107 lines
3.4 KiB
Python
107 lines
3.4 KiB
Python
#!/usr/bin/env python
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# coding=utf-8
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'''
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Author: John
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Email: johnjim0816@gmail.com
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Date: 2021-03-12 21:14:12
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LastEditor: John
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LastEditTime: 2021-03-20 16:44:00
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Discription:
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Environment:
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'''
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import torch
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import torch.nn as nn
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import torch.nn.functional as F
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from torch.distributions import Categorical
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class MLP1(nn.Module):
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''' 多层感知机
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输入：state维度
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输出：概率
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'''
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def __init__(self,n_states,hidden_dim = 36):
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super(MLP1, self).__init__()
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# 24和36为hidden layer的层数，可根据state_dim, n_actions的情况来改变
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self.fc1 = nn.Linear(n_states, hidden_dim)
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self.fc2 = nn.Linear(hidden_dim,hidden_dim)
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self.fc3 = nn.Linear(hidden_dim, 1) # Prob of Left
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def forward(self, x):
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x = F.relu(self.fc1(x))
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x = F.relu(self.fc2(x))
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x = F.sigmoid(self.fc3(x))
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return x
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class MLP2(nn.Module):
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def __init__(self, n_states,n_actions,hidden_dim=128):
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""" 初始化q网络，为全连接网络
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n_states: 输入的feature即环境的state数目
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n_actions: 输出的action总个数
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"""
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super(MLP2, self).__init__()
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self.fc1 = nn.Linear(n_states, hidden_dim) # 输入层
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self.fc2 = nn.Linear(hidden_dim,hidden_dim) # 隐藏层
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self.fc3 = nn.Linear(hidden_dim, n_actions) # 输出层
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def forward(self, x):
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# 各层对应的激活函数
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x = F.relu(self.fc1(x))
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x = F.relu(self.fc2(x))
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return self.fc3(x)
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class Critic(nn.Module):
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def __init__(self, n_obs, n_actions, hidden_size, init_w=3e-3):
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super(Critic, self).__init__()
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self.linear1 = nn.Linear(n_obs + n_actions, hidden_size)
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self.linear2 = nn.Linear(hidden_size, hidden_size)
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self.linear3 = nn.Linear(hidden_size, 1)
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# 随机初始化为较小的值
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self.linear3.weight.data.uniform_(-init_w, init_w)
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self.linear3.bias.data.uniform_(-init_w, init_w)
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def forward(self, state, action):
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# 按维数1拼接
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x = torch.cat([state, action], 1)
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x = F.relu(self.linear1(x))
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x = F.relu(self.linear2(x))
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x = self.linear3(x)
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return x
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class Actor(nn.Module):
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def __init__(self, n_obs, n_actions, hidden_size, init_w=3e-3):
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super(Actor, self).__init__()
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self.linear1 = nn.Linear(n_obs, hidden_size)
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self.linear2 = nn.Linear(hidden_size, hidden_size)
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self.linear3 = nn.Linear(hidden_size, n_actions)
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self.linear3.weight.data.uniform_(-init_w, init_w)
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self.linear3.bias.data.uniform_(-init_w, init_w)
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def forward(self, x):
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x = F.relu(self.linear1(x))
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x = F.relu(self.linear2(x))
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x = F.tanh(self.linear3(x))
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return x
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class ActorCritic(nn.Module):
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def __init__(self, n_states, n_actions, hidden_dim=256):
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super(ActorCritic, self).__init__()
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self.critic = nn.Sequential(
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nn.Linear(n_states, hidden_dim),
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nn.ReLU(),
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nn.Linear(hidden_dim, 1)
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)
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self.actor = nn.Sequential(
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nn.Linear(n_states, hidden_dim),
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nn.ReLU(),
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nn.Linear(hidden_dim, n_actions),
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nn.Softmax(dim=1),
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)
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def forward(self, x):
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value = self.critic(x)
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probs = self.actor(x)
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dist = Categorical(probs)
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return dist, value |