def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack, reuse=False):
nbatch = nenv*nsteps
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nh, nw, nc*nstack)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape) #obs
with tf.variable_scope("model", reuse=reuse):
h = conv(tf.cast(X, tf.float32)/255., 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2))
h2 = conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2))
h3 = conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
pi = fc(h4, 'pi', nact, act=lambda x:x)
vf = fc(h4, 'v', 1, act=lambda x:x)
v0 = vf[:, 0]
a0 = sample(pi)
self.initial_state = [] #not stateful
def step(ob, *_args, **_kwargs):
a, v = sess.run([a0, v0], {X:ob})
return a, v, [] #dummy state
def value(ob, *_args, **_kwargs):
return sess.run(v0, {X:ob})
self.X = X
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, reuse=False): # pylint: disable=W0613
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nh, nw, nc)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape) # obs
with tf.variable_scope("model", reuse=reuse):
h = conv(tf.cast(X, tf.float32) / 255., 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2))
h2 = conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2))
h3 = conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
pi = fc(h4, 'pi', nact, act=lambda x: x, init_scale=0.01)
vf = fc(h4, 'v', 1, act=lambda x: x)[:, 0]
self.pdtype = make_pdtype(ac_space)
self.pd = self.pdtype.pdfromflat(pi)
a0 = self.pd.sample()
neglogp0 = self.pd.neglogp(a0)
self.initial_state = None
def step(ob, *_args, **_kwargs):
a, v, neglogp = sess.run([a0, vf, neglogp0], {X: ob})
return a, v, self.initial_state, neglogp
def value(ob, *_args, **_kwargs):
return sess.run(vf, {X: ob})
self.X = X
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def __init__(self, sess, ob_space, ac_space, nenv,
nsteps, nstack, nplayers, map_size=[15,15,32], reuse=False):
nbatch = nenv * nsteps
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nplayers, nh, nw, nc*nstack)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape) #obs
C = tf.placeholder(tf.int32, [nbatch, nplayers, 2])
pis = []
vfs = []
with tf.variable_scope("model", reuse=reuse):
x = tf.reshape(tf.cast(X, tf.float32)/255., [nbatch*nplayers, nh, nw, nc*nstack])
crds = tf.cast(C, tf.float32) / map_size[0]
h = conv(x, 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2))
h2 = conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2))
h3 = conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
h5 = fc(h4, 'fc2', nh=512, init_scale=np.sqrt(2))
h6 = fc(h5, 'fc3', nh=256, init_scale=np.sqrt(2)) # to give compatible network size
h6 = tf.reshape(h6, [nbatch, nplayers, -1])
h6 = tf.concat([h6, crds], axis=2)
_reuse = False
for i in range(nplayers):
pi = fc(h6[:,i], 'pi', nact, act=tf.identity, reuse=_reuse)
vf = fc(h6[:,i], 'v', 1, act=tf.identity, reuse=_reuse)
pis.append(pi)
vfs.append(vf)
_reuse = True
pi = tf.reshape(tf.concat(pis, axis=1), [nbatch*nplayers, -1])
vf = tf.reshape(tf.concat(vfs, axis=1), [nbatch*nplayers, -1])
v0 = vf
a0 = sample(pi)
self.init_map = []
self.init_state = []
def step(ob, coords, *_args, **_kwargs):
a, v = sess.run([a0, v0], {X:ob, C:coords})
a = [a[i:i+nplayers] for i in range(0, len(a), nplayers)]
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return a, v, [], [] #dummy state and recon
def value(ob, coords, *_args, **_kwargs):
v = sess.run(v0, {X:ob, C:coords})
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return v
self.X = X
self.C = C
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def model3(X, nact, scope, reuse = False, layer_norm = False):
with tf.variable_scope(scope, reuse = reuse):
h = conv(tf.cast(X, tf.float32), 'c1', nf = 32, rf = 8, stride = 1, init_scale = np.sqrt(2))
h2 = conv(h, 'c2', nf = 64, rf = 4, stride = 1, init_scale = np.sqrt(2))
h3 = conv(h2, 'c3', nf = 64, rf = 3, stride = 1, init_scale = np.sqrt(2))
# for pi
h_pi = conv(h3, 'c_pi', nf = 2, rf = 1, stride = 1, init_scale = np.sqrt(2))
h_pi_flat = conv_to_fc(h_pi)
pi = fc(h_pi_flat, 'pi', nact, act = lambda x: x)
# for v
h_v = conv(h3, 'c_v1', nf = 1, rf = 1, stride = 1, init_scale = np.sqrt(2))
h_v_flat = conv_to_fc(h_v)
h_v_flat256 = fc(h_v_flat, 'c_v2', 256, init_scale = np.sqrt(2))
vf = fc(h_v_flat256, 'v', 1, act = lambda x : tf.tanh(x))
# filter out non-valid actions from pi
valid = tf.reduce_max(tf.cast(X, tf.float32), axis = 1)
valid_flat = tf.reshape(valid, [-1, nact])
pi_fil = pi + (valid_flat - tf.ones(tf.shape(valid_flat))) * 1e32
return pi_fil, vf[:, 0]
def nature_cnn(unscaled_images, **conv_kwargs):
"""
CNN from Nature paper.
"""
scaled_images = tf.cast(unscaled_images, tf.float32) / 255.
activ = tf.nn.relu
h = activ(conv(scaled_images, 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2),
**conv_kwargs))
h2 = activ(conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2), **conv_kwargs))
h3 = activ(conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2), **conv_kwargs))
h3 = conv_to_fc(h3)
return activ(fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2)))
def model2(X, nact, scope, reuse = False, layer_norm = False):
# X should be nbatch * ncol * nrow * 2 (boolean)
with tf.variable_scope(scope, reuse = reuse):
h = conv(tf.cast(X, tf.float32), 'c1', nf = 32, rf = 8, stride = 1, init_scale = np.sqrt(2))
# x = layers.layer_norm(x, scale = True, center = True)
h2 = conv(h, 'c2', nf = 64, rf = 4, stride = 1, init_scale = np.sqrt(2))
h3 = conv(h2, 'c3', nf = 64, rf = 3, stride = 1, init_scale = np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh = 512, init_scale = np.sqrt(2))
pi = fc(h4, 'pi', nact, act = lambda x : x)
vf = fc(h4, 'v', 1, act = lambda x : tf.tanh(x))
# filter out non-valid actions from pi
valid = tf.reduce_max(tf.cast(X, tf.float32), axis = 1)
valid_flat = tf.reshape(valid, [-1, nact]) # this is the equavalent of "ind_flat_filter"
pi_fil = pi + (valid_flat - tf.ones(tf.shape(valid_flat))) * 1e32
return pi_fil, vf[:, 0]
def model(X, nact, scope, reuse=False, layer_norm=False):
with tf.variable_scope(scope, reuse=reuse):
h = conv(tf.cast(X, tf.float32), 'c1', nf=32, rf=8, stride=1, init_scale=np.sqrt(2)) # TODO: when upgraded to batch run, add layer_norm to conv
# x = layers.layer_norm(x, scale=True, center=True)
h2 = conv(h, 'c2', nf=64, rf=4, stride=1, init_scale=np.sqrt(2))
h3 = conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
pi = fc(h4, 'pi', nact, act=lambda x: x)
vf = fc(h4, 'v', 1, act=lambda x: tf.tanh(x))
pos = tf.reduce_max(X, axis = 1) # Comments by Fei: get 1 if the postive variable exists in any clauses, otherwise 0
neg = tf.reduce_min(X, axis = 1) # Comments by Fei: get -1 if the negative variables exists in any clauses, otherwise 0
ind = tf.concat([pos, neg], axis = 2) # Comments by Fei: get (1, -1) if this var is present, (1, 0) if only as positive, (0, -1) if only as negative
ind_flat = tf.reshape(ind, [-1, nact]) # Comments by Fei: this is nbatch * nact, with 0 values labeling non_valid actions, 1 or -1 for other
ind_flat_filter = tf.abs(tf.cast(ind_flat, tf.float32)) # Comments by Fei: this is nbatch * nact, with 0 values labeling non_valid actions, 1 for other
#pi_fil = pi + (ind_flat_filter - tf.ones(tf.shape(ind_flat_filter))) * 1e32
pi_fil = pi + (ind_flat_filter - tf.ones(tf.shape(ind_flat_filter))) * 1e32
return pi_fil, vf[:, 0]
def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, nlstm=256, reuse=False):
nenv = nbatch // nsteps
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nh, nw, nc)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape) # obs
M = tf.placeholder(tf.float32, [nbatch]) # mask (done t-1)
S = tf.placeholder(tf.float32, [nenv, nlstm * 2]) # states
with tf.variable_scope("model", reuse=reuse):
h = conv(tf.cast(X, tf.float32) / 255., 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2))
h2 = conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2))
h3 = conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
xs = batch_to_seq(h4, nenv, nsteps)
ms = batch_to_seq(M, nenv, nsteps)
h5, snew = lstm(xs, ms, S, 'lstm1', nh=nlstm)
h5 = seq_to_batch(h5)
pi = fc(h5, 'pi', nact, act=lambda x: x)
vf = fc(h5, 'v', 1, act=lambda x: x)
self.pdtype = make_pdtype(ac_space)
self.pd = self.pdtype.pdfromflat(pi)
v0 = vf[:, 0]
a0 = self.pd.sample()
neglogp0 = self.pd.neglogp(a0)
self.initial_state = np.zeros((nenv, nlstm * 2), dtype=np.float32)
def step(ob, state, mask):
return sess.run([a0, v0, snew, neglogp0], {X: ob, S: state, M: mask})
def value(ob, state, mask):
return sess.run(v0, {X: ob, S: state, M: mask})
self.X = X
self.M = M
self.S = S
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def __init__(self, sess, ob_space, ac_space, nbatch, nsteps, reuse=True): #pylint: disable=W0613
ob_shape = (nbatch, ) + ob_space.shape
actdim = ac_space.shape[0]
window_length = ob_space.shape[1] - 1
X = tf.placeholder(tf.float32, ob_shape, name='Ob') #obs
# with tf.variable_scope("model", reuse=reuse) as scope:
# # policy
# w0 = tf.slice(X, [0,0,0,0],[-1,-1,1,1], name='pi_sl0')
# x = tf.slice(X, [0,0,1,0],[-1,-1,-1,-1], name='pi_sl1')
# x = conv(tf.cast(x, tf.float32),'c1', fh=1,fw=4,nf=3, stride=1, init_scale=np.sqrt(2))
# # x = tf.layers.conv2d(
# # inputs=x,
# # filters=3,
# # kernel_size=[1, 4],
# # padding="valid",
# # activation=tf.nn.relu)
# #(1, 3, 47, 3)
# x = conv(x, 'c2', fh=1, fw=window_length -3, nf=20, stride= window_length -3, init_scale=np.sqrt(2))
# # x = tf.layers.conv2d(
# # inputs=x,
# # filters=20,
# # kernel_size=[1, window_length -3],
# # padding="valid",
# # strides=(1, window_length -3),
# # activation=tf.nn.relu)
# x = tf.concat([x, w0], 3)
# x = conv(x, 'c3', fh=1, fw=1, nf=1, stride= 1, init_scale=np.sqrt(2))
# # x = tf.layers.conv2d(
# # inputs=x,
# # filters=1,
# # kernel_size=[1, 1],
# # padding="valid",
# # strides=(1, 1),
# # activation=tf.nn.relu)
# cash_bias = tf.zeros([x.shape[0],1,1,1], tf.float32)
# c = tf.concat([cash_bias, x], 1)
# v = conv_to_fc(x)
# # vf = fc(v, 'v',1)[:,0]
# f = tf.contrib.layers.flatten(c)
# eps = 10e20
# f = tf.clip_by_value(f, -eps, eps, 'clip1')
# # f = tf.Print(f, [f], "concatenate")
# pi = tf.nn.softmax(f)
# # pi = tf.Print(pi,[pi], 'pi ')
# # f = tf.nn.relu(f)
# vf = fc(v, 'v',1, act=tf.nn.relu)[:,0]
# # vf = tf.add(tf.ones(v.shape), v)
# # vf = fc(v, 'v',1)[:,0]
# # vf = tf.add(vf, tf.ones(vf.shape, tf.float32))
# logstd = tf.get_variable(name="logstd", shape=[1, actdim],
# initializer=tf.zeros_initializer())
# eps = 80
# logstd = tf.clip_by_value(logstd, -eps, eps, 'clip_logstd')
# # logstd = tf.Print(logstd,[logstd], 'logstd ')
with tf.variable_scope("model", reuse=reuse) as scope:
w0 = tf.slice(X, [0, 0, 0, 0], [-1, -1, 1, 1])
x = tf.slice(X, [0, 0, 1, 0], [-1, -1, -1, -1])
# reuse when testing
x = conv(tf.cast(x, tf.float32),
'c1',
fh=1,
fw=3,
nf=3,
stride=1,
init_scale=np.sqrt(2))
x = conv(x,
'c2',
fh=1,
fw=window_length - 2,
nf=20,
stride=window_length - 2,
init_scale=np.sqrt(2))
x = tf.concat([x, w0], 3)
x = conv(x,
'c3',
fh=1,
fw=1,
nf=1,
stride=1,
init_scale=np.sqrt(2))
cash_bias = tf.ones([x.shape[0], 1, 1, 1], tf.float32)
c = tf.concat([cash_bias, x], 1)
v = conv_to_fc(x)
vf = fc(v, 'v', 1)[:, 0]
f = tf.contrib.layers.flatten(c)
pi = tf.nn.softmax(f)
logstd = tf.get_variable(
name="logstd",
shape=[1, actdim],
initializer=tf.truncated_normal_initializer())
# logstd = tf.Print(logstd,[logstd], 'logstd ')
eps = 50
# logstd = tf.clip_by_value(logstd, -eps, eps, 'clip_logstd')
pdparam = tf.concat([pi, pi * 0.0 + logstd], axis=1)
self.pdtype = make_pdtype(ac_space)
self.pd = self.pdtype.pdfromflat(pdparam)
a0 = self.pd.sample()
# a0 = tf.clip_by_value(a0, -eps, eps, 'clip2')
a0 = tf.nn.softmax(a0)
neglogp0 = self.pd.neglogp(a0)
self.initial_state = None
def step(ob, *_args, **_kwargs):
a, v, neglogp, lst, p = sess.run([a0, vf, neglogp0, logstd, pi],
{X: ob})
# print ("logstd: "+ str(lst[0]))
# print ("action: " + str(a))
# print ("value: {}".format(v))
# print ("neglogp: "+ str(neglogp))
# print ("f:{}".format(f))
return a, v, self.initial_state, neglogp, lst[0], p
def value(ob, *_args, **_kwargs):
v = sess.run(vf, {X: ob})
# print ("vf: " + str(v))
return v
self.X = X
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack,
nplayers, nlstm=256, reuse=False):
nbatch = nenv * nsteps
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nplayers, nh, nw, nc*nstack)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape, name='X')
M = tf.placeholder(tf.float32, [nbatch, nplayers], name='M')
S = tf.placeholder(tf.float32, [nbatch, nlstm*2], name='S')
pis = []
vfs = []
with tf.variable_scope("model", reuse=reuse):
# tuck observation from all players at once
x = tf.reshape(tf.cast(X, tf.float32)/255., [nbatch*nplayers, nh, nw, nc*nstack])
h1 = conv( x, 'conv1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2))
h2 = conv(h1, 'conv2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2))
h3 = conv(h2, 'conv3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2))
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))
# shared memory:
# instead of time-sequence, each rnn cell here
# is responsible for "one player"
xs = batch_to_seq(h4, nenv*nsteps, nplayers)
ms = batch_to_seq( M, nenv*nsteps, nplayers)
mem, snew = lnmem(xs, ms, S, 'lstm1', nh=nlstm)
mem = tf.reshape(mem, [nbatch, nlstm*2])
mem = fc(mem, 'fcmem', nh=256, init_scale=np.sqrt(2))
#tf.summary.histogram('rnn_activation', mem)
h4 = tf.reshape(h4, [nbatch, nplayers, -1])
# compute pi, vaule for each agents
_reuse = False
for i in range(nplayers):
h5 = fc(tf.concat([mem, h4[:,i]], axis=1), 'fc-pi', nh=512, init_scale=np.sqrt(2), reuse=_reuse)
pi = fc(h5, 'pi', nact, act=tf.identity, reuse=_reuse)
vf = fc(h5, 'v', 1, act=tf.identity, reuse=_reuse)
pis.append(pi)
vfs.append(vf)
_reuse = True
pi = tf.reshape(tf.concat(pis, axis=1), [nbatch*nplayers, -1])
vf = tf.reshape(tf.concat(vfs, axis=1), [nbatch*nplayers, -1])
v0 = vf
a0 = sample(pi)
self.init_map = []
self.init_state = np.zeros((nbatch, nlstm*2), dtype=np.float32)
def step(ob, state, mask):
a, v, s = sess.run([a0, v0, snew], {X:ob, S:state, M:mask})
a = [a[i:i+nplayers] for i in range(0, len(a), nplayers)]
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return a, v, s, [] # dummy recon
def value(ob, state, mask):
v = sess.run(v0, {X:ob, S:state, M:mask})
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return v
self.X = X
self.M = M
self.S = S
self.pi = pi
self.vf = vf
self.step = step
self.value = value
def __init__(self, sess, ob_space, ac_space, nenv, nsteps, nstack,
nplayers, map_size=[15, 15, 32], reuse=False):
nbatch = nenv * nsteps
nh, nw, nc = ob_space.shape
ob_shape = (nbatch, nplayers, nh, nw, nc*nstack)
nact = ac_space.n
X = tf.placeholder(tf.uint8, ob_shape, name='X')
MAP = tf.placeholder(tf.float32, [nbatch,] + map_size, name='MEM')
C = tf.placeholder(tf.int32, [nbatch, nplayers, 2])
pis = []
vfs = []
with tf.variable_scope("mem-var"):
m = tf.get_variable("mem-var-%d" % nbatch, shape=MAP.get_shape(), trainable=False)
with tf.variable_scope("model", reuse=reuse):
# tuck observation from all players at once
x = tf.reshape(tf.cast(X, tf.float32)/255., [nbatch*nplayers, nh, nw, nc*nstack])
m = tf.assign(m, MAP * 0.9)
h1 = conv( x, 'conv1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2), act=swish)
h2 = conv(h1, 'conv2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2), act=swish)
h3 = conv(h2, 'conv3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2), act=swish)
h3 = conv_to_fc(h3)
h4 = fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2), act=swish)
# shared memory:
# instead of time-sequence, each rnn cell here
# is responsible for "one player"
# mem_size : half for key, half for value
xs = batch_to_seq(h4, nenv*nsteps, nplayers)
crds = batch_to_seq(C, nenv*nsteps, nplayers)
context, rs, ws, map_new = nmap(xs, m, crds, 'mem', nplayers, n=map_size[1], feat=map_size[-1])
h4 = tf.reshape(h4, [nbatch, nplayers, -1])
context = tf.reshape(context, [nbatch, nplayers, -1])
ws = tf.reshape(ws, [nbatch, nplayers, -1])
crds = tf.cast(C, tf.float32)
# compute pi, vaule for each agents
_reuse = False
for i in range(nplayers):
h5 = fc(tf.concat([context[:, i], crds[:, i], rs, ws[:, i]], axis=1), 'fc-pi', nh=512, init_scale=np.sqrt(2), reuse=_reuse, act=swish)
pi = fc(h5, 'pi', nact, act=tf.identity, reuse=_reuse)
vf = fc(h5, 'v', 1, act=tf.identity, reuse=_reuse)
pis.append(pi)
vfs.append(vf)
_reuse = True
pi = tf.reshape(tf.concat(pis, axis=1), [nbatch*nplayers, -1])
vf = tf.reshape(tf.concat(vfs, axis=1), [nbatch*nplayers, -1])
v0 = vf
a0 = sample(pi)
a_max = tf.argmax(pi, 1)
self.init_state = []
self.init_map = np.zeros([nbatch,]+map_size, dtype=np.float32)
def step(ob, maps, coords, training=True):
pi_op = a0 if training else a_max
a, v, m = sess.run([pi_op, v0, map_new], {X:ob, MAP:maps, C:coords})
a = [a[i:i+nplayers] for i in range(0, len(a), nplayers)]
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return a, v, [], m # dummy state
def value(ob, maps, coords):
v = sess.run(v0, {X:ob, MAP:maps, C:coords})
v = [v[i:i+nplayers] for i in range(0, len(v), nplayers)]
return v
self.X = X
self.C = C
self.MAP = MAP # to meet the a2c.py protocol.
self.pi = pi
self.vf = vf
self.step = step
self.value = value
