append(nn.Flatten())
self.num_outputs = out_channels
self._convs = nn.Sequential(*layers)
# Build the value layers
self._value_branch_separate = self._value_branch = None
if vf_share_layers:
self._value_branch = SlimFC(out_channels,
1,
initializer=normc_initializer(0.01),
activation_fn=None)
else:
vf_layers = []
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel,
[stride, stride])
vf_layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
vf_layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
None,
activation_fn=activation))
vf_layers.append(
SlimConv2d(in_channels=out_channels,
out_channels=1,
kernel=1,
stride=1,
padding=None,
activation_fn=None))
self._value_branch_separate = nn.Sequential(*vf_layers)
# Holds the current "base" output (before logits layer).
self._features = None
def __init__(
self,
obs_space: gym.spaces.Space,
action_space: gym.spaces.Space,
num_outputs: int,
model_config: ModelConfigDict,
name: str,
):
if not model_config.get("conv_filters"):
model_config["conv_filters"] = get_filter_config(obs_space.shape)
TorchModelV2.__init__(
self, obs_space, action_space, num_outputs, model_config, name
)
nn.Module.__init__(self)
activation = self.model_config.get("conv_activation")
filters = self.model_config["conv_filters"]
assert len(filters) > 0, "Must provide at least 1 entry in `conv_filters`!"
# Post FC net config.
post_fcnet_hiddens = model_config.get("post_fcnet_hiddens", [])
post_fcnet_activation = get_activation_fn(
model_config.get("post_fcnet_activation"), framework="torch"
)
no_final_linear = self.model_config.get("no_final_linear")
vf_share_layers = self.model_config.get("vf_share_layers")
# Whether the last layer is the output of a Flattened (rather than
# a n x (1,1) Conv2D).
self.last_layer_is_flattened = False
self._logits = None
layers = []
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel, stride)
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation,
)
)
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
# No final linear: Last layer has activation function and exits with
# num_outputs nodes (this could be a 1x1 conv or a FC layer, depending
# on `post_fcnet_...` settings).
if no_final_linear and num_outputs:
out_channels = out_channels if post_fcnet_hiddens else num_outputs
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None, # padding=valid
activation_fn=activation,
)
)
# Add (optional) post-fc-stack after last Conv2D layer.
layer_sizes = post_fcnet_hiddens[:-1] + (
[num_outputs] if post_fcnet_hiddens else []
)
for i, out_size in enumerate(layer_sizes):
layers.append(
SlimFC(
in_size=out_channels,
out_size=out_size,
activation_fn=post_fcnet_activation,
initializer=normc_initializer(1.0),
)
)
out_channels = out_size
# Finish network normally (w/o overriding last layer size with
# `num_outputs`), then add another linear one of size `num_outputs`.
else:
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None, # padding=valid
activation_fn=activation,
)
)
# num_outputs defined. Use that to create an exact
# `num_output`-sized (1,1)-Conv2D.
if num_outputs:
in_size = [
np.ceil((in_size[0] - kernel[0]) / stride),
np.ceil((in_size[1] - kernel[1]) / stride),
]
padding, _ = same_padding(in_size, [1, 1], [1, 1])
if post_fcnet_hiddens:
layers.append(nn.Flatten())
in_size = out_channels
# Add (optional) post-fc-stack after last Conv2D layer.
for i, out_size in enumerate(post_fcnet_hiddens + [num_outputs]):
layers.append(
SlimFC(
in_size=in_size,
out_size=out_size,
activation_fn=post_fcnet_activation
if i < len(post_fcnet_hiddens) - 1
else None,
initializer=normc_initializer(1.0),
)
)
in_size = out_size
# Last layer is logits layer.
self._logits = layers.pop()
else:
self._logits = SlimConv2d(
out_channels,
num_outputs,
[1, 1],
1,
padding,
activation_fn=None,
)
# num_outputs not known -> Flatten, then set self.num_outputs
# to the resulting number of nodes.
else:
self.last_layer_is_flattened = True
layers.append(nn.Flatten())
self._convs = nn.Sequential(*layers)
# If our num_outputs still unknown, we need to do a test pass to
# figure out the output dimensions. This could be the case, if we have
# the Flatten layer at the end.
if self.num_outputs is None:
# Create a B=1 dummy sample and push it through out conv-net.
dummy_in = (
torch.from_numpy(self.obs_space.sample())
.permute(2, 0, 1)
.unsqueeze(0)
.float()
)
dummy_out = self._convs(dummy_in)
self.num_outputs = dummy_out.shape[1]
# Build the value layers
self._value_branch_separate = self._value_branch = None
if vf_share_layers:
self._value_branch = SlimFC(
out_channels, 1, initializer=normc_initializer(0.01), activation_fn=None
)
else:
vf_layers = []
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel, stride)
vf_layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation,
)
)
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
vf_layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None,
activation_fn=activation,
)
)
vf_layers.append(
SlimConv2d(
in_channels=out_channels,
out_channels=1,
kernel=1,
stride=1,
padding=None,
activation_fn=None,
)
)
self._value_branch_separate = nn.Sequential(*vf_layers)
# Holds the current "base" output (before logits layer).
self._features = None
def __init__(self, obs_space: gym.spaces.Space,
action_space: gym.spaces.Space, num_outputs: int,
model_config: ModelConfigDict, name: str):
if not model_config.get("conv_filters"):
model_config["conv_filters"] = get_filter_config(obs_space.shape)
TorchModelV2.__init__(self, obs_space, action_space, num_outputs,
model_config, name)
nn.Module.__init__(self)
activation = self.model_config.get("conv_activation")
filters = self.model_config["conv_filters"]
assert len(filters) > 0,\
"Must provide at least 1 entry in `conv_filters`!"
# Post FC net config.
post_fcnet_hiddens = model_config.get("post_fcnet_hiddens", [])
post_fcnet_activation = get_activation_fn(
model_config.get("post_fcnet_activation"), framework="torch")
no_final_linear = self.model_config.get("no_final_linear")
vf_share_layers = self.model_config.get("vf_share_layers")
# Whether the last layer is the output of a Flattened (rather than
# a n x (1,1) Conv2D).
self.last_layer_is_flattened = False
self._logits = None
self.traj_view_framestacking = False
layers = []
# Perform Atari framestacking via traj. view API.
if model_config.get("num_framestacks") != "auto" and \
model_config.get("num_framestacks", 0) > 1:
(w, h) = obs_space.shape
in_channels = model_config["num_framestacks"]
self.traj_view_framestacking = True
else:
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
# No final linear: Last layer has activation function and exits with
# num_outputs nodes (this could be a 1x1 conv or a FC layer, depending
# on `post_fcnet_...` settings).
if no_final_linear and num_outputs:
out_channels = out_channels if post_fcnet_hiddens else num_outputs
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None, # padding=valid
activation_fn=activation))
# Add (optional) post-fc-stack after last Conv2D layer.
layer_sizes = post_fcnet_hiddens[:-1] + (
[num_outputs] if post_fcnet_hiddens else [])
for i, out_size in enumerate(layer_sizes):
layers.append(
SlimFC(in_size=out_channels,
out_size=out_size,
activation_fn=post_fcnet_activation,
initializer=normc_initializer(1.0)))
out_channels = out_size
# Finish network normally (w/o overriding last layer size with
# `num_outputs`), then add another linear one of size `num_outputs`.
else:
layers.append(
SlimConv2d(
in_channels,
out_channels,
kernel,
stride,
None, # padding=valid
activation_fn=activation))
# num_outputs defined. Use that to create an exact
# `num_output`-sized (1,1)-Conv2D.
if num_outputs:
in_size = [
np.ceil((in_size[0] - kernel[0]) / stride),
np.ceil((in_size[1] - kernel[1]) / stride)
]
padding, _ = same_padding(in_size, [1, 1], [1, 1])
if post_fcnet_hiddens:
layers.append(nn.Flatten())
in_size = out_channels
# Add (optional) post-fc-stack after last Conv2D layer.
for i, out_size in enumerate(post_fcnet_hiddens +
[num_outputs]):
layers.append(
SlimFC(in_size=in_size,
out_size=out_size,
activation_fn=post_fcnet_activation if
i < len(post_fcnet_hiddens) - 1 else None,
initializer=normc_initializer(1.0)))
in_size = out_size
# Last layer is logits layer.
self._logits = layers.pop()
else:
self._logits = SlimConv2d(out_channels,
num_outputs, [1, 1],
1,
padding,
activation_fn=None)
# num_outputs not known -> Flatten, then set self.num_outputs
# to the resulting number of nodes.
else:
self.last_layer_is_flattened = True
layers.append(nn.Flatten())
self.num_outputs = out_channels
self._convs = nn.Sequential(*layers)
# Build the value layers
self._value_branch_separate = self._value_branch = None
if vf_share_layers:
self._value_branch = SlimFC(out_channels,
1,
initializer=normc_initializer(0.01),
activation_fn=None)
else:
vf_layers = []
if self.traj_view_framestacking:
(w, h) = obs_space.shape
in_channels = model_config["num_framestacks"]
else:
(w, h, in_channels) = obs_space.shape
in_size = [w, h]
for out_channels, kernel, stride in filters[:-1]:
padding, out_size = same_padding(in_size, kernel,
[stride, stride])
vf_layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = filters[-1]
vf_layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
None,
activation_fn=activation))
vf_layers.append(
SlimConv2d(in_channels=out_channels,
out_channels=1,
kernel=1,
stride=1,
padding=None,
activation_fn=None))
self._value_branch_separate = nn.Sequential(*vf_layers)
# Holds the current "base" output (before logits layer).
self._features = None
# Optional: framestacking obs/new_obs for Atari.
if self.traj_view_framestacking:
from_ = model_config["num_framestacks"] - 1
self.view_requirements[SampleBatch.OBS].shift = \
"-{}:0".format(from_)
self.view_requirements[SampleBatch.OBS].shift_from = -from_
self.view_requirements[SampleBatch.OBS].shift_to = 0
self.view_requirements[SampleBatch.NEXT_OBS] = ViewRequirement(
data_col=SampleBatch.OBS,
shift="-{}:1".format(from_ - 1),
space=self.view_requirements[SampleBatch.OBS].space,
)
def __init__(self, obs_space, action_space, num_outputs, model_config,
name): #,
#graph_layers, graph_features, graph_tabs, graph_edge_features, cnn_filters, value_cnn_filters, value_cnn_compression, cnn_compression, relative, activation):
TorchModelV2.__init__(self, obs_space, action_space, num_outputs,
model_config, name)
nn.Module.__init__(self)
self.cfg = copy.deepcopy(DEFAULT_OPTIONS)
self.cfg.update(model_config['custom_model_config'])
#self.cfg = model_config['custom_options']
self.n_agents = len(obs_space.original_space['agents'])
self.graph_features = self.cfg['graph_features']
self.cnn_compression = self.cfg['cnn_compression']
self.activation = {
'relu': nn.ReLU,
'leakyrelu': nn.LeakyReLU
}[self.cfg['activation']]
layers = []
input_shape = obs_space.original_space['agents'][0]['map'].shape
(w, h, in_channels) = input_shape
in_size = [w, h]
for out_channels, kernel, stride in self.cfg['cnn_filters'][:-1]:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=self.activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = self.cfg['cnn_filters'][-1]
layers.append(
SlimConv2d(in_channels, out_channels, kernel, stride, None))
layers.append(nn.Flatten(1, -1))
#if isinstance(cnn_compression, int):
# layers.append(nn.Linear(cnn_compression, self.cfg['graph_features']-2)) # reserve 2 for pos
# layers.append(self.activation{))
self.coop_convs = nn.Sequential(*layers)
self.greedy_convs = copy.deepcopy(self.coop_convs)
self.coop_value_obs_convs = copy.deepcopy(self.coop_convs)
self.greedy_value_obs_convs = copy.deepcopy(self.coop_convs)
summary(self.coop_convs,
device="cpu",
input_size=(input_shape[2], input_shape[0], input_shape[1]))
gfl = []
for i in range(self.cfg['graph_layers']):
gfl.append(
gml_adv.GraphFilterBatchGSOA(self.graph_features,
self.graph_features,
self.cfg['graph_tabs'],
self.cfg['agent_split'],
self.cfg['graph_edge_features'],
False))
#gfl.append(gml.GraphFilterBatchGSO(self.graph_features, self.graph_features, self.cfg['graph_tabs'], self.cfg['graph_edge_features'], False))
gfl.append(self.activation())
self.GFL = nn.Sequential(*gfl)
#gso_sum = torch.zeros(2, 1, 8, 8)
#self.GFL[0].addGSO(gso_sum)
#summary(self.GFL, device="cuda" if torch.cuda.is_available() else "cpu", input_size=(self.graph_features, 8))
logits_inp_features = self.graph_features
if self.cfg['cnn_residual']:
logits_inp_features += self.cnn_compression
post_logits = [
nn.Linear(logits_inp_features, 64),
self.activation(),
nn.Linear(64, 32),
self.activation()
]
logit_linear = nn.Linear(32, 5)
nn.init.xavier_uniform_(logit_linear.weight)
nn.init.constant_(logit_linear.bias, 0)
post_logits.append(logit_linear)
self.coop_logits = nn.Sequential(*post_logits)
self.greedy_logits = copy.deepcopy(self.coop_logits)
summary(self.coop_logits,
device="cpu",
input_size=(logits_inp_features, ))
##############################
layers = []
input_shape = np.array(obs_space.original_space['state'].shape)
(w, h, in_channels) = input_shape
in_size = [w, h]
for out_channels, kernel, stride in self.cfg['value_cnn_filters'][:-1]:
padding, out_size = same_padding(in_size, kernel, [stride, stride])
layers.append(
SlimConv2d(in_channels,
out_channels,
kernel,
stride,
padding,
activation_fn=self.activation))
in_channels = out_channels
in_size = out_size
out_channels, kernel, stride = self.cfg['value_cnn_filters'][-1]
layers.append(
SlimConv2d(in_channels, out_channels, kernel, stride, None))
layers.append(nn.Flatten(1, -1))
self.coop_value_cnn = nn.Sequential(*layers)
self.greedy_value_cnn = copy.deepcopy(self.coop_value_cnn)
summary(self.greedy_value_cnn,
device="cpu",
input_size=(input_shape[2], input_shape[0], input_shape[1]))
layers = [
nn.Linear(self.cnn_compression + self.cfg['value_cnn_compression'],
64),
self.activation(),
nn.Linear(64, 32),
self.activation()
]
values_linear = nn.Linear(32, 1)
normc_initializer()(values_linear.weight)
nn.init.constant_(values_linear.bias, 0)
layers.append(values_linear)
self.coop_value_branch = nn.Sequential(*layers)
self.greedy_value_branch = copy.deepcopy(self.coop_value_branch)
summary(self.coop_value_branch,
device="cpu",
input_size=(self.cnn_compression +
self.cfg['value_cnn_compression'], ))
self._cur_value = None
self.freeze_coop_value(self.cfg['freeze_coop_value'])
self.freeze_greedy_value(self.cfg['freeze_greedy_value'])
self.freeze_coop(self.cfg['freeze_coop'])
self.freeze_greedy(self.cfg['freeze_greedy'])