Update model defintions to support different input spaces

Toni-SM · Sep 29, 2024 · 45418b8 · 45418b8
1 parent 3324048
commit 45418b8
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Showing 6 changed files with 21 additions and 6 deletions.
diff --git a/skrl/utils/model_instantiators/torch/categorical.py b/skrl/utils/model_instantiators/torch/categorical.py
@@ -10,6 +10,7 @@
 from skrl.models.torch import CategoricalMixin  # noqa
 from skrl.models.torch import Model
 from skrl.utils.model_instantiators.torch.common import convert_deprecated_parameters, generate_containers
+from skrl.utils.spaces.torch import unflatten_tensorized_space  # noqa
 
 
 def categorical_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, gymnasium.Space]] = None,
@@ -82,6 +83,8 @@ def __init__(self, observation_space, action_space, device, unnormalized_log_pro
         {networks}
 
     def compute(self, inputs, role=""):
+        states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))
+        taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))
         {forward}
         return output, {{}}
     """

diff --git a/skrl/utils/model_instantiators/torch/common.py b/skrl/utils/model_instantiators/torch/common.py
@@ -53,7 +53,7 @@ def visit_Call(self, node: ast.Call):
                     node.func = ast.Attribute(value=ast.Name("torch"), attr="cat")
                     node.keywords = [ast.keyword(arg="dim", value=ast.Constant(value=1))]
                 # operation: permute
-                if node.func.id == "permute":
+                elif node.func.id == "permute":
                     node.func = ast.Attribute(value=ast.Name("torch"), attr="permute")
             return node
 
@@ -62,11 +62,11 @@ def visit_Call(self, node: ast.Call):
     NodeTransformer().visit(tree)
     source = ast.unparse(tree)
     # enum substitutions
-    source = source.replace("Shape.STATES_ACTIONS", "STATES_ACTIONS").replace("STATES_ACTIONS", 'torch.cat((inputs["states"], inputs["taken_actions"]), dim=1)')
-    source = source.replace("Shape.OBSERVATIONS_ACTIONS", "OBSERVATIONS_ACTIONS").replace("OBSERVATIONS_ACTIONS", 'torch.cat((inputs["states"], inputs["taken_actions"]), dim=1)')
-    source = source.replace("Shape.STATES", "STATES").replace("STATES", 'inputs["states"]')
-    source = source.replace("Shape.OBSERVATIONS", "OBSERVATIONS").replace("OBSERVATIONS", 'inputs["states"]')
-    source = source.replace("Shape.ACTIONS", "ACTIONS").replace("ACTIONS", 'inputs["taken_actions"]')
+    source = source.replace("Shape.STATES_ACTIONS", "STATES_ACTIONS").replace("STATES_ACTIONS", 'torch.cat((states, taken_actions), dim=1)')
+    source = source.replace("Shape.OBSERVATIONS_ACTIONS", "OBSERVATIONS_ACTIONS").replace("OBSERVATIONS_ACTIONS", 'torch.cat((states, taken_actions), dim=1)')
+    source = source.replace("Shape.STATES", "STATES").replace("STATES", 'states')
+    source = source.replace("Shape.OBSERVATIONS", "OBSERVATIONS").replace("OBSERVATIONS", 'states')
+    source = source.replace("Shape.ACTIONS", "ACTIONS").replace("ACTIONS", 'taken_actions')
     return source
 
 def _parse_output(source: Union[str, Sequence[str]]) -> Tuple[Union[str, Sequence[str]], Sequence[str], int]:

diff --git a/skrl/utils/model_instantiators/torch/deterministic.py b/skrl/utils/model_instantiators/torch/deterministic.py
@@ -10,6 +10,7 @@
 from skrl.models.torch import DeterministicMixin  # noqa
 from skrl.models.torch import Model
 from skrl.utils.model_instantiators.torch.common import convert_deprecated_parameters, generate_containers
+from skrl.utils.spaces.torch import unflatten_tensorized_space  # noqa
 
 
 def deterministic_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, gymnasium.Space]] = None,
@@ -79,6 +80,8 @@ def __init__(self, observation_space, action_space, device, clip_actions):
         {networks}
 
     def compute(self, inputs, role=""):
+        states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))
+        taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))
         {forward}
         return output, {{}}
     """

diff --git a/skrl/utils/model_instantiators/torch/gaussian.py b/skrl/utils/model_instantiators/torch/gaussian.py
@@ -10,6 +10,7 @@
 from skrl.models.torch import GaussianMixin  # noqa
 from skrl.models.torch import Model
 from skrl.utils.model_instantiators.torch.common import convert_deprecated_parameters, generate_containers
+from skrl.utils.spaces.torch import unflatten_tensorized_space  # noqa
 
 
 def gaussian_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, gymnasium.Space]] = None,
@@ -93,6 +94,8 @@ def __init__(self, observation_space, action_space, device, clip_actions,
         self.log_std_parameter = nn.Parameter({initial_log_std} * torch.ones({output["size"]}))
 
     def compute(self, inputs, role=""):
+        states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))
+        taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))
         {forward}
         return output, self.log_std_parameter, {{}}
     """

diff --git a/skrl/utils/model_instantiators/torch/multivariate_gaussian.py b/skrl/utils/model_instantiators/torch/multivariate_gaussian.py
@@ -10,6 +10,7 @@
 from skrl.models.torch import MultivariateGaussianMixin  # noqa
 from skrl.models.torch import Model
 from skrl.utils.model_instantiators.torch.common import convert_deprecated_parameters, generate_containers
+from skrl.utils.spaces.torch import unflatten_tensorized_space  # noqa
 
 
 def multivariate_gaussian_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, gymnasium.Space]] = None,
@@ -93,6 +94,8 @@ def __init__(self, observation_space, action_space, device, clip_actions,
         self.log_std_parameter = nn.Parameter({initial_log_std} * torch.ones({output["size"]}))
 
     def compute(self, inputs, role=""):
+        states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))
+        taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))
         {forward}
         return output, self.log_std_parameter, {{}}
     """

diff --git a/skrl/utils/model_instantiators/torch/shared.py b/skrl/utils/model_instantiators/torch/shared.py
@@ -10,6 +10,7 @@
 from skrl.models.torch import Model  # noqa
 from skrl.models.torch import DeterministicMixin, GaussianMixin  # noqa
 from skrl.utils.model_instantiators.torch.common import convert_deprecated_parameters, generate_containers
+from skrl.utils.spaces.torch import unflatten_tensorized_space  # noqa
 
 
 def shared_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, gymnasium.Space]] = None,
@@ -68,6 +69,8 @@ def shared_model(observation_space: Optional[Union[int, Tuple[int], gym.Space, g
     for container in containers_gaussian:
         networks_common.append(f'self.{container["name"]}_container = {container["sequential"]}')
         forward_common.append(f'{container["name"]} = self.{container["name"]}_container({container["input"]})')
+    forward_common.insert(0, 'taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))')
+    forward_common.insert(0, 'states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))')
 
     # process output
     networks_gaussian = []