baselines/common/models.py
def lstm(nlstm=128, layer_norm=False):
    """
    Builds LSTM (Long-Short Term Memory) network to be used in a policy.
    Note that the resulting function returns not only the output of the LSTM
    (i.e. hidden state of lstm for each step in the sequence), but also a dictionary
    with auxiliary tensors to be set as policy attributes.

    Specifically,
        S is a placeholder to feed current state (LSTM state has to be managed outside policy)
        M is a placeholder for the mask (used to mask out observations after the end of the episode, but can be used for other purposes too)
        initial_state is a numpy array containing initial lstm state (usually zeros)
        state is the output LSTM state (to be fed into S at the next call)


    An example of usage of lstm-based policy can be found here: common/tests/test_doc_examples.py/test_lstm_example

    Parameters:
    ----------

    nlstm: int          LSTM hidden state size

    layer_norm: bool    if True, layer-normalized version of LSTM is used

    Returns:
    -------

    function that builds LSTM with a given input tensor / placeholder
    """

    def network_fn(X, nenv=1):
        nbatch = X.shape[0]
        nsteps = nbatch // nenv

        h = tf.layers.flatten(X)

        M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
        S = tf.placeholder(tf.float32, [nenv, 2*nlstm]) #states

        xs = batch_to_seq(h, nenv, nsteps)
        ms = batch_to_seq(M, nenv, nsteps)

        if layer_norm:
            h5, snew = utils.lnlstm(xs, ms, S, scope='lnlstm', nh=nlstm)
        else:
            h5, snew = utils.lstm(xs, ms, S, scope='lstm', nh=nlstm)

        h = seq_to_batch(h5)
        initial_state = np.zeros(S.shape.as_list(), dtype=float)

        return h, {'S':S, 'M':M, 'state':snew, 'initial_state':initial_state}

    return network_fn
def lstm(nlstm=128, layer_norm=False):
    """
    Builds LSTM (Long-Short Term Memory) network to be used in a policy.
    Note that the resulting function returns not only the output of the LSTM
    (i.e. hidden state of lstm for each step in the sequence), but also a dictionary
    with auxiliary tensors to be set as policy attributes.

    Specifically,
        S is a placeholder to feed current state (LSTM state has to be managed outside policy)
        M is a placeholder for the mask (used to mask out observations after the end of the episode, but can be used for other purposes too)
        initial_state is a numpy array containing initial lstm state (usually zeros)
        state is the output LSTM state (to be fed into S at the next call)


    An example of usage of lstm-based policy can be found here: common/tests/test_doc_examples.py/test_lstm_example

    Parameters:
    ----------

    nlstm: int          LSTM hidden state size

    layer_norm: bool    if True, layer-normalized version of LSTM is used

    Returns:
    -------

    function that builds LSTM with a given input tensor / placeholder
    """

    def network_fn(X, nenv=1):
        nbatch = X.shape[0]
        nsteps = nbatch // nenv

        h = tf.layers.flatten(X)

        M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
        S = tf.placeholder(tf.float32, [nenv, 2*nlstm]) #states

        xs = batch_to_seq(h, nenv, nsteps)
        ms = batch_to_seq(M, nenv, nsteps)

        if layer_norm:
            h5, snew = utils.lnlstm(xs, ms, S, scope='lnlstm', nh=nlstm)
        else:
            h5, snew = utils.lstm(xs, ms, S, scope='lstm', nh=nlstm)

        h = seq_to_batch(h5)
        initial_state = np.zeros(S.shape.as_list(), dtype=float)

        return h, {'S':S, 'M':M, 'state':snew, 'initial_state':initial_state}

    return network_fn
def lstm ( nlstm = 128 , layer_norm = False ) : def network_fn ( X , nenv = 1 ) : nbatch = X . shape [ 0 ] nsteps = nbatch // nenv h = tf . layers . flatten ( X ) M = tf . placeholder ( tf . float32 , [ nbatch ] ) #mask (done t-1) S = tf . placeholder ( tf . float32 , [ nenv , 2 * nlstm ] ) #states xs = batch_to_seq ( h , nenv , nsteps ) ms = batch_to_seq ( M , nenv , nsteps ) if layer_norm : h5 , snew = utils . lnlstm ( xs , ms , S , scope = 'lnlstm' , nh = nlstm ) else : h5 , snew = utils . lstm ( xs , ms , S , scope = 'lstm' , nh = nlstm ) h = seq_to_batch ( h5 ) initial_state = np . zeros ( S . shape . as_list ( ) , dtype = float ) return h , { 'S' : S , 'M' : M , 'state' : snew , 'initial_state' : initial_state } return network_fn
Builds LSTM (Long-Short Term Memory) network to be used in a policy.
    Note that the resulting function returns not only the output of the LSTM
    (i.e. hidden state of lstm for each step in the sequence), but also a dictionary
    with auxiliary tensors to be set as policy attributes.

    Specifically,
        S is a placeholder to feed current state (LSTM state has to be managed outside policy)
        M is a placeholder for the mask (used to mask out observations after the end of the episode, but can be used for other purposes too)
        initial_state is a numpy array containing initial lstm state (usually zeros)
        state is the output LSTM state (to be fed into S at the next call)


    An example of usage of lstm-based policy can be found here: common/tests/test_doc_examples.py/test_lstm_example

    Parameters:
    ----------

    nlstm: int          LSTM hidden state size

    layer_norm: bool    if True, layer-normalized version of LSTM is used

    Returns:
    -------

    function that builds LSTM with a given input tensor / placeholder
Builds LSTM ( Long - Short Term Memory ) network to be used in a policy . Note that the resulting function returns not only the output of the LSTM ( i . e . hidden state of lstm for each step in the sequence ) but also a dictionary with auxiliary tensors to be set as policy attributes .