return action
def select_action(self, state, noiseFlag=False):
if noiseFlag:
action = self.forward(state)
action += torch.tensor(self.noise.get_noise(),
dtype=torch.float32,
device=config['device']).unsqueeze(0)
return self.forward(state)
configName = 'config.json'
with open(configName, 'r') as f:
config = json.load(f)
env = ActiveParticle3DEnv('config.json', 1)
if config['localFrameFlag']:
N_S = 6
else:
N_S = 6
N_A = env.nbActions
netParameter = dict()
netParameter['n_feature'] = N_S
netParameter['n_hidden'] = 256
netParameter['n_output'] = N_A
actorNet = Actor(netParameter['n_feature'], netParameter['n_hidden'],
netParameter['n_output'])
obstacles, obstacleCenter = [], []
for i in range(config['numObstacles']):
name = 'obs' + str(i)
obstacles.append(
RBCObstacle(np.array(config[name]['center']),
config[name]['scale'],
np.array(config[name]['orient'])))
obstacleCenter.append(obstacles[i].center)
return obstacles, obstacleCenter
env = ActiveParticle3DEnv('config.json', 1, obstacleConstructorCallBack)
N_S = env.stateDim[0]
N_A = env.nbActions
netParameter = dict()
netParameter['n_feature'] = N_S
netParameter['n_hidden'] = 256
netParameter['n_output'] = N_A
actorNet = ActorConvNet(netParameter['n_feature'], netParameter['n_hidden'],
netParameter['n_output'])
actorTargetNet = deepcopy(actorNet)
criticNet = CriticConvNet(netParameter['n_feature'], netParameter['n_hidden'],
def select_action(self, state, noiseFlag=False):
if noiseFlag:
action = self.forward(state)
action += torch.tensor(self.noise.get_noise(),
dtype=torch.float32,
device=config['device']).unsqueeze(0)
action = torch.clamp(action, -1, 1)
return action
return self.forward(state)
configName = 'config.json'
with open(configName, 'r') as f:
config = json.load(f)
env = ActiveParticle3DEnv('config.json', 1)
if config['localFrameFlag']:
N_S = 6
else:
N_S = 6
N_A = env.nbActions
netParameter = dict()
netParameter['n_feature'] = N_S
netParameter['n_hidden'] = 256
netParameter['n_output'] = N_A
actorNet = Actor(netParameter['n_feature'], netParameter['n_hidden'],
netParameter['n_output'])
