ray/rllib/algorithms/dqn/distributional_q_tf_model.py

"""Tensorflow model for DQN"""

from typing import List

import gym
from ray.rllib.models.tf.layers import NoisyLayer
from ray.rllib.models.tf.tf_modelv2 import TFModelV2
from ray.rllib.utils.framework import try_import_tf
from ray.rllib.utils.typing import ModelConfigDict, TensorType

tf1, tf, tfv = try_import_tf()


class DistributionalQTFModel(TFModelV2):
    """Extension of standard TFModel to provide distributional Q values.

    It also supports options for noisy nets and parameter space noise.

    Data flow:
        obs -> forward() -> model_out
        model_out -> get_q_value_distributions() -> Q(s, a) atoms
        model_out -> get_state_value() -> V(s)

    Note that this class by itself is not a valid model unless you
    implement forward() in a subclass."""

    def __init__(
        self,
        obs_space: gym.spaces.Space,
        action_space: gym.spaces.Space,
        num_outputs: int,
        model_config: ModelConfigDict,
        name: str,
        q_hiddens=(256,),
        dueling: bool = False,
        num_atoms: int = 1,
        use_noisy: bool = False,
        v_min: float = -10.0,
        v_max: float = 10.0,
        sigma0: float = 0.5,
        # TODO(sven): Move `add_layer_norm` into ModelCatalog as
        #  generic option, then error if we use ParameterNoise as
        #  Exploration type and do not have any LayerNorm layers in
        #  the net.
        add_layer_norm: bool = False,
    ):
        """Initialize variables of this model.

        Extra model kwargs:
            q_hiddens (List[int]): List of layer-sizes after(!) the
                Advantages(A)/Value(V)-split. Hence, each of the A- and V-
                branches will have this structure of Dense layers. To define
                the NN before this A/V-split, use - as always -
                config["model"]["fcnet_hiddens"].
            dueling: Whether to build the advantage(A)/value(V) heads
                for DDQN. If True, Q-values are calculated as:
                Q = (A - mean[A]) + V. If False, raw NN output is interpreted
                as Q-values.
            num_atoms: If >1, enables distributional DQN.
            use_noisy: Use noisy nets.
            v_min: Min value support for distributional DQN.
            v_max: Max value support for distributional DQN.
            sigma0 (float): Initial value of noisy layers.
            add_layer_norm: Enable layer norm (for param noise).

        Note that the core layers for forward() are not defined here, this
        only defines the layers for the Q head. Those layers for forward()
        should be defined in subclasses of DistributionalQModel.
        """
        super(DistributionalQTFModel, self).__init__(
            obs_space, action_space, num_outputs, model_config, name
        )

        # setup the Q head output (i.e., model for get_q_values)
        self.model_out = tf.keras.layers.Input(shape=(num_outputs,), name="model_out")

        def build_action_value(prefix: str, model_out: TensorType) -> List[TensorType]:
            if q_hiddens:
                action_out = model_out
                for i in range(len(q_hiddens)):
                    if use_noisy:
                        action_out = NoisyLayer(
                            "{}hidden_{}".format(prefix, i), q_hiddens[i], sigma0
                        )(action_out)
                    elif add_layer_norm:
                        action_out = tf.keras.layers.Dense(
                            units=q_hiddens[i], activation=tf.nn.relu
                        )(action_out)
                        action_out = tf.keras.layers.LayerNormalization()(action_out)
                    else:
                        action_out = tf.keras.layers.Dense(
                            units=q_hiddens[i],
                            activation=tf.nn.relu,
                            name="hidden_%d" % i,
                        )(action_out)
            else:
                # Avoid postprocessing the outputs. This enables custom models
                # to be used for parametric action DQN.
                action_out = model_out

            if use_noisy:
                action_scores = NoisyLayer(
                    "{}output".format(prefix),
                    self.action_space.n * num_atoms,
                    sigma0,
                    activation=None,
                )(action_out)
            elif q_hiddens:
                action_scores = tf.keras.layers.Dense(
                    units=self.action_space.n * num_atoms, activation=None
                )(action_out)
            else:
                action_scores = model_out

            if num_atoms > 1:
                # Distributional Q-learning uses a discrete support z
                # to represent the action value distribution
                z = tf.range(num_atoms, dtype=tf.float32)
                z = v_min + z * (v_max - v_min) / float(num_atoms - 1)

                def _layer(x):
                    support_logits_per_action = tf.reshape(
                        tensor=x, shape=(-1, self.action_space.n, num_atoms)
                    )
                    support_prob_per_action = tf.nn.softmax(
                        logits=support_logits_per_action
                    )
                    x = tf.reduce_sum(input_tensor=z * support_prob_per_action, axis=-1)
                    logits = support_logits_per_action
                    dist = support_prob_per_action
                    return [x, z, support_logits_per_action, logits, dist]

                return tf.keras.layers.Lambda(_layer)(action_scores)
            else:
                logits = tf.expand_dims(tf.ones_like(action_scores), -1)
                dist = tf.expand_dims(tf.ones_like(action_scores), -1)
                return [action_scores, logits, dist]

        def build_state_score(prefix: str, model_out: TensorType) -> TensorType:
            state_out = model_out
            for i in range(len(q_hiddens)):
                if use_noisy:
                    state_out = NoisyLayer(
                        "{}dueling_hidden_{}".format(prefix, i), q_hiddens[i], sigma0
                    )(state_out)
                else:
                    state_out = tf.keras.layers.Dense(
                        units=q_hiddens[i], activation=tf.nn.relu
                    )(state_out)
                    if add_layer_norm:
                        state_out = tf.keras.layers.LayerNormalization()(state_out)
            if use_noisy:
                state_score = NoisyLayer(
                    "{}dueling_output".format(prefix),
                    num_atoms,
                    sigma0,
                    activation=None,
                )(state_out)
            else:
                state_score = tf.keras.layers.Dense(units=num_atoms, activation=None)(
                    state_out
                )
            return state_score

        q_out = build_action_value(name + "/action_value/", self.model_out)
        self.q_value_head = tf.keras.Model(self.model_out, q_out)

        if dueling:
            state_out = build_state_score(name + "/state_value/", self.model_out)
            self.state_value_head = tf.keras.Model(self.model_out, state_out)

    def get_q_value_distributions(self, model_out: TensorType) -> List[TensorType]:
        """Returns distributional values for Q(s, a) given a state embedding.

        Override this in your custom model to customize the Q output head.

        Args:
            model_out: embedding from the model layers

        Returns:
            (action_scores, logits, dist) if num_atoms == 1, otherwise
            (action_scores, z, support_logits_per_action, logits, dist)
        """
        return self.q_value_head(model_out)

    def get_state_value(self, model_out: TensorType) -> TensorType:
        """Returns the state value prediction for the given state embedding."""
        return self.state_value_head(model_out)