430 lines
21 KiB
Python
430 lines
21 KiB
Python
import numpy as np
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import torch
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import argparse
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import os
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import gym
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import time
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import json
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import dmc2gym
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import tqdm
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import wandb
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import utils
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from utils import ReplayBuffer, FreezeParameters, make_env, soft_update_params, save_image
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from models import ObservationEncoder, ObservationDecoder, TransitionModel, Actor, ValueModel, RewardModel, ProjectionHead, ContrastiveHead, CLUBSample
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from logger import Logger
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from video import VideoRecorder
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from dmc2gym.wrappers import set_global_var
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import torch.nn as nn
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import torch.nn.functional as F
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import torchvision.transforms as T
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#from agent.baseline_agent import BaselineAgent
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#from agent.bisim_agent import BisimAgent
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#from agent.deepmdp_agent import DeepMDPAgent
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#from agents.navigation.carla_env import CarlaEnv
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def parse_args():
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parser = argparse.ArgumentParser()
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# environment
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parser.add_argument('--domain_name', default='cheetah')
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parser.add_argument('--version', default=1, type=int)
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parser.add_argument('--task_name', default='run')
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parser.add_argument('--image_size', default=84, type=int)
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parser.add_argument('--channels', default=3, type=int)
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parser.add_argument('--action_repeat', default=1, type=int)
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parser.add_argument('--frame_stack', default=3, type=int)
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parser.add_argument('--resource_files', type=str)
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parser.add_argument('--eval_resource_files', type=str)
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parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
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parser.add_argument('--total_frames', default=1000, type=int) # 10000
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parser.add_argument('--high_noise', action='store_true')
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# replay buffer
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parser.add_argument('--replay_buffer_capacity', default=50000, type=int) #50000
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parser.add_argument('--episode_length', default=51, type=int)
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# train
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parser.add_argument('--agent', default='dpi', type=str, choices=['baseline', 'bisim', 'deepmdp', 'db', 'dpi', 'rpc'])
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parser.add_argument('--init_steps', default=10000, type=int)
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parser.add_argument('--num_train_steps', default=10000, type=int)
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parser.add_argument('--batch_size', default=20, type=int) #512
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parser.add_argument('--state_size', default=256, type=int)
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parser.add_argument('--hidden_size', default=128, type=int)
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parser.add_argument('--history_size', default=128, type=int)
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parser.add_argument('--num-units', type=int, default=200, help='num hidden units for reward/value/discount models')
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parser.add_argument('--load_encoder', default=None, type=str)
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parser.add_argument('--imagine_horizon', default=15, type=str)
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parser.add_argument('--grad_clip_norm', type=float, default=100.0, help='Gradient clipping norm')
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# eval
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parser.add_argument('--eval_freq', default=10, type=int) # TODO: master had 10000
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parser.add_argument('--num_eval_episodes', default=20, type=int)
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# value
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parser.add_argument('--value_lr', default=1e-4, type=float)
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parser.add_argument('--value_beta', default=0.9, type=float)
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parser.add_argument('--value_tau', default=0.005, type=float)
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parser.add_argument('--value_target_update_freq', default=2, type=int)
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# reward
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parser.add_argument('--reward_lr', default=1e-4, type=float)
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# actor
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parser.add_argument('--actor_lr', default=1e-4, type=float)
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parser.add_argument('--actor_beta', default=0.9, type=float)
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parser.add_argument('--actor_log_std_min', default=-10, type=float)
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parser.add_argument('--actor_log_std_max', default=2, type=float)
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parser.add_argument('--actor_update_freq', default=2, type=int)
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# world/encoder/decoder
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parser.add_argument('--encoder_type', default='pixel', type=str, choices=['pixel', 'pixelCarla096', 'pixelCarla098', 'identity'])
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parser.add_argument('--encoder_feature_dim', default=50, type=int)
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parser.add_argument('--world_model_lr', default=1e-3, type=float)
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parser.add_argument('--encoder_lr', default=1e-3, type=float)
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parser.add_argument('--encoder_tau', default=0.005, type=float)
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parser.add_argument('--encoder_stride', default=1, type=int)
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parser.add_argument('--decoder_type', default='pixel', type=str, choices=['pixel', 'identity', 'contrastive', 'reward', 'inverse', 'reconstruction'])
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parser.add_argument('--decoder_lr', default=1e-3, type=float)
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parser.add_argument('--decoder_update_freq', default=1, type=int)
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parser.add_argument('--decoder_weight_lambda', default=0.0, type=float)
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parser.add_argument('--num_layers', default=4, type=int)
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parser.add_argument('--num_filters', default=32, type=int)
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parser.add_argument('--aug', action='store_true')
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# sac
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parser.add_argument('--discount', default=0.99, type=float)
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parser.add_argument('--init_temperature', default=0.01, type=float)
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parser.add_argument('--alpha_lr', default=1e-3, type=float)
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parser.add_argument('--alpha_beta', default=0.9, type=float)
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# misc
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parser.add_argument('--seed', default=1, type=int)
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parser.add_argument('--work_dir', default='.', type=str)
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parser.add_argument('--save_tb', default=False, action='store_true')
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parser.add_argument('--save_model', default=False, action='store_true')
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parser.add_argument('--save_buffer', default=False, action='store_true')
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parser.add_argument('--save_video', default=False, action='store_true')
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parser.add_argument('--transition_model_type', default='', type=str, choices=['', 'deterministic', 'probabilistic', 'ensemble'])
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parser.add_argument('--render', default=False, action='store_true')
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parser.add_argument('--port', default=2000, type=int)
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args = parser.parse_args()
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return args
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class DPI:
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def __init__(self, args):
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# wandb config
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#run = wandb.init(project="dpi")
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self.args = args
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# set environment noise
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set_global_var(self.args.high_noise)
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# environment setup
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self.env = make_env(self.args)
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#self.args.seed = np.random.randint(0, 1000)
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self.env.seed(self.args.seed)
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# noiseless environment setup
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self.args.version = 2 # env_id changes to v2
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self.args.img_source = None # no image noise
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self.args.resource_files = None
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self.env_clean = make_env(self.args)
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self.env_clean.seed(self.args.seed)
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# stack several consecutive frames together
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if self.args.encoder_type.startswith('pixel'):
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self.env = utils.FrameStack(self.env, k=self.args.frame_stack)
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self.env_clean = utils.FrameStack(self.env_clean, k=self.args.frame_stack)
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# create replay buffer
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self.data_buffer = ReplayBuffer(size=self.args.replay_buffer_capacity,
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obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size),
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action_size=self.env.action_space.shape[0],
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seq_len=self.args.episode_length,
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batch_size=args.batch_size,
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args=self.args)
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self.data_buffer_clean = ReplayBuffer(size=self.args.replay_buffer_capacity,
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obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size),
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action_size=self.env.action_space.shape[0],
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seq_len=self.args.episode_length,
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batch_size=args.batch_size,
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args=self.args)
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# create work directory
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utils.make_dir(self.args.work_dir)
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self.video_dir = utils.make_dir(os.path.join(self.args.work_dir, 'video'))
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self.model_dir = utils.make_dir(os.path.join(self.args.work_dir, 'model'))
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self.buffer_dir = utils.make_dir(os.path.join(self.args.work_dir, 'buffer'))
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# create models
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self.build_models(use_saved=False, saved_model_dir=self.model_dir)
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def build_models(self, use_saved, saved_model_dir=None):
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# World Models
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self.obs_encoder = ObservationEncoder(
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obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size), # (12,84,84)
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state_size=self.args.state_size # 128
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)
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self.obs_encoder_momentum = ObservationEncoder(
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obs_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size), # (12,84,84)
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state_size=self.args.state_size # 128
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)
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self.obs_decoder = ObservationDecoder(
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state_size=self.args.state_size, # 128
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output_shape=(self.args.frame_stack*self.args.channels,self.args.image_size,self.args.image_size) # (12,84,84)
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)
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self.transition_model = TransitionModel(
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state_size=self.args.state_size, # 128
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hidden_size=self.args.hidden_size, # 256
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action_size=self.env.action_space.shape[0], # 6
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history_size=self.args.history_size, # 128
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)
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# Actor Model
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self.actor_model = Actor(
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state_size=self.args.state_size, # 128
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hidden_size=self.args.hidden_size, # 256,
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action_size=self.env.action_space.shape[0], # 6
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)
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# Value Models
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self.value_model = ValueModel(
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state_size=self.args.state_size, # 128
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hidden_size=self.args.hidden_size, # 256
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)
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self.target_value_model = ValueModel(
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state_size=self.args.state_size, # 128
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hidden_size=self.args.hidden_size, # 256
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)
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self.reward_model = RewardModel(
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state_size=self.args.state_size, # 128
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hidden_size=self.args.hidden_size, # 256
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)
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# Contrastive Models
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self.prjoection_head = ProjectionHead(
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state_size=self.args.state_size, # 128
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action_size=self.env.action_space.shape[0], # 6
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hidden_size=self.args.hidden_size, # 256
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)
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self.prjoection_head_momentum = ProjectionHead(
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state_size=self.args.state_size, # 128
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action_size=self.env.action_space.shape[0], # 6
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hidden_size=self.args.hidden_size, # 256
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)
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self.contrastive_head = ContrastiveHead(
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hidden_size=self.args.hidden_size, # 256
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)
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# model parameters
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self.world_model_parameters = list(self.obs_encoder.parameters()) + list(self.obs_decoder.parameters()) + \
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list(self.value_model.parameters()) + list(self.transition_model.parameters()) + \
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list(self.prjoection_head.parameters())
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# optimizers
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self.world_model_opt = torch.optim.Adam(self.world_model_parameters, self.args.world_model_lr)
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self.value_opt = torch.optim.Adam(self.value_model.parameters(), self.args.value_lr)
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self.actor_opt = torch.optim.Adam(self.actor_model.parameters(), self.args.actor_lr)
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# Create Modules
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self.world_model_modules = [self.obs_encoder, self.obs_decoder, self.value_model, self.transition_model, self.prjoection_head]
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self.value_modules = [self.value_model]
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self.actor_modules = [self.actor_model]
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if use_saved:
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self._use_saved_models(saved_model_dir)
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def _use_saved_models(self, saved_model_dir):
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self.obs_encoder.load_state_dict(torch.load(os.path.join(saved_model_dir, 'obs_encoder.pt')))
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self.obs_decoder.load_state_dict(torch.load(os.path.join(saved_model_dir, 'obs_decoder.pt')))
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self.transition_model.load_state_dict(torch.load(os.path.join(saved_model_dir, 'transition_model.pt')))
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def collect_sequences(self, episodes):
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obs = self.env.reset()
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self.ob_mean = np.mean(obs, 0).astype(np.float32)
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self.ob_std = np.std(obs, 0).mean().astype(np.float32)
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#obs_clean = self.env_clean.reset()
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done = False
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#video = VideoRecorder(self.video_dir if args.save_video else None, resource_files=args.resource_files)
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for episode_count in tqdm.tqdm(range(episodes), desc='Collecting episodes'):
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if args.save_video:
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self.env.video.init(enabled=True)
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#self.env_clean.video.init(enabled=True)
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for i in range(self.args.episode_length):
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action = self.env.action_space.sample()
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next_obs, rew, done, _ = self.env.step(action)
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#next_obs_clean, _, done, _ = self.env_clean.step(action)
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self.data_buffer.add(obs, action, next_obs, episode_count+1, done)
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#self.data_buffer_clean.add(obs_clean, action, next_obs_clean, episode_count+1, done)
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if args.save_video:
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self.env.video.record(self.env)
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#self.env_clean.video.record(self.env_clean)
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if done or i == self.args.episode_length-1:
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obs = self.env.reset()
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#obs_clean = self.env_clean.reset()
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done=False
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else:
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obs = next_obs
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#obs_clean = next_obs_clean
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if args.save_video:
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self.env.video.save('noisy/%d.mp4' % episode_count)
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#self.env_clean.video.save('clean/%d.mp4' % episode_count)
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print("Collected {} random episodes".format(episode_count+1))
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def train(self):
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# collect experience
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self.collect_sequences(self.args.batch_size)
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# Group observations and next_observations by steps from past to present
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last_observations = torch.Tensor(self.data_buffer.group_steps(self.data_buffer,"observations")).float()[:self.args.episode_length-1]
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current_observations = torch.Tensor(self.data_buffer.group_steps(self.data_buffer,"next_observations")).float()[:self.args.episode_length-1]
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next_observations = torch.Tensor(self.data_buffer.group_steps(self.data_buffer,"next_observations")).float()[1:]
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actions = torch.Tensor(self.data_buffer.group_steps(self.data_buffer,"actions",obs=False)).float()[:self.args.episode_length-1]
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next_actions = torch.Tensor(self.data_buffer.group_steps(self.data_buffer,"actions",obs=False)).float()[1:]
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# Initialize transition model states
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self.transition_model.init_states(self.args.batch_size, device="cpu") # (N,128)
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self.history = self.transition_model.prev_history # (N,128)
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# Train encoder
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step = 0
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total_steps = 10000
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while step < total_steps:
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for i in range(self.args.episode_length-1):
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if i > 0:
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# Encode observations and next_observations
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self.last_states_dict = self.get_features(last_observations[i])
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self.current_states_dict = self.get_features(current_observations[i])
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self.next_states_dict = self.get_features(next_observations[i], momentum=True)
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self.action = actions[i] # (N,6)
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history = self.transition_model.prev_history
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# Encode negative observations
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idx = torch.randperm(current_observations[i].shape[0]) # random permutation on batch
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random_time_index = torch.randint(0, self.args.episode_length-2, (1,)).item() # random time index
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negative_current_observations = current_observations[random_time_index][idx]
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self.negative_current_states_dict = self.obs_encoder(negative_current_observations)
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# Predict current state from past state with transition model
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last_states_sample = self.last_states_dict["sample"]
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predicted_current_state_dict = self.transition_model.imagine_step(last_states_sample, self.action, self.history)
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self.history = predicted_current_state_dict["history"]
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# Calculate upper bound loss
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ub_loss = self._upper_bound_minimization(self.last_states_dict,
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self.current_states_dict,
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self.negative_current_states_dict,
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predicted_current_state_dict
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)
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# Calculate encoder loss
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encoder_loss = self._past_encoder_loss(self.current_states_dict,
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predicted_current_state_dict)
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#total_ub_loss += ub_loss
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#total_encoder_loss += encoder_loss
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# contrastive projection
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vec_anchor = predicted_current_state_dict["sample"]
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vec_positive = self.next_states_dict["sample"].detach()
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z_anchor = self.prjoection_head(vec_anchor, self.action)
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z_positive = self.prjoection_head_momentum(vec_positive, next_actions[i]).detach()
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# contrastive loss
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logits = self.contrastive_head(z_anchor, z_positive)
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labels = labels = torch.arange(logits.shape[0]).long()
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lb_loss = F.cross_entropy(logits, labels)
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# update models
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world_model_loss = encoder_loss + 1e-1 * ub_loss + lb_loss #1e-1 * ub_loss + 1e-5 * encoder_loss + 1e-1 * lb_loss
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print("ub_loss: {:.4f}, encoder_loss: {:.4f}, lb_loss: {:.4f}".format(ub_loss, encoder_loss, lb_loss))
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print("world_model_loss: {:.4f}".format(world_model_loss))
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self.world_model_opt.zero_grad()
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world_model_loss.backward()
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nn.utils.clip_grad_norm_(self.world_model_parameters, self.args.grad_clip_norm)
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self.world_model_opt.step()
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# behaviour learning
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with FreezeParameters(self.world_model_modules):
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imagine_horizon = np.minimum(self.args.imagine_horizon, self.args.episode_length-1-i)
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imagined_rollout = self.transition_model.imagine_rollout(self.current_states_dict["sample"].detach(),
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self.action, self.history.detach(),
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imagine_horizon)
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print(imagined_rollout["sample"].shape, imagined_rollout["distribution"][0].sample().shape)
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#exit()
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step += 1
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if step>total_steps:
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print("Training finished")
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break
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#exit()
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#print(total_ub_loss, total_encoder_loss)
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def _upper_bound_minimization(self, last_states, current_states, negative_current_states, predicted_current_states):
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club_sample = CLUBSample(last_states,
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current_states,
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negative_current_states,
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predicted_current_states)
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club_loss = club_sample.loglikeli()
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return club_loss
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def _past_encoder_loss(self, curr_states_dict, predicted_curr_states_dict):
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# current state distribution
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curr_states_dist = curr_states_dict["distribution"]
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# predicted current state distribution
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predicted_curr_states_dist = predicted_curr_states_dict["distribution"]
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# KL divergence loss
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loss = torch.distributions.kl.kl_divergence(curr_states_dist, predicted_curr_states_dist).mean()
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return loss
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def get_features(self, x, momentum=False):
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import torchvision.transforms.functional as fn
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x = x/255.0 - 0.5 # Preprocessing
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|
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if self.args.aug:
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x = T.RandomCrop((80, 80))(x) # (None,80,80,4)
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x = T.functional.pad(x, (4, 4, 4, 4), "symmetric") # (None,88,88,4)
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x = T.RandomCrop((84, 84))(x) # (None,84,84,4)
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|
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with torch.no_grad():
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if momentum:
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x = self.obs_encoder_momentum(x)
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else:
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x = self.obs_encoder(x)
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return x
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|
|
|
if __name__ == '__main__':
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|
args = parse_args()
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|
|
|
dpi = DPI(args)
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dpi.train() |