class ActorMuLogstd(BaseModel):
"""
use for PPO/PG algorithms' actor network.
input: vector of state
output: [stochastic action(mu), log of std]
"""
def __init__(self, obs_spec, rep_net_params, output_shape,
network_settings):
super().__init__(obs_spec, rep_net_params)
self.condition_sigma = network_settings['condition_sigma']
self.log_std_min, self.log_std_max = network_settings['log_std_bound']
self.share = MLP(self.rep_net.h_dim, network_settings['hidden_units'])
if network_settings['hidden_units']:
ins = network_settings['hidden_units'][-1]
else:
ins = self.rep_net.h_dim
self.mu = MLP(ins, [], output_shape=output_shape, out_act='tanh')
if self.condition_sigma:
self.log_std = MLP(ins, [], output_shape=output_shape)
else:
self.log_std = nn.Parameter(-0.5 * th.ones(output_shape))
def forward(self, x, **kwargs):
x = self.repre(x, **kwargs)
x = self.share(x)
mu = self.mu(x)
if self.condition_sigma:
log_std = self.log_std(x) # [T, B, *] or [B, *]
else:
# TODO:
log_std = self.log_std.repeat(mu.shape[:-1] +
(1, )) # [T, B, *] or [B, *]
log_std = log_std.clamp(self.log_std_min, self.log_std_max)
return mu, log_std
class ActorCriticValueCts(BaseModel):
"""
combine actor network and critic network, share some nn layers. use for continuous action space.
input: vector of state
output: mean(mu) of Gaussian Distribution of actions given a state, v(s)
"""
def __init__(self, obs_spec, rep_net_params, output_shape,
network_settings):
super().__init__(obs_spec, rep_net_params)
self.condition_sigma = network_settings['condition_sigma']
self.log_std_min, self.log_std_max = network_settings['log_std_bound']
self.share = MLP(self.rep_net.h_dim, network_settings['share'])
if network_settings['share']:
ins = network_settings['share'][-1]
else:
ins = self.rep_net.h_dim
self.mu_logstd_share = MLP(ins, network_settings['mu'])
self.v = MLP(ins, network_settings['v'], output_shape=1)
if network_settings['mu']:
ins = network_settings['mu'][-1]
self.mu = MLP(ins, [], output_shape=output_shape, out_act='tanh')
if self.condition_sigma:
self.log_std = MLP(ins, [], output_shape=output_shape)
else:
self.log_std = nn.Parameter(-0.5 * th.ones(output_shape))
def forward(self, x, **kwargs):
x = self.repre(x, **kwargs)
x = self.share(x)
v = self.v(x)
x_mu_logstd = self.mu_logstd_share(x)
mu = self.mu(x_mu_logstd)
if self.condition_sigma:
log_std = self.log_std(x_mu_logstd) # [T, B, *] or [B, *]
else:
log_std = self.log_std.repeat(mu.shape[:-1] +
(1, )) # [T, B, *] or [B, *]
log_std = log_std.clamp(self.log_std_min, self.log_std_max)
return mu, log_std, v
