59 lines
2.0 KiB
Python
59 lines
2.0 KiB
Python
from abc import ABC, abstractmethod
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from collections.abc import Sequence
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from torch import nn
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from tianshou.highlevel.env import Environments, EnvType
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from tianshou.highlevel.module.core import TDevice, init_linear_orthogonal
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from tianshou.utils.net import continuous
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from tianshou.utils.net.common import Net
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from tianshou.utils.string import ToStringMixin
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class CriticFactory(ToStringMixin, ABC):
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@abstractmethod
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def create_module(self, envs: Environments, device: TDevice, use_action: bool) -> nn.Module:
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pass
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class CriticFactoryDefault(CriticFactory):
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"""A critic factory which, depending on the type of environment, creates a suitable MLP-based critic."""
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DEFAULT_HIDDEN_SIZES = (64, 64)
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def __init__(self, hidden_sizes: Sequence[int] = DEFAULT_HIDDEN_SIZES):
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self.hidden_sizes = hidden_sizes
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def create_module(self, envs: Environments, device: TDevice, use_action: bool) -> nn.Module:
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env_type = envs.get_type()
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if env_type == EnvType.CONTINUOUS:
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factory = CriticFactoryContinuousNet(self.hidden_sizes)
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return factory.create_module(envs, device, use_action)
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elif env_type == EnvType.DISCRETE:
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raise NotImplementedError
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else:
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raise ValueError(f"{env_type} not supported")
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class CriticFactoryContinuous(CriticFactory, ABC):
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pass
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class CriticFactoryContinuousNet(CriticFactoryContinuous):
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def __init__(self, hidden_sizes: Sequence[int]):
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self.hidden_sizes = hidden_sizes
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def create_module(self, envs: Environments, device: TDevice, use_action: bool) -> nn.Module:
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action_shape = envs.get_action_shape() if use_action else 0
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net_c = Net(
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envs.get_observation_shape(),
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action_shape=action_shape,
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hidden_sizes=self.hidden_sizes,
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concat=use_action,
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activation=nn.Tanh,
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device=device,
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)
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critic = continuous.Critic(net_c, device=device).to(device)
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init_linear_orthogonal(critic)
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return critic
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