Created
October 26, 2018 15:09
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| if self.td3_variant: | |
| logger.info('using TD3 variant model') | |
| self.normalized_critic_tf, self.normalized_critic_tf2 = critic(normalized_obs0, self.actions) | |
| self.critic_tf = denormalize( | |
| tf.clip_by_value(self.normalized_critic_tf, self.return_range[0], self.return_range[1]), self.ret_rms) | |
| self.normalized_critic_with_actor_tf, _ = critic(normalized_obs0, self.actor_tf, reuse=True) | |
| self.critic_with_actor_tf = denormalize( | |
| tf.clip_by_value(self.normalized_critic_with_actor_tf, self.return_range[0], self.return_range[1]), | |
| self.ret_rms) | |
| out_q1, out_q2 = target_critic(normalized_obs1, target_actor(normalized_obs1)) | |
| min_q1 = tf.minimum(out_q1,out_q2) | |
| Q_obs1 = denormalize(min_q1, self.ret_rms) | |
| else: | |
| self.normalized_critic_tf = critic(normalized_obs0, self.actions) | |
| self.critic_tf = denormalize( | |
| tf.clip_by_value(self.normalized_critic_tf, self.return_range[0], self.return_range[1]), self.ret_rms) | |
| self.normalized_critic_with_actor_tf = critic(normalized_obs0, self.actor_tf, reuse=True) | |
| self.critic_with_actor_tf = denormalize( | |
| tf.clip_by_value(self.normalized_critic_with_actor_tf, self.return_range[0], self.return_range[1]), | |
| self.ret_rms) | |
| Q_obs1 = denormalize(target_critic(normalized_obs1, target_actor(normalized_obs1)), self.ret_rms) | |
| self.target_Q = self.rewards + (1. - self.terminals1) * gamma * Q_obs1 |
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