def __init__(self,
state_dim,
action_dim,
hidden_dim=256,
training_step=1,
alpha=0.1,
train_alpha=True,
batch_size=128,
buffer_size=1e6,
tau=0.005,
learning_rate=0.0003,
gamma=0.99,
reward_scale=1,
training_start=500):
self.buffer = Buffer(buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic1_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic2_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = batch_size
self.tau = tau
self.gamma = gamma
self.reward_scale = reward_scale
self.training_start = training_start
self.training_step = training_step
self.log_alpha = tf.Variable(np.log(alpha),
dtype=tf.float32,
trainable=True)
self.target_entropy = -action_dim
self.alpha_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.train_alpha = train_alpha
self.actor = Squashed_Gaussian_Actor(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.critic1 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.target_critic1 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.critic2 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.target_critic2 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2
}
self.name = 'SAC_v2'
def __init__(self,
state_dim,
action_dim,
hidden_dim=256,
training_step=1,
batch_size=128,
buffer_size=1e6,
tau=0.005,
learning_rate=0.0003,
gamma=0.99,
alpha=0.2,
reward_scale=1,
training_start=500):
self.buffer = Buffer(buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic1_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic2_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.v_network_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = batch_size
self.tau = tau
self.gamma = gamma
self.alpha = alpha
self.reward_scale = reward_scale
self.training_start = training_start
self.training_step = training_step
self.actor = Squashed_Gaussian_Actor(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.critic1 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.critic2 = Q_network(self.state_dim, self.action_dim,
(hidden_dim, hidden_dim))
self.v_network = V_network(self.state_dim, (hidden_dim, hidden_dim))
self.target_v_network = V_network(self.state_dim,
(hidden_dim, hidden_dim))
copy_weight(self.v_network, self.target_v_network)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'V_network': self.v_network,
'Target_V_network': self.target_v_network
}
self.name = 'SAC_v1'
def __init__(self, state_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = args.batch_size
self.tau = args.tau
self.gamma = args.gamma
self.training_start = args.training_start
self.training_step = args.training_step
self.current_step = 0
self.critic_update = args.critic_update
self.log_alpha = tf.Variable(np.log(args.alpha),
dtype=tf.float32,
trainable=True)
self.target_entropy = -action_dim
self.alpha_optimizer = tf.keras.optimizers.Adam(args.alpha_lr)
self.train_alpha = args.train_alpha
self.actor = Squashed_Gaussian_Actor(self.state_dim, self.action_dim,
args.hidden_dim, args.log_std_min,
args.log_std_max)
self.critic1 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_critic1 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_critic2 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2
}
self.name = 'SAC_v2'
def __init__(self, state_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = args.batch_size
self.gamma = args.gamma
self.tau = args.tau
self.actor_lr = args.actor_lr
self.critic_lr = args.critic_lr
self.policy_delay = args.policy_delay
self.actor_noise = args.actor_noise
self.target_noise = args.target_noise
self.noise_clip = args.noise_clip
self.training_start = args.training_start
self.training_step = args.training_step
self.current_step = 0
self.actor = Policy_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_actor = Policy_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.critic1 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_critic1 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_critic2 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
copy_weight(self.actor, self.target_actor)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2
}
self.name = 'TD3'
def __init__(self, state_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.v_network_optimizer = tf.keras.optimizers.Adam(args.v_lr)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = args.batch_size
self.tau = args.tau
self.gamma = args.gamma
self.alpha = args.alpha
self.training_start = args.training_start
self.training_step = args.training_step
self.current_step = 0
self.actor = Squashed_Gaussian_Actor(self.state_dim, self.action_dim,
args.hidden_dim, args.log_std_min,
args.log_std_max)
self.critic1 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.v_network = V_network(self.state_dim, args.hidden_dim)
self.target_v_network = V_network(self.state_dim, args.hidden_dim)
copy_weight(self.v_network, self.target_v_network)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'V_network': self.v_network,
'Target_V_network': self.target_v_network
}
self.name = 'SAC_v1'
def __init__(self, state_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.state_dim = state_dim
self.action_dim = action_dim
self.batch_size = args.batch_size
self.gamma = args.gamma
self.tau = args.tau
self.noise_scale = args.noise_scale
self.training_start = args.training_start
self.training_step = args.training_step
self.current_step = 0
self.actor = Policy_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_actor = Policy_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.critic = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
self.target_critic = Q_network(self.state_dim, self.action_dim,
args.hidden_dim)
copy_weight(self.actor, self.target_actor)
copy_weight(self.critic, self.target_critic)
self.network_list = {
'Actor': self.actor,
'Target_Actor': self.target_actor,
'Critic': self.critic,
'Target_Critic': self.target_critic
}
self.name = 'DDPG'
def __init__(self, obs_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.image_size = args.image_size
self.pre_image_size = args.pre_image_size
self.current_step = 0
self.log_alpha = tf.Variable(initial_value=tf.math.log(args.alpha), trainable=True)
self.target_entropy = -action_dim
self.gamma = args.gamma
self.batch_size = args.batch_size
self.feature_dim = args.feature_dim
self.layer_num = args.layer_num
self.filter_num = args.filter_num
self.tau = args.tau
self.encoder_tau = args.encoder_tau
self.critic_update = args.critic_update
self.training_start = args.training_start
self.training_step = args.training_step
self.train_alpha = args.train_alpha
self.actor = Squashed_Gaussian_Actor(self.feature_dim, self.action_dim, args.hidden_dim, args.log_std_min, args.log_std_max)
self.critic1 = Q_network(self.feature_dim, self.action_dim, args.hidden_dim)
self.critic2 = Q_network(self.feature_dim, self.action_dim, args.hidden_dim)
self.target_critic1 = Q_network(self.feature_dim, self.action_dim, args.hidden_dim)
self.target_critic2 = Q_network(self.feature_dim, self.action_dim, args.hidden_dim)
self.encoder = PixelEncoder(self.obs_dim, self.feature_dim, self.layer_num, self.filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, self.feature_dim, self.layer_num, self.filter_num)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.log_alpha_optimizer = tf.keras.optimizers.Adam(args.alpha_lr, beta_1=0.5)
self.network_list = {'Actor': self.actor, 'Critic1': self.critic1, 'Critic2': self.critic2,
'Target_Critic1': self.target_critic1, 'Target_Critic2': self.target_critic2, 'Encoder': self.encoder, 'Target_Encoder': self.target_encoder}
self.aug_funcs = {}
self.aug_list = {
'crop': rad.crop,
'grayscale': rad.random_grayscale(),
'cutout': rad.random_cutout(),
'cutout_color': rad.random_cutout_color(),
'flip': rad.random_flip(),
'rotate': rad.random_rotation(),
'rand_conv': rad.random_convolution(),
'color_jitter': rad.random_color_jitter(),
'no_aug': rad.no_aug
}
for aug_name in args.data_augs.split('-'):
assert aug_name in self.aug_list
self.aug_funcs[aug_name] = self.aug_list[aug_name]
self.name = 'RAD_SACv2'
def __init__(self, obs_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.image_size = obs_dim[-1]
self.current_step = 0
self.gamma = args.gamma
self.batch_size = args.batch_size
self.feature_dim = args.feature_dim
self.curl_latent_dim = args.curl_latent_dim
self.layer_num = args.layer_num
self.filter_num = args.filter_num
self.tau = args.tau
self.encoder_tau = args.encoder_tau
self.policy_delay = args.policy_delay
self.actor_noise = args.actor_noise
self.target_noise = args.target_noise
self.noise_clip = args.noise_clip
self.training_start = args.training_start
self.training_step = args.training_step
self.actor = Policy_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_actor = Policy_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
copy_weight(self.actor, self.target_actor)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.curl = CURL(self.feature_dim, self.curl_latent_dim)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.encoder_optimizer = tf.keras.optimizers.Adam(args.encoder_lr)
self.cpc_optimizer = tf.keras.optimizers.Adam(args.cpc_lr)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2,
'Curl': self.curl,
'Encoder': self.encoder,
'Target_Encoder': self.target_encoder
}
self.name = 'CURL_TD3'
def __init__(self, obs_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.image_size = obs_dim[-1]
self.current_step = 0
self.log_alpha = tf.Variable(initial_value=tf.math.log(args.alpha),
trainable=True)
self.target_entropy = -action_dim
self.gamma = args.gamma
self.batch_size = args.batch_size
self.feature_dim = args.feature_dim
self.curl_latent_dim = args.curl_latent_dim
self.layer_num = args.layer_num
self.filter_num = args.filter_num
self.tau = args.tau
self.encoder_tau = args.encoder_tau
self.critic_update = args.critic_update
self.training_start = args.training_start
self.training_step = args.training_step
self.train_alpha = args.train_alpha
self.actor = Squashed_Gaussian_Actor(self.feature_dim, self.action_dim,
args.hidden_dim, args.log_std_min,
args.log_std_max)
self.critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.curl = CURL(self.feature_dim, self.curl_latent_dim)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.encoder_optimizer = tf.keras.optimizers.Adam(args.encoder_lr)
self.cpc_optimizer = tf.keras.optimizers.Adam(args.cpc_lr)
self.log_alpha_optimizer = tf.keras.optimizers.Adam(args.alpha_lr,
beta_1=0.5)
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2,
'Curl': self.curl,
'Encoder': self.encoder,
'Target_Encoder': self.target_encoder
}
self.name = 'CURL_SACv2'
def __init__(self, obs_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.image_size = obs_dim[-1]
self.gamma = args.gamma
self.alpha = args.alpha
self.batch_size = args.batch_size
self.feature_dim = args.feature_dim
self.curl_latent_dim = args.curl_latent_dim
self.layer_num = args.layer_num
self.filter_num = args.filter_num
self.tau = args.tau
self.encoder_tau = args.encoder_tau
self.training_start = args.training_start
self.training_step = args.training_step
self.encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.actor = Squashed_Gaussian_Actor(
self.feature_dim,
self.action_dim,
args.hidden_dim,
args.log_std_min,
args.log_std_max,
kernel_initializer=tf.keras.initializers.orthogonal())
self.critic1 = Q_network(
self.feature_dim,
self.action_dim,
args.hidden_dim,
kernel_initializer=tf.keras.initializers.orthogonal())
self.critic2 = Q_network(
self.feature_dim,
self.action_dim,
args.hidden_dim,
kernel_initializer=tf.keras.initializers.orthogonal())
self.v_network = V_network(
self.feature_dim,
args.hidden_dim,
kernel_initializer=tf.keras.initializers.orthogonal())
self.target_v_network = V_network(
self.feature_dim,
args.hidden_dim,
kernel_initializer=tf.keras.initializers.orthogonal())
self.curl = CURL(self.feature_dim, self.curl_latent_dim)
copy_weight(self.v_network, self.target_v_network)
copy_weight(self.encoder, self.target_encoder)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.v_network_optimizer = tf.keras.optimizers.Adam(args.v_lr)
self.encoder_optimizer = tf.keras.optimizers.Adam(args.encoder_lr)
self.cpc_optimizer = tf.keras.optimizers.Adam(args.cpc_lr)
self.current_step = 0
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'V_network': self.v_network,
'Target_V_network': self.target_v_network,
'Curl': self.curl,
'Encoder': self.encoder,
'Target_Encoder': self.target_encoder
}
self.name = 'CURL_SACv1'
def __init__(self,
obs_dim,
action_dim,
hidden_dim=512,
gamma=0.99,
learning_rate=0.001,
batch_size=512,
policy_delay=2,
actor_noise=0.1,
target_noise=0.2,
noise_clip=0.5,
buffer_size=1e6,
feature_dim=50,
layer_num=4,
filter_num=32,
tau=0.005,
encoder_tau=0.005,
bisim_coef=0.5,
training_start=1000):
self.buffer = Buffer(buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.hidden_dim = hidden_dim
self.gamma = gamma
self.learning_rate = learning_rate
self.batch_size = batch_size
self.feature_dim = feature_dim
self.layer_num = layer_num
self.filter_num = filter_num
self.tau = tau
self.encoder_tau = encoder_tau
self.bisim_coef = bisim_coef
self.policy_delay = policy_delay
self.actor_noise = actor_noise
self.target_noise = target_noise
self.noise_clip = noise_clip
self.training_start = training_start
self.actor = Policy_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.target_actor = Policy_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.critic1 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.critic2 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.target_critic1 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.target_critic2 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.encoder = PixelEncoder(self.obs_dim, feature_dim, layer_num,
filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, feature_dim,
layer_num, filter_num)
self.dynamics_model = Transition_Network(feature_dim, action_dim)
self.reward_model = Reward_Network(feature_dim)
copy_weight(self.actor, self.target_actor)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.actor_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic1_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic2_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.encoder_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.dynamics_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.reward_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.name = 'DBC_TD3'
def __init__(self, obs_dim, action_dim, args):
self.buffer = Buffer(args.buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.log_alpha = tf.Variable(initial_value=tf.math.log(args.alpha),
trainable=True)
self.target_entropy = -action_dim
self.gamma = args.gamma
self.batch_size = args.batch_size
self.feature_dim = args.feature_dim
self.layer_num = args.layer_num
self.filter_num = args.filter_num
self.tau = args.tau
self.encoder_tau = args.encoder_tau
self.actor_update = args.actor_update
self.critic_update = args.critic_update
self.training_start = args.training_start
self.training_step = args.training_step
self.train_alpha = args.train_alpha
self.actor = Squashed_Gaussian_Actor(self.feature_dim, self.action_dim,
args.hidden_dim, args.log_std_min,
args.log_std_max)
self.critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic1 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.target_critic2 = Q_network(self.feature_dim, self.action_dim,
args.hidden_dim)
self.encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, self.feature_dim,
self.layer_num, self.filter_num)
self.dynamics_model = Transition_Network(self.feature_dim,
action_dim,
deterministic=False)
self.reward_model = Reward_Network(self.feature_dim)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.actor_optimizer = tf.keras.optimizers.Adam(args.actor_lr)
self.critic1_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.critic2_optimizer = tf.keras.optimizers.Adam(args.critic_lr)
self.encoder_optimizer = tf.keras.optimizers.Adam(args.encoder_lr)
self.log_alpha_optimizer = tf.keras.optimizers.Adam(args.alpha_lr)
self.dynamics_optimizer = tf.keras.optimizers.Adam(args.decoder_lr)
self.reward_optimizer = tf.keras.optimizers.Adam(args.decoder_lr)
self.current_step = 0
self.network_list = {
'Actor': self.actor,
'Critic1': self.critic1,
'Critic2': self.critic2,
'Target_Critic1': self.target_critic1,
'Target_Critic2': self.target_critic2,
'Encoder': self.encoder,
'Target_Encoder': self.target_encoder,
'Dynamics': self.dynamics_model,
'Reward': self.reward_model
}
self.name = 'DBC_SACv2'
def __init__(self,
obs_dim,
action_dim,
hidden_dim=256,
gamma=0.99,
learning_rate=1e-5,
batch_size=128,
buffer_size=1e6,
feature_dim=50,
layer_num=4,
filter_num=32,
tau=0.005,
encoder_tau=0.005,
bisim_coef=0.5,
training_start=1000,
train_alpha=True,
alpha=0.1):
self.buffer = Buffer(buffer_size)
self.obs_dim = obs_dim
self.action_dim = action_dim
self.log_alpha = tf.Variable(initial_value=tf.math.log(alpha),
trainable=True)
self.target_entropy = -action_dim
self.hidden_dim = hidden_dim
self.gamma = gamma
self.learning_rate = learning_rate
self.bisim_coef = bisim_coef
self.batch_size = batch_size
self.feature_dim = feature_dim
self.layer_num = layer_num
self.filter_num = filter_num
self.tau = tau
self.encoder_tau = encoder_tau
self.training_start = training_start
self.train_alpha = train_alpha
self.actor = Squashed_Gaussian_Actor(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.critic1 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.critic2 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.target_critic1 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.target_critic2 = Q_network(feature_dim, action_dim,
(hidden_dim, hidden_dim))
self.encoder = PixelEncoder(self.obs_dim, feature_dim, layer_num,
filter_num)
self.target_encoder = PixelEncoder(self.obs_dim, feature_dim,
layer_num, filter_num)
self.dynamics_model = Transition_Network(feature_dim,
action_dim,
deterministic=False)
self.reward_model = Reward_Network(feature_dim)
copy_weight(self.critic1, self.target_critic1)
copy_weight(self.critic2, self.target_critic2)
copy_weight(self.encoder, self.target_encoder)
self.actor_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic1_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.critic2_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.encoder_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.log_alpha_optimizer = tf.keras.optimizers.Adam(10 * learning_rate)
self.dynamics_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.reward_optimizer = tf.keras.optimizers.Adam(learning_rate)
self.name = 'DBC_SACv2'