DPI/models.py

@@ -93,7 +93,7 @@ class ObservationDecoder(nn.Module):
         return out_dist
 
 
-class Actor(nn.Module):
+class ActionDecoder(nn.Module):
     def __init__(self, state_size, hidden_size, action_size, num_layers=5):
         super().__init__()
         self.state_size = state_size    
@@ -151,24 +151,8 @@ class ValueModel(nn.Module):
         value = self.value_model(state)
         value_dist = torch.distributions.independent.Independent(torch.distributions.Normal(value, 1), 1)
         return value_dist
-
-
-class RewardModel(nn.Module):
-    def __init__(self, state_size, hidden_size):
-        super().__init__()
-        self.reward_model = nn.Sequential(
-            nn.Linear(state_size, hidden_size),
-            nn.ReLU(),
-            nn.Linear(hidden_size, hidden_size),
-            nn.ReLU(),
-            nn.Linear(hidden_size, 1)
-        )
-
-    def forward(self, state):
-        reward = self.reward_model(state).squeeze(dim=1)
-        return reward
-
-
+    
+        
 class TransitionModel(nn.Module):
     def __init__(self, state_size, hidden_size, action_size, history_size):
         super().__init__()
@@ -210,7 +194,8 @@ class TransitionModel(nn.Module):
         prior = {"mean": state_prior_mean, "std": state_prior_std, "sample": sample_state_prior, "history": history, "distribution": state_prior_dist}
         return prior
     
-    def stack_states(self, states, dim=0):        
+    def stack_states(self, states, dim=0):
+        
         s = dict(
             mean = torch.stack([state['mean'] for state in states], dim=dim),
             std  = torch.stack([state['std'] for state in states], dim=dim),

DPI/train.py

@@ -11,7 +11,7 @@ import tqdm
 import wandb
 import utils
 from utils import ReplayBuffer, make_env, save_image
-from models import ObservationEncoder, ObservationDecoder, TransitionModel, CLUBSample, Actor, ValueModel, RewardModel
+from models import ObservationEncoder, ObservationDecoder, TransitionModel, CLUBSample
 from logger import Logger
 from video import VideoRecorder
 from dmc2gym.wrappers import set_global_var
@@ -175,27 +175,6 @@ class DPI:
                             action_size=self.env.action_space.shape[0], # 6
                             history_size=self.args.history_size, # 128
                             )
-        
-        self.action_model = Actor(
-                            state_size=self.args.state_size, # 128
-                            hidden_size=self.args.hidden_size, # 256, 
-                            action_size=self.env.action_space.shape[0], # 6
-                            )
-        
-        self.value_model = ValueModel(
-                            state_size=self.args.state_size, # 128
-                            hidden_size=self.args.hidden_size, # 256
-                            )
-        
-        self.target_value_model = ValueModel(
-                            state_size=self.args.state_size, # 128
-                            hidden_size=self.args.hidden_size, # 256
-                            )
-
-        self.reward_model = RewardModel(
-                            state_size=self.args.state_size, # 128
-                            hidden_size=self.args.hidden_size, # 256
-                            )
 
         # model parameters
         self.model_parameters = list(self.obs_encoder.parameters()) + list(self.obs_encoder_momentum.parameters()) + \
@@ -303,7 +282,7 @@ class DPI:
 
                 imagine_horizon = np.minimum(self.args.imagine_horizon, self.args.episode_length-1-i)
                 imagined_rollout = self.transition_model.imagine_rollout(self.current_states_dict["sample"], self.action, self.history, imagine_horizon)
-
+                print(imagine_horizon)
                 #exit()
 
                 #print(total_ub_loss, total_encoder_loss)