dodox/PriorConditionedAnnealing
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Fixed bug with Colored Noise returning wrong shapes

Browse Source
This commit is contained in:
Dominik Moritz Roth 2023-05-22 17:58:50 +02:00
parent 55cbd734c0
commit 47815f8a5f
2 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
priorConditionedAnnealing/noise.py
View File

@ -9,6 +9,7 @@ class Colored_Noise():
def __init__(self, known_shape=None, beta=1, num_samples=2**14, random_state=None): def __init__(self, known_shape=None, beta=1, num_samples=2**14, random_state=None):
assert known_shape, 'known_shape need to be defined for Colored Noise' assert known_shape, 'known_shape need to be defined for Colored Noise'
self.known_shape = known_shape self.known_shape = known_shape
self.compact_shape = np.prod(list(known_shape))
self.beta = beta self.beta = beta
self.num_samples = num_samples # Actually very cheap... self.num_samples = num_samples # Actually very cheap...
self.index = 0 self.index = 0
@ -18,11 +19,11 @@ class Colored_Noise():
assert shape == self.known_shape assert shape == self.known_shape
sample = self.samples[:, self.index] sample = self.samples[:, self.index]
self.index = (self.index+1) % self.num_samples self.index = (self.index+1) % self.num_samples
return th.Tensor(sample) return th.Tensor(sample).view(self.known_shape)
def reset(self, random_state=None): def reset(self, random_state=None):
self.samples = cn.powerlaw_psd_gaussian( self.samples = cn.powerlaw_psd_gaussian(
self.beta, self.known_shape + (self.num_samples,), random_state=random_state) self.beta, (self.compact_shape, self.num_samples), random_state=random_state)
class Pink_Noise(Colored_Noise): class Pink_Noise(Colored_Noise):

4
priorConditionedAnnealing/pca.py
View File

@ -108,9 +108,6 @@ class PCA_Distribution(SB3_Distribution):
self.base_noise = cast_to_Noise(Base_Noise, (1, action_dim)) self.base_noise = cast_to_Noise(Base_Noise, (1, action_dim))
if not isinstance(self.base_noise, noise.White_Noise):
print('[!] Non-White Noise was not yet tested!')
# Premature optimization is the root of all evil # Premature optimization is the root of all evil
self._build_conditioner() self._build_conditioner()
# *Optimizes it anyways* # *Optimizes it anyways*
@ -154,6 +151,7 @@ class PCA_Distribution(SB3_Distribution):
epsilon) epsilon)
# reparameterization with rigged samples # reparameterization with rigged samples
actions = pi_mean + pi_std * eta actions = pi_mean + pi_std * eta
self.gaussian_actions = actions self.gaussian_actions = actions
return actions return actions