def __init__(self, config, constants):
AbstractModel.__init__(self, config, constants)
self.none_action = config["num_actions"]
self.image_module = ImageTextKernelResnetModule(
image_emb_size=constants["image_emb_dim"],
input_num_channels=3,
image_height=config["image_height"],
image_width=config["image_width"],
text_emb_size=constants["lstm_emb_dim"],
using_recurrence=True)
self.image_recurrence_module = RecurrenceSimpleModule(
input_emb_dim=constants["image_emb_dim"],
output_emb_dim=constants["image_emb_dim"])
if config["use_pointer_model"]:
self.text_module = TextPointerModule(
emb_dim=constants["word_emb_dim"],
hidden_dim=constants["lstm_emb_dim"],
vocab_size=config["vocab_size"])
else:
self.text_module = TextSimpleModule(
emb_dim=constants["word_emb_dim"],
hidden_dim=constants["lstm_emb_dim"],
vocab_size=config["vocab_size"])
self.action_module = ActionSimpleModule(
num_actions=config["num_actions"],
action_emb_size=constants["action_emb_dim"])
if config["use_pointer_model"]:
total_emb_size = (constants["image_emb_dim"] +
4 * constants["lstm_emb_dim"] +
constants["action_emb_dim"])
else:
total_emb_size = (constants["image_emb_dim"] +
constants["lstm_emb_dim"] +
constants["action_emb_dim"])
final_module = MultimodalTextKernelRecurrentSimpleModule(
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.image_recurrence_module.cuda()
self.text_module.cuda()
self.action_module.cuda()
self.final_module.cuda()
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()
class ModelTextKernelRecurrentPolicyNetworkResnet(AbstractModel):
def __init__(self, config, constants):
AbstractModel.__init__(self, config, constants)
self.none_action = config["num_actions"]
self.image_module = ImageTextKernelResnetModule(
image_emb_size=constants["image_emb_dim"],
input_num_channels=3,
image_height=config["image_height"],
image_width=config["image_width"],
text_emb_size=constants["lstm_emb_dim"],
using_recurrence=True)
self.image_recurrence_module = RecurrenceSimpleModule(
input_emb_dim=constants["image_emb_dim"],
output_emb_dim=constants["image_emb_dim"])
if config["use_pointer_model"]:
self.text_module = TextPointerModule(
emb_dim=constants["word_emb_dim"],
hidden_dim=constants["lstm_emb_dim"],
vocab_size=config["vocab_size"])
else:
self.text_module = TextSimpleModule(
emb_dim=constants["word_emb_dim"],
hidden_dim=constants["lstm_emb_dim"],
vocab_size=config["vocab_size"])
self.action_module = ActionSimpleModule(
num_actions=config["num_actions"],
action_emb_size=constants["action_emb_dim"])
if config["use_pointer_model"]:
total_emb_size = (constants["image_emb_dim"] +
4 * constants["lstm_emb_dim"] +
constants["action_emb_dim"])
else:
total_emb_size = (constants["image_emb_dim"] +
constants["lstm_emb_dim"] +
constants["action_emb_dim"])
final_module = MultimodalTextKernelRecurrentSimpleModule(
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.image_recurrence_module.cuda()
self.text_module.cuda()
self.action_module.cuda()
self.final_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 = [
aos.get_instruction() for aos in agent_observed_state_list
]
read_pointers = [
aos.get_read_pointers() for aos in agent_observed_state_list
]
instructions_batch = (instructions, read_pointers)
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))
image_recurrence_module_path = os.path.join(
load_dir, "image_recurrence_module_state.bin")
self.image_recurrence_module.load_state_dict(
torch_load(image_recurrence_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))
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 image recurrence nn
image_recurrence_module_path = os.path.join(
save_dir, "image_recurrence_module_state.bin")
torch.save(self.image_recurrence_module.state_dict(),
image_recurrence_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)
def get_parameters(self):
parameters = list(self.image_module.parameters())
parameters += list(self.image_recurrence_module.parameters())
parameters += list(self.text_module.parameters())
parameters += list(self.action_module.parameters())
parameters += list(self.final_module.parameters())
return parameters