approximators.py 文件源码

def _initialize_network(self, img_input_shape, misc_len, output_size, img_input, misc_input=None, **kwargs):
        input_layers = []
        inputs = [img_input]
        # weights_init = lasagne.init.GlorotUniform("relu")
        weights_init = lasagne.init.HeNormal("relu")

        network = ls.InputLayer(shape=img_input_shape, input_var=img_input)
        input_layers.append(network)
        network = ls.Conv2DLayer(network, num_filters=32, filter_size=8, nonlinearity=rectify, W=weights_init,
                                 b=lasagne.init.Constant(0.1), stride=4)
        network = ls.Conv2DLayer(network, num_filters=64, filter_size=4, nonlinearity=rectify, W=weights_init,
                                 b=lasagne.init.Constant(0.1), stride=2)
        network = ls.Conv2DLayer(network, num_filters=64, filter_size=3, nonlinearity=rectify, W=weights_init,
                                 b=lasagne.init.Constant(0.1), stride=1)
        network = ls.FlattenLayer(network)

        if self.misc_state_included:
            health_inputs = 4
            units_per_health_input = 100
            layers_for_merge = []
            for i in range(health_inputs):
                health_input_layer = ls.InputLayer(shape=(None, 1), input_var=misc_input[:, i:i + 1])

                health_layer = ls.DenseLayer(health_input_layer, units_per_health_input, nonlinearity=rectify,
                                             W=weights_init, b=lasagne.init.Constant(0.1))
                health_layer = ls.DenseLayer(health_layer, units_per_health_input, nonlinearity=rectify,
                                             W=weights_init, b=lasagne.init.Constant(0.1))

                inputs.append(misc_input[:, i:i + 1])
                input_layers.append(health_input_layer)
                layers_for_merge.append(health_layer)

            misc_input_layer = ls.InputLayer(shape=(None, misc_len - health_inputs),
                                             input_var=misc_input[:, health_inputs:])
            input_layers.append(misc_input_layer)
            layers_for_merge.append(misc_input_layer)
            inputs.append(misc_input[:, health_inputs:])

            layers_for_merge.append(network)
            network = ls.ConcatLayer(layers_for_merge)

        network = ls.DenseLayer(network, 512, nonlinearity=rectify,
                                W=weights_init, b=lasagne.init.Constant(0.1))

        network = ls.DenseLayer(network, output_size, nonlinearity=None, b=lasagne.init.Constant(.1))
        return network, input_layers, inputs