stable_learning_control.algos.pytorch.policies.critics.L_critic

Lyapunov critic policy.

This module contains a Pytorch implementation of the Lyapunov Critic policy of Han et al. 2020.

Module Contents

Classes

LCritic

Soft Lyapunov critic Network.

class stable_learning_control.algos.pytorch.policies.critics.L_critic.LCritic(obs_dim, act_dim, hidden_sizes, activation=nn.ReLU)

Bases: torch.nn.Module

Soft Lyapunov critic Network.

L

The layers of the network.

Type:

torch.nn.Sequential

Initialise the LCritic object.

Parameters:

• obs_dim (int) – Dimension of the observation space.

• act_dim (int) – Dimension of the action space.

• hidden_sizes (list) – Sizes of the hidden layers.

• activation (torch.nn.modules.activation, optional) – The activation function. Defaults to torch.nn.ReLU.

forward(obs, act)

Perform forward pass through the network.

Parameters:

• obs (torch.Tensor) – The tensor of observations.

• act (torch.Tensor) – The tensor of actions.

Returns:

The tensor containing the lyapunov values of the input observations and actions.

Return type:

torch.Tensor