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 * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 2)), nn.Tanh(),
init_(nn.Linear(hidden_size * 2, hidden_size)), nn.Tanh(),
init_(nn.Linear(hidden_size, hidden_size)), nn.Tanh())
self.critic = nn.Sequential(
init_(nn.Linear(num_inputs, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 3)), nn.Tanh(),
init_(nn.Linear(hidden_size * 3, hidden_size * 2)), nn.Tanh(),
init_(nn.Linear(hidden_size * 2, hidden_size)), nn.Tanh(),
init_(nn.Linear(hidden_size, hidden_size)), nn.Tanh())
self.critic_linear = init_(nn.Linear(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, 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, 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=256):
super(CNNPro, self).__init__(recurrent, num_inputs, hidden_size)
init_ = lambda m: init(m, nn.init.orthogonal_, lambda x: nn.init.
constant_(x, 0), nn.init.calculate_gain('relu'))
self.share = nn.Sequential(
init_(nn.Conv2d(config.channel, 64, 3, stride=1, padding=1)),
nn.ReLU(),
init_(nn.Conv2d(64, 64, 3, stride=1, padding=1)),
nn.ReLU(),
init_(nn.Conv2d(64, 64, 3, stride=1, padding=1)),
nn.ReLU(),
init_(nn.Conv2d(64, 64, 3, stride=1, padding=1)),
nn.ReLU(),
init_(nn.Conv2d(64, 64, 3, stride=1, padding=1)),
nn.ReLU(),
)
pred_len = config.container_size[0] * config.container_size[1]
if config.enable_rotation:
pred_len = pred_len * 2
self.mask = nn.Sequential(
init_(nn.Conv2d(64, 8, 1, stride=1)),
nn.ReLU(),
Flatten(),
init_(
nn.Linear(8 * config.pallet_size * config.pallet_size,
hidden_size)),
nn.ReLU(),
init_(nn.Linear(hidden_size, pred_len)),
nn.ReLU(),
# nn.Sigmoid(),
)
self.actor = nn.Sequential(
init_(nn.Conv2d(64, 8, 1, stride=1)),
nn.ReLU(),
Flatten(),
init_(
nn.Linear(8 * config.pallet_size * config.pallet_size,
hidden_size)),
nn.ReLU(),
)
self.critic = nn.Sequential(
init_(nn.Conv2d(64, 4, 1, stride=1)),
nn.ReLU(),
Flatten(),
init_(
nn.Linear(4 * config.pallet_size * config.pallet_size,
hidden_size)),
nn.ReLU(),
)
self.critic_linear = init_(nn.Linear(hidden_size, 1))
self.train()