preliminary batches and backwards passes

also adds negated noise trials because i forgot to commit that earlier

main.lua

@@ -37,12 +37,12 @@ local det_epsilon = true -- take random actions with probability eps.
 local eps_start = 1.0 * 1/60 -- i think this should be * 1/16 for atari ref.
 local eps_stop  = 0.1 * 1/60 -- "
 local eps_frames = 1000000
-local consider_past_rewards = false
 local learn_start_select = false
 --
 local epoch_trials = 40
+local negate_trials = true -- try pairs of normal and negated noise directions.
 local unperturbed_trial = true -- do a trial without any noise.
-local learning_rate = 0.3 -- bigger now that i'm shaping trials etc.
+local learning_rate = 0.3 -- bigger now that i'm stealing code etc.
 local deviation = 0.05
 --
 local cap_time = 400
@@ -231,7 +231,7 @@ local nn_x
 local nn_y
 local nn_z
 local function make_network(input_size, buttons)
-    nn_x = nn.Input(input_size)
+    nn_x = nn.Input({input_size})
     nn_y = nn_x
     nn_z = {}
     if false then
@@ -526,7 +526,11 @@ local function prepare_epoch()
     --       (the os.time() as of here) and calling nn.normal() each trial.
     for i = 1, epoch_trials do
         local noise = nn.zeros(#base_params)
+        if negate_trials and i % 2 == 0 then -- every other iteration...
+            for j = 1, #base_params do noise[j] = -trial_noise[i-1][j] end
+        else
             for j = 1, #base_params do noise[j] = nn.normal() end
+        end
         trial_noise[i] = noise
     end
     trial_i = -1
@@ -535,8 +539,6 @@ end
 local function load_next_trial()
     trial_i = trial_i + 1
     local W = nn.copy(base_params)
-    local noise = trial_noise[trial_i]
-    local devsqrt = sqrt(deviation)
     if trial_i == 0 and not unperturbed_trial then
         trial_i = 1
     end
@@ -824,7 +826,7 @@ while true do
     for i, v in ipairs(sprite_input) do insert(X, v / 256) end
     for i, v in ipairs(tile_input) do insert(X, v / 256) end
     for i, v in ipairs(extra_input) do insert(X, v / 256) end
-    if #X ~= input_size then error("input size should be: "..tostring(#X)) end
+    nn.reshape(X, 1, input_size)
 
     if enable_network and get_state() == 'playing' or ingame_paused then
         local choose = deterministic and argmax2 or rchoice2
@@ -858,7 +860,7 @@ while true do
             select  = choose(softmaxed[8]),
         }
 
-        if det_epsilon then
+        if det_epsilon then --and not trial_i == 0 then
             local eps = lerp(eps_start, eps_stop, total_frames / eps_frames)
             for k, v in pairs(jp) do
                 local ss_ok = k ~= 'start' and k ~= 'select' or learn_start_select

nn.lua

@@ -1,5 +1,7 @@
+local ceil = math.ceil
 local cos = math.cos
 local exp = math.exp
+local floor = math.floor
 local insert = table.insert
 local ipairs = ipairs
 local log = math.log
@@ -18,6 +20,9 @@ local unpack = table.unpack or unpack
 
 local Base = require("Base")
 
+-- hacks
+local function helpme() print(debug.traceback('helpme', 2):gsub("\n", "\r\n")) end
+
 -- general utilities
 
 local function copy(t) -- shallow copy
@@ -54,13 +59,23 @@ local function normal() -- box muller
 end
 
 local function zeros(n, out)
-    local out = out or {}
+    out = out or {}
+    if type(n) == 'table' then
+        local shape = n
+        n = prod(shape)
+        out.shape = shape
+    end
     for i = 1, n do out[i] = 0 end
     return out
 end
 
 local function arange(n, out)
     out = out or {}
+    if type(n) == 'table' then
+        local shape = n
+        n = prod(shape)
+        out.shape = shape
+    end
     for i = 1, n do out[i] = i - 1 end
     return out
 end
@@ -92,6 +107,143 @@ local function init_he_normal(t, fan_in, fan_out)
     return t
 end
 
+-- ndarray-ish stuff and more involved math
+
+local function pp(t, fmt, sep, ti, di, depth, isfirst, islast)
+    -- pretty-prints an nd-array.
+    fmt = fmt or '%10.7f,'
+    sep = sep or ','
+    ti = ti or 0
+    di = di or 1
+    depth = depth or 0
+
+    if t.shape == nil then
+        local s = '['
+        for i = 1, #t do s = s..fmt:format(t[i]) end
+        return s..']'..sep..'\n'
+    end
+
+    local dim = t.shape[di]
+
+    local ti_step = 1
+    for dj = di + 1, #t.shape do ti_step = ti_step * t.shape[dj] end
+
+    local indent = ''
+    for i = 1, depth do indent = indent..' ' end
+
+    local s = ''
+    if di ~= #t.shape then
+        if isfirst then s = s..indent..'[\n' else s = s..'[\n' end
+        for i = 1, dim do
+            s = s..pp(t, fmt, sep, ti, di + 1, depth + 1, i == 1, i == dim)
+            ti = ti + ti_step
+        end
+        if islast then s = s..indent..']'..sep..'\n' else s = s..indent..']'..sep end
+    else
+        s = s..indent..'['
+        for i = ti + 1, ti + dim do s = s..fmt:format(t[i])..sep end
+        s = s..']'..sep..'\n'
+    end
+    return s
+end
+
+local function ppi(t, n, ...)
+    -- TODO: determine maximum number of digits if n is omitted.
+    n = n or 1
+    return pp(t, '%'..tostring(n)..'i', ' ', ...)
+end
+
+local function checkshape_helper(shape, isbatch)
+    local s = '{ '
+    if not isbatch then
+        s = s..'n, '
+    end
+    for i, v in ipairs(shape) do
+        if not isbatch or i > 1 then
+            s = s..tostring(v)..(i ~= #shape and ', ' or ' ')
+        end
+    end
+    return s..'}'
+end
+
+local function checkshape(batch, shape)
+    assert(type(batch) == 'table', "batch is not an array")
+    assert(batch.shape ~= nil, "batch is missing a shape")
+    if #batch.shape == 1 then
+        error("batch shape is incomplete", 2)
+    end
+    for n=1, #shape do
+        if batch.shape[n+1] ~= shape[n] then
+            local s1 = checkshape_helper(batch.shape, true)
+            local s2 = checkshape_helper(shape, false)
+            error("shapes do not match: "..s1.." ~= "..s2, 2)
+        end
+    end
+    return batch.shape[1]
+end
+
+local function reshape(a, ...)
+    local new_shape = {...}
+    assert(#a == prod(new_shape), "new shape does not fit size")
+    a.shape = new_shape
+    return a
+end
+
+local function cache(bs, shape)
+    if bs == nil then return nil end
+    local fullshape = copy(shape)
+    insert(fullshape, bs, 1)
+    return zeros(fullshape)
+end
+
+local function dot(a, b, ax_a, ax_b, out)
+    ax_a = ax_a or #a.shape - 0
+    ax_b = ax_b or #b.shape - 1
+
+    assert(a.shape[ax_a] == b.shape[ax_b], "dotted axes do not match")
+    local dim = a.shape[ax_a]
+
+    local out_shape = {}
+    for di = 1, #a.shape do if di ~= ax_a then insert(out_shape, a.shape[di]) end end
+    for di = 1, #b.shape do if di ~= ax_b then insert(out_shape, b.shape[di]) end end
+
+    if out == nil then
+        out = zeros(prod(out_shape))
+    else
+        assert(prod(out_shape) == #out, "given output is the wrong size")
+    end
+    out.shape = out_shape
+
+    local a0 = 1
+    local a1 = 1
+    local b0 = 1
+    local b1 = 1
+    for di = 1, ax_a - 1 do a0 = a0 * a.shape[di] end
+    for di = 1, ax_b - 1 do b0 = b0 * b.shape[di] end
+    for di = ax_a + 1, #a.shape do a1 = a1 * a.shape[di] end
+    for di = ax_b + 1, #b.shape do b1 = b1 * b.shape[di] end
+
+    local o = 1
+    local i_end = a0 * dim - 1
+    local k_end = b0 * dim - 1
+    for i = 0, i_end, dim do for j = 1, a1 do
+    for k = 0, k_end, dim do for m = 1, b1 do
+        local res = 0
+        local x = i + j
+        local y = k + m
+        for d = 1, dim do
+            res = res + a[x] * b[y]
+            x = x + a1
+            y = y + b1
+        end
+        out[o] = res
+        o = o + 1
+    end end
+    end end
+
+    return out
+end
+
 -- nodal
 
 local function traverse(node_in, node_out, nodes, dummy_mode)
@@ -171,17 +323,17 @@ function Layer:init(name)
     self.parents = {}
     self.children = {}
     self.weights = {}
-    --self.size_in = nil
+    --self.shape_in = nil
-    --self.size_out = nil
+    --self.shape_out = nil
 end
 
 function Layer:make_shape(parent)
-    if self.size_in == nil then self.size_in = parent.size_out end
+    if self.shape_in == nil then self.shape_in = parent.shape_out end
-    if self.size_out == nil then self.size_out = self.size_in end
+    if self.shape_out == nil then self.shape_out = self.shape_in end
 end
 
 function Layer:feed(child)
-    assert(self.size_out ~= nil)
+    assert(self.shape_out ~= nil)
     child:make_shape(self)
     insert(self.children, child)
     insert(child.parents, self)
@@ -216,12 +368,18 @@ function Layer:init_weights()
     for i, w in ipairs(self.weights) do
         --print("allocating weights", i, "of", self.name)
         for j, v in ipairs(w) do w[j] = nil end -- FIXME: HACK
-        w:allocate(self.size_in, self.size_out)
+        w:allocate(prod(self.shape_in), prod(self.shape_out))
     end
+    self:reset_cache()
+end
+
+function Layer:reset_cache(bs)
+    self.bs = bs
 end
 
 function Layer:_propagate(edges, deterministic)
-    assert(#edges == 1, #edges) -- override this if you need multiple parents.
+    -- override this if you need multiple parents.
+    assert(#edges == 1, ("%s edges for node %s (expected 1)"):format(#edges, self.name))
     if deterministic then
         return self:forward_deterministic(edges[1])
     else
@@ -237,25 +395,25 @@ function Layer:propagate(values, deterministic)
             insert(edges, X)
         end
     end
-    assert(#edges > 0, #edges)
+    assert(#edges > 0, ("%s edges for node %s (expected >0)"):format(#edges, self.name))
     local Y = self:_propagate(edges, deterministic)
     return Y
 end
 
-function Input:init(size)
+function Input:init(shape)
     Layer.init(self, "Input")
-    assert(type(size) == 'number')
+    assert(type(shape) == 'table')
-    self.size_in = size
+    self.shape_in = shape
-    self.size_out = size
+    self.shape_out = shape
 end
 
 function Input:forward(X)
-    assert(#X == self.size_in)
+    checkshape(X, self.shape_in)
     return X
 end
 
 function Input:backward(dY)
-    assert(#dY == self.size_out)
+    checkshape(dY, self.shape_out)
     return zeros(#dY)
 end
 
@@ -263,99 +421,177 @@ function Relu:init()
     Layer.init(self, "Relu")
 end
 
+function Relu:reset_cache(bs)
+    print("clearing cache:", self.name, bs)
+    self.bs = bs
+
+    self.cache  = cache(bs, self.shape_out)
+    self.dcache = cache(bs, self.shape_in)
+end
+
 function Relu:forward(X)
-    assert(#X == self.size_in)
+    local bs = checkshape(X, self.shape_in)
-    self.cache = self.cache or zeros(self.size_out)
     local Y = self.cache
 
     for i = 1, #X do Y[i] = X[i] >= 0 and X[i] or 0 end
 
-    assert(#Y == self.size_out)
+    checkshape(Y, self.shape_out)
     return Y
 end
 
 function Relu:backward(dY)
-    assert(#dY == self.size_out)
+    local bs = checkshape(dY, self.shape_out)
-    self.dcache = self.dcache or zeros(self.size_in)
     local Y = self.cache
     local dX = self.dcache
 
     for i = 1, #dY do dX[i] = Y[i] >= 0 and dY[i] or 0 end
 
-    assert(#Y == self.size_in)
+    checkshape(dX, self.shape_in)
-    return Y
+    return dX
 end
 
 function Gelu:init()
     Layer.init(self, "Gelu")
 end
 
+function Gelu:reset_cache(bs)
+    print("clearing cache:", self.name, bs)
+    self.bs = bs
+
+    self.cache     = cache(bs, self.shape_out)
+    self.cache_a   = cache(bs, self.shape_out)
+    self.cache_sig = cache(bs, self.shape_out)
+    self.dcache    = cache(bs, self.shape_in)
+end
+
 function Gelu:forward(X)
-    assert(#X == self.size_in)
+    local bs = checkshape(X, self.shape_in)
-    self.cache = self.cache or zeros(self.size_out)
+    if bs ~= self.bs then self:reset_cache(bs) end
     local Y = self.cache
+    local a = self.cache_a
+    local sig = self.cache_sig
 
     -- NOTE: approximate form of GELU exploiting similarities to sigmoid curve.
     for i = 1, #X do
-        Y[i] = X[i] / (1 + exp(-1.704 * X[i]))
+        a[i] = 1.704 * X[i]
+        sig[i] = 1 / (1 + exp(-a[i]))
+        Y[i] = X[i] * sig[i]
     end
 
-    assert(#Y == self.size_out)
+    checkshape(Y, self.shape_out)
     return Y
 end
 
+function Gelu:backward(dY)
+    checkshape(dY, self.shape_out)
+    local Y = self.cache
+    local a = self.cache_a
+    local sig = self.cache_sig
+    local dX = self.dcache
+
+    for i = 1, #dY do
+        dX[i] = dY[i] * sig[i] * (1 + a[i] * (1 - sig[i]))
+    end
+
+    checkshape(dX, self.shape_in)
+    return dX
+end
+
 function Dense:init(dim)
     Layer.init(self, "Dense")
     assert(type(dim) == "number")
     self.dim = dim
-    self.size_out = dim
+    self.shape_out = {dim}
     self.coeffs = self:_new_weights(init_he_normal) -- should be normal, but...
     self.biases = self:_new_weights(init_zeros)
 end
 
 function Dense:make_shape(parent)
-    self.size_in = parent.size_out
+    self.shape_in = parent.shape_out
-    self.coeffs.shape = {self.size_in, self.dim}
+    self.coeffs.shape = {self.shape_in[#self.shape_in], self.dim}
-    self.biases.shape = self.dim
+    self.biases.shape = {1, self.dim}
+end
+
+function Dense:reset_cache(bs)
+    print("clearing cache:", self.name, bs)
+    self.bs = bs
+
+    self.cache   = cache(bs, self.shape_out)
+    self.cache_x = cache(bs, self.shape_in)
+    self.dcache  = cache(bs, self.shape_in)
 end
 
 function Dense:forward(X)
-    assert(#X == self.size_in)
+    local bs = checkshape(X, self.shape_in)
-    self.cache = self.cache or zeros(self.size_out)
+    if self.bs ~= bs then self:reset_cache(bs) end
     local Y = self.cache
 
-    for i = 1, self.dim do
+    for i = 1, #X do
-        local res = 0
+        -- only needed for backwards pass.
-        local c = (i - 1) * #X
+        self.cache_x[i] = X[i]
-        for j = 1, #X do
-            res = res + X[j] * self.coeffs[c + j]
-        end
-        Y[i] = res + self.biases[i]
     end
 
-    assert(#Y == self.size_out)
+    --dot_1aab(X, self.coeffs, Y)
+    dot(X, self.coeffs, 2, 1, Y)
+
+    for i = 1, self.dim do
+        Y[i] = Y[i] + self.biases[i]
+    end
+
+    checkshape(Y, self.shape_out)
     return Y
 end
 
+function Dense:backward(dY)
+    local X = self.cache_x
+    local dX = self.dcache
+
+    --dot_ta(X, dY, self.coeffs.g)
+    dot(X, dY, 1, 1, self.coeffs.g)
+
+    for b = 1, X.shape[1] do
+        local l = X.shape[2]
+        local j = (b - 1) * l
+        for i = 1, l do self.biases.g[i] = self.biases.g[i] + dY[j-1+i] end
+    end
+
+    --dot_tb(dY, self.coeffs, dX)
+    dot(dY, self.coeffs, 2, 2, dX)
+
+    checkshape(dX, self.shape_in)
+    return dX
+end
+
 function Softmax:init()
     Layer.init(self, "Softmax")
 end
 
+function Softmax:reset_cache(bs)
+    print("clearing cache:", self.name, bs)
+    self.bs = bs
+
+    self.cache = cache(bs, self.shape_out)
+end
+
 function Softmax:forward(X)
-    assert(#X == self.size_in)
+    local bs = checkshape(X, self.shape_in)
-    self.cache = self.cache or zeros(self.size_out)
+    if self.bs ~= bs then self:reset_cache(bs) end
     local Y = self.cache
 
     local alpha = 0
     local num = {} -- TODO: cache
     local den = 0
 
-    for i = 1, #X do alpha = max(alpha, X[i]) end
+    for b = 1, X.shape[1] do
-    for i = 1, #X do num[i] = exp(X[i] - alpha) end
+        local l = X.shape[2]
-    for i = 1, #X do den = den + num[i] end
+        local j = (b - 1) * l
-    for i = 1, #X do Y[i] = num[i] / den end
+        for i = j+1, j+l do alpha = max(alpha, X[i]) end
+        for i = j+1, j+l do num[i] = exp(X[i] - alpha) end
+        for i = j+1, j+l do den = den + num[i] end
+        for i = j+1, j+l do Y[i] = num[i] / den end
+    end
 
-    assert(#Y == self.size_out)
+    checkshape(Y, self.shape_out)
     return Y
 end
 
@@ -392,6 +628,7 @@ function Model:forward(inputs)
         if contains(self.nodes_in, node) then
             local X = inputs[node]
             assert(X ~= nil, ("missing input for node %s"):format(node.name))
+            assert(X.shape,  ("missing shape for node %s"):format(node.name))
             values[node] = node:_propagate({X})
         else
             values[node] = node:propagate(values)
@@ -491,6 +728,10 @@ return {
     init_zeros = init_zeros,
     init_he_uniform = init_he_uniform,
     init_he_normal = init_he_normal,
+    reshape = reshape,
+    pp = pp,
+    ppi = ppi,
+    dot = dot,
     traverse = traverse,
     traverse_all = traverse_all,