metacontroller-pytorch 0.0.14__tar.gz → 0.0.15__tar.gz

{metacontroller_pytorch-0.0.14 → metacontroller_pytorch-0.0.15}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: metacontroller-pytorch
-Version: 0.0.14
+Version: 0.0.15
 Summary: Transformer Metacontroller
 Project-URL: Homepage, https://pypi.org/project/metacontroller/
 Project-URL: Repository, https://github.com/lucidrains/metacontroller

{metacontroller_pytorch-0.0.14 → metacontroller_pytorch-0.0.15}/metacontroller/metacontroller.py

@@ -22,7 +22,7 @@ from x_transformers import Decoder
 from x_mlps_pytorch import Feedforwards
 from x_evolution import EvoStrategy
 
-from discrete_continuous_embed_readout import Embed, Readout
+from discrete_continuous_embed_readout import Embed, Readout, EmbedAndReadout
 
 from assoc_scan import AssocScan
 
@@ -234,30 +234,25 @@ class Transformer(Module):
         self,
         dim,
         *,
-        embed: Embed | dict,
+        state_embed_readout: dict,
+        action_embed_readout: dict,
         lower_body: Decoder | dict,
         upper_body: Decoder | dict,
-        readout: Readout | dict,
         meta_controller: MetaController | None = None
     ):
         super().__init__()
 
-        if isinstance(embed, dict):
-            embed = Embed(dim = dim, **embed)
-
         if isinstance(lower_body, dict):
             lower_body = Decoder(dim = dim, **lower_body)
 
         if isinstance(upper_body, dict):
             upper_body = Decoder(dim = dim, **upper_body)
 
-        if isinstance(readout, dict):
-            readout = Readout(dim = dim, **readout)
+        self.state_embed, self.state_readout = EmbedAndReadout(dim, **state_embed_readout)
+        self.action_embed, self.action_readout = EmbedAndReadout(dim, **action_embed_readout)
 
-        self.embed = embed
         self.lower_body = lower_body
         self.upper_body = upper_body
-        self.readout = readout
 
         # meta controller
 
@@ -285,11 +280,13 @@ class Transformer(Module):
 
     def forward(
         self,
-        ids,
+        state,
+        action_ids,
         meta_controller: Module | None = None,
         cache: TransformerOutput | None = None,
         discovery_phase = False,
         meta_controller_temperature = 1.,
+        return_raw_action_dist = False,
         return_latents = False,
         return_cache = False,
     ):
@@ -297,21 +294,32 @@ class Transformer(Module):
 
         meta_controlling = exists(meta_controller)
 
+        behavioral_cloning = not meta_controlling and not return_raw_action_dist
+
         # by default, if meta controller is passed in, transformer is no grad
 
         lower_transformer_context = nullcontext if not meta_controlling else torch.no_grad
         meta_controller_context = nullcontext if meta_controlling else torch.no_grad
-        upper_transformer_context = nullcontext if meta_controlling and discovery_phase else torch.no_grad
+        upper_transformer_context = nullcontext if (not meta_controlling or discovery_phase) else torch.no_grad
 
         # handle cache
 
         lower_transformer_hiddens, meta_hiddens, upper_transformer_hiddens = cache.prev_hiddens if exists(cache) else ((None,) * 3)
 
+        # handle maybe behavioral cloning
+
+        if behavioral_cloning:
+            state, target_state = state[:, :-1], state[:, 1:]
+            action_ids, target_action_ids = action_ids[:, :-1], action_ids[:, 1:]
+
         # transformer lower body
 
         with lower_transformer_context():
 
-            embed = self.embed(ids)
+            state_embed = self.state_embed(state)
+            action_embed = self.action_embed(action_ids)
+
+            embed = state_embed + action_embed
 
             residual_stream, next_lower_hiddens = self.lower_body(embed, cache = lower_transformer_hiddens, return_hiddens = True)
 
@@ -332,7 +340,17 @@ class Transformer(Module):
 
             # head readout
 
-            dist_params = self.readout(attended)
+            dist_params = self.action_readout(attended)
+
+        # maybe return behavior cloning loss
+
+        if behavioral_cloning:
+            state_dist_params = self.state_readout(attended)
+            state_clone_loss = self.state_readout.calculate_loss(state_dist_params, target_state)
+
+            action_clone_loss = self.action_readout.calculate_loss(dist_params, target_action_ids)
+
+            return state_clone_loss, action_clone_loss
 
         # returning
 

{metacontroller_pytorch-0.0.14 → metacontroller_pytorch-0.0.15}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "metacontroller-pytorch"
-version = "0.0.14"
+version = "0.0.15"
 description = "Transformer Metacontroller"
 authors = [
     { name = "Phil Wang", email = "lucidrains@gmail.com" }

metacontroller_pytorch-0.0.15/tests/test_metacontroller.py

@@ -0,0 +1,57 @@
+import pytest
+param = pytest.mark.parametrize
+
+import torch
+from metacontroller.metacontroller import Transformer, MetaController
+
+@param('action_discrete', (False, True))
+@param('discovery_phase', (False, True))
+@param('switch_per_latent_dim', (False, True))
+def test_metacontroller(
+    action_discrete,
+    discovery_phase,
+    switch_per_latent_dim
+):
+
+    state = torch.randn(1, 1024, 384)
+
+    if action_discrete:
+        actions = torch.randint(0, 4, (1, 1024))
+        action_embed_readout = dict(num_discrete = 4)
+        assert_shape = (4,)
+    else:
+        actions = torch.randn(1, 1024, 8)
+        action_embed_readout = dict(num_continuous = 8)
+        assert_shape = (8, 2)
+
+    # behavioral cloning pahse
+
+    model = Transformer(
+        dim = 512,
+        action_embed_readout = action_embed_readout,
+        state_embed_readout = dict(num_continuous = 384),
+        lower_body = dict(depth = 2,),
+        upper_body = dict(depth = 2,),
+    )
+
+    state_clone_loss, action_clone_loss = model(state, actions)
+    (state_clone_loss + 0.5 * action_clone_loss).backward()
+
+    # discovery and internal rl phase with meta controller
+
+    meta_controller = MetaController(
+        dim_latent = 512,
+        switch_per_latent_dim = switch_per_latent_dim
+    )
+
+    logits, cache = model(state, actions, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True)
+
+    assert logits.shape == (1, 1024, *assert_shape)
+
+    logits, cache = model(state, actions, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True, cache = cache)
+    logits, cache = model(state, actions, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True, cache = cache)
+
+    assert logits.shape == (1, 1, *assert_shape)
+
+    model.meta_controller = meta_controller
+    model.evolve(1, lambda _: 1., noise_population_size = 2)

metacontroller_pytorch-0.0.14/tests/test_metacontroller.py

@@ -1,39 +0,0 @@
-import pytest
-param = pytest.mark.parametrize
-
-import torch
-from metacontroller.metacontroller import Transformer, MetaController
-
-@param('discovery_phase', (False, True))
-@param('switch_per_latent_dim', (False, True))
-def test_metacontroller(
-    discovery_phase,
-    switch_per_latent_dim
-):
-
-    ids = torch.randint(0, 256, (1, 1024))
-
-    model = Transformer(
-        512,
-        embed = dict(num_discrete = 256),
-        lower_body = dict(depth = 2,),
-        upper_body = dict(depth = 2,),
-        readout = dict(num_discrete = 256)
-    )
-
-    meta_controller = MetaController(
-        512,
-        switch_per_latent_dim = switch_per_latent_dim
-    )
-
-    logits, cache = model(ids, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True)
-
-    assert logits.shape == (1, 1024, 256)
-
-    logits, cache = model(ids, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True, cache = cache)
-    logits, cache = model(ids, meta_controller = meta_controller, discovery_phase = discovery_phase, return_cache = True, cache = cache)
-
-    assert logits.shape == (1, 1, 256)
-
-    model.meta_controller = meta_controller
-    model.evolve(1, lambda _: 1., noise_population_size = 2)