Tianshou/tianshou/utils/net/continuous.py

import torch
import numpy as np
from torch import nn
from typing import Any, Dict, Tuple, Union, Optional, Sequence

from tianshou.data import to_torch, to_torch_as


class Actor(nn.Module):
    """Simple actor network with MLP.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        preprocess_net: nn.Module,
        action_shape: Sequence[int],
        max_action: float = 1.0,
        device: Union[str, int, torch.device] = "cpu",
        hidden_layer_size: int = 128,
    ) -> None:
        super().__init__()
        self.preprocess = preprocess_net
        self.last = nn.Linear(hidden_layer_size, np.prod(action_shape))
        self._max = max_action

    def forward(
        self,
        s: Union[np.ndarray, torch.Tensor],
        state: Optional[Any] = None,
        info: Dict[str, Any] = {},
    ) -> Tuple[torch.Tensor, Any]:
        """Mapping: s -> logits -> action."""
        logits, h = self.preprocess(s, state)
        logits = self._max * torch.tanh(self.last(logits))
        return logits, h


class Critic(nn.Module):
    """Simple critic network with MLP.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        preprocess_net: nn.Module,
        device: Union[str, int, torch.device] = "cpu",
        hidden_layer_size: int = 128,
    ) -> None:
        super().__init__()
        self.device = device
        self.preprocess = preprocess_net
        self.last = nn.Linear(hidden_layer_size, 1)

    def forward(
        self,
        s: Union[np.ndarray, torch.Tensor],
        a: Optional[Union[np.ndarray, torch.Tensor]] = None,
        info: Dict[str, Any] = {},
    ) -> torch.Tensor:
        """Mapping: (s, a) -> logits -> Q(s, a)."""
        s = to_torch(s, device=self.device, dtype=torch.float32)
        s = s.flatten(1)
        if a is not None:
            a = to_torch_as(a, s)
            a = a.flatten(1)
            s = torch.cat([s, a], dim=1)
        logits, h = self.preprocess(s)
        logits = self.last(logits)
        return logits


class ActorProb(nn.Module):
    """Simple actor network (output with a Gauss distribution) with MLP.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        preprocess_net: nn.Module,
        action_shape: Sequence[int],
        max_action: float = 1.0,
        device: Union[str, int, torch.device] = "cpu",
        unbounded: bool = False,
        hidden_layer_size: int = 128,
    ) -> None:
        super().__init__()
        self.preprocess = preprocess_net
        self.device = device
        self.mu = nn.Linear(hidden_layer_size, np.prod(action_shape))
        self.sigma = nn.Parameter(torch.zeros(np.prod(action_shape), 1))
        self._max = max_action
        self._unbounded = unbounded

    def forward(
        self,
        s: Union[np.ndarray, torch.Tensor],
        state: Optional[Any] = None,
        info: Dict[str, Any] = {},
    ) -> Tuple[Tuple[torch.Tensor, torch.Tensor], Any]:
        """Mapping: s -> logits -> (mu, sigma)."""
        logits, h = self.preprocess(s, state)
        mu = self.mu(logits)
        if not self._unbounded:
            mu = self._max * torch.tanh(mu)
        shape = [1] * len(mu.shape)
        shape[1] = -1
        sigma = (self.sigma.view(shape) + torch.zeros_like(mu)).exp()
        return (mu, sigma), state


class RecurrentActorProb(nn.Module):
    """Recurrent version of ActorProb.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        layer_num: int,
        state_shape: Sequence[int],
        action_shape: Sequence[int],
        max_action: float = 1.0,
        device: Union[str, int, torch.device] = "cpu",
        unbounded: bool = False,
        hidden_layer_size: int = 128,
    ) -> None:
        super().__init__()
        self.device = device
        self.nn = nn.LSTM(
            input_size=np.prod(state_shape),
            hidden_size=hidden_layer_size,
            num_layers=layer_num,
            batch_first=True,
        )
        self.mu = nn.Linear(hidden_layer_size, np.prod(action_shape))
        self.sigma = nn.Parameter(torch.zeros(np.prod(action_shape), 1))
        self._max = max_action
        self._unbounded = unbounded

    def forward(
        self,
        s: Union[np.ndarray, torch.Tensor],
        state: Optional[Dict[str, torch.Tensor]] = None,
        info: Dict[str, Any] = {},
    ) -> Tuple[Tuple[torch.Tensor, torch.Tensor], Dict[str, torch.Tensor]]:
        """Almost the same as :class:`~tianshou.utils.net.common.Recurrent`."""
        s = to_torch(s, device=self.device, dtype=torch.float32)
        # s [bsz, len, dim] (training) or [bsz, dim] (evaluation)
        # In short, the tensor's shape in training phase is longer than which
        # in evaluation phase.
        if len(s.shape) == 2:
            s = s.unsqueeze(-2)
        self.nn.flatten_parameters()
        if state is None:
            s, (h, c) = self.nn(s)
        else:
            # we store the stack data in [bsz, len, ...] format
            # but pytorch rnn needs [len, bsz, ...]
            s, (h, c) = self.nn(s, (state["h"].transpose(0, 1).contiguous(),
                                    state["c"].transpose(0, 1).contiguous()))
        logits = s[:, -1]
        mu = self.mu(logits)
        if not self._unbounded:
            mu = self._max * torch.tanh(mu)
        shape = [1] * len(mu.shape)
        shape[1] = -1
        sigma = (self.sigma.view(shape) + torch.zeros_like(mu)).exp()
        # please ensure the first dim is batch size: [bsz, len, ...]
        return (mu, sigma), {"h": h.transpose(0, 1).detach(),
                             "c": c.transpose(0, 1).detach()}


class RecurrentCritic(nn.Module):
    """Recurrent version of Critic.

    For advanced usage (how to customize the network), please refer to
    :ref:`build_the_network`.
    """

    def __init__(
        self,
        layer_num: int,
        state_shape: Sequence[int],
        action_shape: Sequence[int] = [0],
        device: Union[str, int, torch.device] = "cpu",
        hidden_layer_size: int = 128,
    ) -> None:
        super().__init__()
        self.state_shape = state_shape
        self.action_shape = action_shape
        self.device = device
        self.nn = nn.LSTM(
            input_size=np.prod(state_shape),
            hidden_size=hidden_layer_size,
            num_layers=layer_num,
            batch_first=True,
        )
        self.fc2 = nn.Linear(hidden_layer_size + np.prod(action_shape), 1)

    def forward(
        self,
        s: Union[np.ndarray, torch.Tensor],
        a: Optional[Union[np.ndarray, torch.Tensor]] = None,
        info: Dict[str, Any] = {},
    ) -> torch.Tensor:
        """Almost the same as :class:`~tianshou.utils.net.common.Recurrent`."""
        s = to_torch(s, device=self.device, dtype=torch.float32)
        # s [bsz, len, dim] (training) or [bsz, dim] (evaluation)
        # In short, the tensor's shape in training phase is longer than which
        # in evaluation phase.
        assert len(s.shape) == 3
        self.nn.flatten_parameters()
        s, (h, c) = self.nn(s)
        s = s[:, -1]
        if a is not None:
            a = to_torch_as(a, s)
            s = torch.cat([s, a], dim=1)
        s = self.fc2(s)
        return s