Fix predict for reparameterized modules

Better way would probably be to rewrite flat_grad and reparam

src/core/policy.py

@@ -17,10 +17,13 @@ class BasePolicy(nn.Module):
     
     def predict(self, observations, state=None, episode_start=None, deterministic=True):
         observations = torch.tensor(observations)
+        return self._predict(self.forward(observations), state, episode_start, deterministic)
+    
+    def _predict(self, dist, state=None, episode_start=None, deterministic=True):
         if deterministic:
-            actions = self.forward(observations)[..., :self.action_dim]
+            actions = dist[..., :self.action_dim]
         else:
-            actions = self.sample(self.forward(observations))
+            actions = self.sample(dist)
         return actions, None
 
     def log_prob(self, dist, actions):
@@ -64,12 +67,11 @@ class DiscretePolicy(BasePolicy):
     def torch_dist(self, dist):
         return Categorical(logits=dist)
     
-    def predict(self, observations, state=None, episode_start=None, deterministic=True):
+    def _predict(self, dist, state=None, episode_start=None, deterministic=True):
-        observations = torch.tensor(observations)
         if deterministic:
-            _, actions = self.forward(observations).max(-1)
+            _, actions = dist.max(-1)
         else:
-            actions = self.sample(self.forward(observations))
+            actions = self.sample(dist)
         return actions, None
 
 class SetPolicy(Policy):

src/core/reparam_module.py

@@ -158,8 +158,16 @@ class ReparamPolicy(ReparamModule):
     def kl_divergence(self, *args, **kwargs):
         return self.module.kl_divergence(*args, **kwargs)
     
-    def predict(self, *args, **kwargs):
+    def predict(self, obs, *args, **kwargs):
-        return self.module.predict(*args, **kwargs)
+        obs = torch.tensor(obs)
+        return self.module._predict(self.forward(obs), *args, **kwargs)
     
     def unsafe_probability_mass(self, *args, **kwargs):
         return self.module.unsafe_probability_mass(*args, **kwargs)
+
+class ReparamSafePolicy(ReparamPolicy):
+
+    def predict(self, obs, *args, **kwargs):
+        observation = torch.tensor(obs['observation'])
+        safe_actions = torch.tensor(obs['safe_actions'])
+        return self.module._predict(self.forward(observation, safe_actions), *args, **kwargs)

src/eval_main.py

@@ -10,7 +10,7 @@ import src.gail.options as options_envs
 from src.evaluation.metrics import divergence, visualize_distribution, rwse
 from src.evaluation.utils import save_metrics
 from src.core.policy import SetPolicy, SetDiscretePolicy
-from src.core.reparam_module import ReparamPolicy
+from src.core.reparam_module import ReparamPolicy, ReparamSafePolicy
 from src.options import envs as options_envs2
 from src.safe_options.policy import SetMaskedDiscretePolicy
 from src.safe_options import options as options_envs3
@@ -70,7 +70,7 @@ def load_policy(method:str,
             torch.zeros(env.observation_space['observation'].shape),
             torch.zeros(env.observation_space['safe_actions'].shape)
         )
-        policy = ReparamPolicy(policy)
+        policy = ReparamSafePolicy(policy)
         policy.load_state_dict(torch.load(policy_file))
         policy.eval()
     elif method == 'sgail-ppo':

src/safe_options/policy.py

@@ -24,10 +24,13 @@ class SetMaskedDiscretePolicy(SetDiscretePolicy):
     def predict(self, observations, state=None, episode_start=None, deterministic=True):
         observation = torch.tensor(observations['observation'])
         safe_actions = torch.tensor(observations['safe_actions'])
+        return self._predict(self.forward(observation, safe_actions), state, episode_start, deterministic)
+    
+    def _predict(self, dist, state=None, episode_start=None, deterministic=True):
         if deterministic:
-            _, actions = self.forward(observation, safe_actions).max(-1)
+            _, actions = self.torch_dist(dist).probs.max(-1)
         else:
-            actions = self.sample(self.forward(observation, safe_actions))
+            actions = self.sample(dist)
         return actions, None
     
     # def torch_dist_nomask(self, dist):