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307 行
12 KiB
307 行
12 KiB
from typing import Tuple, List
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import tensorflow as tf
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from mlagents.trainers.models import LearningModel
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EPSILON = 1e-7
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class GAILModel(object):
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def __init__(
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self,
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policy_model: LearningModel,
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h_size: int = 128,
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learning_rate: float = 3e-4,
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encoding_size: int = 64,
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use_actions: bool = False,
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use_vail: bool = False,
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gradient_penalty_weight: float = 10.0,
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):
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"""
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The initializer for the GAIL reward generator.
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https://arxiv.org/abs/1606.03476
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:param policy_model: The policy of the learning algorithm
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:param h_size: Size of the hidden layer for the discriminator
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:param learning_rate: The learning Rate for the discriminator
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:param encoding_size: The encoding size for the encoder
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:param use_actions: Whether or not to use actions to discriminate
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:param use_vail: Whether or not to use a variational bottleneck for the
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discriminator. See https://arxiv.org/abs/1810.00821.
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"""
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self.h_size = h_size
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self.z_size = 128
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self.alpha = 0.0005
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self.mutual_information = 0.5
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self.policy_model = policy_model
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self.encoding_size = encoding_size
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self.gradient_penalty_weight = gradient_penalty_weight
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self.use_vail = use_vail
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self.use_actions = use_actions # True # Not using actions
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self.make_inputs()
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self.create_network()
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self.create_loss(learning_rate)
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if self.use_vail:
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self.make_beta_update()
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def make_beta_update(self) -> None:
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"""
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Creates the beta parameter and its updater for GAIL
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"""
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new_beta = tf.maximum(
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self.beta + self.alpha * (self.kl_loss - self.mutual_information), EPSILON
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)
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with tf.control_dependencies([self.update_batch]):
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self.update_beta = tf.assign(self.beta, new_beta)
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def make_inputs(self) -> None:
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"""
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Creates the input layers for the discriminator
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"""
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self.done_expert_holder = tf.placeholder(shape=[None], dtype=tf.float32)
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self.done_policy_holder = tf.placeholder(shape=[None], dtype=tf.float32)
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self.done_expert = tf.expand_dims(self.done_expert_holder, -1)
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self.done_policy = tf.expand_dims(self.done_policy_holder, -1)
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if self.policy_model.brain.vector_action_space_type == "continuous":
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action_length = self.policy_model.act_size[0]
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self.action_in_expert = tf.placeholder(
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shape=[None, action_length], dtype=tf.float32
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)
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self.expert_action = tf.identity(self.action_in_expert)
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else:
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action_length = len(self.policy_model.act_size)
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self.action_in_expert = tf.placeholder(
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shape=[None, action_length], dtype=tf.int32
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)
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self.expert_action = tf.concat(
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[
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tf.one_hot(self.action_in_expert[:, i], act_size)
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for i, act_size in enumerate(self.policy_model.act_size)
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],
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axis=1,
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)
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encoded_policy_list = []
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encoded_expert_list = []
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if self.policy_model.vec_obs_size > 0:
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self.obs_in_expert = tf.placeholder(
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shape=[None, self.policy_model.vec_obs_size], dtype=tf.float32
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)
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if self.policy_model.normalize:
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encoded_expert_list.append(
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self.policy_model.normalize_vector_obs(self.obs_in_expert)
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)
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encoded_policy_list.append(
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self.policy_model.normalize_vector_obs(self.policy_model.vector_in)
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)
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else:
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encoded_expert_list.append(self.obs_in_expert)
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encoded_policy_list.append(self.policy_model.vector_in)
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if self.policy_model.vis_obs_size > 0:
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self.expert_visual_in: List[tf.Tensor] = []
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visual_policy_encoders = []
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visual_expert_encoders = []
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for i in range(self.policy_model.vis_obs_size):
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# Create input ops for next (t+1) visual observations.
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visual_input = self.policy_model.create_visual_input(
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self.policy_model.brain.camera_resolutions[i],
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name="gail_visual_observation_" + str(i),
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)
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self.expert_visual_in.append(visual_input)
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encoded_policy_visual = self.policy_model.create_visual_observation_encoder(
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self.policy_model.visual_in[i],
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self.encoding_size,
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LearningModel.swish,
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1,
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"gail_stream_{}_visual_obs_encoder".format(i),
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False,
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)
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encoded_expert_visual = self.policy_model.create_visual_observation_encoder(
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self.expert_visual_in[i],
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self.encoding_size,
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LearningModel.swish,
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1,
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"gail_stream_{}_visual_obs_encoder".format(i),
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True,
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)
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visual_policy_encoders.append(encoded_policy_visual)
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visual_expert_encoders.append(encoded_expert_visual)
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hidden_policy_visual = tf.concat(visual_policy_encoders, axis=1)
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hidden_expert_visual = tf.concat(visual_expert_encoders, axis=1)
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encoded_policy_list.append(hidden_policy_visual)
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encoded_expert_list.append(hidden_expert_visual)
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self.encoded_expert = tf.concat(encoded_expert_list, axis=1)
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self.encoded_policy = tf.concat(encoded_policy_list, axis=1)
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def create_encoder(
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self, state_in: tf.Tensor, action_in: tf.Tensor, done_in: tf.Tensor, reuse: bool
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) -> Tuple[tf.Tensor, tf.Tensor, tf.Tensor]:
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"""
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Creates the encoder for the discriminator
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:param state_in: The encoded observation input
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:param action_in: The action input
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:param done_in: The done flags input
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:param reuse: If true, the weights will be shared with the previous encoder created
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"""
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with tf.variable_scope("GAIL_model"):
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if self.use_actions:
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concat_input = tf.concat([state_in, action_in, done_in], axis=1)
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else:
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concat_input = state_in
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hidden_1 = tf.layers.dense(
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concat_input,
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self.h_size,
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activation=LearningModel.swish,
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name="gail_d_hidden_1",
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reuse=reuse,
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)
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hidden_2 = tf.layers.dense(
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hidden_1,
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self.h_size,
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activation=LearningModel.swish,
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name="gail_d_hidden_2",
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reuse=reuse,
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)
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z_mean = None
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if self.use_vail:
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# Latent representation
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z_mean = tf.layers.dense(
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hidden_2,
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self.z_size,
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reuse=reuse,
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name="gail_z_mean",
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kernel_initializer=LearningModel.scaled_init(0.01),
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)
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self.noise = tf.random_normal(tf.shape(z_mean), dtype=tf.float32)
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# Sampled latent code
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self.z = z_mean + self.z_sigma * self.noise * self.use_noise
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estimate_input = self.z
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else:
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estimate_input = hidden_2
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estimate = tf.layers.dense(
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estimate_input,
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1,
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activation=tf.nn.sigmoid,
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name="gail_d_estimate",
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reuse=reuse,
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)
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return estimate, z_mean, concat_input
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def create_network(self) -> None:
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"""
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Helper for creating the intrinsic reward nodes
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"""
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if self.use_vail:
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self.z_sigma = tf.get_variable(
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"gail_sigma_vail",
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self.z_size,
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dtype=tf.float32,
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initializer=tf.ones_initializer(),
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)
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self.z_sigma_sq = self.z_sigma * self.z_sigma
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self.z_log_sigma_sq = tf.log(self.z_sigma_sq + EPSILON)
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self.use_noise = tf.placeholder(
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shape=[1], dtype=tf.float32, name="gail_NoiseLevel"
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)
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self.expert_estimate, self.z_mean_expert, _ = self.create_encoder(
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self.encoded_expert, self.expert_action, self.done_expert, reuse=False
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)
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self.policy_estimate, self.z_mean_policy, _ = self.create_encoder(
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self.encoded_policy,
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self.policy_model.selected_actions,
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self.done_policy,
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reuse=True,
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)
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self.mean_policy_estimate = tf.reduce_mean(self.policy_estimate)
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self.mean_expert_estimate = tf.reduce_mean(self.expert_estimate)
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self.discriminator_score = tf.reshape(
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self.policy_estimate, [-1], name="gail_reward"
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)
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self.intrinsic_reward = -tf.log(1.0 - self.discriminator_score + EPSILON)
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def create_gradient_magnitude(self) -> tf.Tensor:
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"""
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Gradient penalty from https://arxiv.org/pdf/1704.00028. Adds stability esp.
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for off-policy. Compute gradients w.r.t randomly interpolated input.
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"""
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expert = [self.encoded_expert, self.expert_action, self.done_expert]
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policy = [
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self.encoded_policy,
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self.policy_model.selected_actions,
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self.done_policy,
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]
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interp = []
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for _expert_in, _policy_in in zip(expert, policy):
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alpha = tf.random_uniform(tf.shape(_expert_in))
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interp.append(alpha * _expert_in + (1 - alpha) * _policy_in)
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grad_estimate, _, grad_input = self.create_encoder(
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interp[0], interp[1], interp[2], reuse=True
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)
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grad = tf.gradients(grad_estimate, [grad_input])[0]
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# Norm's gradient could be NaN at 0. Use our own safe_norm
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safe_norm = tf.sqrt(tf.reduce_sum(grad ** 2, axis=-1) + EPSILON)
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gradient_mag = tf.reduce_mean(tf.pow(safe_norm - 1, 2))
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return gradient_mag
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def create_loss(self, learning_rate: float) -> None:
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"""
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Creates the loss and update nodes for the GAIL reward generator
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:param learning_rate: The learning rate for the optimizer
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"""
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self.mean_expert_estimate = tf.reduce_mean(self.expert_estimate)
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self.mean_policy_estimate = tf.reduce_mean(self.policy_estimate)
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if self.use_vail:
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self.beta = tf.get_variable(
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"gail_beta",
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[],
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trainable=False,
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dtype=tf.float32,
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initializer=tf.ones_initializer(),
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)
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self.discriminator_loss = -tf.reduce_mean(
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tf.log(self.expert_estimate + EPSILON)
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+ tf.log(1.0 - self.policy_estimate + EPSILON)
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)
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if self.use_vail:
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# KL divergence loss (encourage latent representation to be normal)
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self.kl_loss = tf.reduce_mean(
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-tf.reduce_sum(
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1
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+ self.z_log_sigma_sq
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- 0.5 * tf.square(self.z_mean_expert)
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- 0.5 * tf.square(self.z_mean_policy)
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- tf.exp(self.z_log_sigma_sq),
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1,
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)
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)
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self.loss = (
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self.beta * (self.kl_loss - self.mutual_information)
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+ self.discriminator_loss
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)
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else:
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self.loss = self.discriminator_loss
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if self.gradient_penalty_weight > 0.0:
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self.loss += self.gradient_penalty_weight * self.create_gradient_magnitude()
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optimizer = tf.train.AdamOptimizer(learning_rate=learning_rate)
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self.update_batch = optimizer.minimize(self.loss)
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