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New SDE feature: softmax activation of latent

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This commit is contained in:
Dominik Moritz Roth 2023-01-28 19:42:32 +01:00
parent ffbf2b3fe5
commit e985d892ca
1 changed files with 4 additions and 1 deletions
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metastable_baselines/distributions/distributions.py
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@ -136,7 +136,7 @@ class UniversalGaussianDistribution(SB3_Distribution):
:param action_dim: Dimension of the action space. :param action_dim: Dimension of the action space.
""" """
def __init__(self, action_dim: int, use_sde: bool = False, neural_strength: Strength = Strength.DIAG, cov_strength: Strength = Strength.DIAG, parameterization_type: ParametrizationType = ParametrizationType.NONE, enforce_positive_type: EnforcePositiveType = EnforcePositiveType.ABS, prob_squashing_type: ProbSquashingType = ProbSquashingType.NONE, epsilon=1e-3, sde_learn_features=False): def __init__(self, action_dim: int, use_sde: bool = False, neural_strength: Strength = Strength.DIAG, cov_strength: Strength = Strength.DIAG, parameterization_type: ParametrizationType = ParametrizationType.NONE, enforce_positive_type: EnforcePositiveType = EnforcePositiveType.ABS, prob_squashing_type: ProbSquashingType = ProbSquashingType.NONE, epsilon=1e-3, sde_learn_features=False, sde_latent_softmax=False):
super(UniversalGaussianDistribution, self).__init__() super(UniversalGaussianDistribution, self).__init__()
self.action_dim = action_dim self.action_dim = action_dim
self.par_strength = cast_to_enum(neural_strength, Strength) self.par_strength = cast_to_enum(neural_strength, Strength)
@ -155,6 +155,7 @@ class UniversalGaussianDistribution(SB3_Distribution):
self.use_sde = use_sde self.use_sde = use_sde
self.learn_features = sde_learn_features self.learn_features = sde_learn_features
self.sde_latent_softmax = sde_latent_softmax
assert (self.par_type != ParametrizationType.NONE) == ( assert (self.par_type != ParametrizationType.NONE) == (
self.cov_strength == Strength.FULL), 'You should set an ParameterizationType iff the cov-strength is full' self.cov_strength == Strength.FULL), 'You should set an ParameterizationType iff the cov-strength is full'
@ -349,6 +350,8 @@ class UniversalGaussianDistribution(SB3_Distribution):
def get_noise(self, latent_sde: th.Tensor) -> th.Tensor: def get_noise(self, latent_sde: th.Tensor) -> th.Tensor:
latent_sde = latent_sde if self.learn_features else latent_sde.detach() latent_sde = latent_sde if self.learn_features else latent_sde.detach()
latent_sde = latent_sde[..., -self.latent_sde_dim:] latent_sde = latent_sde[..., -self.latent_sde_dim:]
if self.sde_latent_softmax:
latent_sde = th.softmax(dim=-1)
latent_sde = th.nn.functional.normalize(latent_sde, dim=-1) latent_sde = th.nn.functional.normalize(latent_sde, dim=-1)
# Default case: only one exploration matrix # Default case: only one exploration matrix
if len(latent_sde) == 1 or len(latent_sde) != len(self.exploration_matrices): if len(latent_sde) == 1 or len(latent_sde) != len(self.exploration_matrices):