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mujoco_model.py
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mujoco_model.py
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# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import parl
import paddle
import paddle.nn as nn
import paddle.nn.functional as F
# clamp bounds for Std of action_log
LOG_SIG_MAX = 2.0
LOG_SIG_MIN = -5.0
class MujocoModel(parl.Model):
def __init__(self, obs_dim, action_dim):
super(MujocoModel, self).__init__()
self.actor_model = Actor(obs_dim, action_dim)
self.critic_model = Critic(obs_dim, action_dim)