def __init__(
self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
):
super(Actor, self).__init__()
self.ac_size = ac_space
if decoder is not None:
self.decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
self.extractor = extractor(self.ob_size, **extractor_params)
self.feature_size = np.prod(output_shape(self.ob_size + self.ac_size,
extractor_params),
dtype=np.int)
self.mean_layer = nn.Linear(self.feature_size, self.ac_size)
self.logstd_layer = nn.Linear(self.feature_size, self.ac_size)
def __init__(
self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
):
"""
Deterministic actor for DDPG implementation.
"""
super(DetActor, self).__init__()
self.ac_size = ac_space
if decoder is not None:
self.decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
self.extractor = extractor(self.ob_size, **extractor_params)
self.feature_size = np.prod(output_shape(self.ob_size,
extractor_params),
dtype=np.int)
self.mean_layer = nn.Linear(self.feature_size, self.ac_size)
def __init__(
self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
):
"""
Conditional VAE, designed to match with BCQ (Fujimoto, 2019).
"""
super(VAE, self).__init__()
self.ac_size = ac_space
self.obs_decoder = None
if decoder is not None:
self.obs_decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.obs_decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
vae_params = copy.deepcopy(extractor_params)
vae_params['activ'] = 'relu'
self.feature_size = np.prod(output_shape(self.ob_size, vae_params),
dtype=np.int)
# encoder
self.enc_net = extractor(self.ob_size + self.ac_size, **vae_params)
self.mu_layer = nn.Linear(self.feature_size, 2 * self.ac_size)
self.logstd_layer = nn.Linear(self.feature_size, 2 * self.ac_size)
# decoder
self.dec_net = extractor(self.ob_size + 2 * self.ac_size, **vae_params)
self.recon_layer = nn.Linear(self.feature_size, self.ac_size)
del vae_params
def __init__(self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
value_processing='none'):
"""
In: state & action
Out: Q-value for given state-action pair
:param ob_space : Shape of the observation space.
:param ac_space : Shape of the action space. (must be 1-dimensional)
:param extractor : Class of the extractor network.
:param extractor_params : Keyword arguments for the extractor network. (optional)
:param decoder : Class of the decoder network. (optional)
:param decoder_params : Keyword arguments for the decoder network.
"""
super(GeneralCritic, self).__init__()
self.ac_size = ac_space
self.decoder = None
if decoder is not None:
self.decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
self.extractor = extractor(self.ob_size + self.ac_size,
**extractor_params)
self.feature_size = np.prod(output_shape(self.ob_size + self.ac_size,
extractor_params),
dtype=np.int)
self.value_layer = nn.Linear(self.feature_size, 1)
self.value_processing = functional_finder(value_processing)
def __init__(
self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
):
"""
In: state & action
Out: Action perturbation, pre-scaled.
:param ob_space : Shape of the observation space.
:param ac_space : Shape of the action space. (must be 1-dimensional)
:param extractor : Class of the extractor network.
:param extractor_params : Keyword arguments for the extractor network. (optional)
:param decoder : Class of the decoder network. (optional)
:param decoder_params : Keyword arguments for the decoder network.
"""
super(Perturb, self).__init__()
self.ac_size = ac_space
self.decoder = None
if decoder is not None:
self.decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
self.extractor = extractor(self.ob_size + self.ac_size,
**extractor_params)
self.feature_size = np.prod(output_shape(self.ob_size + self.ac_size,
extractor_params),
dtype=np.int)
self.perturb_layer = nn.Linear(self.feature_size, self.ac_size)
def __init__(
self,
ob_space,
ac_space,
extractor,
extractor_params,
decoder=None,
decoder_params=None,
):
"""
In: state,
Out: state-wise log-lambda (Lagrangian multiplier), scalar.
:param ob_space : Shape of the observation space.
:param ac_space : Shape of the action space. (must be 1-dimensional)
:param extractor : Class of the extractor network.
:param extractor_params : Keyword arguments for the extractor network. (optional)
:param decoder : Class of the decoder network. (optional)
:param decoder_params : Keyword arguments for the decoder network.
"""
super(Lambda, self).__init__()
self.ac_size = ac_space
self.decoder = None
if decoder is not None:
self.decoder = decoder(ob_space, **decoder_params)
self.ob_size = np.prod(np.array(
output_shape(ob_space, decoder_params)),
dtype=np.int)
else:
self.decoder = None
self.ob_size = np.prod(np.array(ob_space), dtype=np.int)
self.extractor = extractor(self.ob_size, **extractor_params)
self.feature_size = np.prod(output_shape(self.ob_size,
extractor_params),
dtype=np.int)
self.lambda_layer = nn.Linear(self.feature_size, 1)
