import tensorflow as tf import tensorflow_probability as tfp import numpy as np from utils import getsess tfd = tfp.distributions from utils import flatten_two_dims, unflatten_first_dim, SmallConv, TransitionNetwork, normal_parse_params, \ ProjectionHead, ContrastiveHead, rec_log_prob, GenerativeNetworkGaussianFix class DynamicBottleneck(object): def __init__(self, policy, tau, loss_kl_weight, loss_l2_weight, loss_nce_weight, aug, feat_dim=512, scope='DB'): self.scope = scope self.feat_dim = feat_dim self.policy = policy self.hidsize = policy.hidsize # 512 self.ob_space = policy.ob_space # Box(84, 84, 4) self.ac_space = policy.ac_space # Discrete(4) self.obs = self.policy.ph_ob # shape=(None,None,84,84,4) self.ob_mean = self.policy.ob_mean # shape=(None,None,84,84,4) self.ob_std = self.policy.ob_std # 1.8 self.tau = tau # tau for update the momentum network self.loss_kl_weight = loss_kl_weight # loss_kl_weight self.loss_l2_weight = loss_l2_weight # loss_l2_weight self.loss_nce_weight = loss_nce_weight # loss_nce_weight self.aug = aug with tf.variable_scope(scope): self.feature_conv = SmallConv(feat_dim=self.feat_dim, name="DB_main") # (None, None, 512) self.feature_conv_momentum = SmallConv(feat_dim=self.feat_dim, name="DB_momentum") # (None, None, 512) self.transition_model = TransitionNetwork(name="DB_transition") # (None, None, 256) self.generative_model = GenerativeNetworkGaussianFix(name="DB_generative") # (None, None, 512) self.projection_head = ProjectionHead(name="DB_projection_main") # projection head self.projection_head_momentum = ProjectionHead(name="DB_projection_momentum") # projection head Momentum self.contrastive_head = ContrastiveHead(temperature=1.0, name="DB_contrastive") # (None,1,84,84,4) self.last_ob = tf.placeholder(dtype=tf.int32, shape=(None, 1) + self.ob_space.shape, name='last_ob') self.next_ob = tf.concat([self.obs[:, 1:], self.last_ob], 1) # (None,None,84,84,4) self.features = self.get_features(self.obs) # (None,None,512) self.next_features = self.get_features(self.next_ob, momentum=True) # (None,None,512) stop gradient self.ac = self.policy.ph_ac # (None, None) #self.ac_pad = tf.one_hot(self.ac, self.ac_space.n, axis=2) # transition model latent_params = self.transition_model([self.features, self.ac]) # (None, None, 256) self.latent_dis = normal_parse_params(latent_params, 1e-3) # Gaussian. mu, sigma=(None, None, 128) # prior sh = tf.shape(self.latent_dis.mean()) # sh=(None, None, 128) self.prior_dis = tfd.Normal(loc=tf.zeros(sh), scale=tf.ones(sh)) # kl kl = tfp.distributions.kl_divergence(self.latent_dis, self.prior_dis) # (None, None, 128) kl = tf.reduce_sum(kl, axis=-1) # (None, None) # generative network latent = self.latent_dis.sample() # (None, None, 128) rec_params = self.generative_model(latent) # (None, None, 1024) assert rec_params.get_shape().as_list()[-1] == 1024 and len(rec_params.get_shape().as_list()) == 3 rec_dis = normal_parse_params(rec_params, 0.1) # distribution rec_vec = rec_dis.sample() # mean of rec_params assert rec_vec.get_shape().as_list()[-1] == 512 and len(rec_vec.get_shape().as_list()) == 3 # contrastive projection z_a = self.projection_head(rec_vec) # (None, 128) z_pos = tf.stop_gradient(self.projection_head_momentum(self.next_features)) # (None, 128) assert z_a.get_shape().as_list()[-1] == 128 and len(z_a.get_shape().as_list()) == 2 # contrastive loss logits = self.contrastive_head([z_a, z_pos]) # (batch_size, batch_size) labels = tf.one_hot(tf.range(int(16*128)), depth=16*128) # (batch_size, batch_size) rec_loss = tf.nn.softmax_cross_entropy_with_logits(labels=labels, logits=logits) # (batch_size, ) rec_log_nce = -1. * rec_loss rec_log_nce = unflatten_first_dim(rec_log_nce, sh) # shape=(None, None) (128,128) # L2 loss log_prob = rec_dis.log_prob(self.next_features) # (None, None, 512) assert len(log_prob.get_shape().as_list()) == 3 and log_prob.get_shape().as_list()[-1] == 512 rec_log_l2 = tf.reduce_sum(log_prob, axis=-1) rec_log = rec_log_nce * self.loss_nce_weight + rec_log_l2 * self.loss_l2_weight # loss self.loss = kl * self.loss_kl_weight - rec_log # kl self.loss_info = {"DB_NCELoss": -1.*tf.reduce_mean(rec_log_nce), "DB_NCELoss_w": -1. * tf.reduce_mean(rec_log_nce) * self.loss_nce_weight, "DB_L2Loss": -1.*tf.reduce_mean(rec_log_l2), "DB_L2Loss_w": -1.*tf.reduce_mean(rec_log_l2) * self.loss_l2_weight, "DB_KLLoss": tf.reduce_mean(kl), "DB_KLLoss_w": tf.reduce_mean(kl) * self.loss_kl_weight, "DB_Loss": tf.reduce_mean(self.loss)} # intrinsic reward self.intrinsic_reward = self.intrinsic_contrastive() self.intrinsic_reward = tf.stop_gradient(self.intrinsic_reward) # update the momentum network self.init_updates, self.momentum_updates = self.get_momentum_updates(tau=self.tau) print("*** DB Total Components:", len(self.ib_get_vars(name='DB/')), ", Total Variables:", self.ib_get_params(self.ib_get_vars(name='DB/')), "\n") @staticmethod def ib_get_vars(name): return tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope=name) @staticmethod def ib_get_params(vars): return np.sum([np.prod(v.shape) for v in vars]) def get_momentum_updates(self, tau): # tau=0.001 main_var = self.ib_get_vars(name='DB/DB_features/DB_main') + self.ib_get_vars(name="DB/DB_projection_main") momentum_var = self.ib_get_vars(name='DB/DB_features_1/DB_momentum') + self.ib_get_vars(name="DB/DB_projection_momentum") # print("\n\n momentum_var:", momentum_var) assert len(main_var) > 0 and len(main_var) == len(momentum_var) print("***In DB, feature & projection has ", len(main_var), "components, ", self.ib_get_params(main_var), "parameters.") soft_updates = [] init_updates = [] assert len(main_var) == len(momentum_var) for var, tvar in zip(main_var, momentum_var): init_updates.append(tf.assign(tvar, var)) soft_updates.append(tf.assign(tvar, (1. - tau) * tvar + tau * var)) assert len(init_updates) == len(main_var) assert len(soft_updates) == len(main_var) return tf.group(*init_updates), tf.group(*soft_updates) def get_features(self, x, momentum=False): # x.shape=(None,None,84,84,4) x_has_timesteps = (x.get_shape().ndims == 5) # True if x_has_timesteps: sh = tf.shape(x) x = flatten_two_dims(x) # (None,84,84,4) if self.aug: x = tf.image.random_crop(x, size=[128*16, 80, 80, 4]) # (None,80,80,4) x = tf.pad(x, [[0, 0], [4, 4], [4, 4], [0, 0]], "SYMMETRIC") # (None,88,88,4) x = tf.image.random_crop(x, size=[128*16, 84, 84, 4]) # (None,84,84,4) with tf.variable_scope(self.scope + "_features"): x = (tf.to_float(x) - self.ob_mean) / self.ob_std x = tf.transpose(x, [0, 2, 3, 1]) # shape=(None,84,84,4) if momentum: x = tf.stop_gradient(self.feature_conv_momentum(x)) # (None,512) else: x = self.feature_conv(x) # (None,512) if x_has_timesteps: x = unflatten_first_dim(x, sh) # (None,None,512) return x def intrinsic_contrastive(self): kl = tfp.distributions.kl_divergence(self.latent_dis, self.prior_dis) # (None, None, 128) rew = tf.reduce_sum(kl, axis=-1) # (None, None) return rew def calculate_db_reward(self, ob, last_ob, acs): n_chunks = 8 n = ob.shape[0] chunk_size = n // n_chunks assert n % n_chunks == 0 sli = lambda i: slice(i * chunk_size, (i + 1) * chunk_size) # compute reward rew = np.concatenate([getsess().run(self.intrinsic_reward, {self.obs: ob[sli(i)], self.last_ob: last_ob[sli(i)], self.ac: acs[sli(i)]}) for i in range(n_chunks)], 0) return rew