def setup_param_noise(self, normalized_obs0):
assert self.param_noise is not None
# Configure perturbed actor.
param_noise_actor = copy(self.actor)
param_noise_actor.name = 'param_noise_actor'
self.perturbed_actor_tf = param_noise_actor(normalized_obs0)
logger.info('setting up param noise')
self.perturb_policy_ops = get_perturbed_actor_updates(self.actor, param_noise_actor, self.param_noise_stddev)
# Configure separate copy for stddev adoption.
adaptive_param_noise_actor = copy(self.actor)
adaptive_param_noise_actor.name = 'adaptive_param_noise_actor'
adaptive_actor_tf = adaptive_param_noise_actor(normalized_obs0)
self.perturb_adaptive_policy_ops = get_perturbed_actor_updates(self.actor, adaptive_param_noise_actor, self.param_noise_stddev)
self.adaptive_policy_distance = tf.sqrt(tf.reduce_mean(tf.square(self.actor_tf - adaptive_actor_tf)))
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