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29 lines
858 B
Python
29 lines
858 B
Python
# Adapted from https://github.com/kvfrans/parallel-trpo/blob/master/utils.py
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class Shifter:
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def __init__(self, filter_mean=True):
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self.m = 0
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self.v = 0
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self.n = 0.
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self.filter_mean = filter_mean
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def state_dict(self):
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return {'m': self.m,
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'v': self.v,
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'n': self.n}
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def load_state_dict(self, saved):
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self.m = saved['m']
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self.v = saved['v']
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self.n = saved['n']
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def __call__(self, o):
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self.m = self.m * (self.n / (self.n + 1)) + o * 1 / (1 + self.n)
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self.v = self.v * (self.n / (self.n + 1)) + (o - self.m) ** 2 * 1 / (1 + self.n)
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self.std = (self.v + 1e-6) ** .5 # std
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self.n += 1
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if self.filter_mean:
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o_ = (o - self.m) / self.std
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else:
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o_ = o / self.std
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return o_
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