File size: 10,018 Bytes
5960497 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 | import os
import numpy as np
import tensorflow as tf
from collections import deque
def sample(logits):
noise = tf.random.uniform(tf.shape(input=logits))
return tf.argmax(input=logits - tf.math.log(-tf.math.log(noise)), axis=1)
def cat_entropy(logits):
a0 = logits - tf.reduce_max(input_tensor=logits, axis=1, keepdims=True)
ea0 = tf.exp(a0)
z0 = tf.reduce_sum(input_tensor=ea0, axis=1, keepdims=True)
p0 = ea0 / z0
return tf.reduce_sum(input_tensor=p0 * (tf.math.log(z0) - a0), axis=1)
def cat_entropy_softmax(p0):
return - tf.reduce_sum(input_tensor=p0 * tf.math.log(p0 + 1e-6), axis = 1)
def ortho_init(scale=1.0):
def _ortho_init(shape, dtype, partition_info=None):
#lasagne ortho init for tf
shape = tuple(shape)
if len(shape) == 2:
flat_shape = shape
elif len(shape) == 4: # assumes NHWC
flat_shape = (np.prod(shape[:-1]), shape[-1])
else:
raise NotImplementedError
a = np.random.normal(0.0, 1.0, flat_shape)
u, _, v = np.linalg.svd(a, full_matrices=False)
q = u if u.shape == flat_shape else v # pick the one with the correct shape
q = q.reshape(shape)
return (scale * q[:shape[0], :shape[1]]).astype(np.float32)
return _ortho_init
def conv(x, scope, *, nf, rf, stride, pad='VALID', init_scale=1.0, data_format='NHWC', one_dim_bias=False):
if data_format == 'NHWC':
channel_ax = 3
strides = [1, stride, stride, 1]
bshape = [1, 1, 1, nf]
elif data_format == 'NCHW':
channel_ax = 1
strides = [1, 1, stride, stride]
bshape = [1, nf, 1, 1]
else:
raise NotImplementedError
bias_var_shape = [nf] if one_dim_bias else [1, nf, 1, 1]
try:
nin = x.get_shape()[channel_ax].value
except:
nin = x.get_shape()[channel_ax]
wshape = [rf, rf, nin, nf]
with tf.compat.v1.variable_scope(scope):
w = tf.compat.v1.get_variable("w", wshape, initializer=ortho_init(init_scale))
b = tf.compat.v1.get_variable("b", bias_var_shape, initializer=tf.compat.v1.constant_initializer(0.0))
if not one_dim_bias and data_format == 'NHWC':
b = tf.reshape(b, bshape)
return tf.nn.conv2d(input=x, filters=w, strides=strides, padding=pad, data_format=data_format) + b
def fc(x, scope, nh, *, init_scale=1.0, init_bias=0.0):
with tf.compat.v1.variable_scope(scope):
try:
nin = x.get_shape()[1].value
except:
nin = x.get_shape()[1]
w = tf.compat.v1.get_variable("w", [nin, nh], initializer=ortho_init(init_scale))
b = tf.compat.v1.get_variable("b", [nh], initializer=tf.compat.v1.constant_initializer(init_bias))
return tf.matmul(x, w)+b
def batch_to_seq(h, nbatch, nsteps, flat=False):
if flat:
h = tf.reshape(h, [nbatch, nsteps])
else:
h = tf.reshape(h, [nbatch, nsteps, -1])
return [tf.squeeze(v, [1]) for v in tf.split(axis=1, num_or_size_splits=nsteps, value=h)]
def seq_to_batch(h, flat = False):
shape = h[0].get_shape().as_list()
if not flat:
assert(len(shape) > 1)
nh = h[0].get_shape()[-1].value
return tf.reshape(tf.concat(axis=1, values=h), [-1, nh])
else:
return tf.reshape(tf.stack(values=h, axis=1), [-1])
def lstm(xs, ms, s, scope, nh, init_scale=1.0):
nbatch, nin = [v.value for v in xs[0].get_shape()]
with tf.compat.v1.variable_scope(scope):
wx = tf.compat.v1.get_variable("wx", [nin, nh*4], initializer=ortho_init(init_scale))
wh = tf.compat.v1.get_variable("wh", [nh, nh*4], initializer=ortho_init(init_scale))
b = tf.compat.v1.get_variable("b", [nh*4], initializer=tf.compat.v1.constant_initializer(0.0))
c, h = tf.split(axis=1, num_or_size_splits=2, value=s)
for idx, (x, m) in enumerate(zip(xs, ms)):
c = c*(1-m)
h = h*(1-m)
z = tf.matmul(x, wx) + tf.matmul(h, wh) + b
i, f, o, u = tf.split(axis=1, num_or_size_splits=4, value=z)
i = tf.nn.sigmoid(i)
f = tf.nn.sigmoid(f)
o = tf.nn.sigmoid(o)
u = tf.tanh(u)
c = f*c + i*u
h = o*tf.tanh(c)
xs[idx] = h
s = tf.concat(axis=1, values=[c, h])
return xs, s
def _ln(x, g, b, e=1e-5, axes=[1]):
u, s = tf.nn.moments(x=x, axes=axes, keepdims=True)
x = (x-u)/tf.sqrt(s+e)
x = x*g+b
return x
def lnlstm(xs, ms, s, scope, nh, init_scale=1.0):
nbatch, nin = [v.value for v in xs[0].get_shape()]
with tf.compat.v1.variable_scope(scope):
wx = tf.compat.v1.get_variable("wx", [nin, nh*4], initializer=ortho_init(init_scale))
gx = tf.compat.v1.get_variable("gx", [nh*4], initializer=tf.compat.v1.constant_initializer(1.0))
bx = tf.compat.v1.get_variable("bx", [nh*4], initializer=tf.compat.v1.constant_initializer(0.0))
wh = tf.compat.v1.get_variable("wh", [nh, nh*4], initializer=ortho_init(init_scale))
gh = tf.compat.v1.get_variable("gh", [nh*4], initializer=tf.compat.v1.constant_initializer(1.0))
bh = tf.compat.v1.get_variable("bh", [nh*4], initializer=tf.compat.v1.constant_initializer(0.0))
b = tf.compat.v1.get_variable("b", [nh*4], initializer=tf.compat.v1.constant_initializer(0.0))
gc = tf.compat.v1.get_variable("gc", [nh], initializer=tf.compat.v1.constant_initializer(1.0))
bc = tf.compat.v1.get_variable("bc", [nh], initializer=tf.compat.v1.constant_initializer(0.0))
c, h = tf.split(axis=1, num_or_size_splits=2, value=s)
for idx, (x, m) in enumerate(zip(xs, ms)):
c = c*(1-m)
h = h*(1-m)
z = _ln(tf.matmul(x, wx), gx, bx) + _ln(tf.matmul(h, wh), gh, bh) + b
i, f, o, u = tf.split(axis=1, num_or_size_splits=4, value=z)
i = tf.nn.sigmoid(i)
f = tf.nn.sigmoid(f)
o = tf.nn.sigmoid(o)
u = tf.tanh(u)
c = f*c + i*u
h = o*tf.tanh(_ln(c, gc, bc))
xs[idx] = h
s = tf.concat(axis=1, values=[c, h])
return xs, s
def conv_to_fc(x):
try:
nh = np.prod([v.value for v in x.get_shape()[1:]])
except:
nh = np.prod([v for v in x.get_shape()[1:]])
x = tf.reshape(x, [-1, nh])
return x
def discount_with_dones(rewards, dones, gamma):
discounted = []
r = 0
for reward, done in zip(rewards[::-1], dones[::-1]):
r = reward + gamma*r*(1.-done) # fixed off by one bug
discounted.append(r)
return discounted[::-1]
def find_trainable_variables(key):
return tf.compat.v1.trainable_variables(key)
def make_path(f):
return os.makedirs(f, exist_ok=True)
def constant(p):
return 1
def linear(p):
return 1-p
def middle_drop(p):
eps = 0.75
if 1-p<eps:
return eps*0.1
return 1-p
def double_linear_con(p):
p *= 2
eps = 0.125
if 1-p<eps:
return eps
return 1-p
def double_middle_drop(p):
eps1 = 0.75
eps2 = 0.25
if 1-p<eps1:
if 1-p<eps2:
return eps2*0.5
return eps1*0.1
return 1-p
schedules = {
'linear':linear,
'constant':constant,
'double_linear_con': double_linear_con,
'middle_drop': middle_drop,
'double_middle_drop': double_middle_drop
}
class Scheduler(object):
def __init__(self, v, nvalues, schedule):
self.n = 0.
self.v = v
self.nvalues = nvalues
self.schedule = schedules[schedule]
def value(self):
current_value = self.v*self.schedule(self.n/self.nvalues)
self.n += 1.
return current_value
def value_steps(self, steps):
return self.v*self.schedule(steps/self.nvalues)
class EpisodeStats:
def __init__(self, nsteps, nenvs):
self.episode_rewards = []
for i in range(nenvs):
self.episode_rewards.append([])
self.lenbuffer = deque(maxlen=40) # rolling buffer for episode lengths
self.rewbuffer = deque(maxlen=40) # rolling buffer for episode rewards
self.nsteps = nsteps
self.nenvs = nenvs
def feed(self, rewards, masks):
rewards = np.reshape(rewards, [self.nenvs, self.nsteps])
masks = np.reshape(masks, [self.nenvs, self.nsteps])
for i in range(0, self.nenvs):
for j in range(0, self.nsteps):
self.episode_rewards[i].append(rewards[i][j])
if masks[i][j]:
l = len(self.episode_rewards[i])
s = sum(self.episode_rewards[i])
self.lenbuffer.append(l)
self.rewbuffer.append(s)
self.episode_rewards[i] = []
def mean_length(self):
if self.lenbuffer:
return np.mean(self.lenbuffer)
else:
return 0 # on the first params dump, no episodes are finished
def mean_reward(self):
if self.rewbuffer:
return np.mean(self.rewbuffer)
else:
return 0
# For ACER
def get_by_index(x, idx):
assert(len(x.get_shape()) == 2)
assert(len(idx.get_shape()) == 1)
idx_flattened = tf.range(0, x.shape[0]) * x.shape[1] + idx
y = tf.gather(tf.reshape(x, [-1]), # flatten input
idx_flattened) # use flattened indices
return y
def check_shape(ts,shapes):
i = 0
for (t,shape) in zip(ts,shapes):
assert t.get_shape().as_list()==shape, "id " + str(i) + " shape " + str(t.get_shape()) + str(shape)
i += 1
def avg_norm(t):
return tf.reduce_mean(input_tensor=tf.sqrt(tf.reduce_sum(input_tensor=tf.square(t), axis=-1)))
def gradient_add(g1, g2, param):
print([g1, g2, param.name])
assert (not (g1 is None and g2 is None)), param.name
if g1 is None:
return g2
elif g2 is None:
return g1
else:
return g1 + g2
def q_explained_variance(qpred, q):
_, vary = tf.nn.moments(x=q, axes=[0, 1])
_, varpred = tf.nn.moments(x=q - qpred, axes=[0, 1])
check_shape([vary, varpred], [[]] * 2)
return 1.0 - (varpred / vary)
|