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fix moe shared weights bug

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wty-yy
2025-12-30 22:02:31 +08:00
parent 57d70df845
commit 010c5b1700
3 changed files with 31 additions and 64 deletions
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40
rsl_rl/rsl_rl/modules/actor_critic_cts.py
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@@ -1,33 +1,13 @@
# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Copyright (c) 2021 ETH Zurich, Nikita Rudin
# -*- coding: utf-8 -*-
'''
@File : actor_critic_cts.py
@Time : 2025/12/30 21:06:08
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Concurrent Teacher Student Network
@Refer : CTS https://arxiv.org/abs/2405.10830
'''
import numpy as np
import torch

54
rsl_rl/rsl_rl/modules/actor_critic_moe_cts.py
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@@ -1,33 +1,13 @@
# SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Copyright (c) 2021 ETH Zurich, Nikita Rudin
# -*- coding: utf-8 -*-
'''
@File : actor_critic_moe_cts.py
@Time : 2025/12/30 21:06:46
@Author : wty-yy
@Version : 1.0
@Blog : https://wty-yy.github.io/
@Desc : Mixture of Experts Concurrent Teacher Student Network
@Refer : CTS https://arxiv.org/abs/2405.10830, Switch Transformers https://arxiv.org/abs/2101.03961
'''
import numpy as np
import torch
@@ -208,7 +188,7 @@ class StudentMoEEncoder(nn.Module):
gating_dim,
hidden_dims=[512, 256],
expert_num=8,
expert_hidden_dim=128,
expert_hidden_dim=256,
latent_dim=32,
activation='elu',
norm_type='l2norm',
@@ -231,7 +211,12 @@ class StudentMoEEncoder(nn.Module):
nn.Linear(last_dim, expert_num * expert_hidden_dim),
activation
)
self.experts_out = nn.Linear(expert_hidden_dim, latent_dim)
self.experts_out = nn.Conv1d(
in_channels=expert_num*expert_hidden_dim,
out_channels=expert_num*latent_dim,
kernel_size=1,
groups=expert_num
)
# Gating network
gating_layers = []
@@ -248,8 +233,9 @@ class StudentMoEEncoder(nn.Module):
weights = self.gating_network(obs) # (batch, expert_num)
shared_features = self.experts_backbone(obs_no_goal)
expert_hidden = self.experts_hidden(shared_features)
expert_hidden = expert_hidden.view(-1, self.expert_num, expert_hidden.shape[-1] // self.expert_num)
expert_latent = self.experts_out(expert_hidden) # (batch, expert_num, latent_dim)
expert_hidden = expert_hidden.unsqueeze(-1)
expert_latent_flat = self.experts_out(expert_hidden) # (batch, expert_num * latent_dim, 1)
expert_latent = expert_latent_flat.reshape(-1, self.expert_num, self.latent_dim)
latent = torch.sum(weights.unsqueeze(-1) * expert_latent, dim=1) # (batch, latent_dim)
latent = self.norm_layer(latent)
return latent, weights