added rnn

.gitignore

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+# Created by .ignore support plugin (hsz.mobi)
+.gitignore
+.idea/

rnn.py

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+import torch.nn as nn
+from torch import normal, multinomial
+
+
+
+class MDNRNN(nn.Module):
+    def __init__(self, z_dim, action_dim, hidden_size, n_mixture, temperature):
+        """
+            :param z_dim: the dimension of VAE latent variable
+            :param hidden_size: hidden size of RNN
+            :param n_mixture: number of Gaussian Mixture Models to be used
+            :param temperature: controls the randomness of the model
+
+            MDNRNN stands for Mixture Density Network - RNN.
+            The output of this model is [mean, sigma^2, K],
+            where mean and sigma^2 have z_dim * n_mixture elements and
+            K has n_mixture elements.
+        """
+        super(MDNRNN, self).__init__()
+        # define rnn
+        self.inpt_size = z_dim + action_dim
+        self.rnn = nn.LSTM(input_size=self.inpt_size, hidden_size=hidden_size, batch_first=True)
+
+        # define MDN as fully connected layer
+        self.mdn = nn.Linear(hidden_size, n_mixture * z_dim * 2 + n_mixture)
+        self.tau = temperature
+
+    def forward(self, inpt, hidden_state, action):
+        """
+        :param inpt: a tensor of size (batch_size, seq_len, D)
+        :param hidden_state: two tensors of size (1, batch_size, hidden_size)
+        :param action: a tensor of (batch_size, seq_len, D*)
+        :return: pi, mean, sigma, hidden_state
+        """
+        # TODO: Add forward function
+        return
+
+    def sample(self, inpt, hidden_state, action):
+        """
+        parameters same as forward
+        :return:
+        """
+        # forward and get pi, mean. sigma, hidden_state
+        pi, mean, sigma, hidden_state = self.forward(inpt, hidden_state, action)
+
+        # randomly draw a mixture model
+        k = multinomial(pi, 1)
+        selected_mean = mean[..., k]
+        selected_sigma = sigma[..., k]
+
+        # sample from normal dist
+        z = normal(selected_mean, selected_sigma)
+        return z, hidden_state