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| #-*-Python-*- | |
| import gin.tf.external_configurables | |
| create_maze_env.top_down_view = %IMAGES | |
| ## Create the agent | |
| AGENT_CLASS = @UvfAgent | |
| UvfAgent.tf_context = %CONTEXT | |
| UvfAgent.actor_net = @agent/ddpg_actor_net | |
| UvfAgent.critic_net = @agent/ddpg_critic_net | |
| UvfAgent.dqda_clipping = 0.0 | |
| UvfAgent.td_errors_loss = @tf.losses.huber_loss | |
| UvfAgent.target_q_clipping = %TARGET_Q_CLIPPING | |
| # Create meta agent | |
| META_CLASS = @MetaAgent | |
| MetaAgent.tf_context = %META_CONTEXT | |
| MetaAgent.sub_context = %CONTEXT | |
| MetaAgent.actor_net = @meta/ddpg_actor_net | |
| MetaAgent.critic_net = @meta/ddpg_critic_net | |
| MetaAgent.dqda_clipping = 0.0 | |
| MetaAgent.td_errors_loss = @tf.losses.huber_loss | |
| MetaAgent.target_q_clipping = %TARGET_Q_CLIPPING | |
| # Create state preprocess | |
| STATE_PREPROCESS_CLASS = @StatePreprocess | |
| StatePreprocess.ndims = %SUBGOAL_DIM | |
| state_preprocess_net.states_hidden_layers = (100, 100) | |
| state_preprocess_net.num_output_dims = %SUBGOAL_DIM | |
| state_preprocess_net.images = %IMAGES | |
| action_embed_net.num_output_dims = %SUBGOAL_DIM | |
| INVERSE_DYNAMICS_CLASS = @InverseDynamics | |
| # actor_net | |
| ACTOR_HIDDEN_SIZE_1 = 300 | |
| ACTOR_HIDDEN_SIZE_2 = 300 | |
| agent/ddpg_actor_net.hidden_layers = (%ACTOR_HIDDEN_SIZE_1, %ACTOR_HIDDEN_SIZE_2) | |
| agent/ddpg_actor_net.activation_fn = @tf.nn.relu | |
| agent/ddpg_actor_net.zero_obs = %ZERO_OBS | |
| agent/ddpg_actor_net.images = %IMAGES | |
| meta/ddpg_actor_net.hidden_layers = (%ACTOR_HIDDEN_SIZE_1, %ACTOR_HIDDEN_SIZE_2) | |
| meta/ddpg_actor_net.activation_fn = @tf.nn.relu | |
| meta/ddpg_actor_net.zero_obs = False | |
| meta/ddpg_actor_net.images = %IMAGES | |
| # critic_net | |
| CRITIC_HIDDEN_SIZE_1 = 300 | |
| CRITIC_HIDDEN_SIZE_2 = 300 | |
| agent/ddpg_critic_net.states_hidden_layers = (%CRITIC_HIDDEN_SIZE_1,) | |
| agent/ddpg_critic_net.actions_hidden_layers = None | |
| agent/ddpg_critic_net.joint_hidden_layers = (%CRITIC_HIDDEN_SIZE_2,) | |
| agent/ddpg_critic_net.weight_decay = 0.0 | |
| agent/ddpg_critic_net.activation_fn = @tf.nn.relu | |
| agent/ddpg_critic_net.zero_obs = %ZERO_OBS | |
| agent/ddpg_critic_net.images = %IMAGES | |
| meta/ddpg_critic_net.states_hidden_layers = (%CRITIC_HIDDEN_SIZE_1,) | |
| meta/ddpg_critic_net.actions_hidden_layers = None | |
| meta/ddpg_critic_net.joint_hidden_layers = (%CRITIC_HIDDEN_SIZE_2,) | |
| meta/ddpg_critic_net.weight_decay = 0.0 | |
| meta/ddpg_critic_net.activation_fn = @tf.nn.relu | |
| meta/ddpg_critic_net.zero_obs = False | |
| meta/ddpg_critic_net.images = %IMAGES | |
| tf.losses.huber_loss.delta = 1.0 | |
| # Sample action | |
| uvf_add_noise_fn.stddev = 1.0 | |
| meta_add_noise_fn.stddev = %META_EXPLORE_NOISE | |
| # Update targets | |
| ddpg_update_targets.tau = 0.001 | |
| td3_update_targets.tau = 0.005 | |