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319 行
10 KiB
319 行
10 KiB
import abc
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from typing import NamedTuple, List, Tuple
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import numpy as np
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from mlagents.tf_utils import tf
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from mlagents.trainers.models import ModelUtils
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EPSILON = 1e-6 # Small value to avoid divide by zero
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class OutputDistribution(abc.ABC):
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@abc.abstractproperty
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def log_probs(self) -> tf.Tensor:
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"""
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Returns a Tensor that when evaluated, produces the per-action log probabilities of this distribution.
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The shape of this Tensor should be equivalent to (batch_size x the number of actions) produced in sample.
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"""
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pass
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@abc.abstractproperty
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def total_log_probs(self) -> tf.Tensor:
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"""
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Returns a Tensor that when evaluated, produces the total log probability for a single sample.
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The shape of this Tensor should be equivalent to (batch_size x 1) produced in sample.
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"""
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pass
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@abc.abstractproperty
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def sample(self) -> tf.Tensor:
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"""
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Returns a Tensor that when evaluated, produces a sample of this OutputDistribution.
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"""
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pass
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@abc.abstractproperty
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def entropy(self) -> tf.Tensor:
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"""
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Returns a Tensor that when evaluated, produces the entropy of this distribution.
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"""
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pass
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class DiscreteOutputDistribution(OutputDistribution):
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@abc.abstractproperty
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def sample_onehot(self) -> tf.Tensor:
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"""
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Returns a one-hot version of the output.
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"""
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class GaussianDistribution(OutputDistribution):
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"""
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A Gaussian output distribution for continuous actions.
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"""
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class MuSigmaTensors(NamedTuple):
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mu: tf.Tensor
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log_sigma: tf.Tensor
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sigma: tf.Tensor
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def __init__(
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self,
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logits: tf.Tensor,
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act_size: List[int],
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reparameterize: bool = False,
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tanh_squash: bool = False,
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condition_sigma: bool = True,
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log_sigma_min: float = -20,
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log_sigma_max: float = 2,
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):
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"""
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A Gaussian output distribution for continuous actions.
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:param logits: Hidden layer to use as the input to the Gaussian distribution.
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:param act_size: List containing the number of continuous actions.
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:param reparameterize: Whether or not to use the reparameterization trick (block gradients through
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log probability calculation.)
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:param tanh_squash: Squash the output using tanh, constraining it between -1 and 1.
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From: Haarnoja et. al, https://arxiv.org/abs/1801.01290
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:param log_sigma_min: Minimum log standard deviation to clip by.
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:param log_sigma_max: Maximum log standard deviation to clip by.
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"""
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encoded = self._create_mu_log_sigma(
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logits,
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act_size,
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log_sigma_min,
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log_sigma_max,
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condition_sigma=condition_sigma,
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)
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self._sampled_policy = self._create_sampled_policy(encoded)
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if not reparameterize:
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_sampled_policy_probs = tf.stop_gradient(self._sampled_policy)
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else:
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_sampled_policy_probs = self._sampled_policy
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self._all_probs = self._create_log_probs(_sampled_policy_probs, encoded)
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if tanh_squash:
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self._sampled_policy = tf.tanh(self._sampled_policy)
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self._all_probs = self._do_squash_correction_for_tanh(
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self._all_probs, self._sampled_policy
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)
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self._total_prob = tf.reduce_sum(self._all_probs, axis=1, keepdims=True)
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self._entropy = self._create_entropy(encoded)
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def _create_mu_log_sigma(
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self,
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logits: tf.Tensor,
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act_size: List[int],
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log_sigma_min: float,
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log_sigma_max: float,
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condition_sigma: bool,
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) -> "GaussianDistribution.MuSigmaTensors":
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mu = tf.layers.dense(
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logits,
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act_size[0],
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activation=None,
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name="mu",
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kernel_initializer=ModelUtils.scaled_init(0.01),
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reuse=tf.AUTO_REUSE,
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)
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if condition_sigma:
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# Policy-dependent log_sigma_sq
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log_sigma = tf.layers.dense(
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logits,
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act_size[0],
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activation=None,
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name="log_std",
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kernel_initializer=ModelUtils.scaled_init(0.01),
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)
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else:
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log_sigma = tf.get_variable(
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"log_std",
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[act_size[0]],
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dtype=tf.float32,
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initializer=tf.zeros_initializer(),
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)
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log_sigma = tf.clip_by_value(log_sigma, log_sigma_min, log_sigma_max)
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sigma = tf.exp(log_sigma)
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return self.MuSigmaTensors(mu, log_sigma, sigma)
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def _create_sampled_policy(
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self, encoded: "GaussianDistribution.MuSigmaTensors"
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) -> tf.Tensor:
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epsilon = tf.random_normal(tf.shape(encoded.mu))
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sampled_policy = encoded.mu + encoded.sigma * epsilon
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return sampled_policy
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def _create_log_probs(
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self, sampled_policy: tf.Tensor, encoded: "GaussianDistribution.MuSigmaTensors"
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) -> tf.Tensor:
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_gauss_pre = -0.5 * (
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((sampled_policy - encoded.mu) / (encoded.sigma + EPSILON)) ** 2
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+ 2 * encoded.log_sigma
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+ np.log(2 * np.pi)
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)
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return _gauss_pre
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def _create_entropy(
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self, encoded: "GaussianDistribution.MuSigmaTensors"
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) -> tf.Tensor:
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single_dim_entropy = 0.5 * tf.reduce_mean(
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tf.log(2 * np.pi * np.e) + 2 * encoded.log_sigma
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)
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# Make entropy the right shape
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return tf.ones_like(tf.reshape(encoded.mu[:, 0], [-1])) * single_dim_entropy
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def _do_squash_correction_for_tanh(self, probs, squashed_policy):
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"""
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Adjust probabilities for squashed sample before output
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"""
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adjusted_probs = probs - tf.log(1 - squashed_policy ** 2 + EPSILON)
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return adjusted_probs
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@property
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def total_log_probs(self) -> tf.Tensor:
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return self._total_prob
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@property
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def log_probs(self) -> tf.Tensor:
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return self._all_probs
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@property
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def sample(self) -> tf.Tensor:
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return self._sampled_policy
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@property
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def entropy(self) -> tf.Tensor:
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return self._entropy
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class MultiCategoricalDistribution(DiscreteOutputDistribution):
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"""
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A categorical distribution for multi-branched discrete actions. Also supports action masking.
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"""
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def __init__(self, logits: tf.Tensor, act_size: List[int], action_masks: tf.Tensor):
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"""
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A categorical distribution for multi-branched discrete actions.
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:param logits: Hidden layer to use as the input to the Gaussian distribution.
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:param act_size: List containing the number of discrete actions per branch.
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:param action_masks: Tensor representing action masks. Should be of length sum(act_size), and 0 for masked
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and 1 for unmasked.
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"""
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unmasked_log_probs = self._create_policy_branches(logits, act_size)
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(
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self._sampled_policy,
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self._all_probs,
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action_index,
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) = self._get_masked_actions_probs(unmasked_log_probs, act_size, action_masks)
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self._sampled_onehot = self._action_onehot(self._sampled_policy, act_size)
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self._entropy = self._create_entropy(self._all_probs, action_index, act_size)
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self._total_prob = self._get_log_probs(
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self._sampled_onehot, self._all_probs, action_index, act_size
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)
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def _create_policy_branches(
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self, logits: tf.Tensor, act_size: List[int]
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) -> List[tf.Tensor]:
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policy_branches = []
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for size in act_size:
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policy_branches.append(
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tf.layers.dense(
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logits,
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size,
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activation=None,
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use_bias=False,
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kernel_initializer=ModelUtils.scaled_init(0.01),
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)
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)
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return policy_branches
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def _get_masked_actions_probs(
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self,
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unmasked_log_probs: List[tf.Tensor],
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act_size: List[int],
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action_masks: tf.Tensor,
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) -> Tuple[tf.Tensor, tf.Tensor, np.ndarray]:
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output, _, all_log_probs = ModelUtils.create_discrete_action_masking_layer(
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unmasked_log_probs, action_masks, act_size
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)
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action_idx = [0] + list(np.cumsum(act_size))
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return output, all_log_probs, action_idx
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def _action_onehot(self, sample: tf.Tensor, act_size: List[int]) -> tf.Tensor:
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action_oh = tf.concat(
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[tf.one_hot(sample[:, i], act_size[i]) for i in range(len(act_size))],
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axis=1,
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)
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return action_oh
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def _get_log_probs(
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self,
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sample_onehot: tf.Tensor,
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all_log_probs: tf.Tensor,
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action_idx: List[int],
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act_size: List[int],
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) -> tf.Tensor:
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log_probs = tf.reduce_sum(
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(
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tf.stack(
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[
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-tf.nn.softmax_cross_entropy_with_logits_v2(
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labels=sample_onehot[:, action_idx[i] : action_idx[i + 1]],
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logits=all_log_probs[:, action_idx[i] : action_idx[i + 1]],
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)
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for i in range(len(act_size))
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],
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axis=1,
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)
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),
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axis=1,
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keepdims=True,
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)
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return log_probs
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def _create_entropy(
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self, all_log_probs: tf.Tensor, action_idx: List[int], act_size: List[int]
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) -> tf.Tensor:
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entropy = tf.reduce_sum(
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(
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tf.stack(
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[
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tf.nn.softmax_cross_entropy_with_logits_v2(
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labels=tf.nn.softmax(
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all_log_probs[:, action_idx[i] : action_idx[i + 1]]
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),
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logits=all_log_probs[:, action_idx[i] : action_idx[i + 1]],
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)
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for i in range(len(act_size))
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],
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axis=1,
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)
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),
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axis=1,
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)
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return entropy
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@property
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def log_probs(self) -> tf.Tensor:
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return self._all_probs
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@property
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def total_log_probs(self) -> tf.Tensor:
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return self._total_prob
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@property
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def sample(self) -> tf.Tensor:
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return self._sampled_policy
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@property
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def sample_onehot(self) -> tf.Tensor:
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return self._sampled_onehot
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@property
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def entropy(self) -> tf.Tensor:
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return self._entropy
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