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- # Copyright (c) 2018 PaddlePaddle Authors. All Rights Reserved.
- #
- # Licensed under the Apache License, Version 2.0 (the "License");
- # you may not use this file except in compliance with the License.
- # You may obtain a copy of the License at
- #
- # http://www.apache.org/licenses/LICENSE-2.0
- #
- # Unless required by applicable law or agreed to in writing, software
- # distributed under the License is distributed on an "AS IS" BASIS,
- # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- # See the License for the specific language governing permissions and
- # limitations under the License.
-
- import paddle.fluid as fluid
- import parl
- from parl import layers
-
-
- class MAModel(parl.Model):
- def __init__(self, act_dim):
- self.actor_model = ActorModel(act_dim)
- self.critic_model = CriticModel()
-
- def policy(self, obs):
- return self.actor_model.policy(obs)
-
- def value(self, obs, act):
- return self.critic_model.value(obs, act)
-
- def get_actor_params(self):
- return self.actor_model.parameters()
-
- def get_critic_params(self):
- return self.critic_model.parameters()
-
-
- class ActorModel(parl.Model):
- def __init__(self, act_dim):
- hid1_size = 64
- hid2_size = 64
-
- self.fc1 = layers.fc(
- size=hid1_size,
- act='relu',
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
- self.fc2 = layers.fc(
- size=hid2_size,
- act='relu',
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
- self.fc3 = layers.fc(
- size=act_dim,
- act=None,
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
-
- def policy(self, obs):
- hid1 = self.fc1(obs)
- hid2 = self.fc2(hid1)
- means = self.fc3(hid2)
- means = means
- return means
-
-
- class CriticModel(parl.Model):
- def __init__(self):
- hid1_size = 64
- hid2_size = 64
-
- self.fc1 = layers.fc(
- size=hid1_size,
- act='relu',
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
- self.fc2 = layers.fc(
- size=hid2_size,
- act='relu',
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
- self.fc3 = layers.fc(
- size=1,
- act=None,
- param_attr=fluid.initializer.Normal(loc=0.0, scale=0.1))
-
- def value(self, obs_n, act_n):
- inputs = layers.concat(obs_n + act_n, axis=1)
- hid1 = self.fc1(inputs)
- hid2 = self.fc2(hid1)
- Q = self.fc3(hid2)
- Q = layers.squeeze(Q, axes=[1])
- return Q
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