def __init__(self,
num_inputs,
recurrent=False,
num_streets=4,
hidden_size=256,
total_hidden_size=512):
if recurrent:
raise NotImplementedError("recurrent policy not done yet")
super(NaviBaseTemp, self).__init__(recurrent, hidden_size, hidden_size)
self.num_streets = num_streets
init_cnn = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0),
nn.init.calculate_gain('relu'))
self.img_embed = nn.Sequential(
init_cnn(nn.Conv2d(8, 96, 3, stride=2)), nn.ReLU(),
init_cnn(nn.Conv2d(96, 96, 5, stride=2)), nn.ReLU(),
init_cnn(nn.Conv2d(96, 32, 5, stride=2)), nn.ReLU(), Flatten(),
init_cnn(nn.Linear(32 * 8 * 8, total_hidden_size)), nn.ReLU())
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0))
self.critic_linear = init_(nn.Linear(total_hidden_size, 1))
self.train()
def __init__(self, num_inputs, num_outputs):
super(Bernoulli, self).__init__()
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0))
self.linear = init_(nn.Linear(num_inputs, num_outputs))
def __init__(self, num_inputs, num_outputs):
super(DiagGaussian, self).__init__()
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0))
self.fc_mean = init_(nn.Linear(num_inputs, num_outputs))
self.logstd = AddBias(torch.zeros(num_outputs))
def __init__(self,
num_inputs,
recurrent=False,
num_streets=4,
hidden_size=256,
total_hidden_size=(256 * 10)):
if recurrent:
raise NotImplementedError("recurrent policy not done yet")
super(NaviBase, self).__init__(recurrent, hidden_size, hidden_size)
self.num_streets = num_streets
init_cnn = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0),
nn.init.calculate_gain('relu'))
init_dense = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0), np.sqrt(2))
self.img_embed = nn.Sequential(
init_cnn(nn.Conv2d(3, 32, 3, stride=2)), nn.ReLU(),
init_cnn(nn.Conv2d(32, 64, 5, stride=2)), nn.ReLU(),
init_cnn(nn.Conv2d(64, 32, 5, stride=2)), nn.ReLU(), Flatten(),
init_cnn(nn.Linear(32 * 8 * 8, hidden_size)), nn.ReLU())
# NeED to look if different activation functions
self.coord_embed = nn.Sequential(
init_dense(nn.Linear(2, 64)), nn.Tanh(),
init_dense(nn.Linear(64, hidden_size)), nn.Tanh())
self.number_embed = nn.Sequential(init_dense(nn.Linear(10, 64)),
nn.Tanh())
self.street_embed = nn.Sequential(
init_dense(nn.Linear(self.num_streets, hidden_size)), nn.Tanh())
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0))
self.fusion = nn.Sequential(
init_dense(nn.Linear(total_hidden_size, total_hidden_size)),
nn.Tanh(),
init_dense(nn.Linear(total_hidden_size, total_hidden_size)),
nn.Tanh())
self.critic_linear = init_(nn.Linear(total_hidden_size, 1))
self.train()
def __init__(self, num_inputs, num_outputs):
super(Categorical, self).__init__()
init_ = lambda m: init(m,
nn.init.orthogonal_,
lambda x: nn.init.constant_(x, 0),
gain=0.01)
self.linear = init_(nn.Linear(num_inputs, num_outputs))
def __init__(self, num_inputs, recurrent=False, hidden_size=512):
super(CNNBase, self).__init__(recurrent, hidden_size, hidden_size)
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0), nn.init.calculate_gain('relu'))
self.main = nn.Sequential(
init_(nn.Conv2d(num_inputs, 32, 8, stride=4)), nn.ReLU(),
init_(nn.Conv2d(32, 64, 4, stride=2)), nn.ReLU(),
init_(nn.Conv2d(64, 32, 3, stride=1)), nn.ReLU(), Flatten(),
init_(nn.Linear(32 * 7 * 7, hidden_size)), nn.ReLU())
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0))
self.critic_linear = init_(nn.Linear(hidden_size, 1))
self.train()
def __init__(self, num_inputs, recurrent=False, hidden_size=64):
super(MLPBase, self).__init__(recurrent, num_inputs, hidden_size)
if recurrent:
num_inputs = hidden_size
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0), np.sqrt(2))
self.actor = nn.Sequential(init_(nn.Linear(num_inputs, hidden_size)),
nn.Tanh(),
init_(nn.Linear(hidden_size, hidden_size)),
nn.Tanh())
self.critic = nn.Sequential(init_(nn.Linear(num_inputs, hidden_size)),
nn.Tanh(),
init_(nn.Linear(hidden_size, hidden_size)),
nn.Tanh())
self.critic_linear = init_(nn.Linear(hidden_size, 1))
self.train()