def forward(self, input_dict, state, seq_lens):
if "internal_state" in input_dict["obs"]:
self.internal_states = input_dict["obs"]["internal_state"]
pi_obs_inputs = input_dict["obs"][self.pi_obs_key]
vf_obs_inputs = input_dict['obs'][self.vf_obs_key]
if self.use_lstm:
policy_out, self._value_out, *state_out = self.base_model([
add_time_dimension(pi_obs_inputs, seq_lens),
add_time_dimension(vf_obs_inputs, seq_lens),
seq_lens,
*state])
policy_out = tf.reshape(policy_out, [-1, self.num_outputs])
else:
policy_out, self._value_out = self.base_model([pi_obs_inputs, vf_obs_inputs])
state_out = state
self.unmasked_policy_logits = policy_out
if self.mask_invalid_actions:
# set policy logits for invalid actions to zero
self.valid_actions_masks = input_dict["obs"]["valid_actions_mask"]
inf_mask = tf.maximum(tf.log(self.valid_actions_masks), tf.float32.min)
self.masked_policy_logits = policy_out + inf_mask
else:
self.masked_policy_logits = policy_out
return self.masked_policy_logits, state_out
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn()"""
# first we add the time dimension for each object
input_dict["obs_vision"] = add_time_dimension(input_dict["obs"][0], seq_lens)
input_dict["obs_messages"] = add_time_dimension(input_dict["obs"][1], seq_lens)
output, new_state = self.forward_rnn(input_dict, state, seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def test_add_time_dimension(self):
"""Test add_time_dimension gives sequential data along the time dimension"""
B, T, F = np.random.choice(
np.asarray(list(range(8, 32)),
dtype=np.int32), # use int32 for seq_lens
size=3,
replace=False,
)
inputs_numpy = np.repeat(np.arange(B * T)[:, np.newaxis],
repeats=F,
axis=-1).astype(np.int32)
check(inputs_numpy.shape, (B * T, F))
time_shift_diff_batch_major = np.ones(shape=(B, T - 1, F),
dtype=np.int32)
time_shift_diff_time_major = np.ones(shape=(T - 1, B, F),
dtype=np.int32)
if tf is not None:
# Test tensorflow batch-major
padded_inputs = tf.constant(inputs_numpy)
batch_major_outputs = add_time_dimension(padded_inputs,
max_seq_len=T,
framework="tf",
time_major=False)
check(batch_major_outputs.shape.as_list(), [B, T, F])
time_shift_diff = batch_major_outputs[:,
1:] - batch_major_outputs[:, :
-1]
check(time_shift_diff, time_shift_diff_batch_major)
if torch is not None:
# Test torch batch-major
padded_inputs = torch.from_numpy(inputs_numpy)
batch_major_outputs = add_time_dimension(padded_inputs,
max_seq_len=T,
framework="torch",
time_major=False)
check(batch_major_outputs.shape, (B, T, F))
time_shift_diff = batch_major_outputs[:,
1:] - batch_major_outputs[:, :
-1]
check(time_shift_diff, time_shift_diff_batch_major)
# Test torch time-major
padded_inputs = torch.from_numpy(inputs_numpy)
time_major_outputs = add_time_dimension(padded_inputs,
max_seq_len=T,
framework="torch",
time_major=True)
check(time_major_outputs.shape, (T, B, F))
time_shift_diff = time_major_outputs[1:] - time_major_outputs[:-1]
check(time_shift_diff, time_shift_diff_time_major)
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
if self.use_prev_action:
output, new_state = self.forward_rnn(
add_time_dimension(input_dict["obs"], seq_lens), state,
seq_lens, add_time_dimension(input_dict["prev_action"], seq_lens))
else:
output, new_state = self.forward_rnn(
add_time_dimension(input_dict["obs"], seq_lens), state,
seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn()"""
# first we add the time dimension for each object
if isinstance(input_dict["obs"], dict):
padded_obs = add_time_dimension(input_dict["obs"]["obs"], seq_lens)
else:
padded_obs = add_time_dimension(input_dict["obs"], seq_lens)
if self.use_prev_action:
padded_action = add_time_dimension(input_dict["prev_actions"], seq_lens)
padded_obs = tf.concat([padded_obs, padded_action], axis=-1)
output, new_state = self.forward_rnn(padded_obs, state, seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict: Dict[str,
TensorType], state: List[TensorType],
seq_lens: TensorType) -> (TensorType, List[TensorType]):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
assert seq_lens is not None
padded_inputs = input_dict["obs_flat"]
max_seq_len = tf.shape(padded_inputs)[0] // tf.shape(seq_lens)[0]
output, new_state = self.forward_rnn(
add_time_dimension(
padded_inputs,
max_seq_len=max_seq_len,
framework="tf",
),
state,
seq_lens,
)
output = tf.reshape(output, [-1, self.num_outputs])
action_mask = input_dict["obs"]["action_mask"]
inf_mask = tf.maximum(tf.math.log(action_mask), tf.float32.min)
output = output + inf_mask
return output, new_state
def forward(self, input_dict, state, seq_lens):
device = 'cuda' if torch.cuda.is_available() else 'cpu'
x = input_dict["obs"]["conv_features"]
x = self.shared_layers(x)
if type(input_dict["prev_rewards"]) != torch.Tensor:
input_dict["prev_rewards"] = torch.tensor(
input_dict["prev_rewards"], device=device)
last_reward = torch.reshape(input_dict["prev_rewards"],
[-1, 1]).float()
if type(input_dict["prev_actions"]) != torch.Tensor:
prev_actions = np.array(input_dict["prev_actions"], dtype=np.int)
else:
prev_actions = np.array(input_dict["prev_actions"].cpu().numpy(),
dtype=np.int)
prev_actions = np.expand_dims(prev_actions, 0)
one_hot_prev_actions = torch.cat(
[nn.functional.one_hot(torch.tensor(a), 6) for a in prev_actions],
axis=-1)
x = torch.cat((x, input_dict["obs"]["fc_features"], last_reward,
one_hot_prev_actions.float().to(device)),
dim=1)
output, new_state = self.forward_rnn(
add_time_dimension(x.float(), seq_lens, framework="torch"), state,
seq_lens)
return torch.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
obs_inputs = input_dict["obs"][self._obs_key]
self.valid_actions_masks = input_dict["obs"]["valid_actions_mask"]
# self.valid_actions_masks = tf.Print(input_dict["obs"]["valid_actions_mask"], [input_dict["obs"]["valid_actions_mask"]], message="valid_act_mask: ")
if self.use_lstm:
obs_inputs_time_dist = add_time_dimension(obs_inputs, seq_lens)
# obs_inputs_time_dist_check = tf.debugging.check_numerics(
# obs_inputs_time_dist, "nan found in obs_inputs_time_dist", name=None
# )
# seq_lens = tf.debugging.check_numerics(
# seq_lens, "nan found in seq_lens", name=None
# )
# state_checks = []
# for i in range(len(state)):
# state_checks.append(tf.debugging.check_numerics(
# state[i], f"nan found in state[{i}]", name=None
# ))
# with tf.control_dependencies([obs_inputs_time_dist_check, *state_checks]):
base_model_out, *state_out = self._base_model(
[obs_inputs_time_dist, seq_lens, *state])
# base_model_out = tf.Print(base_model_out, state_out,
# message="state_out: ")
return tf.reshape(base_model_out,
[-1, *self._base_model_out_shape]), state_out
else:
base_model_out = self._base_model([obs_inputs])
state_out = state
return base_model_out, state_out
def forward(
self, input_dict: Dict[str,
torch.Tensor], state: List[torch.Tensor],
seq_lens: torch.Tensor) -> Tuple[torch.Tensor, List[torch.Tensor]]:
# first apply the cnn
x = input_dict['obs'].float().permute(0, 3, 1, 2) / 255.0
x = self.cnn(x)
# add time
x_flat = x.view(x.shape[0], -1)
# pylint: disable=too-many-function-args,missing-kwoa
x = add_time_dimension(x_flat, seq_lens, "torch")
# apply lstm
# pylint: disable=no-member
x, state_out = self.lstm(
x, (torch.unsqueeze(state[0], 0), torch.unsqueeze(state[1], 0)))
# pylint: disable=no-member
x = torch.reshape(x, [-1, self.lstm_cell_size])
return self._forward_helper(x), [
torch.squeeze(state_out[0], 0),
torch.squeeze(state_out[1], 0)
]
def forward(self, input_dict, state, seq_lens):
if isinstance(seq_lens, np.ndarray):
seq_lens = torch.Tensor(seq_lens).int()
output, new_state = self.forward_rnn(
add_time_dimension(input_dict["obs"].float(),
seq_lens,
framework="torch"), input_dict["prev_actions"],
state, seq_lens)
return torch.reshape(output, [-1, self.num_outputs]), new_state
def _build_layers_v2(self, input_dict, num_outputs, options):
# Hard deprecate this class. All Models should use the ModelV2
# API from here on.
deprecation_warning("Model->LSTM", "RecurrentNetwork", error=False)
cell_size = options.get("lstm_cell_size")
if options.get("lstm_use_prev_action_reward"):
action_dim = int(
np.product(
input_dict["prev_actions"].get_shape().as_list()[1:]))
features = tf.concat(
[
input_dict["obs"],
tf.reshape(
tf.cast(input_dict["prev_actions"], tf.float32),
[-1, action_dim]),
tf.reshape(input_dict["prev_rewards"], [-1, 1]),
],
axis=1)
else:
features = input_dict["obs"]
last_layer = add_time_dimension(features, self.seq_lens)
# Setup the LSTM cell
lstm = tf1.nn.rnn_cell.LSTMCell(cell_size, state_is_tuple=True)
self.state_init = [
np.zeros(lstm.state_size.c, np.float32),
np.zeros(lstm.state_size.h, np.float32)
]
# Setup LSTM inputs
if self.state_in:
c_in, h_in = self.state_in
else:
c_in = tf1.placeholder(
tf.float32, [None, lstm.state_size.c], name="c")
h_in = tf1.placeholder(
tf.float32, [None, lstm.state_size.h], name="h")
self.state_in = [c_in, h_in]
# Setup LSTM outputs
state_in = tf1.nn.rnn_cell.LSTMStateTuple(c_in, h_in)
lstm_out, lstm_state = tf1.nn.dynamic_rnn(
lstm,
last_layer,
initial_state=state_in,
sequence_length=self.seq_lens,
time_major=False,
dtype=tf.float32)
self.state_out = list(lstm_state)
# Compute outputs
last_layer = tf.reshape(lstm_out, [-1, cell_size])
logits = linear(last_layer, num_outputs, "action",
normc_initializer(0.01))
return logits, last_layer
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
output, new_state = self.forward_rnn(
add_time_dimension(input_dict["obs_flat"],
seq_lens,
framework="tf"), state, seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
if isinstance(seq_lens, np.ndarray):
seq_lens = torch.Tensor(seq_lens).int()
output, new_state = self.forward_rnn(
add_time_dimension(
input_dict["obs_flat"].float(), seq_lens, framework="torch"),
state, seq_lens)
return torch.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
assert seq_lens is not None
padded_inputs = input_dict["obs_flat"]
max_seq_len = tf.shape(padded_inputs)[0] // tf.shape(seq_lens)[0]
output, new_state = self.forward_rnn(
add_time_dimension(
padded_inputs, max_seq_len=max_seq_len, framework="tf"), state,
seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
x = input_dict["obs"]["conv_features"]
x = self.shared_conv_layers(x)
x = torch.cat((x, input_dict["obs"]["fc_features"]), dim=1)
x = self.shared_fc_layers(x)
output, new_state = self.forward_rnn(
add_time_dimension(x.float(), seq_lens, framework="torch"),
state,
seq_lens
)
return torch.reshape(output, [-1, self.num_outputs]), new_state
def forward(self, input_dict, state, seq_lens):
"""
Evaluate the model.
Adds time dimension to batch before sending inputs to forward_rnn()
:param input_dict: The input tensors.
:param state: The model state.
:param seq_lens: LSTM sequence lengths.
:return: The policy logits and state.
"""
trunk = self.encoder_model(input_dict["obs"]["curr_obs"])
new_dict = {"curr_obs": add_time_dimension(trunk, seq_lens)}
output, new_state = self.forward_rnn(new_dict, state, seq_lens)
return tf.reshape(output, [-1, self.num_outputs]), new_state
def call(
self, input_dict: SampleBatch
) -> (TensorType, List[TensorType], Dict[str, TensorType]):
assert input_dict.get(SampleBatch.SEQ_LENS) is not None
# Push obs through underlying (wrapped) model first.
wrapped_out, _, _ = self.wrapped_keras_model(input_dict)
# Concat. prev-action/reward if required.
prev_a_r = []
if self.lstm_use_prev_action:
prev_a = input_dict[SampleBatch.PREV_ACTIONS]
if isinstance(self.action_space, (Discrete, MultiDiscrete)):
prev_a = one_hot(prev_a, self.action_space)
prev_a_r.append(
tf.reshape(tf.cast(prev_a, tf.float32), [-1, self.action_dim])
)
if self.lstm_use_prev_reward:
prev_a_r.append(
tf.reshape(
tf.cast(input_dict[SampleBatch.PREV_REWARDS], tf.float32), [-1, 1]
)
)
if prev_a_r:
wrapped_out = tf.concat([wrapped_out] + prev_a_r, axis=1)
max_seq_len = (
tf.shape(wrapped_out)[0] // tf.shape(input_dict[SampleBatch.SEQ_LENS])[0]
)
wrapped_out_plus_time_dim = add_time_dimension(
wrapped_out, max_seq_len=max_seq_len, framework="tf"
)
model_out, value_out, h, c = self._rnn_model(
[
wrapped_out_plus_time_dim,
input_dict[SampleBatch.SEQ_LENS],
input_dict["state_in_0"],
input_dict["state_in_1"],
]
)
model_out_no_time_dim = tf.reshape(
model_out, tf.concat([[-1], tf.shape(model_out)[2:]], axis=0)
)
return (
model_out_no_time_dim,
[h, c],
{SampleBatch.VF_PREDS: tf.reshape(value_out, [-1])},
)
def forward(self, input_dict, state, seq_lens):
"""Adds time dimension to batch before sending inputs to forward_rnn().
You should implement forward_rnn() in your subclass."""
flat_inputs = input_dict["obs_flat"].float()
if isinstance(seq_lens, np.ndarray):
seq_lens = torch.Tensor(seq_lens).int()
max_seq_len = flat_inputs.shape[0] // seq_lens.shape[0]
self.time_major = self.model_config.get("_time_major", False)
inputs = add_time_dimension(
flat_inputs,
max_seq_len=max_seq_len,
framework="torch",
time_major=self.time_major,
)
output, new_state = self.forward_rnn(inputs, state, seq_lens)
output = torch.reshape(output, [-1, self.num_outputs])
return output, new_state
def forward(self, input_dict, state, seq_lens):
flat_inputs = input_dict["obs"]["state"].float()
if isinstance(seq_lens, np.ndarray):
seq_lens = torch.Tensor(seq_lens).int()
max_seq_len = flat_inputs.shape[0] // seq_lens.shape[0]
self.time_major = self.model_config.get("_time_major", False)
inputs = add_time_dimension(
flat_inputs,
max_seq_len=max_seq_len,
framework="torch",
time_major=self.time_major,
)
action_logits, new_state = self.forward_rnn(inputs, state, seq_lens)
action_logits = torch.reshape(action_logits, [-1, self.num_outputs])
action_mask = input_dict["obs"]["action_mask"]
inf_mask = torch.clamp(torch.log(action_mask), FLOAT_MIN, FLOAT_MAX)
return action_logits + inf_mask, new_state
def forward(self, input_dict, state, seq_lens):
"""
First evaluate non-LSTM parts of model. Then add a time dimension to the batch before
sending inputs to forward_rnn(), which evaluates the LSTM parts of the model.
:param input_dict: The input tensors.
:param state: The model state.
:param seq_lens: LSTM sequence lengths.
:return: The agent's own action logits and the new model state.
"""
# Evaluate non-lstm layers
actor_critic_fc_output, moa_fc_output = self.moa_encoder_model(
input_dict["obs"]["curr_obs"])
rnn_input_dict = {
"ac_trunk": actor_critic_fc_output,
"prev_moa_trunk": state[5],
"other_agent_actions": input_dict["obs"]["other_agent_actions"],
"visible_agents": input_dict["obs"]["visible_agents"],
"prev_actions": input_dict["prev_actions"],
}
# Add time dimension to rnn inputs
for k, v in rnn_input_dict.items():
rnn_input_dict[k] = add_time_dimension(v, seq_lens)
output, new_state = self.forward_rnn(rnn_input_dict, state, seq_lens)
action_logits = tf.reshape(output, [-1, self.num_outputs])
counterfactuals = tf.reshape(
self._counterfactuals,
[
-1, self._counterfactuals.shape[-2],
self._counterfactuals.shape[-1]
],
)
new_state.extend([action_logits, moa_fc_output])
self.compute_influence_reward(input_dict, state[4], counterfactuals)
return action_logits, new_state
def _build_layers_v2(self, input_dict, num_outputs, options):
# Previously, a new class object was created during
# deserialization and this `capture_index`
# variable would be refreshed between class instantiations.
# This behavior is no longer the case, so we manually refresh
# the variable.
RNNSpyModel.capture_index = 0
def spy(sequences, state_in, state_out, seq_lens):
if len(sequences) == 1:
return 0 # don't capture inference inputs
# TF runs this function in an isolated context, so we have to use
# redis to communicate back to our suite
ray.experimental.internal_kv._internal_kv_put(
"rnn_spy_in_{}".format(RNNSpyModel.capture_index),
pickle.dumps({
"sequences": sequences,
"state_in": state_in,
"state_out": state_out,
"seq_lens": seq_lens
}),
overwrite=True)
RNNSpyModel.capture_index += 1
return 0
features = input_dict["obs"]
cell_size = 3
last_layer = add_time_dimension(features, self.seq_lens)
# Setup the LSTM cell
lstm = tf.nn.rnn_cell.BasicLSTMCell(cell_size, state_is_tuple=True)
self.state_init = [
np.zeros(lstm.state_size.c, np.float32),
np.zeros(lstm.state_size.h, np.float32)
]
# Setup LSTM inputs
if self.state_in:
c_in, h_in = self.state_in
else:
c_in = tf.placeholder(tf.float32, [None, lstm.state_size.c],
name="c")
h_in = tf.placeholder(tf.float32, [None, lstm.state_size.h],
name="h")
self.state_in = [c_in, h_in]
# Setup LSTM outputs
state_in = tf.nn.rnn_cell.LSTMStateTuple(c_in, h_in)
lstm_out, lstm_state = tf.nn.dynamic_rnn(lstm,
last_layer,
initial_state=state_in,
sequence_length=self.seq_lens,
time_major=False,
dtype=tf.float32)
self.state_out = list(lstm_state)
spy_fn = tf.py_func(spy, [
last_layer,
self.state_in,
self.state_out,
self.seq_lens,
],
tf.int64,
stateful=True)
# Compute outputs
with tf.control_dependencies([spy_fn]):
last_layer = tf.reshape(lstm_out, [-1, cell_size])
logits = linear(last_layer, num_outputs, "action",
normc_initializer(0.01))
return logits, last_layer
def forward(self, input_dict, state, seq_lens):
"""
Adds time dimension to batch and does forward inference
"""
prev_actions = tf.cast(input_dict["prev_actions"][:, 0],
dtype=tf.int32)
prev_rewards = input_dict["prev_rewards"]
lstm_state = state[:2]
if self.use_receiver_bias:
receiver_bias_state = state[2:4]
obs_dict = input_dict["obs"]
inputs = add_time_dimension(obs_dict["obs"], seq_lens)
if self.use_comm:
extra_inputs = obs_dict["message"]
else:
extra_inputs = tf.zeros_like(obs_dict["message"])
outputs = self.rnn_model(
[inputs, extra_inputs, prev_actions, prev_rewards, seq_lens] +
lstm_state)
if self.use_receiver_bias:
extra_inputs = tf.zeros_like(obs_dict["message"])
self.no_message_outputs = self.rnn_model(
[inputs, extra_inputs, prev_actions, prev_rewards, seq_lens] +
receiver_bias_state)
if self.use_cpc:
(
model_out,
self._value_out,
h,
c,
self._cpc_ins,
self._cpc_preds,
*self._unscaled_message_p,
) = outputs
else:
model_out, self._value_out, h, c, *self._unscaled_message_p = outputs
next_states = [h, c]
if self.use_receiver_bias:
next_states.extend(self.no_message_outputs[2:4])
if self.use_inference_policy:
if self.pm_type == "moving_avg":
action_logits = model_out[..., :-self.message_size]
unscaled_message_logits = model_out[..., -self.message_size:]
avg_message_logits = tf.log(
self._avg_message_p) - tf.log(1 - self._avg_message_p)
scaled_message_logits = unscaled_message_logits - avg_message_logits
model_out = tf.keras.layers.Concatenate()(
[action_logits, scaled_message_logits])
elif self.pm_type == "hyper_nn":
action_logits = model_out[..., :-self.message_size]
unscaled_message_logits = model_out[..., -self.message_size:]
scaled_message_logits = unscaled_message_logits - self._pm_logits
model_out = tf.keras.layers.Concatenate()(
[action_logits, scaled_message_logits])
else:
raise NotImplementedError("Wrong type for inference_policy")
self._model_out = tf.reshape(model_out, [-1, self.num_outputs])
return self._model_out, next_states
