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from typing import Union, List
import torch
import torch.nn as nn
import torch.nn.functional as F
from functools import reduce
from ding.utils import list_split, MODEL_REGISTRY
from ding.torch_utils.network.nn_module import fc_block, MLP
from ding.torch_utils.network.transformer import ScaledDotProductAttention
from .q_learning import DRQN
from ding.model.template.qmix import Mixer
class MixerStar(nn.Module):
"""
Overview:
Mixer network for Q_star in WQMIX(https://arxiv.org/abs/2006.10800), which mix up the independent q_value of \
each agent to a total q_value and is diffrent from the QMIX's mixer network, \
here the mixing network is a feedforward network with 3 hidden layers of 256 dim. \
This Q_star mixing network is not constrained to be monotonic by using non-negative weights and \
having the state and agent_q be inputs, as opposed to having hypernetworks take the state as input \
and generate the weights in QMIX.
Interface:
``__init__``, ``forward``.
"""
def __init__(self, agent_num: int, state_dim: int, mixing_embed_dim: int) -> None:
"""
Overview:
Initialize the mixer network of Q_star in WQMIX.
Arguments:
- agent_num (:obj:`int`): The number of agent, e.g., 8.
- state_dim(:obj:`int`): The dimension of global observation state, e.g., 16.
- mixing_embed_dim (:obj:`int`): The dimension of mixing state emdedding, e.g., 128.
"""
super(MixerStar, self).__init__()
self.agent_num = agent_num
self.state_dim = state_dim
self.embed_dim = mixing_embed_dim
self.input_dim = self.agent_num + self.state_dim # shape N+A
non_lin = nn.ReLU()
self.net = nn.Sequential(
nn.Linear(self.input_dim, self.embed_dim), non_lin, nn.Linear(self.embed_dim, self.embed_dim), non_lin,
nn.Linear(self.embed_dim, self.embed_dim), non_lin, nn.Linear(self.embed_dim, 1)
)
# V(s) instead of a bias for the last layers
self.V = nn.Sequential(nn.Linear(self.state_dim, self.embed_dim), non_lin, nn.Linear(self.embed_dim, 1))
def forward(self, agent_qs: torch.FloatTensor, states: torch.FloatTensor) -> torch.FloatTensor:
"""
Overview:
Forward computation graph of the mixer network for Q_star in WQMIX. This mixer network for \
is a feed-forward network that takes the state and the appropriate actions' utilities as input.
Arguments:
- agent_qs (:obj:`torch.FloatTensor`): The independent q_value of each agent.
- states (:obj:`torch.FloatTensor`): The emdedding vector of global state.
Returns:
- q_tot (:obj:`torch.FloatTensor`): The total mixed q_value.
Shapes:
- agent_qs (:obj:`torch.FloatTensor`): :math:`(T,B, N)`, where T is timestep, \
B is batch size, A is agent_num, N is obs_shape.
- states (:obj:`torch.FloatTensor`): :math:`(T, B, M)`, where M is global_obs_shape.
- q_tot (:obj:`torch.FloatTensor`): :math:`(T, B, )`.
"""
# in below annotations about the shape of the variables, T is timestep,
# B is batch_size A is agent_num, N is obs_shape， for example,
# in 3s5z, we can set T=10, B=32, A=8, N=216
bs = agent_qs.shape[:-1] # (T*B, A)
states = states.reshape(-1, self.state_dim) # T*B, N),
agent_qs = agent_qs.reshape(-1, self.agent_num) # (T, B, A) -> (T*B, A)
inputs = torch.cat([states, agent_qs], dim=1) # (T*B, N) (T*B, A)-> (T*B, N+A)
advs = self.net(inputs) # (T*B, 1)
vs = self.V(states) # (T*B, 1)
y = advs + vs
q_tot = y.view(*bs) # (T*B, 1) -> (T, B)
return q_tot
@MODEL_REGISTRY.register('wqmix')
class WQMix(nn.Module):
"""
Overview:
WQMIX (https://arxiv.org/abs/2006.10800) network, There are two components: \
1) Q_tot, which is same as QMIX network and composed of agent Q network and mixer network. \
2) An unrestricted joint action Q_star, which is composed of agent Q network and mixer_star network. \
The QMIX paper mentions that all agents share local Q network parameters, so only one Q network is initialized \
in Q_tot or Q_star.
Interface:
``__init__``, ``forward``.
"""
def __init__(
self,
agent_num: int,
obs_shape: int,
global_obs_shape: int,
action_shape: int,
hidden_size_list: list,
lstm_type: str = 'gru',
dueling: bool = False
) -> None:
"""
Overview:
Initialize WQMIX neural network according to arguments, i.e. agent Q network and mixer, \
Q_star network and mixer_star.
Arguments:
- agent_num (:obj:`int`): The number of agent, such as 8.
- obs_shape (:obj:`int`): The dimension of each agent's observation state, such as 8.
- global_obs_shape (:obj:`int`): The dimension of global observation state, such as 8.
- action_shape (:obj:`int`): The dimension of action shape, such as 6.
- hidden_size_list (:obj:`list`): The list of hidden size for ``q_network``, \
the last element must match mixer's ``mixing_embed_dim``.
- lstm_type (:obj:`str`): The type of RNN module in ``q_network``, now support \
['normal', 'pytorch', 'gru'], default to gru.
- dueling (:obj:`bool`): Whether choose ``DuelingHead`` (True) or ``DiscreteHead (False)``, \
default to False.
"""
super(WQMix, self).__init__()
self._act = nn.ReLU()
self._q_network = DRQN(obs_shape, action_shape, hidden_size_list, lstm_type=lstm_type, dueling=dueling)
self._q_network_star = DRQN(obs_shape, action_shape, hidden_size_list, lstm_type=lstm_type, dueling=dueling)
embedding_size = hidden_size_list[-1]
self._mixer = Mixer(agent_num, global_obs_shape, mixing_embed_dim=embedding_size)
self._mixer_star = MixerStar(
agent_num, global_obs_shape, mixing_embed_dim=256
) # the mixing network of Q_star is a feedforward network with 3 hidden layers of 256 dim
self._global_state_encoder = nn.Identity() # nn.Sequential()
def forward(self, data: dict, single_step: bool = True, q_star: bool = False) -> dict:
"""
Overview:
Forward computation graph of qmix network. Input dict including time series observation and \
related data to predict total q_value and each agent q_value. Determine whether to calculate \
Q_tot or Q_star based on the ``q_star`` parameter.
Arguments:
- data (:obj:`dict`): Input data dict with keys ['obs', 'prev_state', 'action'].
- agent_state (:obj:`torch.Tensor`): Time series local observation data of each agents.
- global_state (:obj:`torch.Tensor`): Time series global observation data.
- prev_state (:obj:`list`): Previous rnn state for ``q_network`` or ``_q_network_star``.
- action (:obj:`torch.Tensor` or None): If action is None, use argmax q_value index as action to\
calculate ``agent_q_act``.
- single_step (:obj:`bool`): Whether single_step forward, if so, add timestep dim before forward and\
remove it after forward.
- Q_star (:obj:`bool`): Whether Q_star network forward. If True, using the Q_star network, where the\
agent networks have the same architecture as Q network but do not share parameters and the mixing\
network is a feedforward network with 3 hidden layers of 256 dim; if False, using the Q network,\
same as the Q network in Qmix paper.
Returns:
- ret (:obj:`dict`): Output data dict with keys [``total_q``, ``logit``, ``next_state``].
- total_q (:obj:`torch.Tensor`): Total q_value, which is the result of mixer network.
- agent_q (:obj:`torch.Tensor`): Each agent q_value.
- next_state (:obj:`list`): Next rnn state.
Shapes:
- agent_state (:obj:`torch.Tensor`): :math:`(T, B, A, N)`, where T is timestep, B is batch_size\
A is agent_num, N is obs_shape.
- global_state (:obj:`torch.Tensor`): :math:`(T, B, M)`, where M is global_obs_shape.
- prev_state (:obj:`list`): math:`(T, B, A)`, a list of length B, and each element is a list of length A.
- action (:obj:`torch.Tensor`): :math:`(T, B, A)`.
- total_q (:obj:`torch.Tensor`): :math:`(T, B)`.
- agent_q (:obj:`torch.Tensor`): :math:`(T, B, A, P)`, where P is action_shape.
- next_state (:obj:`list`): math:`(T, B, A)`, a list of length B, and each element is a list of length A.
"""
if q_star: # forward using Q_star network
agent_state, global_state, prev_state = data['obs']['agent_state'], data['obs']['global_state'], data[
'prev_state']
action = data.get('action', None)
if single_step:
agent_state, global_state = agent_state.unsqueeze(0), global_state.unsqueeze(0)
T, B, A = agent_state.shape[:3]
assert len(prev_state) == B and all(
[len(p) == A for p in prev_state]
), '{}-{}-{}-{}'.format([type(p) for p in prev_state], B, A, len(prev_state[0]))
prev_state = reduce(lambda x, y: x + y, prev_state)
agent_state = agent_state.reshape(T, -1, *agent_state.shape[3:])
output = self._q_network_star(
{
'obs': agent_state,
'prev_state': prev_state,
'enable_fast_timestep': True
}
) # here is the forward pass of the agent networks of Q_star
agent_q, next_state = output['logit'], output['next_state']
next_state, _ = list_split(next_state, step=A)
agent_q = agent_q.reshape(T, B, A, -1)
if action is None:
# For target forward process
if len(data['obs']['action_mask'].shape) == 3:
action_mask = data['obs']['action_mask'].unsqueeze(0)
else:
action_mask = data['obs']['action_mask']
agent_q[action_mask == 0.0] = -9999999
action = agent_q.argmax(dim=-1)
agent_q_act = torch.gather(agent_q, dim=-1, index=action.unsqueeze(-1))
agent_q_act = agent_q_act.squeeze(-1) # T, B, A
global_state_embedding = self._global_state_encoder(global_state)
total_q = self._mixer_star(
agent_q_act, global_state_embedding
) # here is the forward pass of the mixer networks of Q_star
if single_step:
total_q, agent_q = total_q.squeeze(0), agent_q.squeeze(0)
return {
'total_q': total_q,
'logit': agent_q,
'next_state': next_state,
'action_mask': data['obs']['action_mask']
}
else: # forward using Q network
agent_state, global_state, prev_state = data['obs']['agent_state'], data['obs']['global_state'], data[
'prev_state']
action = data.get('action', None)
if single_step:
agent_state, global_state = agent_state.unsqueeze(0), global_state.unsqueeze(0)
T, B, A = agent_state.shape[:3]
assert len(prev_state) == B and all(
[len(p) == A for p in prev_state]
), '{}-{}-{}-{}'.format([type(p) for p in prev_state], B, A, len(prev_state[0]))
prev_state = reduce(lambda x, y: x + y, prev_state)
agent_state = agent_state.reshape(T, -1, *agent_state.shape[3:])
output = self._q_network(
{
'obs': agent_state,
'prev_state': prev_state,
'enable_fast_timestep': True
}
) # here is the forward pass of the agent networks of Q
agent_q, next_state = output['logit'], output['next_state']
next_state, _ = list_split(next_state, step=A)
agent_q = agent_q.reshape(T, B, A, -1)
if action is None:
# For target forward process
if len(data['obs']['action_mask'].shape) == 3:
action_mask = data['obs']['action_mask'].unsqueeze(0)
else:
action_mask = data['obs']['action_mask']
agent_q[action_mask == 0.0] = -9999999
action = agent_q.argmax(dim=-1)
agent_q_act = torch.gather(agent_q, dim=-1, index=action.unsqueeze(-1))
agent_q_act = agent_q_act.squeeze(-1) # T, B, A
global_state_embedding = self._global_state_encoder(global_state)
total_q = self._mixer(
agent_q_act, global_state_embedding
) # here is the forward pass of the mixer networks of Q
if single_step:
total_q, agent_q = total_q.squeeze(0), agent_q.squeeze(0)
return {
'total_q': total_q,
'logit': agent_q,
'next_state': next_state,
'action_mask': data['obs']['action_mask']
}
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