garage.torch.policies.gaussian_mlp_policy
¶
GaussianMLPPolicy.
-
class
GaussianMLPPolicy
(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, min_std=1e-06, max_std=None, std_parameterization='exp', layer_normalization=False, name='GaussianMLPPolicy')¶ Bases:
garage.torch.policies.stochastic_policy.StochasticPolicy
MLP whose outputs are fed into a Normal distribution..
A policy that contains a MLP to make prediction based on a gaussian distribution.
- 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).
min_std (float) – Minimum value for std.
max_std (float) – Maximum value for std.
std_parameterization (str) –
How the std should be parametrized. There are two options: - exp: the logarithm of the std will be stored, and applied a
exponential transformation
softplus: the std will be computed as log(1+exp(x))
layer_normalization (bool) – Bool for using layer normalization or not.
name (str) – Name of policy.
-
forward
(self, observations)¶ Compute the action distributions from the observations.
- Parameters
observations (torch.Tensor) – Batch of observations on default torch device.
- Returns
Batch distribution of actions. dict[str, torch.Tensor]: Additional agent_info, as torch Tensors
- Return type
torch.distributions.Distribution
-
get_action
(self, observation)¶ Get a single action given an observation.
- Parameters
observation (np.ndarray) – Observation from the environment. Shape is \(env_spec.observation_space\).
- Returns
- np.ndarray: Predicted action. Shape is
\(env_spec.action_space\).
- dict:
np.ndarray[float]: Mean of the distribution
- np.ndarray[float]: Standard deviation of logarithmic
values of the distribution.
- Return type
-
get_actions
(self, observations)¶ Get actions given observations.
- Parameters
observations (np.ndarray) – Observations from the environment. Shape is \(batch_dim \bullet env_spec.observation_space\).
- Returns
- np.ndarray: Predicted actions.
\(batch_dim \bullet env_spec.action_space\).
- dict:
np.ndarray[float]: Mean of the distribution.
- np.ndarray[float]: Standard deviation of logarithmic
values of the distribution.
- Return type
-
get_param_values
(self)¶ Get the parameters to the policy.
This method is included to ensure consistency with TF policies.
- Returns
The parameters (in the form of the state dictionary).
- Return type
-
set_param_values
(self, state_dict)¶ Set the parameters to the policy.
This method is included to ensure consistency with TF policies.
- Parameters
state_dict (dict) – State dictionary.
-
reset
(self, do_resets=None)¶ Reset the policy.
This is effective only to recurrent policies.
do_resets is an array of boolean indicating which internal states to be reset. The length of do_resets should be equal to the length of inputs, i.e. batch size.
- Parameters
do_resets (numpy.ndarray) – Bool array indicating which states to be reset.
-
property
env_spec
(self)¶ Policy environment specification.
- Returns
Environment specification.
- Return type
garage.EnvSpec
-
property
observation_space
(self)¶ Observation space.
- Returns
The observation space of the environment.
- Return type
akro.Space
-
property
action_space
(self)¶ Action space.
- Returns
The action space of the environment.
- Return type
akro.Space