def test_one_hot_wrong_index(self):
positions = np.array([
[5],
])
indices = torch.from_numpy(positions)
with self.assertRaises(RuntimeError):
to_one_hot(indices=indices, num_classes=3).detach()
def test_one_hot(self):
positions = np.array([[1], [3], [2]])
indices = torch.from_numpy(positions)
result = to_one_hot(indices=indices, num_classes=4).detach()
expected = [
[0, 1, 0, 0],
[0, 0, 0, 1],
[0, 0, 1, 0],
]
self.assertTrue(np.allclose(expected, result))
def step(self, observations: List[ObservationType], actions: Optional[np.ndarray] = None) -> dict:
data = self.parse_observations(observations)
# Cast action to tensor
if actions is not None:
actions = torch.as_tensor(actions, dtype=torch.float, device=self.device)
# SO3Vec (batches, atoms, taus, ms, 2)
covariats = self.cg_model(data)
# Compute invariants
invariats = self.atomic_scalars(covariats) # (batches, atoms, inv_feats)
# Focus
focus_logits = self.phi_focus(invariats) # (batches, atoms, 1)
focus_logits = focus_logits.squeeze(-1) # (batches, atoms)
focus_probs = masked_softmax(focus_logits, mask=data['focus_mask']) # (batches, atoms)
focus_dist = torch.distributions.Categorical(probs=focus_probs)
# focus: (batches, 1)
if actions is not None:
focus = torch.round(actions[:, :1]).long()
elif self.training:
focus = focus_dist.sample().unsqueeze(-1)
else:
focus = torch.argmax(focus_probs, dim=-1).unsqueeze(-1)
focus_oh = to_one_hot(focus, num_classes=self.observation_space.canvas_space.size,
device=self.device) # (batches, atoms)
focused_cov = so3_tools.select_atomic_covariats(covariats, focus_oh) # (batches, taus, ms, 2)
focused_inv = so3_tools.select_atomic_invariats(invariats, focus_oh) # (batches, feats)
# Element
element_logits = self.phi_element(focused_inv) # (batches, zs)
element_probs = masked_softmax(element_logits, mask=data['element_mask']) # (batches, zs)
element_dist = torch.distributions.Categorical(probs=element_probs)
# element: (batches, 1)
if actions is not None:
element = torch.round(actions[:, 1:2]).long()
elif self.training:
element = element_dist.sample().unsqueeze(-1)
else:
element = torch.argmax(element_probs, dim=-1).unsqueeze(-1)
# Crop element
offsets = self.channel_offsets.expand(len(observations), -1) # (batches, channels_per_element)
indices = offsets + element * self.num_channels_per_element
element_cov = so3_tools.select_taus(focused_cov, indices=indices)
element_inv = self.atomic_scalars(element_cov) # (batches, inv_feats)
# Distance: Gaussian mixture model
# gmm_log_probs, d_mean_trans: (batches, gaussians)
gmm_log_probs, d_mean_trans = self.phi_d(element_inv).split(self.num_gaussians, dim=-1)
distance_mean = torch.tanh(d_mean_trans) * self.distance_half_width + self.distance_center
distance_dist = GaussianMixtureModel(log_probs=gmm_log_probs,
means=distance_mean,
stds=torch.exp(self.distance_log_stds).clamp(1e-6))
# distance: (batches, 1)
if actions is not None:
distance = actions[:, 2:3]
elif self.training:
# Ensure that the sampled distance is > 0
distance = distance_dist.sample().clamp(0.001).unsqueeze(-1)
else:
distance = distance_dist.argmax().unsqueeze(-1)
# Condition on distance
transformed_d = distance.unsqueeze(1).unsqueeze(1).expand(-1, self.num_channels_per_element, 1, -1)
transformed_d = self.pad_zeros(transformed_d)
distance_so3 = SO3Vec([transformed_d])
cond_cov = self.cg_mix(element_cov, distance_so3)
so3_dist = self.get_so3_distribution(a_lms=cond_cov, empty=data['empty'])
# so3: (batches, 3)
if actions is not None:
orientation = actions[..., 3:6]
elif self.training:
orientation = so3_dist.sample()
else:
orientation = so3_dist.argmax()
# Log prob
log_prob_list = [
focus_dist.log_prob(focus.squeeze(-1)),
element_dist.log_prob(element.squeeze(-1)),
distance_dist.log_prob(distance.squeeze(-1)),
so3_dist.log_prob(orientation),
]
log_prob = torch.stack(log_prob_list, dim=-1).sum(dim=-1) # (batches, )
# Entropy
entropy_list = [
focus_dist.entropy(),
element_dist.entropy(),
]
entropy = torch.stack(entropy_list, dim=-1).sum(dim=-1) # (batches, )
# Value function
# atom_mask: (batches, atoms)
# invariants: (batches, atoms, feats)
trans_invariats = self.phi_trans(invariats)
value_feats = torch.einsum( # type: ignore
'ba,baf->bf', data['value_mask'].to(self.dtype), trans_invariats) # (batches, inv_feats)
value = self.phi_v(value_feats).squeeze(-1) # (batches, )
# Action
response: Dict[str, Any] = {}
if actions is None:
actions = torch.cat([focus.float(), element.float(), distance, orientation], dim=-1)
# Build correspond action in action space
response['actions'] = [self.to_action_space(a, o) for a, o in zip(actions, observations)]
response.update({
'a': actions, # (batches, subactions)
'logp': log_prob, # (batches, )
'ent': entropy, # (batches, )
'v': value, # (batches, )
'dists': [focus_dist, element_dist, distance_dist, so3_dist],
})
return response
def step(self,
observations: List[ObservationType],
action: Optional[np.ndarray] = None) -> dict:
# atomic_feats: n_obs x n_atoms x n_afeats
# focus_mask: n_obs x n_atoms
# focus_mask: n_obs x n_atoms
# element_count: n_obs x n_zs
atomic_feats, focus_mask, focus_mask_next, element_count, action_mask = self.make_atomic_tensors(
observations)
element_mask = (element_count > 0).int()
# stop: this agent does not stop
stop = torch.zeros(size=(len(observations), 1),
dtype=torch.float,
device=self.device)
# latent states bag
latent_bag = self.phi_beta(element_count)
# latent representation of atoms and bag
latent_bag_tiled = latent_bag.unsqueeze(1) # n_obs x 1 x n_zs
latent_bag_tiled = latent_bag_tiled.expand(
-1, self.num_atoms, -1) # n_obs x n_atoms x n_zs
latent_states = torch.cat(
[atomic_feats, latent_bag_tiled],
dim=-1) # n_obs x n_atoms x (n_afeats + n_zs)
# Focus
focus_logits = self.phi_focus(latent_states) # n_obs x n_atoms x 1
focus_logits = focus_logits.squeeze(-1) # n_obs x n_atoms
focus_p = masked_softmax(focus_logits,
mask=focus_mask) # n_obs x n_atoms
focus_dist = torch.distributions.Categorical(probs=focus_p)
# Cast action to Tensor
if action is not None:
action = torch.as_tensor(action, device=self.device)
# focus: n_obs x 1
if action is not None:
focus = torch.round(action[:, 1:2]).long()
elif self.training:
focus = focus_dist.sample().unsqueeze(-1)
else:
focus = torch.argmax(focus_p, dim=-1).unsqueeze(-1)
focus_oh = to_one_hot(focus,
num_classes=self.num_atoms) # n_obs x n_atoms
# Focused atom is a hard (one-hot) selection over atoms
focused_atom = (
latent_states.transpose(1, 2) @ focus_oh[:, :, None]).squeeze(
-1) # n_obs x n_latent
# Element
element_logits = self.phi_element(focused_atom) # n_obs x n_zs
element_p = masked_softmax(element_logits,
mask=element_mask) # n_obs x n_zs
element_dist = torch.distributions.Categorical(probs=element_p)
# element: n_obs x 1
if action is not None:
element = torch.round(action[:, 2:3]).long()
elif self.training:
element = element_dist.sample().unsqueeze(-1)
else:
element = torch.argmax(element_p, dim=-1).unsqueeze(-1)
element_oh = to_one_hot(element, self.num_zs) # n_obs x n_zs
# Continuous variables
# f: n_obs x (n_latent + n_zs)
f = torch.cat([focused_atom, element_oh], dim=-1)
distance_mean, angle_mean, dihedral_mean = torch.split(torch.tanh(
self.phi_continuous(f)),
1,
dim=-1)
# Distance
distance_mean = (distance_mean * self.action_width[0] /
2) + self.action_center[0]
distance_dist = torch.distributions.Normal(
loc=distance_mean, scale=torch.exp(1e-6 + self.log_stds[0]))
# distance: n_obs x 1
if action is not None:
distance = action[:, 3:4]
elif self.training:
# Ensure that the sampled distance is > 0
distance = distance_dist.sample().clamp(0.001)
else:
distance = distance_mean
# Angle
angle_mean = (angle_mean * self.action_width[1] /
2) + self.action_center[1]
angle_dist = torch.distributions.Normal(
loc=angle_mean, scale=torch.exp(1e-6 + self.log_stds[1]))
# angle: n_obs x 1
if action is not None:
angle = action[:, 4:5]
elif self.training:
angle = angle_dist.sample()
else:
angle = angle_mean
# Dihedral
dihedral_mean = (dihedral_mean * self.action_width[2] /
2) + self.action_center[2]
dihedral_dist = torch.distributions.Normal(
loc=dihedral_mean, scale=torch.exp(1e-6 + self.log_stds[2]))
# dihedral: n_obs x 1
if action is not None:
dihedral = action[:, 5:6]
elif self.training:
dihedral = dihedral_dist.sample()
else:
dihedral = dihedral_mean
# Kappa: 0 = keep, 1 = flip
# surrogate_features: n_obs x n_afeats
element_count_next = element_count - element_oh
latent_bag_next = self.phi_beta(element_count_next)
atomic_feats_next_0 = self.surrogate_features(observations, focus,
element, distance, angle,
dihedral)
atomic_feats_next_1 = self.surrogate_features(observations, focus,
element, distance, angle,
-1 * dihedral)
v0 = self.phi_kappa(
torch.cat([atomic_feats_next_0, latent_bag_next], dim=-1))
v1 = self.phi_kappa(
torch.cat([atomic_feats_next_1, latent_bag_next], dim=-1))
kappa_logits = torch.cat([v0, v1], dim=-1)
kappa_dist = torch.distributions.Categorical(logits=kappa_logits)
# kappa: n_obs x 1
if action is not None:
kappa = torch.round(action[:, 6:7])
elif self.training:
kappa = kappa_dist.sample().unsqueeze(-1)
else:
kappa = torch.argmax(kappa_logits, dim=-1).unsqueeze(-1)
if action is None:
action = torch.cat([
stop,
focus.float(),
element.float(), distance, angle, dihedral,
kappa.float()
],
dim=-1)
# Critic
weights = focus_mask.unsqueeze(-1).float() # n_obs x n_atoms x 1
weights = weights.transpose(1, 2) # n_obs x 1 x n_atoms
sum_atomic_feats = (weights @ atomic_feats).squeeze(
1) # n_obs x n_afeats
# mean_atomic_feats = sum_atomic_feats / torch.sum(focus_mask, dim=-1, keepdim=True)
v = self.critic(torch.cat([sum_atomic_feats, latent_bag], dim=-1))
# Log probabilities
log_prob_list = [
focus_dist.log_prob(focus.squeeze(-1)).unsqueeze(-1),
element_dist.log_prob(element.squeeze(-1)).unsqueeze(-1),
distance_dist.log_prob(distance),
angle_dist.log_prob(angle),
dihedral_dist.log_prob(dihedral),
kappa_dist.log_prob(kappa.squeeze(-1)).unsqueeze(-1),
]
log_prob = torch.cat(log_prob_list, dim=-1)
# Mask
log_prob = log_prob * action_mask
# Entropies
entropy_list = [
focus_dist.entropy().unsqueeze(-1),
element_dist.entropy().unsqueeze(-1),
distance_dist.entropy(),
angle_dist.entropy(),
dihedral_dist.entropy(),
kappa_dist.entropy().unsqueeze(-1),
]
entropy = torch.cat(entropy_list, dim=-1)
# Mask
entropy = entropy * action_mask
return {
'a': action, # n_obs x n_subactions
'logp': log_prob.sum(dim=-1, keepdim=False), # n_obs
'ent': entropy[:, 0:2].sum(dim=-1, keepdim=False), # n_obs
'v': v.squeeze(-1), # n_obs
# Other
'entropies': entropy, # n_obs x n_entropies
}