modeling_decision_transformer.py

# coding=utf-8
# Copyright 2022 The HuggingFace Team The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
""" PyTorch DecisionTransformer model."""

import math
import os
from dataclasses import dataclass
from typing import Optional, Tuple, Union

import torch
import torch.utils.checkpoint
from torch import nn
from torch.cuda.amp import autocast

from ...activations import ACT2FN
from ...modeling_outputs import BaseModelOutputWithPastAndCrossAttentions
from ...modeling_utils import PreTrainedModel
from ...pytorch_utils import Conv1D, find_pruneable_heads_and_indices, prune_conv1d_layer
from ...utils import (
    ModelOutput,
    add_start_docstrings,
    add_start_docstrings_to_model_forward,
    logging,
    replace_return_docstrings,
)
from .configuration_decision_transformer import DecisionTransformerConfig


logger = logging.get_logger(__name__)

_CHECKPOINT_FOR_DOC = "edbeeching/decision-transformer-gym-hopper-medium"
_CONFIG_FOR_DOC = "DecisionTransformerConfig"

DECISION_TRANSFORMER_PRETRAINED_MODEL_ARCHIVE_LIST = [
    "edbeeching/decision-transformer-gym-hopper-medium",
    # See all DecisionTransformer models at https://huggingface.co/models?filter=decision_transformer
]


# Copied from transformers.models.gpt2.modeling_gpt2.load_tf_weights_in_gpt2
def load_tf_weights_in_gpt2(model, config, gpt2_checkpoint_path):
    """Load tf checkpoints in a pytorch model"""
    try:
        import re

        import tensorflow as tf
    except ImportError:
        logger.error(
            "Loading a TensorFlow model in PyTorch, requires TensorFlow to be installed. Please see "
            "https://www.tensorflow.org/install/ for installation instructions."
        )
        raise
    tf_path = os.path.abspath(gpt2_checkpoint_path)
    logger.info(f"Converting TensorFlow checkpoint from {tf_path}")
    # Load weights from TF model
    init_vars = tf.train.list_variables(tf_path)
    names = []
    arrays = []
    for name, shape in init_vars:
        logger.info(f"Loading TF weight {name} with shape {shape}")
        array = tf.train.load_variable(tf_path, name)
        names.append(name)
        arrays.append(array.squeeze())

    for name, array in zip(names, arrays):
        name = name[6:]  # skip "model/"
        name = name.split("/")
        pointer = model
        for m_name in name:
            if re.fullmatch(r"[A-Za-z]+\d+", m_name):
                scope_names = re.split(r"(\d+)", m_name)
            else:
                scope_names = [m_name]
            if scope_names[0] == "w" or scope_names[0] == "g":
                pointer = getattr(pointer, "weight")
            elif scope_names[0] == "b":
                pointer = getattr(pointer, "bias")
            elif scope_names[0] == "wpe" or scope_names[0] == "wte":
                pointer = getattr(pointer, scope_names[0])
                pointer = getattr(pointer, "weight")
            else:
                pointer = getattr(pointer, scope_names[0])
            if len(scope_names) >= 2:
                num = int(scope_names[1])
                pointer = pointer[num]
        try:
            assert (
                pointer.shape == array.shape
            ), f"Pointer shape {pointer.shape} and array shape {array.shape} mismatched"
        except AssertionError as e:
            e.args += (pointer.shape, array.shape)
            raise
        logger.info(f"Initialize PyTorch weight {name}")
        pointer.data = torch.from_numpy(array)
    return model


# Copied from transformers.models.gpt2.modeling_gpt2.GPT2Attention with GPT2->DecisionTransformerGPT2
class DecisionTransformerGPT2Attention(nn.Module):
    def __init__(self, config, is_cross_attention=False, layer_idx=None):
        super().__init__()

        max_positions = config.max_position_embeddings
        self.register_buffer(
            "bias",
            torch.tril(torch.ones((max_positions, max_positions), dtype=torch.bool)).view(
                1, 1, max_positions, max_positions
            ),
            persistent=False,
        )
        self.register_buffer("masked_bias", torch.tensor(-1e4), persistent=False)

        self.embed_dim = config.hidden_size
        self.num_heads = config.num_attention_heads
        self.head_dim = self.embed_dim // self.num_heads
        self.split_size = self.embed_dim
        if self.head_dim * self.num_heads != self.embed_dim:
            raise ValueError(
                f"`embed_dim` must be divisible by num_heads (got `embed_dim`: {self.embed_dim} and `num_heads`:"
                f" {self.num_heads})."
            )

        self.scale_attn_weights = config.scale_attn_weights
        self.is_cross_attention = is_cross_attention

        # Layer-wise attention scaling, reordering, and upcasting
        self.scale_attn_by_inverse_layer_idx = config.scale_attn_by_inverse_layer_idx
        self.layer_idx = layer_idx
        self.reorder_and_upcast_attn = config.reorder_and_upcast_attn

        if self.is_cross_attention:
            self.c_attn = Conv1D(2 * self.embed_dim, self.embed_dim)
            self.q_attn = Conv1D(self.embed_dim, self.embed_dim)
        else:
            self.c_attn = Conv1D(3 * self.embed_dim, self.embed_dim)
        self.c_proj = Conv1D(self.embed_dim, self.embed_dim)

        self.attn_dropout = nn.Dropout(config.attn_pdrop)
        self.resid_dropout = nn.Dropout(config.resid_pdrop)

        self.pruned_heads = set()

    def prune_heads(self, heads):
        if len(heads) == 0:
            return
        heads, index = find_pruneable_heads_and_indices(heads, self.num_heads, self.head_dim, self.pruned_heads)
        index_attn = torch.cat([index, index + self.split_size, index + (2 * self.split_size)])

        # Prune conv1d layers
        self.c_attn = prune_conv1d_layer(self.c_attn, index_attn, dim=1)
        self.c_proj = prune_conv1d_layer(self.c_proj, index, dim=0)

        # Update hyper params
        self.split_size = (self.split_size // self.num_heads) * (self.num_heads - len(heads))
        self.num_heads = self.num_heads - len(heads)
        self.pruned_heads = self.pruned_heads.union(heads)

    def _attn(self, query, key, value, attention_mask=None, head_mask=None):
        attn_weights = torch.matmul(query, key.transpose(-1, -2))

        if self.scale_attn_weights:
            attn_weights = attn_weights / torch.full(
                [], value.size(-1) ** 0.5, dtype=attn_weights.dtype, device=attn_weights.device
            )

        # Layer-wise attention scaling
        if self.scale_attn_by_inverse_layer_idx:
            attn_weights = attn_weights / float(self.layer_idx + 1)

        if not self.is_cross_attention:
            # if only "normal" attention layer implements causal mask
            query_length, key_length = query.size(-2), key.size(-2)
            causal_mask = self.bias[:, :, key_length - query_length : key_length, :key_length]
            mask_value = torch.finfo(attn_weights.dtype).min
            # Need to be a tensor, otherwise we get error: `RuntimeError: expected scalar type float but found double`.
            # Need to be on the same device, otherwise `RuntimeError: ..., x and y to be on the same device`
            mask_value = torch.full([], mask_value, dtype=attn_weights.dtype).to(attn_weights.device)
            attn_weights = torch.where(causal_mask, attn_weights.to(attn_weights.dtype), mask_value)

        if attention_mask is not None:
            # Apply the attention mask
            attn_weights = attn_weights + attention_mask

        attn_weights = nn.functional.softmax(attn_weights, dim=-1)

        # Downcast (if necessary) back to V's dtype (if in mixed-precision) -- No-Op otherwise
        attn_weights = attn_weights.type(value.dtype)
        attn_weights = self.attn_dropout(attn_weights)

        # Mask heads if we want to
        if head_mask is not None:
            attn_weights = attn_weights * head_mask

        attn_output = torch.matmul(attn_weights, value)

        return attn_output, attn_weights

    def _upcast_and_reordered_attn(self, query, key, value, attention_mask=None, head_mask=None):
        # Use `torch.baddbmm` (a bit more efficient w/ alpha param for scaling -- from Megatron-LM)
        bsz, num_heads, q_seq_len, dk = query.size()
        _, _, k_seq_len, _ = key.size()

        # Preallocate attn_weights for `baddbmm`
        attn_weights = torch.empty(bsz * num_heads, q_seq_len, k_seq_len, dtype=torch.float32, device=query.device)

        # Compute Scale Factor
        scale_factor = 1.0
        if self.scale_attn_weights:
            scale_factor /= float(value.size(-1)) ** 0.5

        if self.scale_attn_by_inverse_layer_idx:
            scale_factor /= float(self.layer_idx + 1)

        # Upcast (turn off autocast) and reorder (Scale K by 1 / root(dk))
        with autocast(enabled=False):
            q, k = query.reshape(-1, q_seq_len, dk), key.transpose(-1, -2).reshape(-1, dk, k_seq_len)
            attn_weights = torch.baddbmm(attn_weights, q.float(), k.float(), beta=0, alpha=scale_factor)
            attn_weights = attn_weights.reshape(bsz, num_heads, q_seq_len, k_seq_len)

        if not self.is_cross_attention:
            # if only "normal" attention layer implements causal mask
            query_length, key_length = query.size(-2), key.size(-2)
            causal_mask = self.bias[:, :, key_length - query_length : key_length, :key_length]
            mask_value = torch.finfo(attn_weights.dtype).min
            # Need to be a tensor, otherwise we get error: `RuntimeError: expected scalar type float but found double`.
            # Need to be on the same device, otherwise `RuntimeError: ..., x and y to be on the same device`
            mask_value = torch.tensor(mask_value, dtype=attn_weights.dtype).to(attn_weights.device)
            attn_weights = torch.where(causal_mask, attn_weights, mask_value)

        if attention_mask is not None:
            # Apply the attention mask
            attn_weights = attn_weights + attention_mask

        attn_weights = nn.functional.softmax(attn_weights, dim=-1)

        # Downcast (if necessary) back to V's dtype (if in mixed-precision) -- No-Op if otherwise
        if attn_weights.dtype != torch.float32:
            raise RuntimeError("Error with upcasting, attn_weights does not have dtype torch.float32")
        attn_weights = attn_weights.type(value.dtype)
        attn_weights = self.attn_dropout(attn_weights)

        # Mask heads if we want to
        if head_mask is not None:
            attn_weights = attn_weights * head_mask

        attn_output = torch.matmul(attn_weights, value)

        return attn_output, attn_weights

    def _split_heads(self, tensor, num_heads, attn_head_size):
        """
        Splits hidden_size dim into attn_head_size and num_heads
        """
        new_shape = tensor.size()[:-1] + (num_heads, attn_head_size)
        tensor = tensor.view(new_shape)
        return tensor.permute(0, 2, 1, 3)  # (batch, head, seq_length, head_features)

    def _merge_heads(self, tensor, num_heads, attn_head_size):
        """
        Merges attn_head_size dim and num_attn_heads dim into hidden_size
        """
        tensor = tensor.permute(0, 2, 1, 3).contiguous()
        new_shape = tensor.size()[:-2] + (num_heads * attn_head_size,)
        return tensor.view(new_shape)

    def forward(
        self,
        hidden_states: Optional[Tuple[torch.FloatTensor]],
        layer_past: Optional[Tuple[torch.Tensor]] = None,
        attention_mask: Optional[torch.FloatTensor] = None,
        head_mask: Optional[torch.FloatTensor] = None,
        encoder_hidden_states: Optional[torch.Tensor] = None,
        encoder_attention_mask: Optional[torch.FloatTensor] = None,
        use_cache: Optional[bool] = False,
        output_attentions: Optional[bool] = False,
    ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]], ...]:
        if encoder_hidden_states is not None:
            if not hasattr(self, "q_attn"):
                raise ValueError(
                    "If class is used as cross attention, the weights `q_attn` have to be defined. "
                    "Please make sure to instantiate class with `DecisionTransformerGPT2Attention(..., is_cross_attention=True)`."
                )

            query = self.q_attn(hidden_states)
            key, value = self.c_attn(encoder_hidden_states).split(self.split_size, dim=2)
            attention_mask = encoder_attention_mask
        else:
            query, key, value = self.c_attn(hidden_states).split(self.split_size, dim=2)

        query = self._split_heads(query, self.num_heads, self.head_dim)
        key = self._split_heads(key, self.num_heads, self.head_dim)
        value = self._split_heads(value, self.num_heads, self.head_dim)

        if layer_past is not None:
            past_key, past_value = layer_past
            key = torch.cat((past_key, key), dim=-2)
            value = torch.cat((past_value, value), dim=-2)

        if use_cache is True:
            present = (key, value)
        else:
            present = None

        if self.reorder_and_upcast_attn:
            attn_output, attn_weights = self._upcast_and_reordered_attn(query, key, value, attention_mask, head_mask)
        else:
            attn_output, attn_weights = self._attn(query, key, value, attention_mask, head_mask)

        attn_output = self._merge_heads(attn_output, self.num_heads, self.head_dim)
        attn_output = self.c_proj(attn_output)
        attn_output = self.resid_dropout(attn_output)

        outputs = (attn_output, present)
        if output_attentions:
            outputs += (attn_weights,)

        return outputs  # a, present, (attentions)


# Copied from transformers.models.gpt2.modeling_gpt2.GPT2MLP with GPT2->DecisionTransformerGPT2
class DecisionTransformerGPT2MLP(nn.Module):
    def __init__(self, intermediate_size, config):
        super().__init__()
        embed_dim = config.hidden_size
        self.c_fc = Conv1D(intermediate_size, embed_dim)
        self.c_proj = Conv1D(embed_dim, intermediate_size)
        self.act = ACT2FN[config.activation_function]
        self.dropout = nn.Dropout(config.resid_pdrop)

    def forward(self, hidden_states: Optional[Tuple[torch.FloatTensor]]) -> torch.FloatTensor:
        hidden_states = self.c_fc(hidden_states)
        hidden_states = self.act(hidden_states)
        hidden_states = self.c_proj(hidden_states)
        hidden_states = self.dropout(hidden_states)
        return hidden_states


# Copied from transformers.models.gpt2.modeling_gpt2.GPT2Block with GPT2->DecisionTransformerGPT2
class DecisionTransformerGPT2Block(nn.Module):
    def __init__(self, config, layer_idx=None):
        super().__init__()
        hidden_size = config.hidden_size
        inner_dim = config.n_inner if config.n_inner is not None else 4 * hidden_size

        self.ln_1 = nn.LayerNorm(hidden_size, eps=config.layer_norm_epsilon)
        self.attn = DecisionTransformerGPT2Attention(config, layer_idx=layer_idx)
        self.ln_2 = nn.LayerNorm(hidden_size, eps=config.layer_norm_epsilon)

        if config.add_cross_attention:
            self.crossattention = DecisionTransformerGPT2Attention(
                config, is_cross_attention=True, layer_idx=layer_idx
            )
            self.ln_cross_attn = nn.LayerNorm(hidden_size, eps=config.layer_norm_epsilon)

        self.mlp = DecisionTransformerGPT2MLP(inner_dim, config)

    def forward(
        self,
        hidden_states: Optional[Tuple[torch.FloatTensor]],
        layer_past: Optional[Tuple[torch.Tensor]] = None,
        attention_mask: Optional[torch.FloatTensor] = None,
        head_mask: Optional[torch.FloatTensor] = None,
        encoder_hidden_states: Optional[torch.Tensor] = None,
        encoder_attention_mask: Optional[torch.FloatTensor] = None,
        use_cache: Optional[bool] = False,
        output_attentions: Optional[bool] = False,
    ) -> Union[Tuple[torch.Tensor], Optional[Tuple[torch.Tensor, Tuple[torch.FloatTensor, ...]]]]:
        residual = hidden_states
        hidden_states = self.ln_1(hidden_states)
        attn_outputs = self.attn(
            hidden_states,
            layer_past=layer_past,
            attention_mask=attention_mask,
            head_mask=head_mask,
            use_cache=use_cache,
            output_attentions=output_attentions,
        )
        attn_output = attn_outputs[0]  # output_attn: a, present, (attentions)
        outputs = attn_outputs[1:]
        # residual connection
        hidden_states = attn_output + residual

        if encoder_hidden_states is not None:
            # add one self-attention block for cross-attention
            if not hasattr(self, "crossattention"):
                raise ValueError(
                    f"If `encoder_hidden_states` are passed, {self} has to be instantiated with "
                    "cross-attention layers by setting `config.add_cross_attention=True`"
                )
            residual = hidden_states
            hidden_states = self.ln_cross_attn(hidden_states)
            cross_attn_outputs = self.crossattention(
                hidden_states,
                attention_mask=attention_mask,
                head_mask=head_mask,
                encoder_hidden_states=encoder_hidden_states,
                encoder_attention_mask=encoder_attention_mask,
                output_attentions=output_attentions,
            )
            attn_output = cross_attn_outputs[0]
            # residual connection
            hidden_states = residual + attn_output
            outputs = outputs + cross_attn_outputs[2:]  # add cross attentions if we output attention weights

        residual = hidden_states
        hidden_states = self.ln_2(hidden_states)
        feed_forward_hidden_states = self.mlp(hidden_states)
        # residual connection
        hidden_states = residual + feed_forward_hidden_states

        if use_cache:
            outputs = (hidden_states,) + outputs
        else:
            outputs = (hidden_states,) + outputs[1:]

        return outputs  # hidden_states, present, (attentions, cross_attentions)


class DecisionTransformerGPT2PreTrainedModel(PreTrainedModel):
    """
    An abstract class to handle weights initialization and a simple interface for downloading and loading pretrained
    models.
    """

    config_class = DecisionTransformerConfig
    load_tf_weights = load_tf_weights_in_gpt2
    base_model_prefix = "transformer"
    is_parallelizable = True
    supports_gradient_checkpointing = True

    def __init__(self, *inputs, **kwargs):
        super().__init__(*inputs, **kwargs)

    def _init_weights(self, module):
        """Initialize the weights."""
        if isinstance(module, (nn.Linear, Conv1D)):
            # Slightly different from the TF version which uses truncated_normal for initialization
            # cf https://github.com/pytorch/pytorch/pull/5617
            module.weight.data.normal_(mean=0.0, std=self.config.initializer_range)
            if module.bias is not None:
                module.bias.data.zero_()
        elif isinstance(module, nn.Embedding):
            module.weight.data.normal_(mean=0.0, std=self.config.initializer_range)
            if module.padding_idx is not None:
                module.weight.data[module.padding_idx].zero_()
        elif isinstance(module, nn.LayerNorm):
            module.bias.data.zero_()
            module.weight.data.fill_(1.0)

        # Reinitialize selected weights subject to the OpenAI GPT-2 Paper Scheme:
        #   > A modified initialization which accounts for the accumulation on the residual path with model depth. Scale
        #   > the weights of residual layers at initialization by a factor of 1/√N where N is the # of residual layers.
        #   >   -- GPT-2 :: https://openai.com/blog/better-language-models/
        #
        # Reference (Megatron-LM): https://github.com/NVIDIA/Megatron-LM/blob/main/megatron/model/gpt_model.py
        for name, p in module.named_parameters():
            if "c_proj" in name and "weight" in name:
                # Special Scaled Initialization --> There are 2 Layer Norms per Transformer Block
                p.data.normal_(mean=0.0, std=(self.config.initializer_range / math.sqrt(2 * self.config.n_layer)))

    def _set_gradient_checkpointing(self, module, value=False):
        if isinstance(module, DecisionTransformerGPT2Model):
            module.gradient_checkpointing = value


class DecisionTransformerGPT2Model(DecisionTransformerGPT2PreTrainedModel):
    _keys_to_ignore_on_load_missing = ["attn.masked_bias"]

    def __init__(self, config):
        super().__init__(config)

        self.embed_dim = config.hidden_size

        self.wte = nn.Embedding(config.vocab_size, self.embed_dim)
        self.wpe = nn.Embedding(config.max_position_embeddings, self.embed_dim)

        self.drop = nn.Dropout(config.embd_pdrop)
        self.h = nn.ModuleList(
            [DecisionTransformerGPT2Block(config, layer_idx=i) for i in range(config.num_hidden_layers)]
        )
        self.ln_f = nn.LayerNorm(self.embed_dim, eps=config.layer_norm_epsilon)

        # Model parallel
        self.model_parallel = False
        self.device_map = None
        self.gradient_checkpointing = False

        # Initialize weights and apply final processing
        self.post_init()

    def get_input_embeddings(self):
        return self.wte

    def set_input_embeddings(self, new_embeddings):
        self.wte = new_embeddings

    # Copied from transformers.models.gpt2.modeling_gpt2.GPT2Model.forward
    def forward(
        self,
        input_ids: Optional[torch.LongTensor] = None,
        past_key_values: Optional[Tuple[Tuple[torch.Tensor]]] = None,
        attention_mask: Optional[torch.FloatTensor] = None,
        token_type_ids: Optional[torch.LongTensor] = None,
        position_ids: Optional[torch.LongTensor] = None,
        head_mask: Optional[torch.FloatTensor] = None,
        inputs_embeds: Optional[torch.FloatTensor] = None,
        encoder_hidden_states: Optional[torch.Tensor] = None,
        encoder_attention_mask: Optional[torch.FloatTensor] = None,
        use_cache: Optional[bool] = None,
        output_attentions: Optional[bool] = None,
        output_hidden_states: Optional[bool] = None,
        return_dict: Optional[bool] = None,
    ) -> Union[Tuple, BaseModelOutputWithPastAndCrossAttentions]:
        output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions
        output_hidden_states = (
            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
        )
        use_cache = use_cache if use_cache is not None else self.config.use_cache
        return_dict = return_dict if return_dict is not None else self.config.use_return_dict

        if input_ids is not None and inputs_embeds is not None:
            raise ValueError("You cannot specify both input_ids and inputs_embeds at the same time")
        elif input_ids is not None:
            input_shape = input_ids.size()
            input_ids = input_ids.view(-1, input_shape[-1])
            batch_size = input_ids.shape[0]
        elif inputs_embeds is not None:
            input_shape = inputs_embeds.size()[:-1]
            batch_size = inputs_embeds.shape[0]
        else:
            raise ValueError("You have to specify either input_ids or inputs_embeds")

        device = input_ids.device if input_ids is not None else inputs_embeds.device

        if token_type_ids is not None:
            token_type_ids = token_type_ids.view(-1, input_shape[-1])
        if position_ids is not None:
            position_ids = position_ids.view(-1, input_shape[-1])

        if past_key_values is None:
            past_length = 0
            past_key_values = tuple([None] * len(self.h))
        else:
            past_length = past_key_values[0][0].size(-2)
        if position_ids is None:
            position_ids = torch.arange(past_length, input_shape[-1] + past_length, dtype=torch.long, device=device)
            position_ids = position_ids.unsqueeze(0).view(-1, input_shape[-1])

        # GPT2Attention mask.
        if attention_mask is not None:
            if batch_size <= 0:
                raise ValueError("batch_size has to be defined and > 0")
            attention_mask = attention_mask.view(batch_size, -1)
            # We create a 3D attention mask from a 2D tensor mask.
            # Sizes are [batch_size, 1, 1, to_seq_length]
            # So we can broadcast to [batch_size, num_heads, from_seq_length, to_seq_length]
            # this attention mask is more simple than the triangular masking of causal attention
            # used in OpenAI GPT, we just need to prepare the broadcast dimension here.
            attention_mask = attention_mask[:, None, None, :]

            # Since attention_mask is 1.0 for positions we want to attend and 0.0 for
            # masked positions, this operation will create a tensor which is 0.0 for
            # positions we want to attend and the dtype's smallest value for masked positions.
            # Since we are adding it to the raw scores before the softmax, this is
            # effectively the same as removing these entirely.
            attention_mask = attention_mask.to(dtype=self.dtype)  # fp16 compatibility
            attention_mask = (1.0 - attention_mask) * torch.finfo(self.dtype).min

        # If a 2D or 3D attention mask is provided for the cross-attention
        # we need to make broadcastable to [batch_size, num_heads, seq_length, seq_length]
        if self.config.add_cross_attention and encoder_hidden_states is not None:
            encoder_batch_size, encoder_sequence_length, _ = encoder_hidden_states.size()
            encoder_hidden_shape = (encoder_batch_size, encoder_sequence_length)
            if encoder_attention_mask is None:
                encoder_attention_mask = torch.ones(encoder_hidden_shape, device=device)
            encoder_attention_mask = self.invert_attention_mask(encoder_attention_mask)
        else:
            encoder_attention_mask = None

        # Prepare head mask if needed
        # 1.0 in head_mask indicate we keep the head
        # attention_probs has shape bsz x n_heads x N x N
        # head_mask has shape n_layer x batch x n_heads x N x N
        head_mask = self.get_head_mask(head_mask, self.config.n_layer)

        if inputs_embeds is None:
            inputs_embeds = self.wte(input_ids)
        position_embeds = self.wpe(position_ids)
        hidden_states = inputs_embeds + position_embeds

        if token_type_ids is not None:
            token_type_embeds = self.wte(token_type_ids)
            hidden_states = hidden_states + token_type_embeds

        hidden_states = self.drop(hidden_states)

        output_shape = input_shape + (hidden_states.size(-1),)

        if self.gradient_checkpointing and self.training:
            if use_cache:
                logger.warning_once(
                    "`use_cache=True` is incompatible with gradient checkpointing. Setting `use_cache=False`..."
                )
                use_cache = False

        presents = () if use_cache else None
        all_self_attentions = () if output_attentions else None
        all_cross_attentions = () if output_attentions and self.config.add_cross_attention else None
        all_hidden_states = () if output_hidden_states else None
        for i, (block, layer_past) in enumerate(zip(self.h, past_key_values)):
            # Model parallel
            if self.model_parallel:
                torch.cuda.set_device(hidden_states.device)
                # Ensure layer_past is on same device as hidden_states (might not be correct)
                if layer_past is not None:
                    layer_past = tuple(past_state.to(hidden_states.device) for past_state in layer_past)
                # Ensure that attention_mask is always on the same device as hidden_states
                if attention_mask is not None:
                    attention_mask = attention_mask.to(hidden_states.device)
                if isinstance(head_mask, torch.Tensor):
                    head_mask = head_mask.to(hidden_states.device)
            if output_hidden_states:
                all_hidden_states = all_hidden_states + (hidden_states,)

            if self.gradient_checkpointing and self.training:

                def create_custom_forward(module):
                    def custom_forward(*inputs):
                        # None for past_key_value
                        return module(*inputs, use_cache, output_attentions)

                    return custom_forward

                outputs = torch.utils.checkpoint.checkpoint(
                    create_custom_forward(block),
                    hidden_states,
                    None,
                    attention_mask,
                    head_mask[i],
                    encoder_hidden_states,
                    encoder_attention_mask,
                )
            else:
                outputs = block(
                    hidden_states,
                    layer_past=layer_past,
                    attention_mask=attention_mask,
                    head_mask=head_mask[i],
                    encoder_hidden_states=encoder_hidden_states,
                    encoder_attention_mask=encoder_attention_mask,
                    use_cache=use_cache,
                    output_attentions=output_attentions,
                )

            hidden_states = outputs[0]
            if use_cache is True:
                presents = presents + (outputs[1],)

            if output_attentions:
                all_self_attentions = all_self_attentions + (outputs[2 if use_cache else 1],)
                if self.config.add_cross_attention:
                    all_cross_attentions = all_cross_attentions + (outputs[3 if use_cache else 2],)

            # Model Parallel: If it's the last layer for that device, put things on the next device
            if self.model_parallel:
                for k, v in self.device_map.items():
                    if i == v[-1] and "cuda:" + str(k) != self.last_device:
                        hidden_states = hidden_states.to("cuda:" + str(k + 1))

        hidden_states = self.ln_f(hidden_states)

        hidden_states = hidden_states.view(output_shape)
        # Add last hidden state
        if output_hidden_states:
            all_hidden_states = all_hidden_states + (hidden_states,)

        if not return_dict:
            return tuple(
                v
                for v in [hidden_states, presents, all_hidden_states, all_self_attentions, all_cross_attentions]
                if v is not None
            )

        return BaseModelOutputWithPastAndCrossAttentions(
            last_hidden_state=hidden_states,
            past_key_values=presents,
            hidden_states=all_hidden_states,
            attentions=all_self_attentions,
            cross_attentions=all_cross_attentions,
        )


@dataclass
class DecisionTransformerOutput(ModelOutput):
    """
    Base class for model's outputs that also contains a pooling of the last hidden states.

    Args:
        last_hidden_state (`torch.FloatTensor` of shape `(batch_size, sequence_length, hidden_size)`):
            Sequence of hidden-states at the output of the last layer of the model.
        state_preds (`torch.FloatTensor` of shape `(batch_size, sequence_length, state_dim)`):
            Environment state predictions
        action_preds (`torch.FloatTensor` of shape `(batch_size, sequence_length, action_dim)`):
            Model action predictions
        return_preds (`torch.FloatTensor` of shape `(batch_size, sequence_length, 1)`):
            Predicted returns for each state
        hidden_states (`tuple(torch.FloatTensor)`, *optional*, returned when `output_hidden_states=True` is passed or when `config.output_hidden_states=True`):
            Tuple of `torch.FloatTensor` (one for the output of the embeddings + one for the output of each layer) of
            shape `(batch_size, sequence_length, hidden_size)`.

            Hidden-states of the model at the output of each layer plus the initial embedding outputs.
        attentions (`tuple(torch.FloatTensor)`, *optional*, returned when `output_attentions=True` is passed or when `config.output_attentions=True`):
            Tuple of `torch.FloatTensor` (one for each layer) of shape `(batch_size, num_heads, sequence_length,
            sequence_length)`.

            Attentions weights after the attention softmax, used to compute the weighted average in the self-attention
            heads.
    """

    state_preds: torch.FloatTensor = None
    action_preds: torch.FloatTensor = None
    return_preds: torch.FloatTensor = None
    hidden_states: torch.FloatTensor = None
    attentions: torch.FloatTensor = None
    last_hidden_state: torch.FloatTensor = None


class DecisionTransformerPreTrainedModel(PreTrainedModel):
    """
    An abstract class to handle weights initialization and a simple interface for downloading and loading pretrained
    models.
    """

    config_class = DecisionTransformerConfig
    base_model_prefix = "decision_transformer"
    main_input_name = "states"
    supports_gradient_checkpointing = False
    _keys_to_ignore_on_load_missing = [r"position_ids"]
    _keys_to_ignore_on_load_unexpected = [r"h\.\d+\.attn\.masked_bias", r"h\.\d+\.attn\.bias"]

    def _init_weights(self, module):
        """Initialize the weights"""
        if isinstance(module, nn.Linear):
            # Slightly different from the TF version which uses truncated_normal for initialization
            # cf https://github.com/pytorch/pytorch/pull/5617
            module.weight.data.normal_(mean=0.0, std=self.config.initializer_range)
            if module.bias is not None:
                module.bias.data.zero_()
        elif isinstance(module, nn.Embedding):
            module.weight.data.normal_(mean=0.0, std=self.config.initializer_range)
            if module.padding_idx is not None:
                module.weight.data[module.padding_idx].zero_()
        elif isinstance(module, nn.LayerNorm):
            module.bias.data.zero_()
            module.weight.data.fill_(1.0)


DECISION_TRANSFORMER_START_DOCSTRING = r"""
    This model is a PyTorch [torch.nn.Module](https://pytorch.org/docs/stable/nn.html#torch.nn.Module) sub-class. Use
    it as a regular PyTorch Module and refer to the PyTorch documentation for all matter related to general usage and
    behavior.

    Parameters:
        config ([`~DecisionTransformerConfig`]): Model configuration class with all the parameters of the model.
            Initializing with a config file does not load the weights associated with the model, only the
            configuration. Check out the [`~PreTrainedModel.from_pretrained`] method to load the model weights.
"""

DECISION_TRANSFORMER_INPUTS_DOCSTRING = r"""
    Args:
        states (`torch.FloatTensor` of shape `(batch_size, episode_length, state_dim)`):
            The states for each step in the trajectory
        actions (`torch.FloatTensor` of shape `(batch_size, episode_length, act_dim)`):
            The actions taken by the "expert" policy for the current state, these are masked for auto regressive
            prediction
        rewards (`torch.FloatTensor` of shape `(batch_size, episode_length, 1)`):
            The rewards for each state, action
        returns_to_go (`torch.FloatTensor` of shape `(batch_size, episode_length, 1)`):
            The returns for each state in the trajectory
        timesteps (`torch.LongTensor` of shape `(batch_size, episode_length)`):
            The timestep for each step in the trajectory
        attention_mask (`torch.LongTensor` of shape `(batch_size, episode_length)`):
            Masking, used to mask the actions when performing autoregressive prediction
"""


@add_start_docstrings("The Decision Transformer Model", DECISION_TRANSFORMER_START_DOCSTRING)
class DecisionTransformerModel(DecisionTransformerPreTrainedModel):
    """

    The model builds upon the GPT2 architecture to perform autoregressive prediction of actions in an offline RL
    setting. Refer to the paper for more details: https://arxiv.org/abs/2106.01345

    """

    def __init__(self, config):
        super().__init__(config)
        self.config = config
        self.hidden_size = config.hidden_size
        # note: the only difference between this GPT2Model and the default Huggingface version
        # is that the positional embeddings are removed (since we'll add those ourselves)
        self.encoder = DecisionTransformerGPT2Model(config)

        self.embed_timestep = nn.Embedding(config.max_ep_len, config.hidden_size)
        self.embed_return = torch.nn.Linear(1, config.hidden_size)
        self.embed_state = torch.nn.Linear(config.state_dim, config.hidden_size)
        self.embed_action = torch.nn.Linear(config.act_dim, config.hidden_size)

        self.embed_ln = nn.LayerNorm(config.hidden_size)

        # note: we don't predict states or returns for the paper
        self.predict_state = torch.nn.Linear(config.hidden_size, config.state_dim)
        self.predict_action = nn.Sequential(
            *([nn.Linear(config.hidden_size, config.act_dim)] + ([nn.Tanh()] if config.action_tanh else []))
        )
        self.predict_return = torch.nn.Linear(config.hidden_size, 1)

        # Initialize weights and apply final processing
        self.post_init()

    @add_start_docstrings_to_model_forward(DECISION_TRANSFORMER_INPUTS_DOCSTRING.format("batch_size, sequence_length"))
    @replace_return_docstrings(output_type=DecisionTransformerOutput, config_class=_CONFIG_FOR_DOC)
    def forward(
        self,
        states=None,
        actions=None,
        rewards=None,
        returns_to_go=None,
        timesteps=None,
        attention_mask=None,
        output_hidden_states=None,
        output_attentions=None,
        return_dict=None,
    ) -> Union[Tuple, DecisionTransformerOutput]:
        r"""
        Returns:

        Examples:

        ```python
        >>> from transformers import DecisionTransformerModel
        >>> import torch

        >>> model = DecisionTransformerModel.from_pretrained("edbeeching/decision-transformer-gym-hopper-medium")
        >>> # evaluation
        >>> model = model.to(device)
        >>> model.eval()

        >>> env = gym.make("Hopper-v3")
        >>> state_dim = env.observation_space.shape[0]
        >>> act_dim = env.action_space.shape[0]

        >>> state = env.reset()
        >>> states = torch.from_numpy(state).reshape(1, 1, state_dim).to(device=device, dtype=torch.float32)
        >>> actions = torch.zeros((1, 1, act_dim), device=device, dtype=torch.float32)
        >>> rewards = torch.zeros(1, 1, device=device, dtype=torch.float32)
        >>> target_return = torch.tensor(TARGET_RETURN, dtype=torch.float32).reshape(1, 1)
        >>> timesteps = torch.tensor(0, device=device, dtype=torch.long).reshape(1, 1)
        >>> attention_mask = torch.zeros(1, 1, device=device, dtype=torch.float32)

        >>> # forward pass
        >>> with torch.no_grad():
        ...     state_preds, action_preds, return_preds = model(
        ...         states=states,
        ...         actions=actions,
        ...         rewards=rewards,
        ...         returns_to_go=target_return,
        ...         timesteps=timesteps,
        ...         attention_mask=attention_mask,
        ...         return_dict=False,
        ...     )
        ```"""

        output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions
        output_hidden_states = (
            output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states
        )
        return_dict = return_dict if return_dict is not None else self.config.use_return_dict

        batch_size, seq_length = states.shape[0], states.shape[1]

        if attention_mask is None:
            # attention mask for GPT: 1 if can be attended to, 0 if not
            attention_mask = torch.ones((batch_size, seq_length), dtype=torch.long)

        # embed each modality with a different head
        state_embeddings = self.embed_state(states)
        action_embeddings = self.embed_action(actions)
        returns_embeddings = self.embed_return(returns_to_go)
        time_embeddings = self.embed_timestep(timesteps)

        # time embeddings are treated similar to positional embeddings
        state_embeddings = state_embeddings + time_embeddings
        action_embeddings = action_embeddings + time_embeddings
        returns_embeddings = returns_embeddings + time_embeddings

        # this makes the sequence look like (R_1, s_1, a_1, R_2, s_2, a_2, ...)
        # which works nice in an autoregressive sense since states predict actions
        stacked_inputs = (
            torch.stack((returns_embeddings, state_embeddings, action_embeddings), dim=1)
            .permute(0, 2, 1, 3)
            .reshape(batch_size, 3 * seq_length, self.hidden_size)
        )
        stacked_inputs = self.embed_ln(stacked_inputs)

        # to make the attention mask fit the stacked inputs, have to stack it as well
        stacked_attention_mask = (
            torch.stack((attention_mask, attention_mask, attention_mask), dim=1)
            .permute(0, 2, 1)
            .reshape(batch_size, 3 * seq_length)
        )
        device = stacked_inputs.device
        # we feed in the input embeddings (not word indices as in NLP) to the model
        encoder_outputs = self.encoder(
            inputs_embeds=stacked_inputs,
            attention_mask=stacked_attention_mask,
            position_ids=torch.zeros(stacked_attention_mask.shape, device=device, dtype=torch.long),
            output_attentions=output_attentions,
            output_hidden_states=output_hidden_states,
            return_dict=return_dict,
        )
        x = encoder_outputs[0]

        # reshape x so that the second dimension corresponds to the original
        # returns (0), states (1), or actions (2); i.e. x[:,1,t] is the token for s_t
        x = x.reshape(batch_size, seq_length, 3, self.hidden_size).permute(0, 2, 1, 3)

        # get predictions
        return_preds = self.predict_return(x[:, 2])  # predict next return given state and action
        state_preds = self.predict_state(x[:, 2])  # predict next state given state and action
        action_preds = self.predict_action(x[:, 1])  # predict next action given state
        if not return_dict:
            return (state_preds, action_preds, return_preds)

        return DecisionTransformerOutput(
            last_hidden_state=encoder_outputs.last_hidden_state,
            state_preds=state_preds,
            action_preds=action_preds,
            return_preds=return_preds,
            hidden_states=encoder_outputs.hidden_states,
            attentions=encoder_outputs.attentions,
        )