SirStone
cdde60d79f
- Add gotoTick/aimToTick controller functions (#25) - Update network dims: actor 5→6, state 42→44 (#26) - Rewrite mapActions for 6-dim command space (#27) - Delete stale weight files (shape mismatch) - Fix existing tests for new signatures Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
78 lines
3.0 KiB
Nim
78 lines
3.0 KiB
Nim
## network.nim — MLP and ActorCritic forward pass (inference only, no autograd).
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import arraymancer
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import std/[math, random]
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const
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STATE_DIM* = 44
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ACTION_DIM* = 6
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type
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MLP* = object
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w1*, b1*: Tensor[float32] # [hidden, input], [hidden]
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w2*, b2*: Tensor[float32] # [hidden, hidden], [hidden]
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w3*, b3*: Tensor[float32] # [output, hidden], [output]
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ActorCritic* = object
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actor*: MLP
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critic*: MLP
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logStd*: Tensor[float32] # [ACTION_DIM] — one per action dim
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proc initMLP*(inputDim, hiddenDim, outputDim: int): MLP =
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# Xavier/He-style init: scale weights by sqrt(2/fan_in)
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result.w1 = randomNormalTensor[float32]([hiddenDim, inputDim]) *. sqrt(2.0'f32 / inputDim.float32)
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result.b1 = zeros[float32](hiddenDim)
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result.w2 = randomNormalTensor[float32]([hiddenDim, hiddenDim]) *. sqrt(2.0'f32 / hiddenDim.float32)
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result.b2 = zeros[float32](hiddenDim)
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result.w3 = randomNormalTensor[float32]([outputDim, hiddenDim]) *. sqrt(1.0'f32 / hiddenDim.float32)
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result.b3 = zeros[float32](outputDim)
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proc initActorCritic*(): ActorCritic =
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result.actor = initMLP(STATE_DIM, 64, ACTION_DIM)
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result.critic = initMLP(STATE_DIM, 64, 1)
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result.logStd = zeros[float32](ACTION_DIM) # init to 0 → std=1
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proc forward*(mlp: MLP, x: Tensor[float32]): Tensor[float32] =
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## x shape: [inputDim] (1D vector)
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let h1 = tanh(mlp.w1 * x + mlp.b1)
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let h2 = tanh(mlp.w2 * h1 + mlp.b2)
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result = mlp.w3 * h2 + mlp.b3
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proc actorForward*(ac: ActorCritic, state: Tensor[float32]): tuple[actions: Tensor[float32], logProb: float32] =
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## state: [STATE_DIM]. Returns sampled actions [ACTION_DIM] and sum log-prob.
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let mean = ac.actor.forward(state)
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# Floor logStd at -3 before exp → min std ≈ 0.05
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var clampedLogStd = ac.logStd.map(proc(v: float32): float32 = max(v, -3.0'f32))
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let std = clampedLogStd.map(proc(v: float32): float32 = exp(v))
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var actions = newTensor[float32](ACTION_DIM)
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var logP = 0.0'f32
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for i in 0..<ACTION_DIM:
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let mu = mean[i]
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let s = std[i]
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let z = gauss(0.0'f64, 1.0'f64).float32
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actions[i] = mu + s * z
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# log N(a; mu, s) = -0.5*((a-mu)/s)^2 - log(s) - 0.5*log(2π)
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let diff = (actions[i] - mu) / s
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logP += -0.5'f32 * diff * diff - ln(s) - 0.5'f32 * ln(2.0'f32 * PI.float32)
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result = (actions: actions, logProb: logP)
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proc criticForward*(ac: ActorCritic, state: Tensor[float32]): float32 =
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## state: [STATE_DIM]. Returns scalar value estimate.
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let val = ac.critic.forward(state)
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result = val[0]
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proc computeLogProb*(ac: ActorCritic, state, action: Tensor[float32]): float32 =
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## Log-probability of action under current policy (no sampling).
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let mean = ac.actor.forward(state)
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let logStdClamped = ac.logStd.map(proc(v: float32): float32 = max(v, -3.0'f32))
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let std = logStdClamped.map(proc(v: float32): float32 = exp(v))
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var logP = 0.0'f32
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for i in 0..<ACTION_DIM:
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let mu = mean[i]
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let s = std[i]
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let diff = (action[i] - mu) / s
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logP += -0.5'f32 * diff * diff - ln(s) - 0.5'f32 * ln(2.0'f32 * PI.float32)
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result = logP
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