hw_submission(吴佳杨): add hw7_20230626

chapter7_tricks/hw_submission/ppof_ch7_code_p1.py

@@ -0,0 +1,117 @@
+from typing import Optional, Tuple, List
+import torch
+import torch.nn as nn
+import treetensor.torch as ttorch
+
+
+class PPOFModel(nn.Module):
+    mode = ['compute_actor', 'compute_critic', 'compute_actor_critic']
+
+    def __init__(
+            self,
+            obs_shape: Tuple[int],
+            action_shape: int,
+            encoder_hidden_size_list: List = [128, 128, 64],
+            actor_head_hidden_size: int = 64,
+            actor_head_layer_num: int = 1,
+            critic_head_hidden_size: int = 64,
+            critic_head_layer_num: int = 1,
+            activation: Optional[nn.Module] = nn.ReLU(),
+    ) -> None:
+        super(PPOFModel, self).__init__()
+        self.obs_shape, self.action_shape = obs_shape, action_shape
+
+        # encoder
+        layers = []
+        input_size = obs_shape[0]
+        kernel_size_list = [8, 4, 3]
+        stride_list = [4, 2, 1]
+        for i in range(len(encoder_hidden_size_list)):
+            output_size = encoder_hidden_size_list[i]
+            layers.append(nn.Conv2d(input_size, output_size, kernel_size_list[i], stride_list[i]))
+            layers.append(activation)
+            input_size = output_size
+        layers.append(nn.Flatten())
+        self.encoder = nn.Sequential(*layers)
+
+        flatten_size = input_size = self.get_flatten_size()
+        # critic
+        layers = []
+        for i in range(critic_head_layer_num):
+            layers.append(nn.Linear(input_size, critic_head_hidden_size))
+            layers.append(activation)
+            input_size = critic_head_hidden_size
+        layers.append(nn.Linear(critic_head_hidden_size, 1))
+        self.critic = nn.Sequential(*layers)
+        # actor
+        layers = []
+        input_size = flatten_size
+        for i in range(actor_head_layer_num):
+            layers.append(nn.Linear(input_size, actor_head_hidden_size))
+            layers.append(activation)
+            input_size = actor_head_hidden_size
+        self.actor = nn.Sequential(*layers)
+        self.mu = nn.Linear(actor_head_hidden_size, action_shape)
+        self.log_sigma = nn.Parameter(torch.zeros(1, action_shape))
+
+        # init weights
+        self.init_weights()
+
+    def init_weights(self) -> None:
+        # You need to implement this function
+        for layer in self.modules():
+            if isinstance(layer, (nn.Conv2d, nn.Linear)):
+                nn.init.orthogonal_(layer.weight)
+        nn.init.orthogonal_(self.mu.weight, gain=0.01)
+
+    def get_flatten_size(self) -> int:
+        test_data = torch.randn(1, *self.obs_shape)
+        with torch.no_grad():
+            output = self.encoder(test_data)
+        return output.shape[1]
+
+    def forward(self, inputs: ttorch.Tensor, mode: str) -> ttorch.Tensor:
+        assert mode in self.mode, "not support forward mode: {}/{}".format(mode, self.mode)
+        return getattr(self, mode)(inputs)
+
+    def compute_actor(self, x: ttorch.Tensor) -> ttorch.Tensor:
+        x = self.encoder(x)
+        x = self.actor(x)
+        mu = self.mu(x)
+        log_sigma = self.log_sigma + torch.zeros_like(mu)  # addition aims to broadcast shape
+        sigma = torch.exp(log_sigma)
+        return ttorch.as_tensor({'mu': mu, 'sigma': sigma})
+
+    def compute_critic(self, x: ttorch.Tensor) -> ttorch.Tensor:
+        x = self.encoder(x)
+        value = self.critic(x)
+        return value
+
+    def compute_actor_critic(self, x: ttorch.Tensor) -> ttorch.Tensor:
+        x = self.encoder(x)
+        value = self.critic(x)
+        x = self.actor(x)
+        mu = self.mu(x)
+        log_sigma = self.log_sigma + torch.zeros_like(mu)  # addition aims to broadcast shape
+        sigma = torch.exp(log_sigma)
+        return ttorch.as_tensor({'logit': {'mu': mu, 'sigma': sigma}, 'value': value})
+
+
+def test_ppof_model() -> None:
+    model = PPOFModel((4, 84, 84), 5)
+    print(model)
+    data = torch.randn(3, 4, 84, 84)
+    output = model(data, mode='compute_critic')
+    assert output.shape == (3, 1)
+    output = model(data, mode='compute_actor')
+    assert output.mu.shape == (3, 5)
+    assert output.sigma.shape == (3, 5)
+    output = model(data, mode='compute_actor_critic')
+    assert output.value.shape == (3, 1)
+    assert output.logit.mu.shape == (3, 5)
+    assert output.logit.sigma.shape == (3, 5)
+    print('End...')
+
+
+if __name__ == "__main__":
+    test_ppof_model()