def train(args, X, Y, dbg_iter=None, dbg_epoch=None, dbg_done=None):
dbg_out = []
net_in, net_out = hybrid_network(args.num_inputs,
args.num_outputs,
args.num_units,
args.num_sto,
dbg_out=dbg_out)
params, f_step, f_loss, f_grad, f_surr = \
make_funcs(net_in, net_out, args, dbg_out=dbg_out)
param_col = ParamCollection(params)
init_params = nn.init_array(args.init_conf,
(param_col.get_total_size(), 1))
param_col.set_value_flat(init_params.flatten())
init_params = [
np.array([[0., 1.]]), # W_1
np.array([[0., 0.]]), # b_1
np.array([[1.], [1.]]), # W_3
np.array([[0.]]), # b_3
]
param_col.set_values(init_params)
if 'snapshot' in args:
print "Loading params from previous snapshot"
snapshot = pickle.load(open(args['snapshot'], 'r'))
param_col.set_values(snapshot)
# param_col.set_value_flat(
# np.random.normal(0., 1.,size=param_col.get_total_size())
# )
# optim_state = Table(theta=param_col.get_value_flat(),
# scratch=param_col.get_value_flat(),
# step_size=args.step_size
# )
optim_state = make_rmsprop_state(theta=param_col.get_value_flat(),
step_size=args.step_size,
decay_rate=args.decay_rate)
for i_epoch in range(args.n_epochs):
for i_iter in range(X.shape[0]):
ind = np.random.choice(X.shape[0], args['size_batch'])
x, y = X[ind], Y[ind] # not sure this works for multi-dim
info = f_surr(x, y, num_samples=args['size_sample'])
loss, loss_surr, grad = info['loss'], info['surr_loss'], info[
'surr_grad']
# loss, loss_surr, grad = f_grad(x, y)
# update
rmsprop_update(param_col.flatten_values(grad), optim_state)
# optim_state.scratch = param_col.flatten_values(grad)
# optim_state.theta -= optim_state.step_size * optim_state.scratch
param_col.set_value_flat(optim_state.theta)
print param_col.get_value_flat()
if dbg_iter:
dbg_iter(i_epoch, i_iter, param_col, optim_state, info)
if dbg_epoch: dbg_epoch(i_epoch, param_col, f_surr)
if dbg_done: dbg_done(param_col, optim_state, f_surr)
return optim_state
def train(args, X, Y, dbg_iter=None, dbg_epoch=None, dbg_done=None):
dbg_out = []
net_in, net_out = hybrid_network(args.num_inputs, args.num_outputs,
args.num_units, args.num_sto,
dbg_out=dbg_out)
params, f_step, f_loss, f_grad, f_surr = \
make_funcs(net_in, net_out, args, dbg_out=dbg_out)
param_col = ParamCollection(params)
init_params = nn.init_array(args.init_conf, (param_col.get_total_size(), 1))
param_col.set_value_flat(init_params.flatten())
init_params = [
np.array([[0., 1.]]), # W_1
np.array([[0., 0.]]), # b_1
np.array([[1.], [1.]]), # W_3
np.array([[0.]]), # b_3
]
param_col.set_values(init_params)
if 'snapshot' in args:
print "Loading params from previous snapshot"
snapshot = pickle.load(open(args['snapshot'], 'r'))
param_col.set_values(snapshot)
# param_col.set_value_flat(
# np.random.normal(0., 1.,size=param_col.get_total_size())
# )
# optim_state = Table(theta=param_col.get_value_flat(),
# scratch=param_col.get_value_flat(),
# step_size=args.step_size
# )
optim_state = make_rmsprop_state(theta=param_col.get_value_flat(),
step_size=args.step_size,
decay_rate=args.decay_rate)
for i_epoch in range(args.n_epochs):
for i_iter in range(X.shape[0]):
ind = np.random.choice(X.shape[0], args['size_batch'])
x, y = X[ind], Y[ind] # not sure this works for multi-dim
info = f_surr(x, y, num_samples=args['size_sample'])
loss, loss_surr, grad = info['loss'], info['surr_loss'], info['surr_grad']
# loss, loss_surr, grad = f_grad(x, y)
# update
rmsprop_update(param_col.flatten_values(grad), optim_state)
# optim_state.scratch = param_col.flatten_values(grad)
# optim_state.theta -= optim_state.step_size * optim_state.scratch
param_col.set_value_flat(optim_state.theta)
print param_col.get_value_flat()
if dbg_iter: dbg_iter(i_epoch, i_iter, param_col, optim_state, info)
if dbg_epoch: dbg_epoch(i_epoch, param_col, f_surr)
if dbg_done: dbg_done(param_col, optim_state, f_surr)
return optim_state
class MujocoPolicy(PPOPolicy, Serializable):
def __init__(self, obs_dim, ctrl_dim):
cgt.set_precision('double')
Serializable.__init__(self, obs_dim, ctrl_dim)
self.obs_dim = obs_dim
self.ctrl_dim = ctrl_dim
o_no = cgt.matrix("o_no",fixed_shape=(None,obs_dim))
a_na = cgt.matrix("a_na",fixed_shape = (None, ctrl_dim))
adv_n = cgt.vector("adv_n")
oldpdist_np = cgt.matrix("oldpdist", fixed_shape=(None, 2*ctrl_dim))
self.logstd = logstd_1a = nn.parameter(np.zeros((1, self.ctrl_dim)), name="std_1a")
std_1a = cgt.exp(logstd_1a)
# Here's where we apply the network
h0 = o_no
nhid = 32
h1 = cgt.tanh(nn.Affine(obs_dim,nhid,weight_init=nn.IIDGaussian(std=0.1))(h0))
h2 = cgt.tanh(nn.Affine(nhid,nhid,weight_init=nn.IIDGaussian(std=0.1))(h1))
mean_na = nn.Affine(nhid,ctrl_dim,weight_init=nn.IIDGaussian(std=0.01))(h2)
b = cgt.size(o_no, 0)
std_na = cgt.repeat(std_1a, b, axis=0)
oldmean_na = oldpdist_np[:, 0:self.ctrl_dim]
oldstd_na = oldpdist_np[:, self.ctrl_dim:2*self.ctrl_dim]
logp_n = ((-.5) * cgt.square( (a_na - mean_na) / std_na ).sum(axis=1)) - logstd_1a.sum()
oldlogp_n = ((-.5) * cgt.square( (a_na - oldmean_na) / oldstd_na ).sum(axis=1)) - cgt.log(oldstd_na).sum(axis=1)
ratio_n = cgt.exp(logp_n - oldlogp_n)
surr = (ratio_n*adv_n).mean()
pdists_np = cgt.concatenate([mean_na, std_na], axis=1)
# kl = cgt.log(sigafter/)
params = nn.get_parameters(surr)
oldvar_na = cgt.square(oldstd_na)
var_na = cgt.square(std_na)
kl = (cgt.log(std_na / oldstd_na) + (oldvar_na + cgt.square(oldmean_na - mean_na)) / (2 * var_na) - .5).sum(axis=1).mean()
lam = cgt.scalar()
penobj = surr - lam * kl
self._compute_surr_kl = cgt.function([oldpdist_np, o_no, a_na, adv_n], [surr, kl])
self._compute_grad_lagrangian = cgt.function([lam, oldpdist_np, o_no, a_na, adv_n],
cgt.concatenate([p.flatten() for p in cgt.grad(penobj,params)]))
self.f_pdist = cgt.function([o_no], pdists_np)
self.f_objs = cgt.function([oldpdist_np, o_no, a_na, adv_n], [surr, kl])
self.pc = ParamCollection(params)
def compute_surr_kl(self, *args):
return self._compute_surr_kl(*args)
def compute_grad_lagrangian(self, *args):
return self._compute_grad_lagrangian(*args)
def get_stdev(self):
return np.exp(self.logstd.op.get_value().ravel())
def step(self, X):
pdist_na = self.f_pdist(X)
acts_n = meanstd_sample(pdist_na)
return {
"action" : acts_n,
"pdist" : pdist_na
}
def compute_entropy(self, pdist_np):
return meanstd_entropy(pdist_np)
def pdist_ndim(self):
return 2*self.ctrl_dim
def get_parameters_flat(self):
return self.pc.get_value_flat()
def set_parameters_flat(self,th):
return self.pc.set_value_flat(th)
def main():
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--grad_check", action="store_true")
parser.add_argument("--n_batches", type=int, default=1000000)
parser.add_argument("--profile", action="store_true")
parser.add_argument("--unittest", action="store_true")
args = parser.parse_args()
np.seterr("raise")
cgt.set_precision("quad" if args.grad_check else "double")
np.random.seed(0)
# model parameters
if args.grad_check:
opt = NTMOpts(
b=1, # batch size
h=1, # number of heads
n=2, # number of memory sites
m=3, # dimension at each memory site
k=4, # dimension of input
p=2, # dimension of output
ff_hid_sizes=[])
seq_length = 2
else:
opt = NTMOpts(
b=64, # batch size
h=3, # number of heads
n=128, # number of memory sites
m=20, # dimension at each memory site
k=3, # dimension of input
p=1, # dimension of output
ff_hid_sizes=[128, 128])
seq_length = 10
if args.unittest:
seq_length = 3
args.n_batches = 3
tstart = time.time()
ntm = make_ntm(opt)
task = CopyTask(opt.b, seq_length, opt.p)
f_loss, f_loss_and_grad, params = make_funcs(opt, ntm, task.total_time(),
task.loss_timesteps())
print "graph construction and compilation took %g seconds" % (time.time() -
tstart)
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-.1, .1, size=(pc.get_total_size(), )))
if args.grad_check:
x, y = task.gen_batch()
def f(thnew):
thold = th.copy()
pc.set_value_flat(thnew)
loss = f_loss(x, y)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
g_num = numeric_grad(f, th, eps=1e-8)
_, _, g_anal = f_loss_and_grad(x, y)
assert np.allclose(g_num, g_anal, atol=1e-8)
print "Gradient check succeeded!"
print "%i/%i elts of grad are nonzero" % (
(g_anal != 0).sum(), g_anal.size)
return
seq_num = 0
state = make_rmsprop_state(pc.get_value_flat(), .01, .95)
print fmt_row(13, ["seq num", "CE (bits)", "accuracy", "|g|_inf"],
header=True)
if args.profile: cgt.profiler.start()
for i in xrange(args.n_batches):
x, y = task.gen_batch()
seq_num += x.shape[1]
l, l01, g = f_loss_and_grad(x, y)
print fmt_row(13, [seq_num, l, l01, np.abs(g).max()])
rmsprop_update(g, state)
pc.set_value_flat(state.theta)
if not np.isfinite(l): break
if args.profile: cgt.profiler.print_stats()
class AtariRAMPolicy(PPOPolicy, Serializable):
def __init__(self, n_actions):
Serializable.__init__(self, n_actions)
cgt.set_precision('double')
n_in = 128
o_no = cgt.matrix("o_no",fixed_shape=(None,n_in))
a_n = cgt.vector("a_n",dtype='i8')
q_n = cgt.vector("q_n")
oldpdist_np = cgt.matrix("oldpdists")
nhid, nhid2 = 64, 64
h0 = (o_no - 128.0)/128.0
d0 = nn.dropout(h1, .2)
h1 = nn.rectify(nn.Affine(128,nhid,weight_init=nn.IIDGaussian(std=.1))(d0))
d1 = nn.dropout(h1, .2)
h2 = nn.rectify(nn.Affine(nhid,nhid2,weight_init=nn.IIDGaussian(std=.1))(d1))
# d2 = nn.dropout(h2, .2)
probs_na = nn.softmax(nn.Affine(nhid2,n_actions,weight_init=nn.IIDGaussian(std=0.01))(d2))
logprobs_na = cgt.log(probs_na)
b = cgt.size(o_no, 0)
logps_n = logprobs_na[cgt.arange(b), a_n]
surr = (logps_n*q_n).mean()
kl = (oldpdist_np * cgt.log(oldpdist_np/probs_na)).sum(axis=1).mean()
params = nn.get_parameters(surr)
gradsurr = cgt.grad(surr, params)
flatgrad = cgt.concatenate([p.flatten() for p in gradsurr])
lam = cgt.scalar()
penobj = surr - lam * kl
self._f_grad_lagrangian = cgt.function([lam, oldpdist_np, o_no, a_n, q_n],
cgt.concatenate([p.flatten() for p in cgt.grad(penobj,params)]))
self.f_pdist = cgt.function([o_no], probs_na)
self.f_probs = cgt.function([o_no], probs_na)
self.f_surr_kl = cgt.function([oldpdist_np, o_no, a_n, q_n], [surr, kl])
self.f_gradlogp = cgt.function([oldpdist_np, o_no, a_n, q_n], flatgrad)
self.pc = ParamCollection(params)
def step(self, X):
pdist_na = self.f_probs(X)
acts_n = cat_sample(pdist_na)
return {
"action" : acts_n,
"pdist" : pdist_na
}
def compute_gradient(self, pdist_np, o_no, a_n, q_n):
return self.f_gradlogp(pdist_np, o_no, a_n, q_n)
def compute_surr_kl(self, pdist_np, o_no, a_n, q_n):
return self.f_surr_kl(pdist_np, o_no, a_n, q_n)
def compute_grad_lagrangian(self, lam, pdist_np, o_no, a_n, q_n):
return self._f_grad_lagrangian(lam, pdist_np, o_no, a_n, q_n)
def compute_entropy(self, pdist_np):
return cat_entropy(pdist_np)
def get_parameters_flat(self):
return self.pc.get_value_flat()
def set_parameters_flat(self,th):
return self.pc.set_value_flat(th)
def main():
nr.seed(0)
parser = argparse.ArgumentParser()
parser.add_argument("--data_dir", type=str, default="alice")
parser.add_argument("--size_mem", type=int,default=64)
parser.add_argument("--size_batch", type=int,default=64)
parser.add_argument("--n_layers",type=int,default=2)
parser.add_argument("--n_unroll",type=int,default=16)
parser.add_argument("--k_in",type=int,default=3)
parser.add_argument("--k_h",type=int,default=5)
parser.add_argument("--step_size",type=float,default=.01)
parser.add_argument("--decay_rate",type=float,default=0.95)
parser.add_argument("--n_epochs",type=int,default=20)
parser.add_argument("--arch",choices=["lstm","gru"],default="gru")
parser.add_argument("--grad_check",action="store_true")
parser.add_argument("--profile",action="store_true")
parser.add_argument("--unittest",action="store_true")
args = parser.parse_args()
cgt.set_precision("quad" if args.grad_check else "single")
assert args.n_unroll > 1
loader = Loader(args.data_dir,args.size_batch, args.n_unroll, (.8,.1,.1))
network, f_loss, f_loss_and_grad, f_step = make_loss_and_grad_and_step(args.arch, loader.size_vocab,
loader.size_vocab, args.size_mem, args.size_batch, args.n_layers, args.n_unroll, args.k_in, args.k_h)
if args.profile: profiler.start()
params = network.get_parameters()
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-0.01, 0.01, size=(pc.get_total_size(),)))
for i, param in enumerate(pc.params):
if "is_rotation" in param.props:
shape = pc.get_shapes()[i]
num_vec = int(shape[0] / 2)
size_vec = int(shape[1])
gauss = nr.normal(size=(num_vec * size_vec))
gauss = np.reshape(gauss, (num_vec, size_vec))
gauss_mag = norm(gauss, axis=1, keepdims=True)
gauss_normed = gauss / gauss_mag
gauss_perturb = nr.normal(scale=0.01, size=(num_vec * size_vec))
gauss_perturb = np.reshape(gauss_perturb, (num_vec, size_vec))
second_vec = gauss_normed + gauss_perturb
second_vec_mag = norm(second_vec, axis=1, keepdims=True)
second_vec_normed = second_vec / second_vec_mag
new_param_value = np.zeros(shape)
for j in xrange(num_vec):
new_param_value[2 * j, :] = gauss_normed[j, :]
new_param_value[2 * j + 1, :] = second_vec_normed[j, :]
param.op.set_value(new_param_value)
#print new_param_value
def initialize_hiddens(n):
return [np.ones((n, args.size_mem), cgt.floatX) / float(args.size_mem) for _ in xrange(get_num_hiddens(args.arch, args.n_layers))]
if args.grad_check:
#if True:
x,y = loader.train_batches_iter().next()
prev_hiddens = initialize_hiddens(args.size_batch)
def f(thnew):
thold = pc.get_value_flat()
pc.set_value_flat(thnew)
loss = f_loss(x,y, *prev_hiddens)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
print "Beginning grad check"
g_num = numeric_grad(f, pc.get_value_flat(),eps=1e-10)
print "Ending grad check"
result = f_loss_and_grad(x,y,*prev_hiddens)
g_anal = result[1]
diff = g_num - g_anal
abs_diff = np.abs(diff)
print np.where(abs_diff > 1e-4)
print diff[np.where(abs_diff > 1e-4)]
embed()
assert np.allclose(g_num, g_anal, atol=1e-4)
print "Gradient check succeeded!"
return
optim_state = make_rmsprop_state(theta=pc.get_value_flat(), step_size = args.step_size,
decay_rate = args.decay_rate)
for iepoch in xrange(args.n_epochs):
losses = []
tstart = time()
print "starting epoch",iepoch
cur_hiddens = initialize_hiddens(args.size_batch)
for (x,y) in loader.train_batches_iter():
out = f_loss_and_grad(x,y, *cur_hiddens)
loss = out[0]
grad = out[1]
cur_hiddens = out[2:]
rmsprop_update(grad, optim_state)
pc.set_value_flat(optim_state.theta)
losses.append(loss)
if args.unittest: return
print "%.3f s/batch. avg loss = %.3f"%((time()-tstart)/len(losses), np.mean(losses))
optim_state.step_size *= .98 #pylint: disable=E1101
sample(f_step, initialize_hiddens(1), char2ind=loader.char2ind, n_steps=300, temp=1.0, seed_text = "")
if args.profile: profiler.print_stats()
def main():
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--grad_check",action="store_true")
parser.add_argument("--n_batches",type=int,default=1000000)
parser.add_argument("--profile",action="store_true")
parser.add_argument("--unittest", action="store_true")
parser.add_argument("--task",choices=["copy","reverse_copy","repeat_copy"],default="copy")
args = parser.parse_args()
np.seterr("raise")
cgt.set_precision("quad" if args.grad_check else "double")
np.random.seed(0)
# model parameters
if args.grad_check:
opt = NTMOpts(
b = 1, # batch size
h = 1, # number of heads
n = 2, # number of memory sites
m = 3, # dimension at each memory site
k = 4, # dimension of input
p = 2, # dimension of output
ff_hid_sizes = []
)
seq_length = 2
else:
opt = NTMOpts(
b = 64, # batch size
h = 3, # number of heads
n = 128, # number of memory sites
m = 20, # dimension at each memory site
k = 3, # dimension of input
p = 1, # dimension of output
ff_hid_sizes = [128,128]
)
seq_length = 10
if args.unittest:
seq_length=3
args.n_batches=3
tstart = time.time()
ntm = make_ntm(opt)
if args.task == "copy":
task = CopyTask(opt.b, seq_length, opt.p)
elif args.task == "reverse_copy":
task = ReverseCopyTask(opt.b, seq_length, opt.p)
elif args.task == "repeat_copy":
n_copies = 4
task = RepeatCopyTask(opt.b, seq_length, opt.p, n_copies)
f_loss, f_loss_and_grad, params = make_funcs(opt, ntm, task.total_time(), task.loss_timesteps())
print "graph construction and compilation took %g seconds"%(time.time()-tstart)
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-.1, .1, size=(pc.get_total_size(),)))
if args.grad_check:
x,y = task.gen_batch()
def f(thnew):
thold = th.copy()
pc.set_value_flat(thnew)
loss = f_loss(x,y)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
g_num = numeric_grad(f, th,eps=1e-8)
_, _, g_anal = f_loss_and_grad(x,y)
assert np.allclose(g_num, g_anal, atol=1e-8)
print "Gradient check succeeded!"
print "%i/%i elts of grad are nonzero"%( (g_anal != 0).sum(), g_anal.size )
return
seq_num = 0
state = make_rmsprop_state(pc.get_value_flat(), .01, .95)
print fmt_row(13, ["seq num", "CE (bits)", "accuracy", "|g|_inf"], header=True)
if args.profile: cgt.profiler.start()
for i in xrange(args.n_batches):
x,y = task.gen_batch()
seq_num += x.shape[1]
l,l01,g = f_loss_and_grad(x,y)
print fmt_row(13, [seq_num, l,l01,np.abs(g).max()])
rmsprop_update(g, state)
pc.set_value_flat(state.theta)
if not np.isfinite(l): break
if args.profile: cgt.profiler.print_stats()
def main():
nr.seed(0)
parser = argparse.ArgumentParser()
parser.add_argument("--data_dir", type=str, default="alice")
parser.add_argument("--size_mem", type=int, default=64)
parser.add_argument("--size_batch", type=int, default=64)
parser.add_argument("--n_layers", type=int, default=2)
parser.add_argument("--n_unroll", type=int, default=16)
parser.add_argument("--step_size", type=float, default=.01)
parser.add_argument("--decay_rate", type=float, default=0.95)
parser.add_argument("--n_epochs", type=int, default=20)
parser.add_argument("--arch", choices=["lstm", "gru"], default="lstm")
parser.add_argument("--grad_check", action="store_true")
parser.add_argument("--profile", action="store_true")
parser.add_argument("--unittest", action="store_true")
args = parser.parse_args()
cgt.set_precision("quad" if args.grad_check else "single")
assert args.n_unroll > 1
loader = Loader(args.data_dir, args.size_batch, args.n_unroll,
(.8, .1, .1))
network, f_loss, f_loss_and_grad, f_step = make_loss_and_grad_and_step(
args.arch, loader.size_vocab, loader.size_vocab, args.size_mem,
args.size_batch, args.n_layers, args.n_unroll)
if args.profile: profiler.start()
params = network.get_parameters()
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-.1, .1, size=(pc.get_total_size(), )))
def initialize_hiddens(n):
return [
np.zeros((n, args.size_mem), cgt.floatX)
for _ in xrange(get_num_hiddens(args.arch, args.n_layers))
]
if args.grad_check:
x, y = loader.train_batches_iter().next()
prev_hiddens = initialize_hiddens(args.size_batch)
def f(thnew):
thold = pc.get_value_flat()
pc.set_value_flat(thnew)
loss = f_loss(x, y, *prev_hiddens)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
g_num = numeric_grad(f, pc.get_value_flat(), eps=1e-10)
result = f_loss_and_grad(x, y, *prev_hiddens)
g_anal = result[1]
assert np.allclose(g_num, g_anal, atol=1e-4)
print "Gradient check succeeded!"
return
optim_state = make_rmsprop_state(theta=pc.get_value_flat(),
step_size=args.step_size,
decay_rate=args.decay_rate)
for iepoch in xrange(args.n_epochs):
losses = []
tstart = time()
print "starting epoch", iepoch
cur_hiddens = initialize_hiddens(args.size_batch)
for (x, y) in loader.train_batches_iter():
out = f_loss_and_grad(x, y, *cur_hiddens)
loss = out[0]
grad = out[1]
cur_hiddens = out[2:]
rmsprop_update(grad, optim_state)
pc.set_value_flat(optim_state.theta)
losses.append(loss)
if args.unittest: return
print "%.3f s/batch. avg loss = %.3f" % (
(time() - tstart) / len(losses), np.mean(losses))
optim_state.step_size *= .98 #pylint: disable=E1101
sample(f_step,
initialize_hiddens(1),
char2ind=loader.char2ind,
n_steps=300,
temp=1.0,
seed_text="")
if args.profile: profiler.print_stats()
class AtariRAMPolicy(PPOPolicy, Serializable):
def __init__(self, n_actions):
Serializable.__init__(self, n_actions)
cgt.set_precision('double')
n_in = 128
o_no = cgt.matrix("o_no", fixed_shape=(None, n_in))
a_n = cgt.vector("a_n", dtype='i8')
q_n = cgt.vector("q_n")
oldpdist_np = cgt.matrix("oldpdists")
h0 = (o_no - 128.0) / 128.0
nhid = 64
h1 = cgt.tanh(
nn.Affine(128, nhid, weight_init=nn.IIDGaussian(std=.1))(h0))
probs_na = nn.softmax(
nn.Affine(nhid, n_actions,
weight_init=nn.IIDGaussian(std=0.01))(h1))
logprobs_na = cgt.log(probs_na)
b = cgt.size(o_no, 0)
logps_n = logprobs_na[cgt.arange(b), a_n]
surr = (logps_n * q_n).mean()
kl = (oldpdist_np * cgt.log(oldpdist_np / probs_na)).sum(axis=1).mean()
params = nn.get_parameters(surr)
gradsurr = cgt.grad(surr, params)
flatgrad = cgt.concatenate([p.flatten() for p in gradsurr])
lam = cgt.scalar()
penobj = surr - lam * kl
self._f_grad_lagrangian = cgt.function(
[lam, oldpdist_np, o_no, a_n, q_n],
cgt.concatenate([p.flatten() for p in cgt.grad(penobj, params)]))
self.f_pdist = cgt.function([o_no], probs_na)
self.f_probs = cgt.function([o_no], probs_na)
self.f_surr_kl = cgt.function([oldpdist_np, o_no, a_n, q_n],
[surr, kl])
self.f_gradlogp = cgt.function([oldpdist_np, o_no, a_n, q_n], flatgrad)
self.pc = ParamCollection(params)
def step(self, X):
pdist_na = self.f_probs(X)
acts_n = cat_sample(pdist_na)
return {"action": acts_n, "pdist": pdist_na}
def compute_gradient(self, pdist_np, o_no, a_n, q_n):
return self.f_gradlogp(pdist_np, o_no, a_n, q_n)
def compute_surr_kl(self, pdist_np, o_no, a_n, q_n):
return self.f_surr_kl(pdist_np, o_no, a_n, q_n)
def compute_grad_lagrangian(self, lam, pdist_np, o_no, a_n, q_n):
return self._f_grad_lagrangian(lam, pdist_np, o_no, a_n, q_n)
def compute_entropy(self, pdist_np):
return cat_entropy(pdist_np)
def get_parameters_flat(self):
return self.pc.get_value_flat()
def set_parameters_flat(self, th):
return self.pc.set_value_flat(th)
def main():
nr.seed(0)
parser = argparse.ArgumentParser()
parser.add_argument("--data_dir", type=str, default="alice")
parser.add_argument("--size_mem", type=int, default=64)
parser.add_argument("--size_batch", type=int, default=64)
parser.add_argument("--n_layers", type=int, default=2)
parser.add_argument("--n_unroll", type=int, default=16)
parser.add_argument("--k_in", type=int, default=3)
parser.add_argument("--k_h", type=int, default=5)
parser.add_argument("--step_size", type=float, default=.01)
parser.add_argument("--decay_rate", type=float, default=0.95)
parser.add_argument("--n_epochs", type=int, default=20)
parser.add_argument("--arch", choices=["lstm", "gru"], default="gru")
parser.add_argument("--grad_check", action="store_true")
parser.add_argument("--profile", action="store_true")
parser.add_argument("--unittest", action="store_true")
args = parser.parse_args()
cgt.set_precision("quad" if args.grad_check else "single")
assert args.n_unroll > 1
loader = Loader(args.data_dir, args.size_batch, args.n_unroll,
(.8, .1, .1))
network, f_loss, f_loss_and_grad, f_step = make_loss_and_grad_and_step(
args.arch, loader.size_vocab, loader.size_vocab, args.size_mem,
args.size_batch, args.n_layers, args.n_unroll, args.k_in, args.k_h)
if args.profile: profiler.start()
params = network.get_parameters()
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-0.01, 0.01, size=(pc.get_total_size(), )))
for i, param in enumerate(pc.params):
if "is_rotation" in param.props:
shape = pc.get_shapes()[i]
num_vec = int(shape[0] / 2)
size_vec = int(shape[1])
gauss = nr.normal(size=(num_vec * size_vec))
gauss = np.reshape(gauss, (num_vec, size_vec))
gauss_mag = norm(gauss, axis=1, keepdims=True)
gauss_normed = gauss / gauss_mag
gauss_perturb = nr.normal(scale=0.01, size=(num_vec * size_vec))
gauss_perturb = np.reshape(gauss_perturb, (num_vec, size_vec))
second_vec = gauss_normed + gauss_perturb
second_vec_mag = norm(second_vec, axis=1, keepdims=True)
second_vec_normed = second_vec / second_vec_mag
new_param_value = np.zeros(shape)
for j in xrange(num_vec):
new_param_value[2 * j, :] = gauss_normed[j, :]
new_param_value[2 * j + 1, :] = second_vec_normed[j, :]
param.op.set_value(new_param_value)
#print new_param_value
def initialize_hiddens(n):
return [
np.ones((n, args.size_mem), cgt.floatX) / float(args.size_mem)
for _ in xrange(get_num_hiddens(args.arch, args.n_layers))
]
if args.grad_check:
#if True:
x, y = loader.train_batches_iter().next()
prev_hiddens = initialize_hiddens(args.size_batch)
def f(thnew):
thold = pc.get_value_flat()
pc.set_value_flat(thnew)
loss = f_loss(x, y, *prev_hiddens)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
print "Beginning grad check"
g_num = numeric_grad(f, pc.get_value_flat(), eps=1e-10)
print "Ending grad check"
result = f_loss_and_grad(x, y, *prev_hiddens)
g_anal = result[1]
diff = g_num - g_anal
abs_diff = np.abs(diff)
print np.where(abs_diff > 1e-4)
print diff[np.where(abs_diff > 1e-4)]
embed()
assert np.allclose(g_num, g_anal, atol=1e-4)
print "Gradient check succeeded!"
return
optim_state = make_rmsprop_state(theta=pc.get_value_flat(),
step_size=args.step_size,
decay_rate=args.decay_rate)
for iepoch in xrange(args.n_epochs):
losses = []
tstart = time()
print "starting epoch", iepoch
cur_hiddens = initialize_hiddens(args.size_batch)
for (x, y) in loader.train_batches_iter():
out = f_loss_and_grad(x, y, *cur_hiddens)
loss = out[0]
grad = out[1]
cur_hiddens = out[2:]
rmsprop_update(grad, optim_state)
pc.set_value_flat(optim_state.theta)
losses.append(loss)
if args.unittest: return
print "%.3f s/batch. avg loss = %.3f" % (
(time() - tstart) / len(losses), np.mean(losses))
optim_state.step_size *= .98 #pylint: disable=E1101
sample(f_step,
initialize_hiddens(1),
char2ind=loader.char2ind,
n_steps=300,
temp=1.0,
seed_text="")
if args.profile: profiler.print_stats()
class MujocoPolicy(PPOPolicy, Serializable):
def __init__(self, obs_dim, ctrl_dim):
cgt.set_precision('double')
Serializable.__init__(self, obs_dim, ctrl_dim)
self.obs_dim = obs_dim
self.ctrl_dim = ctrl_dim
o_no = cgt.matrix("o_no", fixed_shape=(None, obs_dim))
a_na = cgt.matrix("a_na", fixed_shape=(None, ctrl_dim))
adv_n = cgt.vector("adv_n")
oldpdist_np = cgt.matrix("oldpdist", fixed_shape=(None, 2 * ctrl_dim))
self.logstd = logstd_1a = nn.parameter(np.zeros((1, self.ctrl_dim)),
name="std_1a")
std_1a = cgt.exp(logstd_1a)
# Here's where we apply the network
h0 = o_no
nhid = 32
h1 = cgt.tanh(
nn.Affine(obs_dim, nhid, weight_init=nn.IIDGaussian(std=0.1))(h0))
h2 = cgt.tanh(
nn.Affine(nhid, nhid, weight_init=nn.IIDGaussian(std=0.1))(h1))
mean_na = nn.Affine(nhid,
ctrl_dim,
weight_init=nn.IIDGaussian(std=0.01))(h2)
b = cgt.size(o_no, 0)
std_na = cgt.repeat(std_1a, b, axis=0)
oldmean_na = oldpdist_np[:, 0:self.ctrl_dim]
oldstd_na = oldpdist_np[:, self.ctrl_dim:2 * self.ctrl_dim]
logp_n = ((-.5) * cgt.square(
(a_na - mean_na) / std_na).sum(axis=1)) - logstd_1a.sum()
oldlogp_n = ((-.5) * cgt.square(
(a_na - oldmean_na) / oldstd_na).sum(axis=1)
) - cgt.log(oldstd_na).sum(axis=1)
ratio_n = cgt.exp(logp_n - oldlogp_n)
surr = (ratio_n * adv_n).mean()
pdists_np = cgt.concatenate([mean_na, std_na], axis=1)
# kl = cgt.log(sigafter/)
params = nn.get_parameters(surr)
oldvar_na = cgt.square(oldstd_na)
var_na = cgt.square(std_na)
kl = (cgt.log(std_na / oldstd_na) +
(oldvar_na + cgt.square(oldmean_na - mean_na)) / (2 * var_na) -
.5).sum(axis=1).mean()
lam = cgt.scalar()
penobj = surr - lam * kl
self._compute_surr_kl = cgt.function([oldpdist_np, o_no, a_na, adv_n],
[surr, kl])
self._compute_grad_lagrangian = cgt.function(
[lam, oldpdist_np, o_no, a_na, adv_n],
cgt.concatenate([p.flatten() for p in cgt.grad(penobj, params)]))
self.f_pdist = cgt.function([o_no], pdists_np)
self.f_objs = cgt.function([oldpdist_np, o_no, a_na, adv_n],
[surr, kl])
self.pc = ParamCollection(params)
def compute_surr_kl(self, *args):
return self._compute_surr_kl(*args)
def compute_grad_lagrangian(self, *args):
return self._compute_grad_lagrangian(*args)
def get_stdev(self):
return np.exp(self.logstd.op.get_value().ravel())
def step(self, X):
pdist_na = self.f_pdist(X)
acts_n = meanstd_sample(pdist_na)
return {"action": acts_n, "pdist": pdist_na}
def compute_entropy(self, pdist_np):
return meanstd_entropy(pdist_np)
def pdist_ndim(self):
return 2 * self.ctrl_dim
def get_parameters_flat(self):
return self.pc.get_value_flat()
def set_parameters_flat(self, th):
return self.pc.set_value_flat(th)
def main():
nr.seed(0)
parser = argparse.ArgumentParser()
parser.add_argument("--data_dir", type=str, default="alice")
parser.add_argument("--size_mem", type=int,default=64)
parser.add_argument("--size_batch", type=int,default=64)
parser.add_argument("--n_layers",type=int,default=2)
parser.add_argument("--n_unroll",type=int,default=16)
parser.add_argument("--step_size",type=float,default=.01)
parser.add_argument("--decay_rate",type=float,default=0.95)
parser.add_argument("--n_epochs",type=int,default=20)
parser.add_argument("--arch",choices=["lstm","gru"],default="lstm")
parser.add_argument("--grad_check",action="store_true")
parser.add_argument("--profile",action="store_true")
parser.add_argument("--unittest",action="store_true")
parser.add_argument("--temperature",type=float,default=1)
args = parser.parse_args()
cgt.set_precision("quad" if args.grad_check else "single")
assert args.n_unroll > 1
loader = Loader(args.data_dir,args.size_batch, args.n_unroll, (1.0,0,0))
network, f_loss, f_loss_and_grad, f_step = make_loss_and_grad_and_step(args.arch, loader.size_vocab,
loader.size_vocab, args.size_mem, args.size_batch, args.n_layers, args.n_unroll)
if args.profile: profiler.start()
params = network.get_parameters()
pc = ParamCollection(params)
pc.set_value_flat(nr.uniform(-.1, .1, size=(pc.get_total_size(),)))
def initialize_hiddens(n):
return [np.zeros((n, args.size_mem), cgt.floatX) for _ in xrange(get_num_hiddens(args.arch, args.n_layers))]
if args.grad_check:
x,y = loader.train_batches_iter().next()
prev_hiddens = initialize_hiddens(args.size_batch)
def f(thnew):
thold = pc.get_value_flat()
pc.set_value_flat(thnew)
loss = f_loss(x,y, *prev_hiddens)
pc.set_value_flat(thold)
return loss
from cgt.numeric_diff import numeric_grad
g_num = numeric_grad(f, pc.get_value_flat(),eps=1e-10)
result = f_loss_and_grad(x,y,*prev_hiddens)
g_anal = result[1]
assert np.allclose(g_num, g_anal, atol=1e-4)
print "Gradient check succeeded!"
return
optim_state = make_rmsprop_state(theta=pc.get_value_flat(), step_size = args.step_size,
decay_rate = args.decay_rate)
for iepoch in xrange(args.n_epochs):
losses = []
tstart = time()
print "starting epoch",iepoch
cur_hiddens = initialize_hiddens(args.size_batch)
for (x,y) in loader.train_batches_iter():
out = f_loss_and_grad(x,y, *cur_hiddens)
loss = out[0]
grad = out[1]
cur_hiddens = out[2:]
rmsprop_update(grad, optim_state)
pc.set_value_flat(optim_state.theta)
losses.append(loss)
if args.unittest: return
print "%.3f s/batch. avg loss = %.3f"%((time()-tstart)/len(losses), np.mean(losses))
optim_state.step_size *= .98 #pylint: disable=E1101
sample(f_step, initialize_hiddens(1), char2ind=loader.char2ind, n_steps=1000, temperature=args.temperature, seed_text = "")
if args.profile: profiler.print_stats()