Function normal_kl

diffplanner/models/utils/gaussian_diffusion.py:163–189

Compute the KL divergence between two gaussians. Shapes are automatically broadcasted, so batches can be compared to scalars, among other use cases.

(mean1, logvar1, mean2, logvar2)

def normal_kl(mean1, logvar1, mean2, logvar2):
    """
    Compute the KL divergence between two gaussians.
    Shapes are automatically broadcasted, so batches can be compared to
    scalars, among other use cases.
    """
    tensor = None
    for obj in (mean1, logvar1, mean2, logvar2):
        if isinstance(obj, th.Tensor):
            tensor = obj
            break
    assert tensor is not None, "at least one argument must be a Tensor"

    # Force variances to be Tensors. Broadcasting helps convert scalars to
    # Tensors, but it does not work for th.exp().
    logvar1, logvar2 = [
        x if isinstance(x, th.Tensor) else th.tensor(x).to(tensor)
        for x in (logvar1, logvar2)
    ]

    return 0.5 * (
        -1.0
        + logvar2
        - logvar1
        + th.exp(logvar1 - logvar2)
        + ((mean1 - mean2) ** 2) * th.exp(-logvar2)
    )


def approx_standard_normal_cdf(x):