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| <!DOCTYPE html> | ||
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| <h1>Source code for grl.agents.srpo</h1><div class="highlight"><pre> | ||
| <span></span><span class="kn">from</span> <span class="nn">typing</span> <span class="kn">import</span> <span class="n">Dict</span><span class="p">,</span> <span class="n">Union</span> | ||
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| <span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span> | ||
| <span class="kn">import</span> <span class="nn">torch</span> | ||
| <span class="kn">from</span> <span class="nn">easydict</span> <span class="kn">import</span> <span class="n">EasyDict</span> | ||
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| <span class="kn">from</span> <span class="nn">grl.agents</span> <span class="kn">import</span> <span class="n">obs_transform</span><span class="p">,</span> <span class="n">action_transform</span> | ||
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| <div class="viewcode-block" id="SRPOAgent"> | ||
| <a class="viewcode-back" href="../../../api_doc/agents/index.html#grl.agents.SRPOAgent">[docs]</a> | ||
| <span class="k">class</span> <span class="nc">SRPOAgent</span><span class="p">:</span> | ||
| <span class="w"> </span><span class="sd">"""</span> | ||
| <span class="sd"> Overview:</span> | ||
| <span class="sd"> The QGPO agent.</span> | ||
| <span class="sd"> Interface:</span> | ||
| <span class="sd"> ``__init__``, ``action``</span> | ||
| <span class="sd"> """</span> | ||
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| <div class="viewcode-block" id="SRPOAgent.__init__"> | ||
| <a class="viewcode-back" href="../../../api_doc/agents/index.html#grl.agents.SRPOAgent.__init__">[docs]</a> | ||
| <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span> | ||
| <span class="bp">self</span><span class="p">,</span> | ||
| <span class="n">config</span><span class="p">:</span> <span class="n">EasyDict</span><span class="p">,</span> | ||
| <span class="n">model</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">Module</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">nn</span><span class="o">.</span><span class="n">ModuleDict</span><span class="p">],</span> | ||
| <span class="p">):</span> | ||
| <span class="w"> </span><span class="sd">"""</span> | ||
| <span class="sd"> Overview:</span> | ||
| <span class="sd"> Initialize the agent.</span> | ||
| <span class="sd"> Arguments:</span> | ||
| <span class="sd"> config (:obj:`EasyDict`): The configuration.</span> | ||
| <span class="sd"> model (:obj:`Union[torch.nn.Module, torch.nn.ModuleDict]`): The model.</span> | ||
| <span class="sd"> """</span> | ||
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| <span class="bp">self</span><span class="o">.</span><span class="n">config</span> <span class="o">=</span> <span class="n">config</span> | ||
| <span class="bp">self</span><span class="o">.</span><span class="n">device</span> <span class="o">=</span> <span class="n">config</span><span class="o">.</span><span class="n">device</span> | ||
| <span class="bp">self</span><span class="o">.</span><span class="n">model</span> <span class="o">=</span> <span class="n">model</span><span class="o">.</span><span class="n">to</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span></div> | ||
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| <div class="viewcode-block" id="SRPOAgent.act"> | ||
| <a class="viewcode-back" href="../../../api_doc/agents/index.html#grl.agents.SRPOAgent.act">[docs]</a> | ||
| <span class="k">def</span> <span class="nf">act</span><span class="p">(</span> | ||
| <span class="bp">self</span><span class="p">,</span> | ||
| <span class="n">obs</span><span class="p">:</span> <span class="n">Union</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">Dict</span><span class="p">],</span> | ||
| <span class="n">return_as_torch_tensor</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span><span class="p">,</span> | ||
| <span class="p">)</span> <span class="o">-></span> <span class="n">Union</span><span class="p">[</span><span class="n">np</span><span class="o">.</span><span class="n">ndarray</span><span class="p">,</span> <span class="n">torch</span><span class="o">.</span><span class="n">Tensor</span><span class="p">,</span> <span class="n">Dict</span><span class="p">]:</span> | ||
| <span class="w"> </span><span class="sd">"""</span> | ||
| <span class="sd"> Overview:</span> | ||
| <span class="sd"> Given an observation, return an action.</span> | ||
| <span class="sd"> Arguments:</span> | ||
| <span class="sd"> obs (:obj:`Union[np.ndarray, torch.Tensor, Dict]`): The observation.</span> | ||
| <span class="sd"> return_as_torch_tensor (:obj:`bool`): Whether to return the action as a torch tensor.</span> | ||
| <span class="sd"> Returns:</span> | ||
| <span class="sd"> action (:obj:`Union[np.ndarray, torch.Tensor, Dict]`): The action.</span> | ||
| <span class="sd"> """</span> | ||
|
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| <span class="n">obs</span> <span class="o">=</span> <span class="n">obs_transform</span><span class="p">(</span><span class="n">obs</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">device</span><span class="p">)</span> | ||
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| <span class="k">with</span> <span class="n">torch</span><span class="o">.</span><span class="n">no_grad</span><span class="p">():</span> | ||
|
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| <span class="c1"># ---------------------------------------</span> | ||
| <span class="c1"># Customized inference code ↓</span> | ||
| <span class="c1"># ---------------------------------------</span> | ||
|
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| <span class="n">action</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">model</span><span class="p">(</span><span class="n">obs</span><span class="p">)</span> | ||
|
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| <span class="c1"># ---------------------------------------</span> | ||
| <span class="c1"># Customized inference code ↑</span> | ||
| <span class="c1"># ---------------------------------------</span> | ||
|
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| <span class="n">action</span> <span class="o">=</span> <span class="n">action_transform</span><span class="p">(</span><span class="n">action</span><span class="p">,</span> <span class="n">return_as_torch_tensor</span><span class="p">)</span> | ||
|
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| <span class="k">return</span> <span class="n">action</span></div> | ||
| </div> | ||
|
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| </pre></div> | ||
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| ------ | ||
| .. autoclass:: DiT2D | ||
| .. autoclass:: DiT1D | ||
| :special-members: __init__ | ||
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