Datasets
Models
Downloads: 1
36 lines (36 with data), 5.2 kB
ó
à¸Yc @ si d d l Z d d l Z d d l Z d d l m Z d Z d Z d Z d Z
d Z d d
d YZ d S( iÿÿÿÿN( t dlrelui i, g-C ëâ6?gñhãµøä>g{®Gáz?t
CriticNetworkc B sh e Z d Z d Z d Z d Z d Z d Z d Z d Z d Z
d Z d
Z RS( s docstring for CriticNetworkc C s² d | _ | | _ | | _ | | _ | j | | | \ | _ | _ | _ | _ | j | | | | j \ | _
| _ | _ | _
| j | j j t j | j d S( Ni ( t time_stept sesst atomst zt create_q_networkt state_inputt action_inputt q_value_outputt nett create_target_q_networkt target_state_inputt target_action_inputt target_q_value_outputt
target_updatet create_training_methodt runt tft global_variables_initializert
update_target( t selfR t state_dimt
action_dimR R ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyt __init__ s -3
c C s t j d d | j g | _ t j | j t j | j | _ t j j
t j | j | _
t j t j | j | j | j | _ d S( Nt float( R t placeholdert NoneR t m_inputt
reduce_sumt logR t costt traint
AdamOptimizert
LEARNING_RATEt minimizet optimizert gradientsR R t action_gradients( R ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR ' s &!c
C s t } t } t j d d | g } t j d d | g } | j | | g | } | j | g | } | j | | g | | }
| j | | g | | } | j | g | | } t j t j | d g d d }
t j t j | g d d } t t j | | | } t t j | |
t j | | | } t j
t j | |
| } | | | | | |
| | |
| g f S( NR i gú~j¼th¿gú~j¼th?g @g @( t LAYER1_SIZEt LAYER2_SIZER R R t variablet Variablet random_uniformR t matmult identity( R R R R t layer1_sizet layer2_sizeR R t W1t b1t W2t W2_actiont b2t W3t b3t layer1t layer2R ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR / s $! , c C s
t j d d | g } t j d d | g } t j j d d t } | j | } g | D] } | j | ^ q_ }
t t j | |
d |
d } t t j | |
d t j | |
d |
d } t j
t j | |
d |
d }
| | |
| f S(
NR t decayi i i i i i i ( R R R R t ExponentialMovingAveraget TAUt applyt averageR R, R- ( R R R R R
R R t emaR t xt
target_netR7 R8 R ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR E s "$8'c C s | j j | j d S( N( R R R ( R ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR S s c C sJ | j d 7_ | j j | j d i | | j 6| | j 6| | j 6d S( Ni t feed_dict( R R R R$ R R R ( R t m_batcht state_batcht action_batch( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR V s
c C s1 | j j | j d i | | j 6| | j 6d S( NRA i ( R R R& R R ( R RC RD ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR% ^ s
c C s- | j j | j d i | | j 6| | j 6S( NRA ( R R R R R
( R RC RD ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyt target_qd s
c C s- | j j | j d i | | j 6| | j 6S( NRA ( R R R R R ( R RC RD ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyt q_valuej s
c C s6 t j t j | d t j | d t j | S( Niÿÿÿÿi ( R R* R+ t matht sqrt( R t shapet f( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR) p s (
t __name__t
__module__t __doc__R R R R R R R% RE RF R) ( ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyR
s ( (
t
tensorflowR t numpyt npRG t helperR R' R( R" R; t L2R ( ( ( sO /home/hangyu5/osim-rl/scripts/-NIPS-2017-Learning-to-Run/ddpg/critic_network.pyt <module> s r