locoformer 0.0.15__py3-none-any.whl → 0.0.43__py3-none-any.whl

locoformer/locoformer.py

@@ -1,10 +1,14 @@
 from __future__ import annotations
-from functools import partial
+from typing import Callable
+from types import SimpleNamespace
+from functools import partial, wraps
 
 from pathlib import Path
 from contextlib import contextmanager
 from collections import namedtuple
 
+from inspect import signature
+
 import numpy as np
 from numpy import ndarray
 from numpy.lib.format import open_memmap
@@ -16,8 +20,9 @@ import torch
 from torch import nn, cat, stack, arange, Tensor, tensor, is_tensor, from_numpy
 import torch.nn.functional as F
 from torch.nn import Module, ModuleList, Linear, RMSNorm, Identity, Sequential
-from torch.utils._pytree import tree_map
+from torch.utils._pytree import tree_map, tree_flatten, tree_unflatten
 from torch.utils.data import Dataset, DataLoader
+from torch.optim import Optimizer
 
 import einx
 from einops import rearrange, einsum
@@ -25,10 +30,20 @@ from einops.layers.torch import Rearrange
 
 from rotary_embedding_torch import RotaryEmbedding
 
+from hl_gauss_pytorch import HLGaussLoss
+
 from assoc_scan import AssocScan
 
+from x_mlps_pytorch import MLP
+
+from x_evolution import EvoStrategy
+
+# constants
+
 LinearNoBias = partial(Linear, bias = False)
 
+Cache = namedtuple('Cache', ('curr_timestep', 'kv_cache')) # (int, Tensor)
+
 # helper functions
 
 def exists(v):
@@ -40,20 +55,51 @@ def default(v, d):
 def first(arr):
     return arr[0]
 
+def xnor(x, y):
+    return not (x ^ y)
+
 def divisible_by(num, den):
     return (num % den) == 0
 
+def get_param_names(fn):
+    parameters = signature(fn).parameters
+    return list(parameters.keys())
+
+def check_has_param_attr(
+    param_name,
+    param_attr,
+    default_value = None
+):
+    def decorator(fn):
+        sig = signature(fn)
+
+        @wraps(fn)
+        def inner(*args, **kwargs):
+
+            bound_args = sig.bind(*args, **kwargs).arguments
+
+            if not (
+                param_name in bound_args and
+                hasattr(bound_args[param_name], param_attr)
+            ):
+                return default_value
+
+            return fn(*args, **kwargs)
+
+        return inner
+    return decorator
+
 # tensor helpers
 
 def log(t, eps = 1e-20):
     return t.clamp_min(eps).log()
 
+def is_empty(t):
+    return t.numel() == 0
+
 def tree_map_tensor(x, fn):
     return tree_map(lambda t: t if not is_tensor(t) else fn(t), x)
 
-def detach_all(x):
-    return tree_map_tensor(x, lambda t: t.detach())
-
 def pad_at_dim(
     t,
     pad: tuple[int, int],
@@ -67,10 +113,90 @@ def pad_at_dim(
     zeros = ((0, 0) * dims_from_right)
     return F.pad(t, (*zeros, *pad), value = value)
 
+def normalize(t, eps = 1e-5):
+    return (t - t.mean()) / t.std().clamp_min(eps)
+
+def tensor_to_dict(
+    t: Tensor,
+    config: tuple[tuple[str, int] | str],
+    dim = -1,
+    return_dottable = True
+):
+    config = tuple((c, 1) if isinstance(c, str) else c for c in config)
+
+    names, sizes = zip(*config)
+    assert sum(sizes) == t.shape[dim]
+
+    t = t.split(sizes, dim = dim)
+    tensor_dict = dict(zip(names, t))
+
+    if not return_dottable:
+        return tensor_dict
+
+    return SimpleNamespace(**tensor_dict)
+
 def calc_entropy(logits):
     prob = logits.softmax(dim = -1)
     return -(prob * log(prob)).sum(dim = -1)
 
+# reward functions - A.2
+
+@check_has_param_attr('state', 'v_xy')
+@check_has_param_attr('command', 'v_xy')
+def reward_linear_velocity_command_tracking(
+    state,
+    command,
+    s1 = 1.
+):
+    error = (state.v_xy - command.v_xy).norm(dim = -1).pow(2)
+    return torch.exp(-error / s1)
+
+@check_has_param_attr('state', 'w_z')
+@check_has_param_attr('command', 'w_z')
+def reward_angular_velocity_command_tracking(
+    state,
+    command,
+    s2 = 1.
+):
+    error = (state.w_z - command.w_z).norm(dim = -1).pow(2)
+    return torch.exp(-error / s2)
+
+@check_has_param_attr('state', 'v_z')
+def reward_base_linear_velocity_penalty(
+    state
+):
+    return -state.v_z.norm(dim = -1).pow(2)
+
+@check_has_param_attr('state', 'w_xy')
+def reward_base_angular_velocity_penalty(
+    state
+):
+    return -state.w_xy.norm(dim = -1).pow(2)
+
+@check_has_param_attr('state', 'x_z')
+def reward_base_height_penalty(
+    state,
+    x_z_nominal = 0.27
+):
+    return -(state.x_z - x_z_nominal).norm(dim = -1).pow(2)
+
+@check_has_param_attr('state', 'joint_q')
+def reward_joint_acceleration_penalty(
+    state
+):
+    return -state.joint_q.norm(dim = -1).pow(2)
+
+@check_has_param_attr('state', 'tau')
+def reward_torque_penalty(
+    state
+):
+    return -state.tau.norm(dim = -1).pow(2)
+
+def reward_alive(
+    state
+):
+    return 1.
+
 # generalized advantage estimate
 
 @torch.no_grad()
@@ -100,7 +226,7 @@ def calc_gae(
 
     returns = gae + values
 
-    return returns
+    return gae, returns
 
 # transformer-xl mask w/ flex attn
 
@@ -250,6 +376,74 @@ class ReplayDataset(Dataset):
 
         return data
 
+class RemappedReplayDataset(Dataset):
+    def __init__(
+        self,
+        dataset: ReplayDataset,
+        episode_mapping: Tensor | list[list[int]],
+        shuffle_episodes = False,
+        num_trials_select = None
+    ):
+        assert len(dataset) > 0
+        self.dataset = dataset
+
+        if is_tensor(episode_mapping):
+            assert episode_mapping.dtype in (torch.int, torch.long) and episode_mapping.ndim == 2
+            episode_mapping = episode_mapping.tolist()
+
+        self.episode_mapping = episode_mapping
+        self.shuffle_episodes = shuffle_episodes
+
+        assert not (exists(num_trials_select) and num_trials_select >= 1)
+        self.sub_select_trials = exists(num_trials_select)
+        self.num_trials_select = num_trials_select
+
+    def __len__(self):
+        return len(self.episode_mapping)
+
+    def __getitem__(self, idx):
+
+        episode_indices = self.episode_mapping[idx]
+
+        episode_indices = tensor(episode_indices)
+        episode_indices = episode_indices[(episode_indices >= 0) & (episode_indices < len(self.dataset))]
+
+        assert not is_empty(episode_indices)
+
+        # shuffle the episode indices if either shuffle episodes is turned on, or `num_trial_select` passed in (for sub selecting episodes from a set)
+
+        if (
+            episode_indices.numel() > 1 and
+            (self.shuffle_episodes or self.sub_select_trials)
+        ):
+            num_episodes = len(episode_indices)
+            episode_indices = episode_indices[torch.randperm(num_episodes)]
+
+        # crop out the episodes
+
+        if self.sub_select_trials:
+            episode_indices = episode_indices[:self.num_trials_select]
+
+        # now select out the episode data and merge along time
+
+        episode_data = [self.dataset[i] for i in episode_indices.tolist()]
+
+        episode_lens = stack([data.pop('_lens') for data in episode_data])
+
+        keys = first(episode_data).keys()
+
+        values = [list(data.values()) for data in episode_data]
+
+        values = [cat(field_values) for field_values in zip(*values)] # concat across time
+
+        multi_episode_data = dict(zip(keys, values))
+
+        multi_episode_data['_lens'] = episode_lens.sum()
+
+        multi_episode_data['_episode_indices'] = cat([torch.full((episode_len,), episode_index) for episode_len, episode_index in zip(episode_lens, episode_indices)])
+
+        return multi_episode_data
+
 class ReplayBuffer:
 
     @beartype
@@ -306,6 +500,10 @@ class ReplayBuffer:
             # memmap file
 
             filepath = folder / f'{field_name}.data.npy'
+
+            if isinstance(shape, int):
+                shape = (shape,)
+
             memmap = open_memmap(str(filepath), mode = 'w+', dtype = dtype, shape = (max_episodes, max_timesteps, *shape))
 
             self.memmaps[field_name] = memmap
@@ -314,6 +512,9 @@ class ReplayBuffer:
 
         self.memory_namedtuple = namedtuple('Memory', list(fields.keys()))
 
+    def __len__(self):
+        return (self.episode_lens > 0).sum().item()
+
     def reset_(self):
         self.episode_lens[:] = 0
         self.episode_index = 0
@@ -375,15 +576,92 @@ class ReplayBuffer:
 
         return self.memory_namedtuple(**data)
 
-    def dataset(self) -> Dataset:
+    def dataset(
+        self,
+        episode_mapping: Tensor | list[list[int]] | None = None,
+    ) -> Dataset:
         self.flush()
 
-        return ReplayDataset(self.folder)
+        dataset = ReplayDataset(self.folder)
+
+        if not exists(episode_mapping):
+            return dataset
 
-    def dataloader(self, batch_size, **kwargs) -> DataLoader:
+        return RemappedReplayDataset(dataset, episode_mapping)
+
+    def dataloader(
+        self,
+        batch_size,
+        episode_mapping: Tensor | list[list[int]] | None = None,
+        **kwargs
+    ) -> DataLoader:
         self.flush()
 
-        return DataLoader(self.dataset(), batch_size = batch_size, collate_fn = collate_var_time, **kwargs)
+        return DataLoader(self.dataset(episode_mapping), batch_size = batch_size, collate_fn = collate_var_time, **kwargs)
+
+# normalization + conditioning (needed for the commands to the robot)
+
+class MaybeAdaRMSNormWrapper(Module):
+    def __init__(
+        self,
+        fn: Module,
+        dim,
+        dim_cond = None
+    ):
+        super().__init__()
+        condition = exists(dim_cond)
+
+        self.fn = fn
+        self.norm = nn.RMSNorm(dim, elementwise_affine = not condition)
+
+        self.accept_condition = condition
+
+        if condition:
+            self.to_gamma = LinearNoBias(dim_cond, dim)
+            self.to_ada_norm_zero = nn.Linear(dim_cond, dim)
+
+            nn.init.zeros_(self.to_gamma.weight)
+            nn.init.zeros_(self.to_ada_norm_zero.weight)
+            nn.init.constant_(self.to_ada_norm_zero.bias, -5.)
+
+    def forward(
+        self,
+        x,
+        cond = None,
+        **kwargs
+    ):
+
+        need_cond = self.accept_condition
+
+        assert xnor(exists(cond), need_cond)
+
+        prenormed = self.norm(x)
+
+        if need_cond:
+            if cond.ndim == 2:
+                cond = rearrange(cond, 'b d -> b 1 d')
+
+            scale_in = self.to_gamma(cond)
+            prenormed = prenormed * (scale_in + 1.)
+
+        all_fn_out = self.fn(prenormed, **kwargs)
+
+        if not need_cond:
+            return all_fn_out
+
+        # function may return multiple args
+
+        (out, *rest), tree_spec = tree_flatten(all_fn_out)
+
+        if need_cond:
+            scale_out = self.to_ada_norm_zero(cond).sigmoid()
+            out = out * scale_out
+
+        # restore
+
+        all_fn_out = tree_unflatten((out, *rest), tree_spec)
+
+        return all_fn_out
 
 # transformer-xl with ppo
 
@@ -394,15 +672,12 @@ class Attention(Module):
         window_size,
         dim_head = 64,
         heads = 8,
-        pre_rmsnorm = True,
         fixed_window_size = False,
         accept_value_residual = False
     ):
         super().__init__()
         self.scale = dim_head ** -0.5
 
-        self.norm = RMSNorm(dim) if pre_rmsnorm else Identity()
-
         self.split_heads = Rearrange('b n (h d) -> b h n d', h = heads)
         self.merge_heads = Rearrange('b h n d -> b n (h d)')
 
@@ -446,8 +721,6 @@ class Attention(Module):
 
         device = tokens.device
 
-        tokens = self.norm(tokens)
-
         q, k, v = (self.to_q(tokens), *self.to_kv(tokens).chunk(2, dim = -1))
 
         q, k, v = map(self.split_heads, (q, k, v))
@@ -536,19 +809,26 @@ class TransformerXL(Module):
         dim_head = 64,
         heads = 8,
         expansion_factor = 4.,
+        dim_cond = None,
         final_norm = True,
         fixed_window_size = False,
     ):
         super().__init__()
 
+        condition = exists(dim_cond)
+
+        self.to_cond_tokens = MLP(dim_cond, dim * 2, activate_last = True) if exists(dim_cond) else None
+
+        norm_fn = partial(MaybeAdaRMSNormWrapper, dim = dim, dim_cond = (dim * 2) if condition else None) 
+
         layers = ModuleList([])
 
         for i in range(depth):
             is_first = i == 0
 
-            attn = Attention(dim = dim, dim_head = dim_head, heads = heads, fixed_window_size = fixed_window_size, window_size = window_size, accept_value_residual = not is_first)
+            attn = norm_fn(Attention(dim = dim, dim_head = dim_head, heads = heads, fixed_window_size = fixed_window_size, window_size = window_size, accept_value_residual = not is_first))
 
-            ff = FeedForward(dim = dim, expansion_factor = expansion_factor)
+            ff = norm_fn(FeedForward(dim = dim, expansion_factor = expansion_factor))
 
             layers.append(ModuleList([
                 attn, ff
@@ -566,20 +846,32 @@ class TransformerXL(Module):
         self,
         x,
         cache = None,
-        return_kv_cache = False
+        return_kv_cache = False,
+        condition: Tensor | None = None
     ):
 
+        # cache and residuals
+
         cache = default(cache, (None,) * len(self.layers))
 
         next_kv_caches = []
         value_residual = None
 
+        # handle condition
+
+        cond_tokens = None
+        if exists(condition):
+            assert exists(self.to_cond_tokens)
+            cond_tokens = self.to_cond_tokens(condition)
+
+        # layers
+
         for (attn, ff), kv_cache in zip(self.layers, cache):
 
-            attn_out, (next_kv_cache, values) = attn(x, value_residual = value_residual, kv_cache = kv_cache, return_kv_cache = True)
+            attn_out, (next_kv_cache, values) = attn(x, cond = cond_tokens, value_residual = value_residual, kv_cache = kv_cache, return_kv_cache = True)
 
             x = attn_out + x
-            x = ff(x) + x
+            x = ff(x, cond = cond_tokens) + x
 
             next_kv_caches.append(next_kv_cache)
             value_residual = default(value_residual, values)
@@ -600,16 +892,24 @@ class TransformerXL(Module):
 class Locoformer(Module):
     def __init__(
         self,
-        embedder: Module,
+        embedder: Module | ModuleList | list[Module],
         unembedder: Module,
         transformer: dict | TransformerXL,
-        value_network: Module | None = None,
         discount_factor = 0.999,
         gae_lam = 0.95,
         ppo_eps_clip = 0.2,
         ppo_entropy_weight = 0.01,
         ppo_value_clip = 0.4,
-        value_loss_weight = 0.5
+        dim_value_input = None,                 # needs to be set for value network to be available
+        value_network: Module = nn.Identity(),
+        reward_range: tuple[float, float] | None = None,
+        reward_shaping_fns: list[Callable[..., float | Tensor]] | None = None,
+        num_reward_bins = 32,
+        hl_gauss_loss_kwargs = dict(),
+        value_loss_weight = 0.5,
+        calc_gae_kwargs: dict = dict(),
+        recurrent_kv_cache = True,
+        use_spo = False # simple policy optimization https://arxiv.org/abs/2401.16025 - Levine's group (PI) verified it is more stable than PPO
     ):
         super().__init__()
 
@@ -618,14 +918,41 @@ class Locoformer(Module):
 
         self.transformer = transformer
 
+        # handle state embedder
+
+        if isinstance(embedder, list):
+            embedder = ModuleList(embedder)
+
         self.embedder = embedder
-        self.unembedder = unembedder
 
-        self.value_network = value_network
+        # unembed state to actions or ssl predictions
+
+        self.unembedder = unembedder
 
         self.fixed_window_size = transformer.fixed_window_size
         self.window_size = transformer.window_size
 
+        # determine value network, using HL Gauss Layer
+
+        self.to_value_pred = None
+
+        if exists(dim_value_input):
+            assert exists(reward_range)
+
+            self.to_value_pred = nn.Sequential(
+                value_network,
+                LinearNoBias(dim_value_input, num_reward_bins)
+            )
+
+            reward_min, reward_max = reward_range
+
+            self.hl_gauss_loss = HLGaussLoss(
+                min_value = reward_min,
+                max_value = reward_max,
+                num_bins = num_reward_bins,
+                **hl_gauss_loss_kwargs
+            )
+
         # ppo related
 
         self.discount_factor = discount_factor
@@ -635,6 +962,25 @@ class Locoformer(Module):
         self.ppo_value_clip = ppo_value_clip
         self.value_loss_weight = value_loss_weight
 
+        self.calc_gae_kwargs = calc_gae_kwargs
+
+        # maybe use spo
+
+        self.use_spo = use_spo
+
+        # maybe recurrent kv cache, from Ding et al. https://arxiv.org/abs/2012.15688
+
+        self.recurrent_kv_cache = recurrent_kv_cache
+
+        # reward shaping function
+
+        self.has_reward_shaping = exists(reward_shaping_fns)
+        self.reward_shaping_fns = reward_shaping_fns
+
+        # loss related
+
+        self.register_buffer('zero', tensor(0.), persistent = False)
+
     @property
     def device(self):
         return next(self.parameters()).device
@@ -643,10 +989,18 @@ class Locoformer(Module):
         return self.unembedder.parameters()
 
     def critic_parameters(self):
-        if not exists(self.value_network):
+        if not exists(self.to_value_pred):
             return []
 
-        return self.value_network.parameters()
+        return self.to_value_pred.parameters()
+
+    def evolve(
+        self,
+        environment,
+        **kwargs
+    ):
+        evo_strat = EvoStrategy(self, environment = environment, **kwargs)
+        evo_strat()
 
     def ppo(
         self,
@@ -656,79 +1010,180 @@ class Locoformer(Module):
         reward,
         old_value,
         mask,
-        actor_optim,
-        critic_optim
+        episode_lens,
+        condition: Tensor | None = None,
+        state_type: int | None = None,
+        actor_optim: Optimizer | None = None,
+        critic_optim: Optimizer | None = None
     ):
+        window_size = self.window_size
+        total_learnable_tokens = mask.sum().item()
 
-        (action_logits, value), _ = self.forward(state, return_values = True)
-        entropy = calc_entropy(action_logits)
+        seq_len = state.shape[1]
+        gae_mask = einx.less('j, i -> i j', arange(seq_len, device = self.device), episode_lens)
 
-        action = rearrange(action, 'b t -> b t 1')
-        log_prob = action_logits.gather(-1, action)
-        log_prob = rearrange(log_prob, 'b t 1 -> b t')
+        advantage, returns = calc_gae(reward, old_value, masks = gae_mask, lam = self.gae_lam, gamma = self.discount_factor, **self.calc_gae_kwargs)
+
+        advantage = normalize(advantage)
+
+        data_tensors = (
+            state,
+            action,
+            old_action_log_prob,
+            reward,
+            old_value,
+            mask,
+            advantage,
+            returns
+        )
 
-        # update actor, classic clipped surrogate loss
+        has_condition = exists(condition)
 
-        eps_clip = self.ppo_eps_clip
-        ratio = (log_prob - old_action_log_prob).exp()
+        if exists(condition):
+            data_tensors = (*data_tensors, condition)
+
+        windowed_tensors = [
+            t.split(window_size, dim = 1) for t in
+            data_tensors
+        ]
+
+        mean_actor_loss = self.zero.clone()
+        mean_critic_loss = self.zero.clone()
+
+        # learn across windows
+
+        cache = None
 
-        returns = calc_gae(reward, old_value, lam = self.gae_lam, gamma = self.discount_factor)
-        advantage = returns - old_value
+        for (
+            state,
+            action,
+            old_action_log_prob,
+            reward,
+            old_value,
+            mask,
+            advantage,
+            returns,
+            *rest
+        ) in zip(*windowed_tensors):
 
-        actor_loss = -torch.min(ratio * advantage, ratio.clamp(1. - eps_clip, 1. + eps_clip) * advantage)
+            if has_condition:
+                condition, = rest
 
-        actor_loss = actor_loss - self.ppo_entropy_weight * entropy
+            (action_logits, value_logits), cache = self.forward(state, condition = condition, state_type = state_type, cache = cache, detach_cache = True, return_values = True, return_raw_value_logits = True)
+            entropy = calc_entropy(action_logits)
 
-        mean_actor_loss = actor_loss[mask].mean()
-        mean_actor_loss.backward(retain_graph = True)
+            action = rearrange(action, 'b t -> b t 1')
+            log_prob = action_logits.gather(-1, action)
+            log_prob = rearrange(log_prob, 'b t 1 -> b t')
 
-        # update critic
+            # update actor, classic clipped surrogate loss
 
-        value_loss = F.mse_loss(returns, value, reduction = 'none')
+            eps_clip = self.ppo_eps_clip
+            ratio = (log_prob - old_action_log_prob).exp()
 
-        value_clip = self.ppo_value_clip
-        clipped_value = old_value + (value - old_value).clamp(-value_clip, value_clip)
-        clipped_value_loss = F.mse_loss(returns, clipped_value, reduction = 'none')
+            if self.use_spo:
+                actor_loss = -(ratio * advantage - (advantage.abs() * (ratio - 1.).square()) / (2 * eps_clip))
+            else:
+                actor_loss = -torch.min(ratio * advantage, ratio.clamp(1. - eps_clip, 1. + eps_clip) * advantage)
 
-        critic_loss = torch.maximum(value_loss, clipped_value_loss) * self.value_loss_weight
+            actor_loss = actor_loss - self.ppo_entropy_weight * entropy
 
-        mean_critic_loss = critic_loss[mask].mean()
-        mean_critic_loss.backward()
+            windowed_actor_loss = actor_loss[mask].sum() / total_learnable_tokens
+            windowed_actor_loss.backward(retain_graph = True)
+
+            # update critic
+
+            value_loss = self.hl_gauss_loss(value_logits, returns, reduction = 'none')
+
+            value_clip = self.ppo_value_clip
+            value = self.hl_gauss_loss(value_logits)
+
+            clipped_value = old_value + (value - old_value).clamp(-value_clip, value_clip)
+            clipped_value_loss = self.hl_gauss_loss(clipped_value, returns, reduction = 'none')
+
+            critic_loss = torch.maximum(value_loss, clipped_value_loss) * self.value_loss_weight
+
+            windowed_critic_loss = critic_loss[mask].sum() / total_learnable_tokens
+            windowed_critic_loss.backward(retain_graph = True)
+
+            # accumulate
+
+            mean_actor_loss.add_(windowed_actor_loss)
+            mean_critic_loss.add_(windowed_critic_loss)
 
         # optimizer update
 
-        actor_optim.step()
-        actor_optim.zero_grad()
+        if exists(actor_optim):
+            actor_optim.step()
+            actor_optim.zero_grad()
 
-        critic_optim.step()
-        critic_optim.zero_grad()
+        if exists(critic_optim):
+            critic_optim.step()
+            critic_optim.zero_grad()
 
         # return losses for logging
 
         return mean_actor_loss.detach(), mean_critic_loss.detach()
 
+    def state_and_command_to_rewards(
+        self,
+        state,
+        commands = None
+    ) -> Tensor:
+
+        assert self.has_reward_shaping
+
+        rewards = []
+
+        for fn in self.reward_shaping_fns:
+            param_names = get_param_names(fn)
+            param_names = set(param_names) & {'state', 'command'}
+
+            if param_names == {'state'}: # only state
+                reward = fn(state = state)
+            elif param_names == {'state', 'command'}: # state and command
+                reward = fn(state = state, command = commands)
+            else:
+                raise ValueError('invalid number of arguments for reward shaping function')
+
+            rewards.append(reward)
+
+        # cast to Tensor if returns a float, just make it flexible for researcher
+
+        rewards = [tensor(reward) if not is_tensor(reward) else reward for reward in rewards]
+
+        return stack(rewards)
+
     def wrap_env_functions(self, env):
 
-        def wrapped_reset(*args, **kwargs):
-            state, _ =  env.reset(*args, **kwargs)
+        def transform_output(el):
+            if isinstance(el, ndarray):
+                return from_numpy(el)
+            elif isinstance(el, (int, bool, float)):
+                return tensor(el)
+            else:
+                return el
 
-            if isinstance(state, ndarray):
-                state = from_numpy(state)
+        def wrapped_reset(*args, **kwargs):
+            env_reset_out =  env.reset(*args, **kwargs)
 
-            return state, _
+            return tree_map(transform_output, env_reset_out)
 
         def wrapped_step(action, *args, **kwargs):
-            out = env.step(action.item(), *args, **kwargs)
 
-            def transform_output(el):
-                if isinstance(el, ndarray):
-                    return from_numpy(el)
-                elif isinstance(el, (int, bool, float)):
-                    return tensor(el)
-                else:
-                    return el
+            if is_tensor(action):
+                action = action.item()
+
+            env_step_out = env.step(action, *args, **kwargs)
+
+            env_step_out_torch = tree_map(transform_output, env_step_out)
 
-            return tree_map(transform_output, out)
+            if not self.has_reward_shaping:
+                return env_step_out_torch
+
+            shaped_rewards = self.state_and_command_to_rewards(env_step_out_torch)
+
+            return env_step_out_torch, shaped_rewards
 
         return wrapped_reset, wrapped_step
 
@@ -738,38 +1193,48 @@ class Locoformer(Module):
         inference_mode = False,
         has_batch_dim = False,
         has_time_dim = False,
+        state_time_dim = 1,
         **kwargs
     ):
         window_size = self.window_size
 
         cache = None
 
-        def stateful_forward(state: Tensor, **override_kwargs):
+        def stateful_forward(
+            state: Tensor,
+            condition: Tensor | None = None,
+            state_type: int | None = None,
+            **override_kwargs
+        ):
             nonlocal cache
 
+            state = state.to(self.device)
+
+            if exists(condition):
+                condition = condition.to(self.device)
+
             # handle no batch or time, for easier time rolling out against envs
 
             if not has_batch_dim:
                 state = rearrange(state, '... -> 1 ...')
 
-            if not has_time_dim:
-                state = rearrange(state, '... d -> ... 1 d')
-
-            # forwards
+                if exists(condition):
+                    condition = rearrange(condition, '... -> 1 ...')
 
-            out, cache = self.forward(state, cache = cache, **{**kwargs, **override_kwargs})
+            if not has_time_dim:
+                state = state.unsqueeze(state_time_dim)
 
-            # handle cache
+                if exists(condition):
+                    condition = rearrange(condition, '... d -> ... 1 d')
 
-            cache_len = cache.shape[-2]
+            # forwards
 
-            if self.fixed_window_size or divisible_by(cache_len, window_size * 2):
-                cache = cache[..., -window_size:, :]
+            out, cache = self.forward(state, condition = condition, state_type = state_type, cache = cache, **{**kwargs, **override_kwargs})
 
             # maybe remove batch or time
 
             if not has_time_dim:
-                out = tree_map_tensor(out, lambda t: rearrange(t, '... 1 d -> ... d'))
+                out = tree_map_tensor(out, lambda t: t.squeeze(state_time_dim))
 
             if not has_batch_dim:
                 out = tree_map_tensor(out, lambda t: rearrange(t, '1 ... -> ...'))
@@ -798,16 +1263,46 @@ class Locoformer(Module):
     def forward(
         self,
         state: Tensor,
-        cache: Tensor | None = None,
+        cache: Cache | None = None,
+        condition: Tensor | None = None,
+        state_type: int | None = None,
         detach_cache = False,
-        return_values = False
+        return_values = False,
+        return_raw_value_logits = False
     ):
 
         state = state.to(self.device)
 
-        tokens = self.embedder(state)
+        # determine which function to invoke for state to token for transformer
+
+        state_to_token = self.embedder
+
+        if exists(state_type):
+            state_to_token = self.embedder[state_type]
+
+        # embed
+
+        tokens = state_to_token(state)
+
+        # time
+
+        time = tokens.shape[-2]
+
+        # destruct the cache for the current timestep and the cache
 
-        embed, kv_cache = self.transformer(tokens, cache = cache, return_kv_cache = True)
+        prev_kv_cache = None
+        timestep_start = 0
+
+        if exists(cache):
+            timestep_start, prev_kv_cache = cache
+
+        # an assert - make sure during training or inference, forward never gets anything that crosses the window segment boundary, to open up some possibilities with extending memory
+
+        assert ((timestep_start % self.window_size) + time) <= self.window_size
+
+        # attention
+
+        embed, kv_cache = self.transformer(tokens, condition = condition, cache = prev_kv_cache, return_kv_cache = True)
 
         # unembed to actions - in language models this would be the next state
 
@@ -818,21 +1313,34 @@ class Locoformer(Module):
         # maybe detach cache
 
         if detach_cache:
-            kv_cache = detach_all(kv_cache)
+            kv_cache = kv_cache.detach()
 
         # handle returning of values
 
         if return_values:
-            assert exists(self.value_network)
+            assert exists(self.to_value_pred)
 
-            values = self.value_network(embed)
+            values = self.to_value_pred(embed)
 
-            if values.ndim == 3:
-                assert values.shape[-1] == 1
-                values = rearrange(values, '... 1 -> ...')
+            if not return_raw_value_logits:
+                values = self.hl_gauss_loss(values) # converts the value logits to scalar values
 
             out = (out, values)
 
         # output and cache
 
-        return out, kv_cache
+        next_timestep = time + timestep_start
+
+        # handle curtailing kv cache at the right intervals
+
+        window_size = self.window_size
+
+        if self.fixed_window_size or divisible_by(next_timestep, window_size * 2):
+            kv_cache = kv_cache[..., -window_size:, :]
+
+        # maybe recurrent cache - shift the kv cache from one layer above to the one below, for extending on receptive field of past
+
+        if self.recurrent_kv_cache and divisible_by(next_timestep, window_size):
+            kv_cache = torch.roll(kv_cache, shifts = -1, dims = 0)
+
+        return out, (next_timestep, kv_cache)

{locoformer-0.0.15.dist-info → locoformer-0.0.43.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: locoformer
-Version: 0.0.15
+Version: 0.0.43
 Summary: LocoFormer
 Project-URL: Homepage, https://pypi.org/project/locoformer/
 Project-URL: Repository, https://github.com/lucidrains/locoformer
@@ -38,8 +38,10 @@ Requires-Dist: assoc-scan
 Requires-Dist: beartype
 Requires-Dist: einops>=0.8.0
 Requires-Dist: einx>=0.3.0
+Requires-Dist: hl-gauss-pytorch>=0.2.0
 Requires-Dist: rotary-embedding-torch
 Requires-Dist: torch>=2.4
+Requires-Dist: x-evolution
 Requires-Dist: x-mlps-pytorch
 Provides-Extra: examples
 Requires-Dist: accelerate; extra == 'examples'
@@ -54,7 +56,7 @@ Description-Content-Type: text/markdown
 
 [LocoFormer - Generalist Locomotion via Long-Context Adaptation](https://generalist-locomotion.github.io/)
 
-The gist is they trained a simple Transformer-XL in simulation on robots with many different bodies (cross-embodiment) with extreme domain randomization. When transferring to the real-world, they noticed the robot now gains the ability to adapt to insults. The XL memories span across multiple trials, which allowed the robot to learn in-context adaptation.
+The gist is they trained a simple Transformer-XL in simulation on robots with many different bodies (cross-embodiment) and extreme domain randomization. When transferring to the real-world, they noticed the robot now gains the ability to adapt to insults. The XL memories span across multiple trials, which allowed the robot to learn in-context adaptation.
 
 ## Sponsors
 

locoformer-0.0.43.dist-info/RECORD

@@ -0,0 +1,6 @@
+locoformer/__init__.py,sha256=XctsMGEZSR4mVl75fhds_1BtS5qGFiiItTDV7CmCt_I,45
+locoformer/locoformer.py,sha256=5gQTtseqs92K9ee9HJ1gEqhm8MFPFDFXPnoPxLnf8Nw,37531
+locoformer-0.0.43.dist-info/METADATA,sha256=Vgx50wEmRpwrGxoOntARE2oU7g5TdqcM2ZUvrpOBjIk,3283
+locoformer-0.0.43.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+locoformer-0.0.43.dist-info/licenses/LICENSE,sha256=1yCiA9b5nhslTavxPjsQAO-wpOnwJR9-l8LTVi7GJuk,1066
+locoformer-0.0.43.dist-info/RECORD,,

{locoformer-0.0.15.dist-info → locoformer-0.0.43.dist-info}/WHEEL

@@ -1,4 +1,4 @@
 Wheel-Version: 1.0
-Generator: hatchling 1.27.0
+Generator: hatchling 1.28.0
 Root-Is-Purelib: true
 Tag: py3-none-any

locoformer-0.0.15.dist-info/RECORD

@@ -1,6 +0,0 @@
-locoformer/__init__.py,sha256=XctsMGEZSR4mVl75fhds_1BtS5qGFiiItTDV7CmCt_I,45
-locoformer/locoformer.py,sha256=1jPK41G4HB1PEPtlusQxcrne489E-3QKXAULZ20FEZM,22740
-locoformer-0.0.15.dist-info/METADATA,sha256=IHtK7NvVQewYQ0GBB7v1KG90_H2Jakxir0MakUIA-jU,3218
-locoformer-0.0.15.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-locoformer-0.0.15.dist-info/licenses/LICENSE,sha256=1yCiA9b5nhslTavxPjsQAO-wpOnwJR9-l8LTVi7GJuk,1066
-locoformer-0.0.15.dist-info/RECORD,,