def get_action(self, obs):
if obs.shape[-1] != self.image_size:
obs = center_crop_image(obs, self.image_size)
obs = np.expand_dims(np.array(obs), axis=0)
feature = self.encoder(obs)
action, _ = self.actor(feature)
action = action.numpy()[0]
return action
def eval_action(self, obs):
if obs.shape[-1] != self.image_size:
obs = center_crop_image(obs, self.image_size)
obs = np.expand_dims(np.array(obs), axis=0)
feature = self.encoder(obs)
action = self.actor(feature).numpy()[0]
action = np.clip(action, -1, 1)
return action
def get_action(self, obs):
if obs.shape[-1] != self.image_size:
obs = center_crop_image(obs, self.image_size)
obs = np.expand_dims(np.array(obs), axis=0)
noise = np.random.normal(loc=0,
scale=self.actor_noise,
size=self.action_dim)
feature = self.encoder(obs)
action = self.actor(feature).numpy()[0] + noise
action = np.clip(action, -1, 1)
return action