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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
-
- LOG_SIG_MAX = 2.0
- LOG_SIG_MIN = -20.0
-
-
- class ActorModel(parl.Model):
- def __init__(self, act_dim):
- hid1_size = 400
- hid2_size = 300
-
- self.fc1 = layers.fc(size=hid1_size, act='relu')
- self.fc2 = layers.fc(size=hid2_size, act='relu')
- self.mean_linear = layers.fc(size=act_dim)
- self.log_std_linear = layers.fc(size=act_dim)
-
- def policy(self, obs):
- hid1 = self.fc1(obs)
- hid2 = self.fc2(hid1)
- means = self.mean_linear(hid2)
- log_std = self.log_std_linear(hid2)
- log_std = layers.clip(log_std, min=LOG_SIG_MIN, max=LOG_SIG_MAX)
-
- return means, log_std
-
-
- class CriticModel(parl.Model):
- def __init__(self):
- hid1_size = 400
- hid2_size = 300
-
- self.fc1 = layers.fc(size=hid1_size, act='relu')
- self.fc2 = layers.fc(size=hid2_size, act='relu')
- self.fc3 = layers.fc(size=1, act=None)
-
- self.fc4 = layers.fc(size=hid1_size, act='relu')
- self.fc5 = layers.fc(size=hid2_size, act='relu')
- self.fc6 = layers.fc(size=1, act=None)
-
- def value(self, obs, act):
- hid1 = self.fc1(obs)
- concat1 = layers.concat([hid1, act], axis=1)
- Q1 = self.fc2(concat1)
- Q1 = self.fc3(Q1)
- Q1 = layers.squeeze(Q1, axes=[1])
-
- hid2 = self.fc4(obs)
- concat2 = layers.concat([hid2, act], axis=1)
- Q2 = self.fc5(concat2)
- Q2 = self.fc6(Q2)
- Q2 = layers.squeeze(Q2, axes=[1])
-
- return Q1, Q2
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