def init_params(self):
'''
Initializes all of the model's parameters using xavier uniform initialization.
Biases are all set to 0.01, except for the GRU's biases which are set to 0.
'''
net_util.init_layers(self.layers, 'Linear')
net_util.init_layers(self.layers, 'GRU')
def __init__(self, net_spec, in_dim, out_dim):
'''
net_spec:
hid_layers: list containing dimensions of the hidden layers
hid_layers_activation: activation function for the hidden layers
init_fn: weight initialization function
clip_grad_val: clip gradient norm if value is not None
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_scheduler_spec: Pytorch optim.lr_scheduler
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
nn.Module.__init__(self)
super(MLPNet, self).__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(self, dict(
init_fn=None,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'shared',
'hid_layers',
'hid_layers_activation',
'init_fn',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
dims = [self.in_dim] + self.hid_layers
self.model = net_util.build_fc_model(dims, self.hid_layers_activation)
# add last layer with no activation
# tails. avoid list for single-tail for compute speed
if ps.is_integer(self.out_dim):
self.model_tail = nn.Linear(dims[-1], self.out_dim)
else:
self.model_tails = nn.ModuleList([nn.Linear(dims[-1], out_d) for out_d in self.out_dim])
net_util.init_layers(self, self.init_fn)
for module in self.modules():
module.to(self.device)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_scheduler = net_util.get_lr_scheduler(self, self.lr_scheduler_spec)
def init_params(self):
'''
Initializes all of the model's parameters using xavier uniform initialization.
Note: There appears to be unreproduceable behaviours in pyTorch for xavier init
Sometimes the trainable params tests pass (see nn_test.py), other times they dont.
Biases are all set to 0.01
'''
net_util.init_layers(self.layers, 'Linear')
def __init__(self, net_spec, in_dim, out_dim):
state_dim, action_dim = in_dim
assert len(state_dim) == 3 # image shape (c,w,h)
# conv body
nn.Module.__init__(self)
Net.__init__(self, net_spec, state_dim, out_dim)
# set default
util.set_attr(
self,
dict(
out_layer_activation=None,
init_fn=None,
normalize=False,
batch_norm=True,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'conv_hid_layers',
'fc_hid_layers',
'hid_layers_activation',
'out_layer_activation',
'init_fn',
'normalize',
'batch_norm',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# state conv model
self.conv_model = self.build_conv_layers(self.conv_hid_layers)
self.conv_out_dim = self.get_conv_output_size()
# state fc model
self.fc_model = net_util.build_fc_model(
[self.conv_out_dim + action_dim] + self.fc_hid_layers,
self.hid_layers_activation)
# affine transformation applied to
tail_in_dim = self.fc_hid_layers[-1]
self.model_tail = net_util.build_fc_model([tail_in_dim, self.out_dim],
self.out_layer_activation)
net_util.init_layers(self, self.init_fn)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.to(self.device)
self.train()
def init_params(self):
'''
Initializes all of the model's parameters using xavier uniform initialization.
Biases are all set to 0.01
'''
layers = []
for l in self.state_heads_layers:
layers.extend(l)
layers.extend(self.shared_layers)
for l in self.action_heads_layers:
layers.extend(l)
net_util.init_layers(layers, 'Linear')
def __init__(self, net_spec, algorithm, in_dim, out_dim):
nn.Module.__init__(self)
Net.__init__(self, net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# Guard against inappropriate algorithms and environments
assert net_util.is_q_learning(algorithm)
# Build model body
dims = [self.in_dim] + self.hid_layers
self.model_body = net_util.build_sequential(dims,
self.hid_layers_activation)
# output layers
self.v = nn.Linear(dims[-1], 1) # state value
self.adv = nn.Linear(dims[-1],
out_dim) # action dependent raw advantage
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, in_dim, out_dim):
nn.Module.__init__(self)
Net.__init__(self, net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
init_fn=None,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'shared',
'hid_layers',
'hid_layers_activation',
'init_fn',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# Guard against inappropriate algorithms and environments
# Build model body
dims = [self.in_dim] + self.hid_layers
self.model_body = net_util.build_sequential(dims,
self.hid_layers_activation)
# output layers
self.v = nn.Linear(dims[-1], 1) # state value
self.adv = nn.Linear(dims[-1],
out_dim) # action dependent raw advantage
net_util.init_layers(self, self.init_fn)
for module in self.modules():
module.to(self.device)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_scheduler = net_util.get_lr_scheduler(self,
self.lr_scheduler_spec)
def __init__(self, net_spec, algorithm, in_dim, out_dim):
nn.Module.__init__(self)
Net.__init__(self, net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
dims = [self.in_dim] + self.hid_layers
self.model_body = net_util.build_sequential(dims,
self.hid_layers_activation)
# multi-tail output layer with mean and std
self.model_tails = nn.ModuleList(
[nn.Linear(dims[-1], out_d) for out_d in out_dim])
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, in_dim, out_dim):
state_dim, action_dim = in_dim
nn.Module.__init__(self)
Net.__init__(self, net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
out_layer_activation=None,
init_fn=None,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'shared',
'hid_layers',
'hid_layers_activation',
'out_layer_activation',
'init_fn',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
dims = [state_dim + action_dim] + self.hid_layers
self.model = net_util.build_fc_model(dims, self.hid_layers_activation)
# add last layer with no activation
self.model_tail = net_util.build_fc_model([dims[-1], self.out_dim],
self.out_layer_activation)
net_util.init_layers(self, self.init_fn)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.to(self.device)
self.train()
def init_params(self):
'''
Initializes all of the model's parameters using xavier uniform initialization.
Biases are all set to 0.01
'''
layers = self.conv_layers + self.flat_layers
net_util.init_layers(layers, 'Linear')
net_util.init_layers(layers, 'Conv')
net_util.init_layers(layers, 'BatchNorm')
def __init__(self, net_spec, in_dim, out_dim):
assert len(in_dim) == 3 # image shape (c,w,h)
nn.Module.__init__(self)
Net.__init__(self, net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
init_fn=None,
normalize=False,
batch_norm=False,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'conv_hid_layers',
'fc_hid_layers',
'hid_layers_activation',
'init_fn',
'normalize',
'batch_norm',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# Guard against inappropriate algorithms and environments
assert isinstance(out_dim, int)
# conv body
self.conv_model = self.build_conv_layers(self.conv_hid_layers)
self.conv_out_dim = self.get_conv_output_size()
# fc body
if ps.is_empty(self.fc_hid_layers):
tail_in_dim = self.conv_out_dim
else:
# fc layer from flattened conv
self.fc_model = net_util.build_fc_model([self.conv_out_dim] +
self.fc_hid_layers,
self.hid_layers_activation)
tail_in_dim = self.fc_hid_layers[-1]
# tails. avoid list for single-tail for compute speed
self.v = nn.Linear(tail_in_dim, 1) # state value
self.adv = nn.Linear(tail_in_dim,
out_dim) # action dependent raw advantage
self.model_tails = nn.ModuleList([self.v, self.adv])
net_util.init_layers(self, self.init_fn)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.to(self.device)
self.train()
def __init__(self, net_spec, in_dim, out_dim):
'''
Multi state processing heads, single shared body, and multi action tails.
There is one state and action head per body/environment
Example:
env 1 state env 2 state
_______|______ _______|______
| head 1 | | head 2 |
|______________| |______________|
| |
|__________________|
________________|_______________
| Shared body |
|________________________________|
|
________|_______
| |
_______|______ ______|_______
| tail 1 | | tail 2 |
|______________| |______________|
| |
env 1 action env 2 action
'''
nn.Module.__init__(self)
super().__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
out_layer_activation=None,
init_fn=None,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'out_layer_activation',
'init_fn',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
assert len(
self.hid_layers
) == 3, 'Your hidden layers must specify [*heads], [body], [*tails]. If not, use MLPNet'
assert isinstance(self.in_dim,
list), 'Hydra network needs in_dim as list'
assert isinstance(self.out_dim,
list), 'Hydra network needs out_dim as list'
self.head_hid_layers = self.hid_layers[0]
self.body_hid_layers = self.hid_layers[1]
self.tail_hid_layers = self.hid_layers[2]
if len(self.head_hid_layers) == 1:
self.head_hid_layers = self.head_hid_layers * len(self.in_dim)
if len(self.tail_hid_layers) == 1:
self.tail_hid_layers = self.tail_hid_layers * len(self.out_dim)
self.model_heads = self.build_model_heads(in_dim)
heads_out_dim = np.sum(
[head_hid_layers[-1] for head_hid_layers in self.head_hid_layers])
dims = [heads_out_dim] + self.body_hid_layers
self.model_body = net_util.build_fc_model(dims,
self.hid_layers_activation)
self.model_tails = self.build_model_tails(self.out_dim,
self.out_layer_activation)
net_util.init_layers(self, self.init_fn)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.to(self.device)
self.train()
def __init__(self, net_spec, in_dim, out_dim):
'''
net_spec:
conv_hid_layers: list containing dimensions of the convolutional hidden layers, each is a list representing hid_layer = out_d, kernel, stride, padding, dilation.
Asssumed to all come before the flat layers.
Note: a convolutional layer should specify the in_channel, out_channels, kernel_size, stride (of kernel steps), padding, and dilation (spacing between kernel points) E.g. [3, 16, (5, 5), 1, 0, (2, 2)]
For more details, see http://pytorch.org/docs/master/nn.html#conv2d and https://github.com/vdumoulin/conv_arithmetic/blob/master/README.md
fc_hid_layers: list of fc layers following the convolutional layers
hid_layers_activation: activation function for the hidden layers
out_layer_activation: activation function for the output layer, same shape as out_dim
init_fn: weight initialization function
normalize: whether to divide by 255.0 to normalize image input
batch_norm: whether to add batch normalization after each convolutional layer, excluding the input layer.
clip_grad_val: clip gradient norm if value is not None
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_scheduler_spec: Pytorch optim.lr_scheduler
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
assert len(in_dim) == 3 # image shape (c,w,h)
nn.Module.__init__(self)
super().__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
out_layer_activation=None,
init_fn=None,
normalize=False,
batch_norm=True,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'conv_hid_layers',
'fc_hid_layers',
'hid_layers_activation',
'out_layer_activation',
'init_fn',
'normalize',
'batch_norm',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# conv body
self.conv_model = self.build_conv_layers(self.conv_hid_layers)
self.conv_out_dim = self.get_conv_output_size()
# fc body
if ps.is_empty(self.fc_hid_layers):
tail_in_dim = self.conv_out_dim
else:
# fc body from flattened conv
self.fc_model = net_util.build_fc_model([self.conv_out_dim] +
self.fc_hid_layers,
self.hid_layers_activation)
tail_in_dim = self.fc_hid_layers[-1]
# tails. avoid list for single-tail for compute speed
if ps.is_integer(self.out_dim):
self.model_tail = net_util.build_fc_model(
[tail_in_dim, self.out_dim], self.out_layer_activation)
else:
if not ps.is_list(self.out_layer_activation):
self.out_layer_activation = [self.out_layer_activation
] * len(out_dim)
assert len(self.out_layer_activation) == len(self.out_dim)
tails = []
for out_d, out_activ in zip(self.out_dim,
self.out_layer_activation):
tail = net_util.build_fc_model([tail_in_dim, out_d], out_activ)
tails.append(tail)
self.model_tails = nn.ModuleList(tails)
net_util.init_layers(self, self.init_fn)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.to(self.device)
self.train()
def __init__(self, net_spec, algorithm, in_dim, out_dim):
'''
net_spec:
hid_layers: list with tuple consisting of two elements. (conv_hid, flat_hid)
Note: tuple must contain two elements, use empty list if no such layers.
1. conv_hid: list containing dimensions of the convolutional hidden layers. Asssumed to all come before the flat layers.
Note: a convolutional layer should specify the in_channel, out_channels, kernel_size, stride (of kernel steps), padding, and dilation (spacing between kernel points) E.g. [3, 16, (5, 5), 1, 0, (2, 2)]
For more details, see http://pytorch.org/docs/master/nn.html#conv2d and https://github.com/vdumoulin/conv_arithmetic/blob/master/README.md
2. flat_hid: list of dense layers following the convolutional layers
hid_layers_activation: activation function for the hidden layers
batch_norm: whether to add batch normalization after each convolutional layer, excluding the input layer.
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
lr_anneal_timestep: timestep to anneal lr decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
# OpenAI gym provides images as W x H x C, pyTorch expects C x W x H
in_dim = np.roll(in_dim, 1)
# use generic multi-output for Convnet
out_dim = np.reshape(out_dim, -1).tolist()
nn.Module.__init__(self)
super(ConvNet, self).__init__(net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(self, dict(
batch_norm=True,
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'batch_norm',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
self.conv_hid_layers = self.hid_layers[0]
self.dense_hid_layers = self.hid_layers[1]
# conv layer
self.conv_model = self.build_conv_layers(self.conv_hid_layers)
# fc layer from flattened conv
self.dense_model = self.build_dense_layers(self.dense_hid_layers)
# tails
tail_in_dim = self.dense_hid_layers[-1] if len(self.dense_hid_layers) > 0 else self.conv_out_dim
self.model_tails = nn.ModuleList([nn.Linear(tail_in_dim, out_d) for out_d in self.out_dim])
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, algorithm, in_dim, out_dim):
'''
net_spec:
hid_layers: list containing dimensions of the hidden layers. The last element of the list is should be the dimension of the hidden state for the recurrent layer. The other elements in the list are the dimensions of the MLP (if desired) which is to transform the state space.
hid_layers_activation: activation function for the state_proc hidden layers
rnn_hidden_size: rnn hidden_size
rnn_num_layers: number of recurrent layers
seq_len: length of the history of being passed to the net
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
# use generic multi-output for RNN
out_dim = np.reshape(out_dim, -1).tolist()
nn.Module.__init__(self)
super(RecurrentNet, self).__init__(net_spec, algorithm, in_dim,
out_dim)
# set default
util.set_attr(
self,
dict(
rnn_num_layers=1,
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'rnn_hidden_size',
'rnn_num_layers',
'seq_len',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# state processing model
state_proc_dims = [self.in_dim] + self.hid_layers
self.state_proc_model = net_util.build_sequential(
state_proc_dims, self.hid_layers_activation)
# RNN model
self.rnn_input_dim = state_proc_dims[-1]
self.rnn_model = nn.GRU(input_size=self.rnn_input_dim,
hidden_size=self.rnn_hidden_size,
num_layers=self.rnn_num_layers,
batch_first=True)
# tails
self.model_tails = nn.ModuleList(
[nn.Linear(self.rnn_hidden_size, out_d) for out_d in self.out_dim])
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, in_dim, out_dim):
'''
net_spec:
cell_type: any of RNN, LSTM, GRU
fc_hid_layers: list of fc layers preceeding the RNN layers
hid_layers_activation: activation function for the fc hidden layers
out_layer_activation: activation function for the output layer, same shape as out_dim
rnn_hidden_size: rnn hidden_size
rnn_num_layers: number of recurrent layers
bidirectional: if RNN should be bidirectional
seq_len: length of the history of being passed to the net
init_fn: weight initialization function
clip_grad_val: clip gradient norm if value is not None
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_scheduler_spec: Pytorch optim.lr_scheduler
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
nn.Module.__init__(self)
super(RecurrentNet, self).__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
out_layer_activation=None,
cell_type='GRU',
rnn_num_layers=1,
bidirectional=False,
init_fn=None,
clip_grad_val=None,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_scheduler_spec=None,
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'cell_type',
'fc_hid_layers',
'hid_layers_activation',
'out_layer_activation',
'rnn_hidden_size',
'rnn_num_layers',
'bidirectional',
'seq_len',
'init_fn',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_scheduler_spec',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# fc body: state processing model
if ps.is_empty(self.fc_hid_layers):
self.rnn_input_dim = self.in_dim
else:
fc_dims = [self.in_dim] + self.fc_hid_layers
self.fc_model = net_util.build_fc_model(fc_dims,
self.hid_layers_activation)
self.rnn_input_dim = fc_dims[-1]
# RNN model
self.rnn_model = getattr(nn, net_util.get_nn_name(self.cell_type))(
input_size=self.rnn_input_dim,
hidden_size=self.rnn_hidden_size,
num_layers=self.rnn_num_layers,
batch_first=True,
bidirectional=self.bidirectional)
# tails. avoid list for single-tail for compute speed
if ps.is_integer(self.out_dim):
self.model_tail = net_util.build_fc_model(
[self.rnn_hidden_size, self.out_dim],
self.out_layer_activation)
else:
if not ps.is_list(self.out_layer_activation):
self.out_layer_activation = [self.out_layer_activation
] * len(out_dim)
assert len(self.out_layer_activation) == len(self.out_dim)
tails = []
for out_d, out_activ in zip(self.out_dim,
self.out_layer_activation):
tail = net_util.build_fc_model([self.rnn_hidden_size, out_d],
out_activ)
tails.append(tail)
self.model_tails = nn.ModuleList(tails)
net_util.init_layers(self, self.init_fn)
for module in self.modules():
module.to(self.device)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_scheduler = net_util.get_lr_scheduler(self,
self.lr_scheduler_spec)
def __init__(self, net_spec, algorithm, in_dim, out_dim):
'''
Multi state processing heads, single shared body, and multi action tails.
There is one state and action head per body/environment
Example:
env 1 state env 2 state
_______|______ _______|______
| head 1 | | head 2 |
|______________| |______________|
| |
|__________________|
________________|_______________
| Shared body |
|________________________________|
|
________|_______
| |
_______|______ ______|_______
| tail 1 | | tail 2 |
|______________| |______________|
| |
env 1 action env 2 action
'''
nn.Module.__init__(self)
super(HydraMLPNet, self).__init__(net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
assert len(
self.hid_layers
) == 3, 'Your hidden layers must specify [*heads], [body], [*tails]. If not, use MLPHeterogenousTails'
assert isinstance(self.in_dim,
list), 'Hydra network needs in_dim as list'
assert isinstance(self.out_dim,
list), 'Hydra network needs out_dim as list'
self.head_hid_layers = self.hid_layers[0]
self.body_hid_layers = self.hid_layers[1]
self.tail_hid_layers = self.hid_layers[2]
if len(self.head_hid_layers) == 1:
self.head_hid_layers = self.head_hid_layers * len(self.in_dim)
if len(self.tail_hid_layers) == 1:
self.tail_hid_layers = self.tail_hid_layers * len(self.out_dim)
self.model_heads = self.build_model_heads(in_dim)
heads_out_dim = np.sum(
[head_hid_layers[-1] for head_hid_layers in self.head_hid_layers])
dims = [heads_out_dim] + self.body_hid_layers
self.model_body = net_util.build_sequential(dims,
self.hid_layers_activation)
self.model_tails = self.build_model_tails(out_dim)
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, algorithm, in_dim, out_dim):
'''
net_spec:
hid_layers: list containing dimensions of the hidden layers
hid_layers_activation: activation function for the hidden layers
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
e.g. net_spec
"net": {
"type": "MLPNet",
"hid_layers": [32],
"hid_layers_activation": "relu",
"clip_grad": false,
"clip_grad_val": 1.0,
"loss_spec": {
"name": "MSELoss"
},
"optim_spec": {
"name": "Adam",
"lr": 0.02
},
"lr_decay": "rate_decay",
"lr_decay_frequency": 500,
"lr_decay_min_timestep": 1000,
"update_type": "replace",
"update_frequency": 1,
"polyak_coef": 0.9,
"gpu": true
}
'''
nn.Module.__init__(self)
super(MLPNet, self).__init__(net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
dims = [self.in_dim] + self.hid_layers
self.model = net_util.build_sequential(dims,
self.hid_layers_activation)
# add last layer with no activation
self.model.add_module(str(len(self.model)),
nn.Linear(dims[-1], self.out_dim))
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, in_dim, out_dim):
'''
net_spec:
hid_layers: list containing dimensions of the hidden layers
hid_layers_activation: activation function for the hidden layers
init_fn: weight initialization function
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
lr_anneal_timestep: timestep to anneal lr decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
nn.Module.__init__(self)
super(MLPNet, self).__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(self, dict(
init_fn='xavier_uniform_',
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'separate',
'hid_layers',
'hid_layers_activation',
'init_fn',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
dims = [self.in_dim] + self.hid_layers
self.model = net_util.build_sequential(dims, self.hid_layers_activation)
# add last layer with no activation
if ps.is_integer(self.out_dim):
self.model.add_module(str(len(self.model)), nn.Linear(dims[-1], self.out_dim))
else: # if more than 1 output, add last layer as tails separate from main model
self.model_tails = nn.ModuleList([nn.Linear(dims[-1], out_d) for out_d in self.out_dim])
net_util.init_layers(self, self.init_fn)
for module in self.modules():
module.to(self.device)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, in_dim, out_dim):
'''
net_spec:
hid_layers: list with tuple consisting of two elements. (conv_hid, flat_hid)
Note: tuple must contain two elements, use empty list if no such layers.
1. conv_hid: list containing dimensions of the convolutional hidden layers. Asssumed to all come before the flat layers.
Note: a convolutional layer should specify the in_channel, out_channels, kernel_size, stride (of kernel steps), padding, and dilation (spacing between kernel points) E.g. [3, 16, (5, 5), 1, 0, (2, 2)]
For more details, see http://pytorch.org/docs/master/nn.html#conv2d and https://github.com/vdumoulin/conv_arithmetic/blob/master/README.md
2. flat_hid: list of dense layers following the convolutional layers
hid_layers_activation: activation function for the hidden layers
init_fn: weight initialization function
batch_norm: whether to add batch normalization after each convolutional layer, excluding the input layer.
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
lr_anneal_timestep: timestep to anneal lr decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
# OpenAI gym provides images as W x H x C, pyTorch expects C x W x H
in_dim = np.roll(in_dim, 1)
# use generic multi-output for Convnet
out_dim = np.reshape(out_dim, -1).tolist()
nn.Module.__init__(self)
super(ConvNet, self).__init__(net_spec, in_dim, out_dim)
# set default
util.set_attr(
self,
dict(
init_fn='xavier_uniform_',
batch_norm=True,
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'init_fn',
'batch_norm',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
self.conv_hid_layers = self.hid_layers[0]
self.dense_hid_layers = self.hid_layers[1]
# conv layer
self.conv_model = self.build_conv_layers(self.conv_hid_layers)
# fc layer from flattened conv
self.dense_model = self.build_dense_layers(self.dense_hid_layers)
# tails
tail_in_dim = self.dense_hid_layers[-1] if len(
self.dense_hid_layers) > 0 else self.conv_out_dim
self.model_tails = nn.ModuleList(
[nn.Linear(tail_in_dim, out_d) for out_d in self.out_dim])
net_util.init_layers(self, self.init_fn)
for module in self.modules():
module.to(self.device)
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
def __init__(self, net_spec, algorithm, in_dim, out_dim):
'''
net_spec:
hid_layers: list containing dimensions of the hidden layers. The last element of the list is should be the dimension of the hidden state for the recurrent layer. The other elements in the list are the dimensions of the MLP (if desired) which is to transform the state space.
hid_layers_activation: activation function for the state_proc hidden layers
rnn_hidden_size: rnn hidden_size
rnn_num_layers: number of recurrent layers
seq_len: length of the history of being passed to the net
clip_grad: whether to clip the gradient
clip_grad_val: the clip value
loss_spec: measure of error between model predictions and correct outputs
optim_spec: parameters for initializing the optimizer
lr_decay: function to decay learning rate
lr_decay_frequency: how many total timesteps per decay
lr_decay_min_timestep: minimum amount of total timesteps before starting decay
lr_anneal_timestep: timestep to anneal lr decay
update_type: method to update network weights: 'replace' or 'polyak'
update_frequency: how many total timesteps per update
polyak_coef: ratio of polyak weight update
gpu: whether to train using a GPU. Note this will only work if a GPU is available, othewise setting gpu=True does nothing
'''
# use generic multi-output for RNN
out_dim = np.reshape(out_dim, -1).tolist()
nn.Module.__init__(self)
super(RecurrentNet, self).__init__(net_spec, algorithm, in_dim, out_dim)
# set default
util.set_attr(self, dict(
rnn_num_layers=1,
clip_grad=False,
clip_grad_val=1.0,
loss_spec={'name': 'MSELoss'},
optim_spec={'name': 'Adam'},
lr_decay='no_decay',
update_type='replace',
update_frequency=1,
polyak_coef=0.0,
gpu=False,
))
util.set_attr(self, self.net_spec, [
'hid_layers',
'hid_layers_activation',
'rnn_hidden_size',
'rnn_num_layers',
'seq_len',
'clip_grad',
'clip_grad_val',
'loss_spec',
'optim_spec',
'lr_decay',
'lr_decay_frequency',
'lr_decay_min_timestep',
'lr_anneal_timestep',
'update_type',
'update_frequency',
'polyak_coef',
'gpu',
])
# state processing model
state_proc_dims = [self.in_dim] + self.hid_layers
self.state_proc_model = net_util.build_sequential(state_proc_dims, self.hid_layers_activation)
# RNN model
self.rnn_input_dim = state_proc_dims[-1]
self.rnn_model = nn.GRU(
input_size=self.rnn_input_dim,
hidden_size=self.rnn_hidden_size,
num_layers=self.rnn_num_layers,
batch_first=True)
# tails
self.model_tails = nn.ModuleList([nn.Linear(self.rnn_hidden_size, out_d) for out_d in self.out_dim])
net_util.init_layers(self.modules())
if torch.cuda.is_available() and self.gpu:
for module in self.modules():
module.cuda()
self.loss_fn = net_util.get_loss_fn(self, self.loss_spec)
self.optim = net_util.get_optim(self, self.optim_spec)
self.lr_decay = getattr(net_util, self.lr_decay)
