garage.tf.embeddings.gaussian_mlp_encoder
¶
GaussianMLPEncoder.
-
class
GaussianMLPEncoder
(embedding_spec, name='GaussianMLPEncoder', hidden_sizes=32, 32, hidden_nonlinearity=tf.nn.tanh, hidden_w_init=tf.initializers.glorot_uniform(seed=deterministic.get_tf_seed_stream()), hidden_b_init=tf.zeros_initializer(), output_nonlinearity=None, output_w_init=tf.initializers.glorot_uniform(seed=deterministic.get_tf_seed_stream()), output_b_init=tf.zeros_initializer(), learn_std=True, adaptive_std=False, std_share_network=False, init_std=1.0, min_std=1e-06, max_std=None, std_hidden_sizes=32, 32, std_hidden_nonlinearity=tf.nn.tanh, std_output_nonlinearity=None, std_parameterization='exp', layer_normalization=False)¶ Bases:
garage.tf.embeddings.StochasticEncoder
,garage.tf.models.StochasticModule
GaussianMLPEncoder with GaussianMLPModel.
An embedding that contains a MLP to make prediction based on a gaussian distribution.
- Parameters
embedding_spec (garage.InOutSpec) – Encoder specification.
name (str) – Model name, also the variable scope.
hidden_sizes (list[int]) – Output dimension of dense layer(s) for the MLP for mean. For example, (32, 32) means the MLP consists of two hidden layers, each with 32 hidden units.
hidden_nonlinearity (callable) – Activation function for intermediate dense layer(s). It should return a tf.Tensor. Set it to None to maintain a linear activation.
hidden_w_init (callable) – Initializer function for the weight of intermediate dense layer(s). The function should return a tf.Tensor.
hidden_b_init (callable) – Initializer function for the bias of intermediate dense layer(s). The function should return a tf.Tensor.
output_nonlinearity (callable) – Activation function for output dense layer. It should return a tf.Tensor. Set it to None to maintain a linear activation.
output_w_init (callable) – Initializer function for the weight of output dense layer(s). The function should return a tf.Tensor.
output_b_init (callable) – Initializer function for the bias of output dense layer(s). The function should return a tf.Tensor.
learn_std (bool) – Is std trainable.
adaptive_std (bool) – Is std a neural network. If False, it will be a parameter.
std_share_network (bool) – Boolean for whether mean and std share the same network.
init_std (float) – Initial value for std.
std_hidden_sizes (list[int]) – Output dimension of dense layer(s) for the MLP for std. For example, (32, 32) means the MLP consists of two hidden layers, each with 32 hidden units.
min_std (float) – If not None, the std is at least the value of min_std, to avoid numerical issues.
max_std (float) – If not None, the std is at most the value of max_std, to avoid numerical issues.
std_hidden_nonlinearity (callable) – Nonlinearity for each hidden layer in the std network. It should return a tf.Tensor. Set it to None to maintain a linear activation.
std_output_nonlinearity (callable) – Nonlinearity for output layer in the std network. It should return a tf.Tensor. Set it to None to maintain a linear activation.
std_parameterization (str) –
How the std should be parametrized. There are a few options: - exp: the logarithm of the std will be stored, and applied a
exponential transformation
softplus: the std will be computed as log(1+exp(x))
layer_normalization (bool) – Bool for using layer normalization or not.
-
build
(self, embedding_input, name=None)¶ Build encoder.
- Parameters
embedding_input (tf.Tensor) – Embedding input.
name (str) – Name of the model, which is also the name scope.
- Returns
Distribution. tf.tensor: Mean. tf.Tensor: Log of standard deviation.
- Return type
tfp.distributions.MultivariateNormalDiag
-
property
spec
(self)¶ garage.InOutSpec: Specification of input and output.
-
property
input_dim
(self)¶ int: Dimension of the encoder input.
-
property
output_dim
(self)¶ int: Dimension of the encoder output (embedding).
-
property
vectorized
(self)¶ bool: If this module supports vectorization input.
-
get_latent
(self, input_value)¶ Get a sample of embedding for the given input.
- Parameters
input_value (numpy.ndarray) – Tensor to encode.
- Returns
An embedding sampled from embedding distribution. dict: Embedding distribution information.
- Return type
numpy.ndarray
Note
It returns an embedding and a dict, with keys - mean (numpy.ndarray): Mean of the distribution. - log_std (numpy.ndarray): Log standard deviation of the
distribution.
-
get_latents
(self, input_values)¶ Get samples of embedding for the given inputs.
- Parameters
input_values (numpy.ndarray) – Tensors to encode.
- Returns
Embeddings sampled from embedding distribution. dict: Embedding distribution information.
- Return type
numpy.ndarray
Note
It returns an embedding and a dict, with keys - mean (list[numpy.ndarray]): Means of the distribution. - log_std (list[numpy.ndarray]): Log standard deviations of the
distribution.
-
property
distribution
(self)¶ Encoder distribution.
- Returns
Encoder distribution.
- Return type
tfp.Distribution.MultivariateNormalDiag
-
property
input
(self)¶ tf.Tensor: Input to encoder network.
-
property
latent_mean
(self)¶ tf.Tensor: Predicted mean of a Gaussian distribution.
-
property
latent_std_param
(self)¶ tf.Tensor: Predicted std of a Gaussian distribution.
-
clone
(self, name)¶ Return a clone of the encoder.
It copies the configuration of the primitive and also the parameters.
- Parameters
name (str) – Name of the newly created encoder. It has to be different from source encoder if cloned under the same computational graph.
- Returns
Newly cloned encoder.
- Return type
-
reset
(self, do_resets=None)¶ Reset the encoder.
This is effective only to recurrent encoder. do_resets is effective only to vectoried encoder.
For a vectorized encoder, do_resets is an array of boolean indicating which internal states to be reset. The length of do_resets should be equal to the length of inputs.
- Parameters
do_resets (numpy.ndarray) – Bool array indicating which states to be reset.
-
property
name
(self)¶ str: Name of this module.
-
property
state_info_specs
(self)¶ State info specification.
- Returns
- keys and shapes for the information related to the
module’s state when taking an action.
- Return type
List[str]
-
property
state_info_keys
(self)¶ State info keys.
- Returns
- keys for the information related to the module’s state
when taking an input.
- Return type
List[str]
-
terminate
(self)¶ Clean up operation.
-
get_trainable_vars
(self)¶ Get trainable variables.
- Returns
- A list of trainable variables in the current
variable scope.
- Return type
List[tf.Variable]
-
get_global_vars
(self)¶ Get global variables.
- Returns
- A list of global variables in the current
variable scope.
- Return type
List[tf.Variable]
-
get_regularizable_vars
(self)¶ Get all network weight variables in the current scope.
- Returns
- A list of network weight variables in the
current variable scope.
- Return type
List[tf.Variable]
-
get_params
(self)¶ Get the trainable variables.
- Returns
- A list of trainable variables in the current
variable scope.
- Return type
List[tf.Variable]
-
get_param_shapes
(self)¶ Get parameter shapes.
- Returns
A list of variable shapes.
- Return type
List[tuple]
-
get_param_values
(self)¶ Get param values.
- Returns
- Values of the parameters evaluated in
the current session
- Return type
np.ndarray
-
set_param_values
(self, param_values)¶ Set param values.
- Parameters
param_values (np.ndarray) – A numpy array of parameter values.
-
flat_to_params
(self, flattened_params)¶ Unflatten tensors according to their respective shapes.
- Parameters
flattened_params (np.ndarray) – A numpy array of flattened params.
- Returns
- A list of parameters reshaped to the
shapes specified.
- Return type
List[np.ndarray]