def build_critic(args, data, env, writer=None):
if args.use_critic_replay_memory:
critic_replay_memory = hgail.misc.utils.KeyValueReplayMemory(maxsize=3 * args.batch_size)
else:
critic_replay_memory = None
critic_dataset = CriticDataset(
data,
replay_memory=critic_replay_memory,
batch_size=args.critic_batch_size,
flat_recurrent=args.policy_recurrent
)
critic_network = ObservationActionMLP(
name='critic',
hidden_layer_dims=args.critic_hidden_layer_dims,
dropout_keep_prob=args.critic_dropout_keep_prob
)
critic = WassersteinCritic(
obs_dim=env.observation_space.flat_dim,
act_dim=env.action_space.flat_dim,
dataset=critic_dataset,
network=critic_network,
gradient_penalty=args.gradient_penalty,
optimizer=tf.train.RMSPropOptimizer(args.critic_learning_rate),
n_train_epochs=args.n_critic_train_epochs,
summary_writer=writer,
grad_norm_rescale=args.critic_grad_rescale,
verbose=2,
debug_nan=True
)
return critic
def build_recognition_model(args, env, writer=None):
if args.use_infogail:
recognition_dataset = RecognitionDataset(
args.batch_size,
flat_recurrent=args.policy_recurrent
)
recognition_network = ObservationActionMLP(
name='recog',
hidden_layer_dims=args.recognition_hidden_layer_dims,
output_dim=args.latent_dim
)
recognition_model = RecognitionModel(
obs_dim=env.observation_space.flat_dim,
act_dim=env.action_space.flat_dim,
dataset=recognition_dataset,
network=recognition_network,
variable_type='categorical',
latent_dim=args.latent_dim,
optimizer=tf.train.AdamOptimizer(args.recognition_learning_rate),
n_train_epochs=args.n_recognition_train_epochs,
summary_writer=writer,
verbose=2
)
else:
recognition_model = None
return recognition_model
def test_train_simple(self):
dataset = RecognitionDataset(batch_size=200, domain=True)
# create dataset where x and a from unit gaussian and
# c = [1,0] if x+a < 0 else [0,1]
n_samples = 2000
x = np.random.randn(n_samples).reshape(-1, 1)
a = np.random.randn(n_samples).reshape(-1, 1)
c = np.zeros((n_samples, 2), dtype=np.int32)
zero_idxs = np.where(x + a < 0)[0]
one_idxs = np.where(x + a >= 0)[0]
c[zero_idxs, 0] = 1
c[one_idxs, 1] = 1
c = np.int32(c)
d = np.zeros((n_samples, 2), dtype=np.int32)
d[:(n_samples // 2), 0] = 1
d[(n_samples // 2):, 1] = 1
data = dict(observations=x,
actions=a,
agent_infos=dict(latent=c),
env_infos=dict(domain=d))
with tf.Session() as session:
latent_classifier = ObservationActionMLP(name='encoder',
hidden_layer_dims=[32],
output_dim=2,
return_features=True)
domain_classifier = Classifier(name='domain_classifier',
hidden_layer_dims=[32],
output_dim=2)
recog = DomainAdvRecognitionModel(
latent_classifier=latent_classifier,
domain_classifier=domain_classifier,
obs_dim=1,
act_dim=1,
dataset=dataset,
variable_type='categorical',
latent_dim=2)
session.run(tf.global_variables_initializer())
n_epochs = 100
for epoch in range(n_epochs):
recog.train(epoch, data)
probs = recog._probs(data['observations'], data['actions'])
idxs = np.argmax(c, axis=1)
loss = -np.log(probs[np.arange(n_samples), idxs]).mean()
self.assertTrue(loss < .1)
def test_train_gaussian(self):
dataset = RecognitionDataset(batch_size=200)
n_samples = 100
latent_dim = 2
x = np.random.randn(n_samples, latent_dim)
a = np.random.randn(n_samples, latent_dim)
mean = x + a
sigma = np.exp(x * a / 2)
c = []
for (mean_i, sigma_i) in zip(mean, sigma):
c.append(
np.random.multivariate_normal(mean_i,
np.eye(latent_dim) * sigma_i))
c = np.array(c)
data = dict(observations=x, actions=a, agent_infos=dict(latent=c))
with tf.Session() as session:
network = ObservationActionMLP(name='recognition',
hidden_layer_dims=[64, 64],
output_dim=latent_dim * 2)
recog = RecognitionModel(obs_dim=2,
act_dim=2,
dataset=dataset,
network=network,
variable_type='gaussian',
latent_dim=latent_dim,
optimizer=tf.train.AdamOptimizer(
.001, beta1=.5, beta2=.9),
verbose=0)
session.run(tf.global_variables_initializer())
n_epochs = 200
for epoch in range(n_epochs):
recog.train(epoch, data)
probs = recog._probs(data['observations'], data['actions'],
data['agent_infos']['latent'])
loss = np.mean(-np.log(probs))
self.assertTrue(loss < 1.) # just whether it can overfit
def test_train_categorical(self):
dataset = RecognitionDataset(batch_size=200)
# create dataset where x and a from unit gaussian and
# c = [1,0] if x+a < 0 else [0,1]
n_samples = 2000
x = np.random.randn(n_samples).reshape(-1, 1)
a = np.random.randn(n_samples).reshape(-1, 1)
c = np.zeros((n_samples, 2), dtype=np.int32)
zero_idxs = np.where(x + a < 0)[0]
one_idxs = np.where(x + a >= 0)[0]
c[zero_idxs, 0] = 1
c[one_idxs, 1] = 1
c = np.int32(c)
data = dict(observations=x, actions=a, agent_infos=dict(latent=c))
with tf.Session() as session:
network = ObservationActionMLP(name='recognition',
hidden_layer_dims=[16],
output_dim=2)
recog = RecognitionModel(obs_dim=1,
act_dim=1,
dataset=dataset,
network=network,
variable_type='categorical',
latent_dim=2)
session.run(tf.global_variables_initializer())
n_epochs = 100
for epoch in range(n_epochs):
recog.train(epoch, data)
probs = recog._probs(data['observations'], data['actions'])
idxs = np.argmax(c, axis=1)
loss = -np.log(probs[np.arange(n_samples), idxs]).mean()
self.assertTrue(loss < .1)
def test_recognize_gaussian(self):
network = ObservationActionMLP(name='recognition',
hidden_layer_dims=[16],
output_dim=2 * 2)
dataset = RecognitionDataset(batch_size=10)
with tf.Session() as session:
recog = RecognitionModel(obs_dim=1,
act_dim=1,
dataset=dataset,
network=network,
variable_type='gaussian',
latent_dim=2)
session.run(tf.global_variables_initializer())
paths = [
dict(observations=[[1], [2]],
actions=[[1], [2]],
rewards=[[1], [2]],
agent_infos=dict(latent_info=dict(
latent=[[.5, .1], [.5, .1]]))),
dict(observations=[[1], [2], [3]],
actions=[[1], [2], [3]],
rewards=[[1], [2], [3]],
agent_infos=dict(latent_info=dict(
latent=[[-.1, .1], [.4, .4], [.6, .7]]))),
dict(observations=[[1]],
actions=[[1]],
rewards=[[1]],
agent_infos=dict(latent_info=dict(latent=[[-1., 1.]]))),
]
rewards = recog.recognize(1, paths)
self.assertTrue(len(rewards[0]) == 2)
self.assertTrue(len(rewards[1]) == 3)
self.assertTrue(len(rewards[2]) == 1)
else:
critic_replay_memory = None
critic_dataset = CriticDataset(data,
replay_memory=critic_replay_memory,
batch_size=1000)
# session for actual training
with tf.Session() as session:
# summary writer
summary_writer = tf.summary.FileWriter(
os.path.join(exp_dir, 'imitate', 'summaries'))
# build the critic
critic_network = ObservationActionMLP(
name='critic',
hidden_layer_dims=[64, 64],
dropout_keep_prob=critic_dropout_keep_prob)
critic = WassersteinCritic(
obs_dim=env.observation_space.flat_dim,
act_dim=env.action_space.n,
dataset=critic_dataset,
network=critic_network,
gradient_penalty=1.,
optimizer=tf.train.RMSPropOptimizer(critic_learning_rate),
n_train_epochs=n_critic_train_epochs,
summary_writer=summary_writer,
grad_norm_rescale=50.,
verbose=2,
)
if use_infogail:
else:
critic_replay_memory = None
critic_dataset = CriticDataset(data, batch_size=4000, replay_memory=critic_replay_memory)
# session for actual training
with tf.Session() as session:
# summary writer
summary_writer = tf.summary.FileWriter(
os.path.join(exp_dir, phase, 'summaries'))
# build the critic
with tf.variable_scope('critic'):
critic_network = ObservationActionMLP(
name='critic',
hidden_layer_dims=[64,64]
)
critic = WassersteinCritic(
obs_dim=env.observation_space.flat_dim,
act_dim=env.action_space.n,
dataset=critic_dataset,
network=critic_network,
gradient_penalty=10.,
optimizer=tf.train.RMSPropOptimizer(critc_lr),
n_train_epochs=n_critic_train_epochs,
summary_writer=summary_writer,
verbose=2,
)
# level 2
base_latent_sampler = UniformlyRandomLatentSampler(
def build_hgail(env, critic_dataset, batch_size):
# critic
with tf.variable_scope('critic'):
critic_network = ObservationActionMLP(name='critic',
hidden_layer_dims=[32, 32])
critic = WassersteinCritic(obs_dim=3,
act_dim=2,
dataset=critic_dataset,
network=critic_network,
gradient_penalty=.01,
optimizer=tf.train.AdamOptimizer(.001,
beta1=.5,
beta2=.9),
n_train_epochs=50)
# base latent variable sampler
base_latent_sampler = UniformlyRandomLatentSampler(
scheduler=ConstantIntervalScheduler(),
name='base_latent_sampler',
dim=3)
with tf.variable_scope('level_1'):
recog_dataset_1 = RecognitionDataset(batch_size=batch_size)
recog_network_1 = ObservationActionMLP(name='recog',
hidden_layer_dims=[32, 32],
output_dim=3)
recog_1 = RecognitionModel(obs_dim=3,
act_dim=2,
dataset=recog_dataset_1,
network=recog_network_1,
variable_type='categorical',
latent_dim=3,
name='recognition_1')
latent_sampler = CategoricalLatentSampler(
scheduler=ConstantIntervalScheduler(k=1),
name='latent_sampler',
policy_name='latent_sampler_policy',
dim=2,
env_spec=env.spec,
latent_sampler=base_latent_sampler,
max_n_envs=20)
baseline_1 = LinearFeatureBaseline(env_spec=env.spec)
algo_1 = TRPO(
env=env,
policy=latent_sampler,
baseline=baseline_1,
batch_size=4000,
max_path_length=100,
n_itr=15,
discount=0.99,
step_size=0.01,
sampler_cls=HierarchySampler,
)
reward_handler_1 = RewardHandler(use_env_rewards=False,
critic_final_scale=1.)
level_1 = Level(depth=1,
algo=algo_1,
reward_handler=reward_handler_1,
recognition_model=recog_1)
with tf.variable_scope('level_0'):
# recognition model
recog_dataset_0 = RecognitionDataset(batch_size=batch_size)
recog_network_0 = ObservationActionMLP(name='recog',
hidden_layer_dims=[32, 32],
output_dim=2)
recog_0 = RecognitionModel(obs_dim=3,
act_dim=2,
dataset=recog_dataset_0,
network=recog_network_0,
variable_type='categorical',
latent_dim=2,
name='recognition_0')
policy = CategoricalLatentVarMLPPolicy(policy_name="policy",
latent_sampler=latent_sampler,
env_spec=env.spec)
baseline_0 = LinearFeatureBaseline(env_spec=env.spec)
algo_0 = TRPO(env=env,
policy=policy,
baseline=baseline_0,
batch_size=4000,
max_path_length=100,
n_itr=5,
discount=0.99,
step_size=0.1,
sampler_args=dict(n_envs=1))
reward_handler_0 = RewardHandler(use_env_rewards=False,
critic_final_scale=1.)
level_0 = Level(depth=0,
algo=algo_0,
reward_handler=reward_handler_0,
recognition_model=recog_0)
hierarchy = [level_0, level_1]
algo = HGAIL(
critic=critic,
hierarchy=hierarchy,
)
return algo
def test_infogail_two_round_stochastic_env(self):
env = TfEnv(TwoRoundNondeterministicRewardEnv())
# dataset of one-hot obs and acts
# optimal actions: 0, 1
# first state
n_expert_samples = 1000
batch_size = 1000
half = int(n_expert_samples / 2)
rx = np.zeros((n_expert_samples, 3))
rx[:half, 2] = 1
rx[half:, 0] = 1
ra = np.zeros((n_expert_samples, 2))
ra[:half, 0] = 1
ra[half:, 1] = 1
with tf.Session() as session:
# critic
critic_dataset = CriticDataset(dict(observations=rx, actions=ra),
batch_size=batch_size)
critic_network = ObservationActionMLP(name='critic',
hidden_layer_dims=[32, 32])
critic = WassersteinCritic(obs_dim=3,
act_dim=2,
dataset=critic_dataset,
network=critic_network,
gradient_penalty=.01,
optimizer=tf.train.AdamOptimizer(
.001, beta1=.5, beta2=.9),
n_train_epochs=50)
# recognition model
recog_dataset = RecognitionDataset(batch_size=batch_size)
recog_network = ObservationActionMLP(name='recog',
hidden_layer_dims=[32, 32],
output_dim=2)
recog = RecognitionModel(obs_dim=3,
act_dim=2,
dataset=recog_dataset,
network=recog_network,
variable_type='categorical',
latent_dim=2)
# policy
env.spec.num_envs = 10
latent_sampler = UniformlyRandomLatentSampler(
scheduler=ConstantIntervalScheduler(),
name='latent_sampler',
dim=2)
policy = CategoricalLatentVarMLPPolicy(
policy_name="policy",
latent_sampler=latent_sampler,
env_spec=env.spec)
# gail
reward_handler = RewardHandler(use_env_rewards=False,
critic_final_scale=1.)
baseline = LinearFeatureBaseline(env_spec=env.spec)
algo = GAIL(critic=critic,
recognition=recog,
reward_handler=reward_handler,
env=env,
policy=policy,
baseline=baseline,
batch_size=4000,
max_path_length=200,
n_itr=15,
discount=.99,
step_size=.01,
sampler_args=dict(n_envs=env.spec.num_envs))
session.run(tf.global_variables_initializer())
# run it!
algo.train(sess=session)
# evaluate
l0_state_infos = dict(latent=[[1, 0]])
l0_dist_2 = policy.dist_info([[0., 0., 1.]],
l0_state_infos)['prob']
l0_dist_0 = policy.dist_info([[1., 0., 0.]],
l0_state_infos)['prob']
l1_state_infos = dict(latent=[[0, 1]])
l1_dist_2 = policy.dist_info([[0., 0., 1.]],
l1_state_infos)['prob']
l1_dist_0 = policy.dist_info([[1., 0., 0.]],
l1_state_infos)['prob']
np.testing.assert_array_almost_equal(l0_dist_2, [[1, 0]], 1)
np.testing.assert_array_almost_equal(l0_dist_0, [[0, 1]], 1)
np.testing.assert_array_almost_equal(l1_dist_2, [[1, 0]], 1)
np.testing.assert_array_almost_equal(l1_dist_0, [[0, 1]], 1)
def test_train_domain_matters(self):
dataset = RecognitionDataset(batch_size=1000, domain=True)
# need a case where if you have domain adversarial training
# the classifier isn't able to work, but if you don't have it
# then it does work
n_samples = 100
obs_dim = act_dim = 2
xs = np.ones((n_samples, obs_dim))
ys = np.zeros((n_samples, 2))
ys[:, 0] = 1
xt = -np.ones((n_samples, obs_dim))
yt = np.zeros((n_samples, 2))
yt[:, 1] = 1
x = np.concatenate((xs, xt), 0)
y = np.concatenate((ys, yt), 0)
# random permute beforehand because otherwise it seems to have some
# unusual behavior because each batch contains only one of the domains
# that is, the loss just keeps increasing with feature values also
# increasing
# shouldn't the feature values just match over time?
# instead seemingly arbitrary values just grow increasingly large
# maybe it requires an l2 penalty to work? or dropout?
idxs = np.random.permutation(n_samples * 2)
data = dict(observations=x[idxs],
actions=x[idxs],
agent_infos=dict(latent=y[idxs]),
env_infos=dict(domain=y[idxs]))
with tf.Session() as session:
latent_classifier = ObservationActionMLP(name='encoder',
hidden_layer_dims=[16, 4],
output_dim=2,
return_features=True,
dropout_keep_prob=1.,
l2_reg=0.)
domain_classifier = Classifier(name='domain_classifier',
hidden_layer_dims=[16, 16],
output_dim=2,
dropout_keep_prob=1.)
recog = DomainAdvRecognitionModel(
latent_classifier=latent_classifier,
domain_classifier=domain_classifier,
obs_dim=obs_dim,
act_dim=act_dim,
dataset=dataset,
variable_type='categorical',
latent_dim=2,
lambda_final=1e10,
lambda_initial=1e10,
grad_clip=1000.0,
grad_scale=50.0,
verbose=0)
session.run(tf.global_variables_initializer())
n_epochs = 500
for epoch in range(n_epochs):
recog.train(epoch, data)
feed = {recog.x: x, recog.a: x, recog.c: y, recog.d: y}
outputs_list = [
recog.features, recog.acc, recog.domain_acc,
recog.domain_probs, recog.probs, recog.gradients
]
features, acc, domain_acc, domain_probs, probs, grads = session.run(
outputs_list, feed_dict=feed)
src_features = features[:n_samples]
tgt_features = features[n_samples:]
self.assertTrue(np.abs(domain_probs[0][0] - .5) < .1)
self.assertTrue(np.abs(domain_probs[n_samples][0] - .5) < .1)
