pyRDDLGym-jax 1.3__py3-none-any.whl → 2.1__py3-none-any.whl

pyRDDLGym_jax/__init__.py

@@ -1 +1 @@
-__version__ = '1.3'
+__version__ = '2.1'

pyRDDLGym_jax/core/compiler.py

@@ -1,3 +1,18 @@
+# ***********************************************************************
+# JAXPLAN
+# 
+# Author: Michael Gimelfarb
+#
+# REFERENCES:
+# 
+# [1] Gimelfarb, Michael, Ayal Taitler, and Scott Sanner. "JaxPlan and GurobiPlan: 
+# Optimization Baselines for Replanning in Discrete and Mixed Discrete-Continuous 
+# Probabilistic Domains." Proceedings of the International Conference on Automated 
+# Planning and Scheduling. Vol. 34. 2024.
+#
+# ***********************************************************************
+
+
 from functools import partial
 import traceback
 from typing import Any, Callable, Dict, List, Optional
@@ -5,7 +20,6 @@ from typing import Any, Callable, Dict, List, Optional
 import jax
 import jax.numpy as jnp
 import jax.random as random
-import jax.scipy as scipy 
 
 from pyRDDLGym.core.compiler.initializer import RDDLValueInitializer
 from pyRDDLGym.core.compiler.levels import RDDLLevelAnalysis
@@ -28,8 +42,7 @@ try:
     from tensorflow_probability.substrates import jax as tfp
 except Exception:
     raise_warning('Failed to import tensorflow-probability: '
-                  'compilation of some complex distributions '
-                  '(Binomial, Negative-Binomial, Multinomial) will fail.', 'red')
+                  'compilation of some probability distributions will fail.', 'red')
     traceback.print_exc()
     tfp = None
 
@@ -39,102 +52,6 @@ class JaxRDDLCompiler:
     All operations are identical to their numpy equivalents.
     '''
     
-    MODEL_PARAM_TAG_SEPARATOR = '___'
-    
-    # ===========================================================================
-    # EXACT RDDL TO JAX COMPILATION RULES BY DEFAULT
-    # ===========================================================================
-    
-    @staticmethod
-    def wrap_logic(func):
-        def exact_func(id, init_params):
-            return func
-        return exact_func
-        
-    EXACT_RDDL_TO_JAX_NEGATIVE = wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.negative))
-    EXACT_RDDL_TO_JAX_ARITHMETIC = {
-        '+': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.add)),
-        '-': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.subtract)),
-        '*': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.multiply)),
-        '/': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.divide))
-    }            
-    
-    EXACT_RDDL_TO_JAX_RELATIONAL = {
-        '>=': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.greater_equal)),
-        '<=': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.less_equal)),
-        '<': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.less)),
-        '>': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.greater)),
-        '==': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.equal)),
-        '~=': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.not_equal))
-    }        
-    
-    EXACT_RDDL_TO_JAX_LOGICAL_NOT = wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.logical_not))
-    EXACT_RDDL_TO_JAX_LOGICAL = {
-        '^': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.logical_and)),
-        '&': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.logical_and)),
-        '|': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.logical_or)),
-        '~': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.logical_xor)),
-        '=>': wrap_logic.__func__(ExactLogic.exact_binary_implies),
-        '<=>': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.equal))
-    }    
-    
-    EXACT_RDDL_TO_JAX_AGGREGATION = {
-        'sum': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.sum)),
-        'avg': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.mean)),
-        'prod': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.prod)),
-        'minimum': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.min)),
-        'maximum': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.max)),
-        'forall': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.all)),
-        'exists': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.any)),
-        'argmin': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.argmin)),
-        'argmax': wrap_logic.__func__(ExactLogic.exact_aggregation(jnp.argmax))
-    }
-    
-    EXACT_RDDL_TO_JAX_UNARY = {        
-        'abs': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.abs)),
-        'sgn': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.sign)),
-        'round': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.round)),
-        'floor': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.floor)),
-        'ceil': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.ceil)),
-        'cos': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.cos)),
-        'sin': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.sin)),
-        'tan': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.tan)),
-        'acos': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.arccos)),
-        'asin': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.arcsin)),
-        'atan': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.arctan)),
-        'cosh': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.cosh)),
-        'sinh': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.sinh)),
-        'tanh': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.tanh)),
-        'exp': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.exp)),
-        'ln': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.log)),
-        'sqrt': wrap_logic.__func__(ExactLogic.exact_unary_function(jnp.sqrt)),
-        'lngamma': wrap_logic.__func__(ExactLogic.exact_unary_function(scipy.special.gammaln)),
-        'gamma': wrap_logic.__func__(ExactLogic.exact_unary_function(scipy.special.gamma))
-    }              
-    
-    @staticmethod
-    def _jax_wrapped_calc_log_exact(x, y, params):
-        return jnp.log(x) / jnp.log(y), params
-    
-    EXACT_RDDL_TO_JAX_BINARY = {
-        'div': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.floor_divide)),
-        'mod': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.mod)),
-        'fmod': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.mod)),
-        'min': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.minimum)),
-        'max': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.maximum)),
-        'pow': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.power)),
-        'log': wrap_logic.__func__(_jax_wrapped_calc_log_exact.__func__),
-        'hypot': wrap_logic.__func__(ExactLogic.exact_binary_function(jnp.hypot)),
-    }
-    
-    EXACT_RDDL_TO_JAX_IF = wrap_logic.__func__(ExactLogic.exact_if_then_else)
-    EXACT_RDDL_TO_JAX_SWITCH = wrap_logic.__func__(ExactLogic.exact_switch)
-    
-    EXACT_RDDL_TO_JAX_BERNOULLI = wrap_logic.__func__(ExactLogic.exact_bernoulli)
-    EXACT_RDDL_TO_JAX_DISCRETE = wrap_logic.__func__(ExactLogic.exact_discrete)
-    EXACT_RDDL_TO_JAX_POISSON = wrap_logic.__func__(ExactLogic.exact_poisson)
-    EXACT_RDDL_TO_JAX_GEOMETRIC = wrap_logic.__func__(ExactLogic.exact_geometric)
-
     def __init__(self, rddl: RDDLLiftedModel,
                  allow_synchronous_state: bool=True,
                  logger: Optional[Logger]=None,
@@ -174,8 +91,7 @@ class JaxRDDLCompiler:
         self.init_values = initializer.initialize()
         
         # compute dependency graph for CPFs and sort them by evaluation order
-        sorter = RDDLLevelAnalysis(
-            rddl, allow_synchronous_state=allow_synchronous_state)
+        sorter = RDDLLevelAnalysis(rddl, allow_synchronous_state=allow_synchronous_state)
         self.levels = sorter.compute_levels()        
         
         # trace expressions to cache information to be used later
@@ -187,28 +103,17 @@ class JaxRDDLCompiler:
             rddl=self.rddl,
             init_values=self.init_values,
             levels=self.levels,
-            trace_info=self.traced)  
+            trace_info=self.traced
+        )  
         constraints = RDDLConstraints(simulator, vectorized=True)
         self.constraints = constraints
         
         # basic operations - these can be override in subclasses
         self.compile_non_fluent_exact = compile_non_fluent_exact
-        self.NEGATIVE = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_NEGATIVE
-        self.ARITHMETIC_OPS = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_ARITHMETIC.copy()
-        self.RELATIONAL_OPS = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_RELATIONAL.copy()
-        self.LOGICAL_NOT = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_LOGICAL_NOT
-        self.LOGICAL_OPS = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_LOGICAL.copy()
-        self.AGGREGATION_OPS = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_AGGREGATION.copy()
         self.AGGREGATION_BOOL = {'forall', 'exists'}
-        self.KNOWN_UNARY = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_UNARY.copy()
-        self.KNOWN_BINARY = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_BINARY.copy()
-        self.IF_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_IF
-        self.SWITCH_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_SWITCH
-        self.BERNOULLI_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_BERNOULLI
-        self.DISCRETE_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_DISCRETE
-        self.POISSON_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_POISSON
-        self.GEOMETRIC_HELPER = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_GEOMETRIC
-    
+        self.EXACT_OPS = ExactLogic(use64bit=self.use64bit).get_operator_dicts()
+        self.OPS = self.EXACT_OPS
+        
     # ===========================================================================
     # main compilation subroutines
     # ===========================================================================
@@ -377,7 +282,8 @@ class JaxRDDLCompiler:
         
         # compile constraint information
         if constraint_func:
-            inequality_fns, equality_fns = self._jax_nonlinear_constraints(init_params_constr)
+            inequality_fns, equality_fns = self._jax_nonlinear_constraints(
+                init_params_constr)
         else:
             inequality_fns, equality_fns = None, None
         
@@ -524,7 +430,7 @@ class JaxRDDLCompiler:
                 _jax_wrapped_single_step_policy,
                 in_axes=(0, None, None, None, 0, None)
             )(keys, policy_params, hyperparams, step, subs, model_params)
-            model_params = jax.tree_map(lambda x: jnp.mean(x, axis=0), model_params)
+            model_params = jax.tree_map(partial(jnp.mean, axis=0), model_params)
             carry = (key, policy_params, hyperparams, subs, model_params)
             return carry, log            
             
@@ -571,7 +477,11 @@ class JaxRDDLCompiler:
         for (id, value) in self.model_params.items():
             expr_id = int(str(id).split('_')[0])
             expr = self.traced.lookup(expr_id)
-            result[id] = {'id': expr_id, 'rddl_op': ' '.join(expr.etype), 'init_value': value}
+            result[id] = {
+                'id': expr_id, 
+                'rddl_op': ' '.join(expr.etype), 
+                'init_value': value
+            }
         return result
         
     @staticmethod
@@ -722,7 +632,7 @@ class JaxRDDLCompiler:
         return _jax_wrapped_cast
    
     def _fix_dtype(self, value):
-        dtype = jnp.atleast_1d(value).dtype
+        dtype = jnp.result_type(value)
         if jnp.issubdtype(dtype, jnp.integer):
             return self.INT
         elif jnp.issubdtype(dtype, jnp.floating):
@@ -870,11 +780,11 @@ class JaxRDDLCompiler:
         
         # if expression is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(expr):
-            valid_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_ARITHMETIC
-            negative_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_NEGATIVE
+            valid_ops = self.EXACT_OPS['arithmetic']
+            negative_op = self.EXACT_OPS['negative']
         else:
-            valid_ops = self.ARITHMETIC_OPS
-            negative_op = self.NEGATIVE            
+            valid_ops = self.OPS['arithmetic']
+            negative_op = self.OPS['negative']            
         JaxRDDLCompiler._check_valid_op(expr, valid_ops)
         
         # recursively compile arguments
@@ -901,9 +811,9 @@ class JaxRDDLCompiler:
         
         # if expression is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(expr):
-            valid_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_RELATIONAL
+            valid_ops = self.EXACT_OPS['relational']
         else:
-            valid_ops = self.RELATIONAL_OPS
+            valid_ops = self.OPS['relational']
         JaxRDDLCompiler._check_valid_op(expr, valid_ops)
         
         # recursively compile arguments
@@ -919,11 +829,11 @@ class JaxRDDLCompiler:
         
         # if expression is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(expr):
-            valid_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_LOGICAL  
-            logical_not_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_LOGICAL_NOT
+            valid_ops = self.EXACT_OPS['logical']  
+            logical_not_op = self.EXACT_OPS['logical_not']
         else:
-            valid_ops = self.LOGICAL_OPS 
-            logical_not_op = self.LOGICAL_NOT 
+            valid_ops = self.OPS['logical']
+            logical_not_op = self.OPS['logical_not'] 
         JaxRDDLCompiler._check_valid_op(expr, valid_ops)
                 
         # recursively compile arguments
@@ -951,9 +861,9 @@ class JaxRDDLCompiler:
         
         # if expression is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(expr):
-            valid_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_AGGREGATION   
+            valid_ops = self.EXACT_OPS['aggregation']   
         else:
-            valid_ops = self.AGGREGATION_OPS   
+            valid_ops = self.OPS['aggregation']   
         JaxRDDLCompiler._check_valid_op(expr, valid_ops) 
         is_floating = op not in self.AGGREGATION_BOOL
         
@@ -980,11 +890,11 @@ class JaxRDDLCompiler:
         
         # if expression is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(expr):            
-            unary_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_UNARY
-            binary_ops = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_BINARY
+            unary_ops = self.EXACT_OPS['unary']
+            binary_ops = self.EXACT_OPS['binary']
         else:
-            unary_ops = self.KNOWN_UNARY
-            binary_ops = self.KNOWN_BINARY
+            unary_ops = self.OPS['unary']
+            binary_ops = self.OPS['binary']
         
         # recursively compile arguments
         if op in unary_ops:
@@ -1026,9 +936,9 @@ class JaxRDDLCompiler:
         
         # if predicate is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(pred):
-            if_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_IF
+            if_op = self.EXACT_OPS['control']['if']
         else:
-            if_op = self.IF_HELPER
+            if_op = self.OPS['control']['if']
         jax_op = if_op(expr.id, init_params)
         
         # recursively compile arguments   
@@ -1054,9 +964,9 @@ class JaxRDDLCompiler:
         # if predicate is non-fluent, always use the exact operation
         # case conditions are currently only literals so they are non-fluent
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(pred):
-            switch_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_SWITCH
+            switch_op = self.EXACT_OPS['control']['switch']
         else:
-            switch_op = self.SWITCH_HELPER
+            switch_op = self.OPS['control']['switch']
         jax_op = switch_op(expr.id, init_params)
         
         # recursively compile predicate
@@ -1078,8 +988,7 @@ class JaxRDDLCompiler:
             for (i, jax_case) in enumerate(jax_cases):
                 sample_cases[i], key, err_case, params = jax_case(x, params, key)
                 err |= err_case                
-            sample_cases = jnp.asarray(
-                sample_cases, dtype=self._fix_dtype(sample_cases))
+            sample_cases = jnp.asarray(sample_cases, dtype=self._fix_dtype(sample_cases))
             
             # predicate (enum) is an integer - use it to extract from case array
             sample, params = jax_op(sample_pred, sample_cases, params)
@@ -1098,6 +1007,7 @@ class JaxRDDLCompiler:
     # Bernoulli: complete (subclass uses Gumbel-softmax)
     # Normal: complete
     # Exponential: complete
+    # Geometric: complete
     # Weibull: complete
     # Pareto: complete
     # Gumbel: complete
@@ -1110,14 +1020,18 @@ class JaxRDDLCompiler:
     # Discrete(p): complete (subclass uses Gumbel-softmax)
     # UnnormDiscrete(p): complete (subclass uses Gumbel-softmax)
     
+    # distributions which seem to support backpropagation (need more testing):
+    # Beta
+    # Student
+    # Gamma
+    # ChiSquare   
+    # Dirichlet
+    # Poisson (subclass uses Gumbel-softmax or Poisson process trick)
+
     # distributions with incomplete reparameterization support (TODO):
-    # Binomial: (use truncation and Gumbel-softmax)
-    # NegativeBinomial: (no reparameterization)
-    # Poisson: (use truncation and Gumbel-softmax)
-    # Gamma, ChiSquare: (no shape reparameterization)
-    # Beta: (no reparameterization)
-    # Geometric: (implement safe floor)
-    # Student: (no reparameterization)
+    # Binomial
+    # NegativeBinomial
+    # Multinomial
     
     def _jax_random(self, expr, init_params):
         _, name = expr.etype
@@ -1173,8 +1087,7 @@ class JaxRDDLCompiler:
             return self._jax_discrete_pvar(expr, init_params, unnorm=True)
         else:
             raise RDDLNotImplementedError(
-                f'Distribution {name} is not supported.\n' + 
-                print_stack_trace(expr))
+                f'Distribution {name} is not supported.\n' + print_stack_trace(expr))
         
     def _jax_kron(self, expr, init_params):
         ERR = JaxRDDLCompiler.ERROR_CODES['INVALID_PARAM_KRON_DELTA']
@@ -1251,8 +1164,7 @@ class JaxRDDLCompiler:
         def _jax_wrapped_distribution_exp(x, params, key):
             scale, key, err, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
-            Exp1 = random.exponential(
-                key=subkey, shape=jnp.shape(scale), dtype=self.REAL)
+            Exp1 = random.exponential(key=subkey, shape=jnp.shape(scale), dtype=self.REAL)
             sample = scale * Exp1
             out_of_bounds = jnp.logical_not(jnp.all(scale > 0))
             err |= (out_of_bounds * ERR)
@@ -1273,8 +1185,8 @@ class JaxRDDLCompiler:
             shape, key, err1, params = jax_shape(x, params, key)
             scale, key, err2, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
-            U = random.uniform(key=subkey, shape=jnp.shape(scale), dtype=self.REAL)
-            sample = scale * jnp.power(-jnp.log(U), 1.0 / shape)
+            sample = random.weibull_min(
+                key=subkey, scale=scale, concentration=shape, dtype=self.REAL)
             out_of_bounds = jnp.logical_not(jnp.all((shape > 0) & (scale > 0)))
             err = err1 | err2 | (out_of_bounds * ERR)
             return sample, key, err, params
@@ -1288,9 +1200,9 @@ class JaxRDDLCompiler:
         
         # if probability is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(arg_prob):
-            bern_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_BERNOULLI
+            bern_op = self.EXACT_OPS['sampling']['Bernoulli']
         else:
-            bern_op = self.BERNOULLI_HELPER
+            bern_op = self.OPS['sampling']['Bernoulli']
         jax_op = bern_op(expr.id, init_params)
         
         # recursively compile arguments
@@ -1313,9 +1225,9 @@ class JaxRDDLCompiler:
         
         # if rate is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(arg_rate):
-            poisson_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_POISSON
+            poisson_op = self.EXACT_OPS['sampling']['Poisson']
         else:
-            poisson_op = self.POISSON_HELPER
+            poisson_op = self.OPS['sampling']['Poisson']
         jax_op = poisson_op(expr.id, init_params)
         
         # recursively compile arguments
@@ -1326,7 +1238,6 @@ class JaxRDDLCompiler:
             rate, key, err, params = jax_rate(x, params, key)
             key, subkey = random.split(key)
             sample, params = jax_op(subkey, rate, params)
-            sample = sample.astype(self.INT)
             out_of_bounds = jnp.logical_not(jnp.all(rate >= 0))
             err |= (out_of_bounds * ERR)
             return sample, key, err, params
@@ -1358,20 +1269,26 @@ class JaxRDDLCompiler:
     def _jax_binomial(self, expr, init_params):
         ERR = JaxRDDLCompiler.ERROR_CODES['INVALID_PARAM_BINOMIAL']
         JaxRDDLCompiler._check_num_args(expr, 2)
-        
         arg_trials, arg_prob = expr.args
+
+        # if prob is non-fluent, always use the exact operation
+        if self.compile_non_fluent_exact \
+        and not self.traced.cached_is_fluent(arg_trials) \
+        and not self.traced.cached_is_fluent(arg_prob):
+            bin_op = self.EXACT_OPS['sampling']['Binomial']
+        else:
+            bin_op = self.OPS['sampling']['Binomial']
+        jax_op = bin_op(expr.id, init_params)
+
         jax_trials = self._jax(arg_trials, init_params)
         jax_prob = self._jax(arg_prob, init_params)
-        
-        # uses the JAX substrate of tensorflow-probability
+
+        # uses reduction for constant trials
         def _jax_wrapped_distribution_binomial(x, params, key):
             trials, key, err2, params = jax_trials(x, params, key)       
             prob, key, err1, params = jax_prob(x, params, key)
-            trials = jnp.asarray(trials, dtype=self.REAL)
-            prob = jnp.asarray(prob, dtype=self.REAL)
             key, subkey = random.split(key)
-            dist = tfp.distributions.Binomial(total_count=trials, probs=prob)
-            sample = dist.sample(seed=subkey).astype(self.INT)
+            sample, params = jax_op(subkey, trials, prob, params)
             out_of_bounds = jnp.logical_not(jnp.all(
                 (prob >= 0) & (prob <= 1) & (trials >= 0)))
             err = err1 | err2 | (out_of_bounds * ERR)
@@ -1395,10 +1312,9 @@ class JaxRDDLCompiler:
             prob = jnp.asarray(prob, dtype=self.REAL)
             key, subkey = random.split(key)
             dist = tfp.distributions.NegativeBinomial(total_count=trials, probs=prob)
-            sample = dist.sample(seed=subkey).astype(self.INT)
+            sample = jnp.asarray(dist.sample(seed=subkey), dtype=self.INT)
             out_of_bounds = jnp.logical_not(jnp.all(
-                (prob >= 0) & (prob <= 1) & (trials > 0))
-            )
+                (prob >= 0) & (prob <= 1) & (trials > 0)))
             err = err1 | err2 | (out_of_bounds * ERR)
             return sample, key, err, params
         
@@ -1431,9 +1347,9 @@ class JaxRDDLCompiler:
         
         # if prob is non-fluent, always use the exact operation
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(arg_prob):
-            geom_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_GEOMETRIC
+            geom_op = self.EXACT_OPS['sampling']['Geometric']
         else:
-            geom_op = self.GEOMETRIC_HELPER
+            geom_op = self.OPS['sampling']['Geometric']
         jax_op = geom_op(expr.id, init_params)
         
         # recursively compile arguments        
@@ -1443,7 +1359,6 @@ class JaxRDDLCompiler:
             prob, key, err, params = jax_prob(x, params, key)
             key, subkey = random.split(key)
             sample, params = jax_op(subkey, prob, params)
-            sample = sample.astype(self.INT)
             out_of_bounds = jnp.logical_not(jnp.all((prob >= 0) & (prob <= 1)))
             err |= (out_of_bounds * ERR)
             return sample, key, err, params
@@ -1482,8 +1397,7 @@ class JaxRDDLCompiler:
         def _jax_wrapped_distribution_t(x, params, key):
             df, key, err, params = jax_df(x, params, key)
             key, subkey = random.split(key)
-            sample = random.t(
-                key=subkey, df=df, shape=jnp.shape(df), dtype=self.REAL)
+            sample = random.t(key=subkey, df=df, shape=jnp.shape(df), dtype=self.REAL)
             out_of_bounds = jnp.logical_not(jnp.all(df > 0))
             err |= (out_of_bounds * ERR)
             return sample, key, err, params
@@ -1503,8 +1417,7 @@ class JaxRDDLCompiler:
             mean, key, err1, params = jax_mean(x, params, key)
             scale, key, err2, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
-            Gumbel01 = random.gumbel(
-                key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
+            Gumbel01 = random.gumbel(key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
             sample = mean + scale * Gumbel01
             out_of_bounds = jnp.logical_not(jnp.all(scale > 0))
             err = err1 | err2 | (out_of_bounds * ERR)
@@ -1525,8 +1438,7 @@ class JaxRDDLCompiler:
             mean, key, err1, params = jax_mean(x, params, key)
             scale, key, err2, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
-            Laplace01 = random.laplace(
-                key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
+            Laplace01 = random.laplace(key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
             sample = mean + scale * Laplace01
             out_of_bounds = jnp.logical_not(jnp.all(scale > 0))
             err = err1 | err2 | (out_of_bounds * ERR)
@@ -1547,8 +1459,7 @@ class JaxRDDLCompiler:
             mean, key, err1, params = jax_mean(x, params, key)
             scale, key, err2, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
-            Cauchy01 = random.cauchy(
-                key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
+            Cauchy01 = random.cauchy(key=subkey, shape=jnp.shape(mean), dtype=self.REAL)
             sample = mean + scale * Cauchy01
             out_of_bounds = jnp.logical_not(jnp.all(scale > 0))
             err = err1 | err2 | (out_of_bounds * ERR)
@@ -1570,7 +1481,7 @@ class JaxRDDLCompiler:
             scale, key, err2, params = jax_scale(x, params, key)
             key, subkey = random.split(key)
             U = random.uniform(key=subkey, shape=jnp.shape(scale), dtype=self.REAL)
-            sample = jnp.log(1.0 - jnp.log(U) / shape) / scale
+            sample = jnp.log(1.0 - jnp.log1p(-U) / shape) / scale
             out_of_bounds = jnp.logical_not(jnp.all((shape > 0) & (scale > 0)))
             err = err1 | err2 | (out_of_bounds * ERR)
             return sample, key, err, params
@@ -1631,9 +1542,9 @@ class JaxRDDLCompiler:
         has_fluent_arg = any(self.traced.cached_is_fluent(arg) 
                              for arg in ordered_args)
         if self.compile_non_fluent_exact and not has_fluent_arg:
-            discrete_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_DISCRETE
+            discrete_op = self.EXACT_OPS['sampling']['Discrete']
         else:
-            discrete_op = self.DISCRETE_HELPER
+            discrete_op = self.OPS['sampling']['Discrete']
         jax_op = discrete_op(expr.id, init_params)
         
         # compile probability expressions
@@ -1672,9 +1583,9 @@ class JaxRDDLCompiler:
         
         # if probabilities are non-fluent, then always sample exact
         if self.compile_non_fluent_exact and not self.traced.cached_is_fluent(arg):
-            discrete_op = JaxRDDLCompiler.EXACT_RDDL_TO_JAX_DISCRETE
+            discrete_op = self.EXACT_OPS['sampling']['Discrete']
         else:
-            discrete_op = self.DISCRETE_HELPER
+            discrete_op = self.OPS['sampling']['Discrete']
         jax_op = discrete_op(expr.id, init_params)
         
         # compile probability function
@@ -1716,8 +1627,7 @@ class JaxRDDLCompiler:
             return self._jax_multinomial(expr, init_params)
         else:
             raise RDDLNotImplementedError(
-                f'Distribution {name} is not supported.\n' + 
-                print_stack_trace(expr))
+                f'Distribution {name} is not supported.\n' + print_stack_trace(expr))
     
     def _jax_multivariate_normal(self, expr, init_params): 
         _, args = expr.args
@@ -1771,7 +1681,7 @@ class JaxRDDLCompiler:
             
             # sample StudentT(0, 1, df) -- broadcast df to same shape as cov
             sample_df = sample_df[..., jnp.newaxis, jnp.newaxis]
-            sample_df = jnp.broadcast_to(sample_df, shape=sample_mean.shape + (1,))
+            sample_df = jnp.broadcast_to(sample_df, shape=jnp.shape(sample_mean) + (1,))
             key, subkey = random.split(key)
             Z = random.t(
                 key=subkey, 
@@ -1826,7 +1736,7 @@ class JaxRDDLCompiler:
             prob = jnp.asarray(prob, dtype=self.REAL)
             key, subkey = random.split(key)
             dist = tfp.distributions.Multinomial(total_count=trials, probs=prob)
-            sample = dist.sample(seed=subkey).astype(self.INT)
+            sample = jnp.asarray(dist.sample(seed=subkey), dtype=self.INT)
             sample = jnp.moveaxis(sample, source=-1, destination=index)
             out_of_bounds = jnp.logical_not(jnp.all(
                 (prob >= 0)