from typing import Optional, Tuple
import torch
import torch.nn as nn
from ding.model.common import ReparameterizationHead
from ding.torch_utils import MLP
from ding.utils import MODEL_REGISTRY, SequenceType
from .common import EZNetworkOutput, RepresentationNetworkMLP
from .efficientzero_model_mlp import DynamicsNetworkMLP
from .utils import renormalize, get_params_mean
@MODEL_REGISTRY.register('SampledEfficientZeroModelMLP')
class SampledEfficientZeroModelMLP(nn.Module):
def __init__(
self,
observation_shape: int = 2,
action_space_size: int = 6,
latent_state_dim: int = 256,
lstm_hidden_size: int = 512,
fc_reward_layers: SequenceType = [256],
fc_value_layers: SequenceType = [256],
fc_policy_layers: SequenceType = [256],
reward_support_size: int = 601,
value_support_size: int = 601,
proj_hid: int = 1024,
proj_out: int = 1024,
pred_hid: int = 512,
pred_out: int = 1024,
self_supervised_learning_loss: bool = True,
categorical_distribution: bool = True,
activation: Optional[nn.Module] = nn.GELU(approximate='tanh'),
last_linear_layer_init_zero: bool = True,
state_norm: bool = False,
# ==============================================================
# specific sampled related config
# ==============================================================
continuous_action_space: bool = False,
num_of_sampled_actions: int = 6,
sigma_type='conditioned',
fixed_sigma_value: float = 0.3,
bound_type: str = None,
norm_type: str = 'LN',
discrete_action_encoding_type: str = 'one_hot',
res_connection_in_dynamics: bool = True,
*args,
**kwargs,
):
"""
Overview:
The definition of the network model of Sampled EfficientZero, which is a generalization version for 1D vector obs.
The networks are mainly built on fully connected layers.
Sampled EfficientZero model consists of a representation network, a dynamics network and a prediction network.
The representation network is an MLP network which maps the raw observation to a latent state.
The dynamics network is an MLP+LSTM network which predicts the next latent state, reward_hidden_state and value_prefix given the current latent state and action.
The prediction network is an MLP network which predicts the value and policy given the current latent state.
Arguments:
- observation_shape (:obj:`int`): Observation space shape, e.g. 8 for Lunarlander.
- action_space_size: (:obj:`int`): Action space size, which is an integer number. For discrete action space, it is the num of discrete actions, \
e.g. 4 for Lunarlander. For continuous action space, it is the dimension of the continuous action, e.g. 4 for bipedalwalker.
- latent_state_dim (:obj:`int`): The dimension of latent state, such as 256.
- lstm_hidden_size (:obj:`int`): The hidden size of LSTM in dynamics network to predict value_prefix.
- fc_reward_layers (:obj:`SequenceType`): The number of hidden layers of the reward head (MLP head).
- fc_value_layers (:obj:`SequenceType`): The number of hidden layers used in value head (MLP head).
- fc_policy_layers (:obj:`SequenceType`): The number of hidden layers used in policy head (MLP head).
- reward_support_size (:obj:`int`): The size of categorical reward output
- value_support_size (:obj:`int`): The size of categorical value output.
- proj_hid (:obj:`int`): The size of projection hidden layer.
- proj_out (:obj:`int`): The size of projection output layer.
- pred_hid (:obj:`int`): The size of prediction hidden layer.
- pred_out (:obj:`int`): The size of prediction output layer.
- self_supervised_learning_loss (:obj:`bool`): Whether to use self_supervised_learning related networks in Sampled EfficientZero model, default set it to False.
- categorical_distribution (:obj:`bool`): Whether to use discrete support to represent categorical distribution for value, reward/value_prefix.
- activation (:obj:`Optional[nn.Module]`): Activation function used in network, which often use in-place \
operation to speedup, e.g. ReLU(inplace=True).
- last_linear_layer_init_zero (:obj:`bool`): Whether to use zero initializations for the last layer of value/policy mlp, default sets it to True.
- state_norm (:obj:`bool`): Whether to use normalization for latent states, default sets it to True.
# ==============================================================
# specific sampled related config
# ==============================================================
- continuous_action_space (:obj:`bool`): The type of action space. default set it to False.
- num_of_sampled_actions (:obj:`int`): the number of sampled actions, i.e. the K in original Sampled MuZero paper.
# see ``ReparameterizationHead`` in ``ding.model.common.head`` for more details about the following arguments.
- sigma_type (:obj:`str`): the type of sigma in policy head of prediction network, options={'conditioned', 'fixed'}.
- fixed_sigma_value (:obj:`float`): the fixed sigma value in policy head of prediction network,
- bound_type (:obj:`str`): The type of bound in networks. Default sets it to None.
- norm_type (:obj:`str`): The type of normalization in networks. default set it to 'BN'.
- discrete_action_encoding_type (:obj:`str`): The type of encoding for discrete action. Default sets it to 'one_hot'. options = {'one_hot', 'not_one_hot'}
- res_connection_in_dynamics (:obj:`bool`): Whether to use residual connection for dynamics network, default set it to False.
"""
super(SampledEfficientZeroModelMLP, self).__init__()
if not categorical_distribution:
self.reward_support_size = 1
self.value_support_size = 1
else:
self.reward_support_size = reward_support_size
self.value_support_size = value_support_size
self.continuous_action_space = continuous_action_space
self.observation_shape = observation_shape
self.action_space_size = action_space_size
# The dim of action space. For discrete action space, it is 1.
# For continuous action space, it is the dimension of continuous action.
self.action_space_dim = action_space_size if self.continuous_action_space else 1
assert discrete_action_encoding_type in ['one_hot', 'not_one_hot'], discrete_action_encoding_type
self.discrete_action_encoding_type = discrete_action_encoding_type
if self.continuous_action_space:
self.action_encoding_dim = action_space_size
else:
if self.discrete_action_encoding_type == 'one_hot':
self.action_encoding_dim = action_space_size
elif self.discrete_action_encoding_type == 'not_one_hot':
self.action_encoding_dim = 1
self.lstm_hidden_size = lstm_hidden_size
self.latent_state_dim = latent_state_dim
self.fc_reward_layers = fc_reward_layers
self.fc_value_layers = fc_value_layers
self.fc_policy_layers = fc_policy_layers
self.proj_hid = proj_hid
self.proj_out = proj_out
self.pred_hid = pred_hid
self.pred_out = pred_out
self.last_linear_layer_init_zero = last_linear_layer_init_zero
self.state_norm = state_norm
self.self_supervised_learning_loss = self_supervised_learning_loss
self.sigma_type = sigma_type
self.fixed_sigma_value = fixed_sigma_value
self.bound_type = bound_type
self.norm_type = norm_type
self.num_of_sampled_actions = num_of_sampled_actions
self.res_connection_in_dynamics = res_connection_in_dynamics
self.activation = activation
self.representation_network = RepresentationNetworkMLP(
observation_shape=self.observation_shape, hidden_channels=self.latent_state_dim, activation=self.activation, norm_type=norm_type
)
self.dynamics_network = DynamicsNetworkMLP(
action_encoding_dim=self.action_encoding_dim,
num_channels=self.latent_state_dim + self.action_encoding_dim,
common_layer_num=2,
lstm_hidden_size=self.lstm_hidden_size,
fc_reward_layers=self.fc_reward_layers,
output_support_size=self.reward_support_size,
last_linear_layer_init_zero=self.last_linear_layer_init_zero,
activation=self.activation,
norm_type=norm_type,
res_connection_in_dynamics=self.res_connection_in_dynamics,
)
self.prediction_network = PredictionNetworkMLP(
continuous_action_space=self.continuous_action_space,
action_space_size=self.action_space_size,
num_channels=self.latent_state_dim,
fc_value_layers=self.fc_value_layers,
fc_policy_layers=self.fc_policy_layers,
output_support_size=self.value_support_size,
last_linear_layer_init_zero=self.last_linear_layer_init_zero,
activation=self.activation,
sigma_type=self.sigma_type,
fixed_sigma_value=self.fixed_sigma_value,
bound_type=self.bound_type,
norm_type=self.norm_type,
)
if self.self_supervised_learning_loss:
# self_supervised_learning_loss related network proposed in EfficientZero
self.projection_input_dim = latent_state_dim
self.projection = nn.Sequential(
nn.Linear(self.projection_input_dim, self.proj_hid), nn.BatchNorm1d(self.proj_hid), self.activation,
nn.Linear(self.proj_hid, self.proj_hid), nn.BatchNorm1d(self.proj_hid), self.activation,
nn.Linear(self.proj_hid, self.proj_out), nn.BatchNorm1d(self.proj_out)
)
self.prediction_head = nn.Sequential(
nn.Linear(self.proj_out, self.pred_hid),
nn.BatchNorm1d(self.pred_hid),
self.activation,
nn.Linear(self.pred_hid, self.pred_out),
)
def initial_inference(self, obs: torch.Tensor) -> EZNetworkOutput:
"""
Overview:
Initial inference of SampledEfficientZero model, which is the first step of the SampledEfficientZero model.
To perform the initial inference, we first use the representation network to obtain the "latent_state" of the observation.
Then we use the prediction network to predict the "value" and "policy_logits" of the "latent_state", and
also prepare the zeros-like ``reward_hidden_state`` for the next step of the Sampled EfficientZero model.
Arguments:
- obs (:obj:`torch.Tensor`): The 1D vector observation data.
Returns (EZNetworkOutput):
- value (:obj:`torch.Tensor`): The output value of input state to help policy improvement and evaluation.
- value_prefix (:obj:`torch.Tensor`): The predicted prefix sum of value for input state. \
In initial inference, we set it to zero vector.
- policy_logits (:obj:`torch.Tensor`): The output logit to select discrete action.
- latent_state (:obj:`torch.Tensor`): The encoding latent state of input state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The hidden state of LSTM about reward. In initial inference, \
we set it to the zeros-like hidden state (H and C).
Shapes:
- obs (:obj:`torch.Tensor`): :math:`(B, obs_shape)`, where B is batch_size.
- value (:obj:`torch.Tensor`): :math:`(B, value_support_size)`, where B is batch_size.
- value_prefix (:obj:`torch.Tensor`): :math:`(B, reward_support_size)`, where B is batch_size.
- policy_logits (:obj:`torch.Tensor`): :math:`(B, action_dim)`, where B is batch_size.
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The shape of each element is :math:`(1, B, lstm_hidden_size)`, where B is batch_size.
"""
batch_size = obs.size(0)
latent_state = self._representation(obs)
policy_logits, value = self._prediction(latent_state)
# zero initializations for reward hidden states
# (hn, cn), each element shape is (layer_num=1, batch_size, lstm_hidden_size)
reward_hidden_state = (
torch.zeros(1, batch_size,
self.lstm_hidden_size).to(obs.device), torch.zeros(1, batch_size,
self.lstm_hidden_size).to(obs.device)
)
return EZNetworkOutput(value, [0. for _ in range(batch_size)], policy_logits, latent_state, reward_hidden_state)
def recurrent_inference(
self, latent_state: torch.Tensor, reward_hidden_state: torch.Tensor, action: torch.Tensor
) -> EZNetworkOutput:
"""
Overview:
Recurrent inference of Sampled EfficientZero model, which is the rollout step of the Sampled EfficientZero model.
To perform the recurrent inference, we first use the dynamics network to predict ``next_latent_state``,
``reward_hidden_state``, ``value_prefix`` by the given current ``latent_state`` and ``action``.
We then use the prediction network to predict the ``value`` and ``policy_logits``.
Arguments:
- latent_state (:obj:`torch.Tensor`): The encoding latent state of input state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The input hidden state of LSTM about reward.
- action (:obj:`torch.Tensor`): The predicted action to rollout.
Returns (EZNetworkOutput):
- value (:obj:`torch.Tensor`): The output value of input state to help policy improvement and evaluation.
- value_prefix (:obj:`torch.Tensor`): The predicted prefix sum of value for input state.
- policy_logits (:obj:`torch.Tensor`): The output logit to select discrete action.
- next_latent_state (:obj:`torch.Tensor`): The predicted next latent state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The output hidden state of LSTM about reward.
Shapes:
- action (:obj:`torch.Tensor`): :math:`(B, )`, where B is batch_size.
- value (:obj:`torch.Tensor`): :math:`(B, value_support_size)`, where B is batch_size.
- value_prefix (:obj:`torch.Tensor`): :math:`(B, reward_support_size)`, where B is batch_size.
- policy_logits (:obj:`torch.Tensor`): :math:`(B, action_dim)`, where B is batch_size.
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- next_latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The shape of each element is :math:`(1, B, lstm_hidden_size)`, where B is batch_size.
"""
next_latent_state, reward_hidden_state, value_prefix = self._dynamics(latent_state, reward_hidden_state, action)
policy_logits, value = self._prediction(next_latent_state)
return EZNetworkOutput(value, value_prefix, policy_logits, next_latent_state, reward_hidden_state)
def _representation(self, observation: torch.Tensor) -> Tuple[torch.Tensor]:
"""
Overview:
Use the representation network to encode the observations into latent state.
Arguments:
- obs (:obj:`torch.Tensor`): The 1D vector observation data.
Returns:
- latent_state (:obj:`torch.Tensor`): The encoding latent state of input state.
Shapes:
- obs (:obj:`torch.Tensor`): :math:`(B, obs_shape)`, where B is batch_size.
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
"""
latent_state = self.representation_network(observation)
if self.state_norm:
latent_state = renormalize(latent_state)
return latent_state
def _prediction(self, latent_state: torch.Tensor) -> Tuple[torch.Tensor, torch.Tensor]:
"""
Overview:
Use the representation network to encode the observations into latent state.
Arguments:
- obs (:obj:`torch.Tensor`): The 1D vector observation data.
Returns:
- policy_logits (:obj:`torch.Tensor`): The output logit to select discrete action.
- value (:obj:`torch.Tensor`): The output value of input state to help policy improvement and evaluation.
Shapes:
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- policy_logits (:obj:`torch.Tensor`): :math:`(B, action_dim)`, where B is batch_size.
- value (:obj:`torch.Tensor`): :math:`(B, value_support_size)`, where B is batch_size.
"""
policy, value = self.prediction_network(latent_state)
return policy, value
def _dynamics(self, latent_state: torch.Tensor, reward_hidden_state: Tuple,
action: torch.Tensor) -> Tuple[torch.Tensor, Tuple[torch.Tensor], torch.Tensor]:
"""
Overview:
Concatenate ``latent_state`` and ``action`` and use the dynamics network to predict ``next_latent_state``
``value_prefix`` and ``next_reward_hidden_state``.
Arguments:
- latent_state (:obj:`torch.Tensor`): The encoding latent state of input state.
- reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The input hidden state of LSTM about reward.
- action (:obj:`torch.Tensor`): The predicted action to rollout.
Returns:
- next_latent_state (:obj:`torch.Tensor`): The predicted latent state of the next timestep.
- next_reward_hidden_state (:obj:`Tuple[torch.Tensor]`): The output hidden state of LSTM about reward.
- value_prefix (:obj:`torch.Tensor`): The predicted prefix sum of value for input state.
Shapes:
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- action (:obj:`torch.Tensor`): :math:`(B, )`, where B is batch_size.
- next_latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- value_prefix (:obj:`torch.Tensor`): :math:`(B, reward_support_size)`, where B is batch_size.
"""
# NOTE: the discrete action encoding type is important for some environments
if not self.continuous_action_space:
# discrete action space
if self.discrete_action_encoding_type == 'one_hot':
# Stack latent_state with the one hot encoded action
if len(action.shape) == 1:
# (batch_size, ) -> (batch_size, 1)
# e.g., torch.Size([8]) -> torch.Size([8, 1])
action = action.unsqueeze(-1)
# transform action to one-hot encoding.
# action_one_hot shape: (batch_size, action_space_size), e.g., (8, 4)
action_one_hot = torch.zeros(action.shape[0], self.action_space_size, device=action.device)
# transform action to torch.int64
action = action.long()
action_one_hot.scatter_(1, action, 1)
action_encoding = action_one_hot
elif self.discrete_action_encoding_type == 'not_one_hot':
action_encoding = action / self.action_space_size
if len(action_encoding.shape) == 1:
# (batch_size, ) -> (batch_size, 1)
# e.g., torch.Size([8]) -> torch.Size([8, 1])
action_encoding = action_encoding.unsqueeze(-1)
else:
# continuous action space
if len(action.shape) == 1:
# (batch_size, ) -> (batch_size, 1)
# e.g., torch.Size([8]) -> torch.Size([8, 1])
action = action.unsqueeze(-1)
elif len(action.shape) == 3:
# (batch_size, action_dim, 1) -> (batch_size, action_dim)
# e.g., torch.Size([8, 2, 1]) -> torch.Size([8, 2])
action = action.squeeze(-1)
action_encoding = action
action_encoding = action_encoding.to(latent_state.device).float()
# state_action_encoding shape: (batch_size, latent_state[1] + action_dim]) or
# (batch_size, latent_state[1] + action_space_size]) depending on the discrete_action_encoding_type.
state_action_encoding = torch.cat((latent_state, action_encoding), dim=1)
next_latent_state, next_reward_hidden_state, value_prefix = self.dynamics_network(
state_action_encoding, reward_hidden_state
)
if not self.state_norm:
return next_latent_state, next_reward_hidden_state, value_prefix
else:
next_latent_state_normalized = renormalize(next_latent_state)
return next_latent_state_normalized, next_reward_hidden_state, value_prefix
def project(self, latent_state: torch.Tensor, with_grad=True) -> torch.Tensor:
"""
Overview:
Project the latent state to a lower dimension to calculate the self-supervised loss, which is proposed in EfficientZero.
For more details, please refer to the paper ``Exploring Simple Siamese Representation Learning``.
Arguments:
- latent_state (:obj:`torch.Tensor`): The encoding latent state of input state.
- with_grad (:obj:`bool`): Whether to calculate gradient for the projection result.
Returns:
- proj (:obj:`torch.Tensor`): The result embedding vector of projection operation.
Shapes:
- latent_state (:obj:`torch.Tensor`): :math:`(B, H)`, where B is batch_size, H is the dimension of latent state.
- proj (:obj:`torch.Tensor`): :math:`(B, projection_output_dim)`, where B is batch_size.
Examples:
>>> latent_state = torch.randn(256, 64)
>>> output = self.project(latent_state)
>>> output.shape # (256, 1024)
"""
proj = self.projection(latent_state)
if with_grad:
# with grad, use prediction_head
return self.prediction_head(proj)
else:
return proj.detach()
def get_params_mean(self):
return get_params_mean(self)
[docs]class PredictionNetworkMLP(nn.Module):
[docs] def __init__(
self,
continuous_action_space,
action_space_size,
num_channels,
common_layer_num: int = 2,
fc_value_layers: SequenceType = [32],
fc_policy_layers: SequenceType = [32],
output_support_size: int = 601,
last_linear_layer_init_zero: bool = True,
activation: Optional[nn.Module] = nn.GELU(approximate='tanh'),
# ==============================================================
# specific sampled related config
# ==============================================================
sigma_type='conditioned',
fixed_sigma_value: float = 0.3,
bound_type: str = None,
norm_type: str = 'LN',
):
"""
Overview:
The definition of policy and value prediction network, which is used to predict value and policy by the
given latent state.
The networks are mainly built on fully connected layers.
Arguments:
- continuous_action_space (:obj:`bool`): The type of action space. default set it to False.
- action_space_size: (:obj:`int`): Action space size, usually an integer number. For discrete action \
space, it is the number of discrete actions. For continuous action space, it is the dimension of \
continuous action.
- num_channels (:obj:`int`): The num of channels in latent states.
- num_res_blocks (:obj:`int`): The number of res blocks.
- fc_value_layers (:obj:`SequenceType`): hidden layers of the value prediction head (MLP head).
- fc_policy_layers (:obj:`SequenceType`): hidden layers of the policy prediction head (MLP head).
- output_support_size (:obj:`int`): dim of value output.
- last_linear_layer_init_zero (:obj:`bool`): Whether to use zero initializations for the last layer of value/policy mlp, default sets it to True.
# ==============================================================
# specific sampled related config
# ==============================================================
# see ``ReparameterizationHead`` in ``ding.model.common.head`` for more details about thee following arguments.
- sigma_type (:obj:`str`): the type of sigma in policy head of prediction network, options={'conditioned', 'fixed'}.
- fixed_sigma_value (:obj:`float`): the fixed sigma value in policy head of prediction network,
- bound_type (:obj:`str`): The type of bound in networks. default set it to None.
- norm_type (:obj:`str`): The type of normalization in networks. default set it to 'BN'.
"""
super().__init__()
self.num_channels = num_channels
self.continuous_action_space = continuous_action_space
self.norm_type = norm_type
self.sigma_type = sigma_type
self.fixed_sigma_value = fixed_sigma_value
self.bound_type = bound_type
self.action_space_size = action_space_size
if self.continuous_action_space:
self.action_encoding_dim = self.action_space_size
else:
self.action_encoding_dim = 1
# ******* common backbone ******
self.fc_prediction_common = MLP(
in_channels=self.num_channels,
hidden_channels=self.num_channels,
out_channels=self.num_channels,
layer_num=common_layer_num,
activation=activation,
norm_type=norm_type,
output_activation=True,
output_norm=True,
# last_linear_layer_init_zero=False is important for convergence
last_linear_layer_init_zero=False,
)
# ******* value and policy head ******
self.fc_value_head = MLP(
in_channels=self.num_channels,
hidden_channels=fc_value_layers[0],
out_channels=output_support_size,
layer_num=2,
activation=activation,
norm_type=norm_type,
output_activation=False,
output_norm=False,
# last_linear_layer_init_zero=True is beneficial for convergence speed.
last_linear_layer_init_zero=last_linear_layer_init_zero
)
# sampled related core code
if self.continuous_action_space:
self.fc_policy_head = ReparameterizationHead(
input_size=self.num_channels,
output_size=action_space_size,
layer_num=2,
sigma_type=self.sigma_type,
fixed_sigma_value=self.fixed_sigma_value,
activation=nn.ReLU(),
norm_type=None,
bound_type=self.bound_type
)
else:
self.fc_policy_head = MLP(
in_channels=self.num_channels,
hidden_channels=fc_policy_layers[0],
out_channels=action_space_size,
layer_num=2,
activation=activation,
norm_type=self.norm_type,
output_activation=False,
output_norm=False,
# last_linear_layer_init_zero=True is beneficial for convergence speed.
last_linear_layer_init_zero=last_linear_layer_init_zero
)
[docs] def forward(self, latent_state: torch.Tensor) -> Tuple[torch.Tensor, torch.Tensor]:
"""
Overview:
Forward computation of the prediction network.
Arguments:
- latent_state (:obj:`torch.Tensor`): input tensor with shape (B, in_channels).
Returns:
- policy (:obj:`torch.Tensor`): policy tensor. If action space is discrete, shape is (B, action_space_size).
If action space is continuous, shape is (B, action_space_size * 2).
- value (:obj:`torch.Tensor`): value tensor with shape (B, output_support_size).
"""
x_prediction_common = self.fc_prediction_common(latent_state)
value = self.fc_value_head(x_prediction_common)
# sampled related core code
policy = self.fc_policy_head(x_prediction_common)
if self.continuous_action_space:
policy = torch.cat([policy['mu'], policy['sigma']], dim=-1)
return policy, value