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239 行
8.9 KiB
239 行
8.9 KiB
from typing import Tuple, Optional
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from mlagents.trainers.exception import UnityTrainerException
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import torch
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from torch import nn
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class Normalizer(nn.Module):
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def __init__(self, vec_obs_size: int):
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super().__init__()
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self.normalization_steps = torch.tensor(1)
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self.running_mean = torch.zeros(vec_obs_size)
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self.running_variance = torch.ones(vec_obs_size)
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def forward(self, inputs: torch.Tensor) -> torch.Tensor:
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normalized_state = torch.clamp(
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(inputs - self.running_mean)
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/ torch.sqrt(self.running_variance / self.normalization_steps),
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-5,
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5,
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)
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return normalized_state
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def update(self, vector_input: torch.Tensor) -> None:
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steps_increment = vector_input.size()[0]
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total_new_steps = self.normalization_steps + steps_increment
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input_to_old_mean = vector_input - self.running_mean
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new_mean = self.running_mean + (input_to_old_mean / total_new_steps).sum(0)
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input_to_new_mean = vector_input - new_mean
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new_variance = self.running_variance + (
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input_to_new_mean * input_to_old_mean
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).sum(0)
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self.running_mean = new_mean
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self.running_variance = new_variance
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self.normalization_steps = total_new_steps
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def copy_from(self, other_normalizer: "Normalizer") -> None:
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self.normalization_steps.data.copy_(other_normalizer.normalization_steps.data)
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self.running_mean.data.copy_(other_normalizer.running_mean.data)
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self.running_variance.copy_(other_normalizer.running_variance.data)
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def conv_output_shape(h_w, kernel_size=1, stride=1, pad=0, dilation=1):
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from math import floor
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if type(kernel_size) is not tuple:
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kernel_size = (kernel_size, kernel_size)
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h = floor(
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((h_w[0] + (2 * pad) - (dilation * (kernel_size[0] - 1)) - 1) / stride) + 1
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)
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w = floor(
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((h_w[1] + (2 * pad) - (dilation * (kernel_size[1] - 1)) - 1) / stride) + 1
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)
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return h, w
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def pool_out_shape(h_w: Tuple[int, int], kernel_size: int) -> Tuple[int, int]:
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height = (h_w[0] - kernel_size) // 2 + 1
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width = (h_w[1] - kernel_size) // 2 + 1
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return height, width
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class VectorEncoder(nn.Module):
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def __init__(
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self,
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input_size: int,
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hidden_size: int,
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num_layers: int,
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normalize: bool = False,
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):
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self.normalizer: Optional[Normalizer] = None
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super().__init__()
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self.layers = [nn.Linear(input_size, hidden_size)]
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if normalize:
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self.normalizer = Normalizer(input_size)
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for _ in range(num_layers - 1):
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self.layers.append(nn.Linear(hidden_size, hidden_size))
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self.layers.append(nn.LeakyReLU())
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self.seq_layers = nn.Sequential(*self.layers)
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def forward(self, inputs: torch.Tensor) -> None:
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if self.normalizer is not None:
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inputs = self.normalizer(inputs)
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return self.seq_layers(inputs)
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def copy_normalization(self, other_encoder: "VectorEncoder") -> None:
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if self.normalizer is not None and other_encoder.normalizer is not None:
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self.normalizer.copy_from(other_encoder.normalizer)
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def update_normalization(self, inputs: torch.Tensor) -> None:
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if self.normalizer is not None:
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self.normalizer.update(inputs)
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class VectorAndUnnormalizedInputEncoder(VectorEncoder):
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"""
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Encoder for concatenated vector input (can be normalized) and unnormalized vector input.
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This is used for passing inputs to the network that should not be normalized, such as
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actions in the case of a Q function or task parameterizations. It will result in an encoder with
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this structure:
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____________ ____________ ____________
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| Vector | | Normalize | | Fully |
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| | --> | | --> | Connected | ___________
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|____________| |____________| | | | Output |
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____________ | | --> | |
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|Unnormalized| | | |___________|
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| Input | ---------------------> | |
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|____________| |____________|
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"""
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def __init__(
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self,
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input_size: int,
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hidden_size: int,
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unnormalized_input_size: int,
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num_layers: int,
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normalize: bool = False,
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):
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super().__init__(
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input_size + unnormalized_input_size,
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hidden_size,
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num_layers,
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normalize=False,
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)
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if normalize:
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self.normalizer = Normalizer(input_size)
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else:
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self.normalizer = None
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def forward( # pylint: disable=W0221
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self, inputs: torch.Tensor, unnormalized_inputs: Optional[torch.Tensor] = None
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) -> None:
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if unnormalized_inputs is None:
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raise UnityTrainerException(
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"Attempted to call an VectorAndUnnormalizedInputEncoder without an unnormalized input."
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) # Fix mypy errors about method parameters.
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if self.normalizer is not None:
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inputs = self.normalizer(inputs)
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return self.seq_layers(torch.cat([inputs, unnormalized_inputs], dim=-1))
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class SimpleVisualEncoder(nn.Module):
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def __init__(
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self, height: int, width: int, initial_channels: int, output_size: int
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):
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super().__init__()
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self.h_size = output_size
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conv_1_hw = conv_output_shape((height, width), 8, 4)
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conv_2_hw = conv_output_shape(conv_1_hw, 4, 2)
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self.final_flat = conv_2_hw[0] * conv_2_hw[1] * 32
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self.conv1 = nn.Conv2d(initial_channels, 16, [8, 8], [4, 4])
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self.conv2 = nn.Conv2d(16, 32, [4, 4], [2, 2])
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self.dense = nn.Linear(self.final_flat, self.h_size)
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def forward(self, visual_obs: torch.Tensor) -> None:
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conv_1 = nn.functional.leaky_relu(self.conv1(visual_obs))
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conv_2 = nn.functional.leaky_relu(self.conv2(conv_1))
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# hidden = torch.relu(self.dense(conv_2.view([-1, self.final_flat])))
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hidden = nn.functional.leaky_relu(
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self.dense(torch.reshape(conv_2, (-1, self.final_flat)))
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)
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return hidden
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class NatureVisualEncoder(nn.Module):
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def __init__(self, height, width, initial_channels, output_size):
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super().__init__()
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self.h_size = output_size
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conv_1_hw = conv_output_shape((height, width), 8, 4)
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conv_2_hw = conv_output_shape(conv_1_hw, 4, 2)
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conv_3_hw = conv_output_shape(conv_2_hw, 3, 1)
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self.final_flat = conv_3_hw[0] * conv_3_hw[1] * 64
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self.conv1 = nn.Conv2d(initial_channels, 32, [8, 8], [4, 4])
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self.conv2 = nn.Conv2d(32, 64, [4, 4], [2, 2])
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self.conv3 = nn.Conv2d(64, 64, [3, 3], [1, 1])
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self.dense = nn.Linear(self.final_flat, self.h_size)
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def forward(self, visual_obs):
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conv_1 = nn.functional.leaky_relu(self.conv1(visual_obs))
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conv_2 = nn.functional.leaky_relu(self.conv2(conv_1))
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conv_3 = nn.functional.leaky_relu(self.conv3(conv_2))
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hidden = nn.functional.leaky_relu(
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self.dense(conv_3.view([-1, self.final_flat]))
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)
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return hidden
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class ResNetVisualEncoder(nn.Module):
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def __init__(self, height, width, initial_channels, final_hidden):
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super().__init__()
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n_channels = [16, 32, 32] # channel for each stack
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n_blocks = 2 # number of residual blocks
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self.layers = []
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last_channel = initial_channels
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for _, channel in enumerate(n_channels):
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self.layers.append(
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nn.Conv2d(last_channel, channel, [3, 3], [1, 1], padding=1)
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)
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self.layers.append(nn.MaxPool2d([3, 3], [2, 2]))
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height, width = pool_out_shape((height, width), 3)
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for _ in range(n_blocks):
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self.layers.append(self.make_block(channel))
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last_channel = channel
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self.layers.append(nn.LeakyReLU())
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self.dense = nn.Linear(n_channels[-1] * height * width, final_hidden)
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@staticmethod
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def make_block(channel):
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block_layers = [
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nn.LeakyReLU(),
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nn.Conv2d(channel, channel, [3, 3], [1, 1], padding=1),
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nn.LeakyReLU(),
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nn.Conv2d(channel, channel, [3, 3], [1, 1], padding=1),
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]
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return block_layers
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@staticmethod
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def forward_block(input_hidden, block_layers):
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hidden = input_hidden
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for layer in block_layers:
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hidden = layer(hidden)
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return hidden + input_hidden
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def forward(self, visual_obs):
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batch_size = visual_obs.shape[0]
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hidden = visual_obs
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for layer in self.layers:
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if isinstance(layer, nn.Module):
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hidden = layer(hidden)
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elif isinstance(layer, list):
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hidden = self.forward_block(hidden, layer)
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before_out = hidden.view(batch_size, -1)
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return torch.relu(self.dense(before_out))
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