model.py 文件源码

def __init__(self, observation_space, non_rgb_rgb_state_size, action_space,
                 hidden_size):
        super(ActorCritic, self).__init__()
        self.rgb_state_size = (6, 128, 128)
        self.action_size = 5
        self.relu = nn.ReLU(inplace=True)
        self.softmax = nn.Softmax()

        # the archtecture is adapted from Sim2Real (Rusu et. al., 2016)
        self.conv1 = nn.Conv2d(
            self.rgb_state_size[0], 16, 8, stride=4, padding=1)
        self.conv2 = nn.Conv2d(16, 32, 5, stride=2)
        self.fc1 = nn.Linear(1152 + non_rgb_rgb_state_size, hidden_size)
        self.lstm = nn.LSTMCell(hidden_size, hidden_size)
        self.fc_actor1 = nn.Linear(hidden_size, self.action_size)
        self.fc_actor2 = nn.Linear(hidden_size, self.action_size)
        self.fc_actor3 = nn.Linear(hidden_size, self.action_size)
        self.fc_actor4 = nn.Linear(hidden_size, self.action_size)
        self.fc_actor5 = nn.Linear(hidden_size, self.action_size)
        self.fc_actor6 = nn.Linear(hidden_size, self.action_size)
        self.fc_critic = nn.Linear(hidden_size, 1)

        # Orthogonal weight initialisation
        for name, p in self.named_parameters():
            if 'weight' in name:
                init.orthogonal(p)
            elif 'bias' in name:
                init.constant(p, 0)