TorchPolicy.cpp

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#include "TorchPolicy.h"

#include <torch/all.h>

namespace Rcs
{

TorchPolicy::TorchPolicy(const char* filename)
{
    torch::set_default_dtype(torch::scalarTypeToTypeMeta(torch::kDouble));
    
    // Load policy from file
    module = torch::jit::load(filename);
    
    // Make sure the module has the right data type
    module.to(torch::kDouble);
}

TorchPolicy::~TorchPolicy()
{
    // Nothing to do here
}

void TorchPolicy::reset()
{
    // Call a reset method if it exists
    auto resetMethod = module.find_method("reset");
    if (resetMethod.has_value()) {
        torch::jit::Stack stack;
        resetMethod->run(stack);
    }
}

void TorchPolicy::computeAction(MatNd* action, const MatNd* observation)
{
    // Convert input to torch
    torch::Tensor obs_to = torch::from_blob(observation->ele, {observation->m}, torch::dtype(torch::kDouble));
    
    // Forward input through the module
    torch::Tensor act_to = module.forward({obs_to}).toTensor();
    
    // Convert output back to MatNd
    torch::Tensor act_out = torch::from_blob(action->ele, {action->m}, torch::dtype(torch::kDouble));
    act_out.copy_(act_to);
}

static ControlPolicyRegistration<TorchPolicy> RegTorchPolicy("torch");

} /* namespace Rcs */