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Fix mbpo tanh #263

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Fix mbpo tanh #263

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26 changes: 14 additions & 12 deletions ss2r/algorithms/mbpo/model_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
from brax import envs
from brax.envs import base

from ss2r.algorithms.mbpo.networks import make_inference_fn
from ss2r.algorithms.sac.types import float32


Expand Down Expand Up @@ -46,6 +47,15 @@ def __init__(
self.initial_normalizer_params = (
initial_normalizer_params if initial_normalizer_params is not None else {}
)
_make_policy = make_inference_fn(mbpo_network)
self.backup_policy_fn = _make_policy(
(training_state.normalizer_params, training_state.backup_policy_params),
deterministic=True,
)
self.backup_policy_fn_initial = _make_policy(
(self.initial_normalizer_params, training_state.backup_policy_params),
deterministic=True,
)

def reset(self, rng: jax.Array) -> base.State:
sample_key, model_key = jax.random.split(rng)
Expand Down Expand Up @@ -110,12 +120,8 @@ def step(self, state: base.State, action: jax.Array) -> base.State:
state.obs,
action,
).mean(axis=-1)
backup_policy = self.policy_network.apply
backup_policy_params = self.backup_policy_params
backup_action = jnp.tanh(
backup_policy(
self.initial_normalizer_params, backup_policy_params, state.obs
)[: self.action_size]
backup_action, _ = self.backup_policy_fn_initial(
state.obs, jax.random.PRNGKey(0)
)
qc_backup = self.qc_network.apply(
self.normalizer_params,
Expand All @@ -130,12 +136,8 @@ def step(self, state: base.State, action: jax.Array) -> base.State:
done,
)

pred_backup_action = self.policy_network.apply
backup_policy_params = self.backup_policy_params
backup_action = jnp.tanh(
pred_backup_action(
self.normalizer_params, backup_policy_params, state.obs
)[: self.action_size]
backup_action, _ = self.backup_policy_fn(
state.obs, jax.random.PRNGKey(0)
)
pred_qr = self.qr_network.apply
backup_qr_params = self.backup_qr_params
Expand Down
8 changes: 2 additions & 6 deletions ss2r/algorithms/mbpo/on_policy_training_step.py
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Original file line number Diff line number Diff line change
Expand Up @@ -301,12 +301,8 @@ def relabel_transitions(
normalizer_params, model_params, transitions.observation, transitions.action
)

pred_backup_action = planning_env.policy_network.apply
backup_policy_params = planning_env.backup_policy_params
backup_action = jnp.tanh(
pred_backup_action(
normalizer_params, backup_policy_params, transitions.observation
)[..., : planning_env.action_size]
backup_action, _ = planning_env.backup_policy_fn(
transitions.observation, jax.random.PRNGKey(0)
)
disagreement = (
next_obs_pred.std(axis=0).mean(-1)
Expand Down
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