def __init__(
self,
env_spec,
name='GaussianGRUPolicy',
hidden_dim=32,
hidden_nonlinearity=tf.tanh,
recurrent_nonlinearity=tf.nn.sigmoid,
recurrent_w_x_init=L.XavierUniformInitializer(),
recurrent_w_h_init=L.OrthogonalInitializer(),
output_nonlinearity=None,
output_w_init=L.XavierUniformInitializer(),
feature_network=None,
state_include_action=True,
gru_layer_cls=L.GRULayer,
learn_std=True,
init_std=1.0,
std_share_network=False,
):
"""
:param env_spec: A spec for the env.
:param hidden_dim: dimension of hidden layer
:param hidden_nonlinearity: nonlinearity used for each hidden layer
:return:
"""
assert isinstance(env_spec.action_space, Box)
self._mean_network_name = 'mean_network'
self._std_network_name = 'std_network'
with tf.variable_scope(name, 'GaussianGRUPolicy'):
Serializable.quick_init(self, locals())
super(GaussianGRUPolicy, self).__init__(env_spec)
obs_dim = env_spec.observation_space.flat_dim
action_dim = env_spec.action_space.flat_dim
if state_include_action:
input_dim = obs_dim + action_dim
else:
input_dim = obs_dim
l_input = L.InputLayer(shape=(None, None, input_dim), name='input')
if feature_network is None:
feature_dim = input_dim
l_flat_feature = None
l_feature = l_input
else:
feature_dim = feature_network.output_layer.output_shape[-1]
l_flat_feature = feature_network.output_layer
l_feature = L.OpLayer(
l_flat_feature,
extras=[l_input],
name='reshape_feature',
op=lambda flat_feature, input: tf.reshape(
flat_feature,
tf.stack([
tf.shape(input)[0],
tf.shape(input)[1], feature_dim
])),
shape_op=lambda _, input_shape:
(input_shape[0], input_shape[1], feature_dim))
if std_share_network:
mean_network = GRUNetwork(
input_shape=(feature_dim, ),
input_layer=l_feature,
output_dim=2 * action_dim,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
recurrent_nonlinearity=recurrent_nonlinearity,
recurrent_w_x_init=recurrent_w_x_init,
recurrent_w_h_init=recurrent_w_h_init,
output_nonlinearity=output_nonlinearity,
output_w_init=output_w_init,
gru_layer_cls=gru_layer_cls,
name='gru_mean_network')
l_mean = L.SliceLayer(mean_network.output_layer,
slice(action_dim),
name='mean_slice')
l_step_mean = L.SliceLayer(mean_network.step_output_layer,
slice(action_dim),
name='step_mean_slice')
l_log_std = L.SliceLayer(mean_network.output_layer,
slice(action_dim, 2 * action_dim),
name='log_std_slice')
l_step_log_std = L.SliceLayer(mean_network.step_output_layer,
slice(action_dim,
2 * action_dim),
name='step_log_std_slice')
else:
mean_network = GRUNetwork(
input_shape=(feature_dim, ),
input_layer=l_feature,
output_dim=action_dim,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
recurrent_nonlinearity=recurrent_nonlinearity,
recurrent_w_x_init=recurrent_w_x_init,
recurrent_w_h_init=recurrent_w_h_init,
output_nonlinearity=output_nonlinearity,
output_w_init=output_w_init,
gru_layer_cls=gru_layer_cls,
name='gru_mean_network')
l_mean = mean_network.output_layer
l_step_mean = mean_network.step_output_layer
l_log_std = L.ParamLayer(
mean_network.input_layer,
num_units=action_dim,
param=tf.constant_initializer(np.log(init_std)),
name='output_log_std',
trainable=learn_std,
)
l_step_log_std = L.ParamLayer(
mean_network.step_input_layer,
num_units=action_dim,
param=l_log_std.param,
name='step_output_log_std',
trainable=learn_std,
)
self.mean_network = mean_network
self.feature_network = feature_network
self.l_input = l_input
self.state_include_action = state_include_action
flat_input_var = tf.placeholder(dtype=tf.float32,
shape=(None, input_dim),
name='flat_input')
if feature_network is None:
feature_var = flat_input_var
else:
feature_var = L.get_output(
l_flat_feature,
{feature_network.input_layer: flat_input_var})
with tf.name_scope(self._mean_network_name):
out_step_mean, out_step_hidden_mean = L.get_output(
[l_step_mean, mean_network.step_hidden_layer],
{mean_network.step_input_layer: feature_var})
out_step_mean = tf.identity(out_step_mean, 'step_mean')
out_step_hidden_mean = tf.identity(out_step_hidden_mean,
'step_hidden_mean')
with tf.name_scope(self._std_network_name):
out_step_log_std = L.get_output(
l_step_log_std,
{mean_network.step_input_layer: feature_var})
out_step_log_std = tf.identity(out_step_log_std,
'step_log_std')
self.f_step_mean_std = tensor_utils.compile_function([
flat_input_var,
mean_network.step_prev_state_layer.input_var,
], [out_step_mean, out_step_log_std, out_step_hidden_mean])
self.l_mean = l_mean
self.l_log_std = l_log_std
self.input_dim = input_dim
self.action_dim = action_dim
self.hidden_dim = hidden_dim
self.prev_actions = None
self.prev_hiddens = None
self.dist = RecurrentDiagonalGaussian(action_dim)
self.name = name
out_layers = [l_mean, l_log_std, l_step_log_std]
if feature_network is not None:
out_layers.append(feature_network.output_layer)
LayersPowered.__init__(self, out_layers)
def __init__(self,
input_shape,
output_dim,
hidden_dim,
name=None,
hidden_nonlinearity=tf.nn.relu,
output_w_init=ly.XavierUniformInitializer(),
recurrent_nonlinearity=tf.nn.sigmoid,
recurrent_w_x_init=ly.XavierUniformInitializer(),
recurrent_w_h_init=ly.OrthogonalInitializer(),
gru_layer_cls=ly.GRULayer,
output_nonlinearity=None,
input_var=None,
input_layer=None,
layer_args=None):
with tf.variable_scope(name, 'GRUNetwork'):
if input_layer is None:
l_in = ly.InputLayer(shape=(None, None) + input_shape,
input_var=input_var,
name='input')
else:
l_in = input_layer
l_step_input = ly.InputLayer(shape=(None, ) + input_shape,
name='step_input')
l_step_prev_state = ly.InputLayer(shape=(None, hidden_dim),
name='step_prev_state')
if layer_args is None:
layer_args = dict()
l_gru = gru_layer_cls(l_in,
num_units=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
gate_nonlinearity=recurrent_nonlinearity,
hidden_init_trainable=False,
w_x_init=recurrent_w_x_init,
w_h_init=recurrent_w_h_init,
name='gru',
**layer_args)
l_gru_flat = ly.ReshapeLayer(l_gru,
shape=(-1, hidden_dim),
name='gru_flat')
l_output_flat = ly.DenseLayer(l_gru_flat,
num_units=output_dim,
nonlinearity=output_nonlinearity,
w=output_w_init,
name='output_flat')
l_output = ly.OpLayer(
l_output_flat,
op=lambda flat_output, l_input: tf.reshape(
flat_output,
tf.stack(
(tf.shape(l_input)[0], tf.shape(l_input)[1], -1))),
shape_op=lambda flat_output_shape, l_input_shape:
(l_input_shape[0], l_input_shape[1], flat_output_shape[-1]),
extras=[l_in],
name='output')
l_step_state = l_gru.get_step_layer(l_step_input,
l_step_prev_state,
name='step_state')
l_step_hidden = l_step_state
l_step_output = ly.DenseLayer(l_step_hidden,
num_units=output_dim,
nonlinearity=output_nonlinearity,
w=l_output_flat.w,
b=l_output_flat.b,
name='step_output')
self._l_in = l_in
self._hid_init_param = l_gru.h0
self._l_gru = l_gru
self._l_out = l_output
self._l_step_input = l_step_input
self._l_step_prev_state = l_step_prev_state
self._l_step_hidden = l_step_hidden
self._l_step_state = l_step_state
self._l_step_output = l_step_output
self._hidden_dim = hidden_dim
def __init__(self,
input_shape,
output_dim,
hidden_dim,
name=None,
hidden_nonlinearity=tf.nn.relu,
output_w_init=ly.XavierUniformInitializer(),
recurrent_nonlinearity=tf.nn.sigmoid,
recurrent_w_x_init=ly.XavierUniformInitializer(),
recurrent_w_h_init=ly.OrthogonalInitializer(),
lstm_layer_cls=ly.LSTMLayer,
output_nonlinearity=None,
input_var=None,
input_layer=None,
forget_bias=1.0,
use_peepholes=False,
layer_args=None):
with tf.variable_scope(name, 'LSTMNetwork'):
if input_layer is None:
l_in = ly.InputLayer(shape=(None, None) + input_shape,
input_var=input_var,
name='input')
else:
l_in = input_layer
l_step_input = ly.InputLayer(shape=(None, ) + input_shape,
name='step_input')
# contains previous hidden and cell state
l_step_prev_state = ly.InputLayer(shape=(None, hidden_dim * 2),
name='step_prev_state')
if layer_args is None:
layer_args = dict()
l_lstm = lstm_layer_cls(l_in,
num_units=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
gate_nonlinearity=recurrent_nonlinearity,
hidden_init_trainable=False,
name='lstm_layer',
forget_bias=forget_bias,
cell_init_trainable=False,
w_x_init=recurrent_w_x_init,
w_h_init=recurrent_w_h_init,
use_peepholes=use_peepholes,
**layer_args)
l_lstm_flat = ly.ReshapeLayer(l_lstm,
shape=(-1, hidden_dim),
name='lstm_flat')
l_output_flat = ly.DenseLayer(l_lstm_flat,
num_units=output_dim,
nonlinearity=output_nonlinearity,
w=output_w_init,
name='output_flat')
l_output = ly.OpLayer(
l_output_flat,
op=lambda flat_output, l_input: tf.reshape(
flat_output,
tf.stack(
(tf.shape(l_input)[0], tf.shape(l_input)[1], -1))),
shape_op=lambda flat_output_shape, l_input_shape:
(l_input_shape[0], l_input_shape[1], flat_output_shape[-1]),
extras=[l_in],
name='output')
l_step_state = l_lstm.get_step_layer(l_step_input,
l_step_prev_state,
name='step_state')
l_step_hidden = ly.SliceLayer(l_step_state,
indices=slice(hidden_dim),
name='step_hidden')
l_step_cell = ly.SliceLayer(l_step_state,
indices=slice(hidden_dim, None),
name='step_cell')
l_step_output = ly.DenseLayer(l_step_hidden,
num_units=output_dim,
nonlinearity=output_nonlinearity,
w=l_output_flat.w,
b=l_output_flat.b,
name='step_output')
self._l_in = l_in
self._hid_init_param = l_lstm.h0
self._cell_init_param = l_lstm.c0
self._l_lstm = l_lstm
self._l_out = l_output
self._l_step_input = l_step_input
self._l_step_prev_state = l_step_prev_state
self._l_step_hidden = l_step_hidden
self._l_step_cell = l_step_cell
self._l_step_state = l_step_state
self._l_step_output = l_step_output
self._hidden_dim = hidden_dim
def __init__(self,
env_spec,
name='CategoricalGRUPolicy',
hidden_dim=32,
hidden_nonlinearity=tf.nn.tanh,
recurrent_nonlinearity=tf.nn.sigmoid,
recurrent_w_x_init=L.XavierUniformInitializer(),
recurrent_w_h_init=L.OrthogonalInitializer(),
output_nonlinearity=tf.nn.softmax,
output_w_init=L.XavierUniformInitializer(),
feature_network=None,
state_include_action=True,
gru_layer_cls=L.GRULayer):
"""
:param env_spec: A spec for the env.
:param hidden_dim: dimension of hidden layer
:param hidden_nonlinearity: nonlinearity used for each hidden layer
:return:
"""
assert isinstance(env_spec.action_space, akro.Discrete)
self._prob_network_name = 'prob_network'
with tf.variable_scope(name, 'CategoricalGRUPolicy'):
Serializable.quick_init(self, locals())
super(CategoricalGRUPolicy, self).__init__(env_spec)
obs_dim = env_spec.observation_space.flat_dim
action_dim = env_spec.action_space.flat_dim
if state_include_action:
input_dim = obs_dim + action_dim
else:
input_dim = obs_dim
l_input = L.InputLayer(shape=(None, None, input_dim), name='input')
if feature_network is None:
feature_dim = input_dim
l_flat_feature = None
l_feature = l_input
else:
feature_dim = feature_network.output_layer.output_shape[-1]
l_flat_feature = feature_network.output_layer
l_feature = L.OpLayer(
l_flat_feature,
extras=[l_input],
name='reshape_feature',
op=lambda flat_feature, input: tf.reshape(
flat_feature,
tf.stack([
tf.shape(input)[0],
tf.shape(input)[1], feature_dim
])),
shape_op=lambda _, input_shape: (input_shape[
0], input_shape[1], feature_dim))
prob_network = GRUNetwork(
input_shape=(feature_dim, ),
input_layer=l_feature,
output_dim=env_spec.action_space.n,
hidden_dim=hidden_dim,
hidden_nonlinearity=hidden_nonlinearity,
recurrent_nonlinearity=recurrent_nonlinearity,
recurrent_w_x_init=recurrent_w_x_init,
recurrent_w_h_init=recurrent_w_h_init,
output_nonlinearity=output_nonlinearity,
output_w_init=output_w_init,
gru_layer_cls=gru_layer_cls,
name=self._prob_network_name)
self.prob_network = prob_network
self.feature_network = feature_network
self.l_input = l_input
self.state_include_action = state_include_action
flat_input_var = tf.placeholder(
dtype=tf.float32, shape=(None, input_dim), name='flat_input')
if feature_network is None:
feature_var = flat_input_var
else:
with tf.name_scope('feature_network', values=[flat_input_var]):
feature_var = L.get_output(
l_flat_feature,
{feature_network.input_layer: flat_input_var})
with tf.name_scope(self._prob_network_name, values=[feature_var]):
out_prob_step, out_prob_hidden = L.get_output(
[
prob_network.step_output_layer,
prob_network.step_hidden_layer
], {prob_network.step_input_layer: feature_var})
out_prob_step = tf.identity(out_prob_step, 'prob_step_output')
out_prob_hidden = tf.identity(out_prob_hidden,
'prob_step_hidden')
self.f_step_prob = tensor_utils.compile_function(
[flat_input_var, prob_network.step_prev_state_layer.input_var],
[out_prob_step, out_prob_hidden])
self.input_dim = input_dim
self.action_dim = action_dim
self.hidden_dim = hidden_dim
self.name = name
self.prev_actions = None
self.prev_hiddens = None
self.dist = RecurrentCategorical(env_spec.action_space.n)
out_layers = [prob_network.output_layer]
if feature_network is not None:
out_layers.append(feature_network.output_layer)
LayersPowered.__init__(self, out_layers)