garage.torch.value_functions.gaussian_mlp_value_function
¶
A value function based on a GaussianMLP model.
-
class
GaussianMLPValueFunction
(env_spec, hidden_sizes=32, 32, hidden_nonlinearity=torch.tanh, hidden_w_init=nn.init.xavier_uniform_, hidden_b_init=nn.init.zeros_, output_nonlinearity=None, output_w_init=nn.init.xavier_uniform_, output_b_init=nn.init.zeros_, learn_std=True, init_std=1.0, layer_normalization=False, name='GaussianMLPValueFunction')¶ Bases:
garage.torch.value_functions.value_function.ValueFunction
Gaussian MLP Value Function with Model.
It fits the input data to a gaussian distribution estimated by a MLP.
- Parameters
env_spec (EnvSpec) – Environment specification.
hidden_sizes (list[int]) – Output dimension of dense layer(s) for the MLP for mean. For example, (32, 32) means the MLP consists of two hidden layers, each with 32 hidden units.
hidden_nonlinearity (callable) – Activation function for intermediate dense layer(s). It should return a torch.Tensor. Set it to None to maintain a linear activation.
hidden_w_init (callable) – Initializer function for the weight of intermediate dense layer(s). The function should return a torch.Tensor.
hidden_b_init (callable) – Initializer function for the bias of intermediate dense layer(s). The function should return a torch.Tensor.
output_nonlinearity (callable) – Activation function for output dense layer. It should return a torch.Tensor. Set it to None to maintain a linear activation.
output_w_init (callable) – Initializer function for the weight of output dense layer(s). The function should return a torch.Tensor.
output_b_init (callable) – Initializer function for the bias of output dense layer(s). The function should return a torch.Tensor.
learn_std (bool) – Is std trainable.
init_std (float) – Initial value for std. (plain value - not log or exponentiated).
layer_normalization (bool) – Bool for using layer normalization or not.
name (str) – The name of the value function.
-
compute_loss
(self, obs, returns)¶ Compute mean value of loss.
- Parameters
obs (torch.Tensor) – Observation from the environment with shape \((N \dot [T], O*)\).
returns (torch.Tensor) – Acquired returns with shape \((N, )\).
- Returns
- Calculated negative mean scalar value of
objective (float).
- Return type
torch.Tensor
-
forward
(self, obs)¶ Predict value based on paths.
- Parameters
obs (torch.Tensor) – Observation from the environment with shape \((P, O*)\).
- Returns
- Calculated baselines given observations with
shape \((P, O*)\).
- Return type
torch.Tensor