55 lines
2.3 KiB
Python
55 lines
2.3 KiB
Python
|
# Copyright (c) 2021 Robert Bosch GmbH
|
||
|
|
# Author: Fabian Otto
|
||
|
|
#
|
||
|
|
# This program is free software: you can redistribute it and/or modify
|
||
|
|
# it under the terms of the GNU Affero General Public License as published
|
||
|
|
# by the Free Software Foundation, either version 3 of the License, or
|
||
|
|
# (at your option) any later version.
|
||
|
|
#
|
||
|
|
# This program is distributed in the hope that it will be useful,
|
||
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
# GNU Affero General Public License for more details.
|
||
|
|
#
|
||
|
|
# You should have received a copy of the GNU Affero General Public License
|
||
|
|
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||
|
|
|
||
|
|
from trust_region_projections.projections.base_projection_layer import BaseProjectionLayer
|
||
|
|
from trust_region_projections.projections.frob_projection_layer import FrobeniusProjectionLayer
|
||
|
|
from trust_region_projections.projections.kl_projection_layer import KLProjectionLayer
|
||
|
|
from trust_region_projections.projections.papi_projection import PAPIProjection
|
||
|
|
from trust_region_projections.projections.w2_projection_layer import WassersteinProjectionLayer
|
||
|
|
|
||
|
|
|
||
|
|
def get_projection_layer(proj_type: str = "", **kwargs) -> BaseProjectionLayer:
|
||
|
|
"""
|
||
|
|
Factory to generate the projection layers for all projections.
|
||
|
|
Args:
|
||
|
|
proj_type: One of None/' ', 'ppo', 'papi', 'w2', 'w2_non_com', 'frob', 'kl', or 'entropy'
|
||
|
|
**kwargs: arguments for projection layer
|
||
|
|
|
||
|
|
Returns:
|
||
|
|
|
||
|
|
"""
|
||
|
|
if not proj_type or proj_type.isspace() or proj_type.lower() in ["ppo", "sac", "td3", "mpo", "entropy"]:
|
||
|
|
return BaseProjectionLayer(proj_type, **kwargs)
|
||
|
|
|
||
|
|
elif proj_type.lower() == "w2":
|
||
|
|
return WassersteinProjectionLayer(proj_type, **kwargs)
|
||
|
|
|
||
|
|
elif proj_type.lower() == "frob":
|
||
|
|
return FrobeniusProjectionLayer(proj_type, **kwargs)
|
||
|
|
|
||
|
|
elif proj_type.lower() == "kl":
|
||
|
|
return KLProjectionLayer(proj_type, **kwargs)
|
||
|
|
|
||
|
|
elif proj_type.lower() == "papi":
|
||
|
|
# papi has a different approach compared to our projections.
|
||
|
|
# It has to be applied after the training with PPO.
|
||
|
|
return PAPIProjection(proj_type, **kwargs)
|
||
|
|
|
||
|
|
else:
|
||
|
|
raise ValueError(
|
||
|
|
f"Invalid projection type {proj_type}."
|
||
|
|
f" Choose one of None/' ', 'ppo', 'papi', 'w2', 'w2_non_com', 'frob', 'kl', or 'entropy'.")
|