WorldModels-decide-VAE-action

decide-VAE-action.py

def decide_action(sess, network, observation, params):
	observation = normalize_observation(observation)
	embedding = sess.run(network.z, feed_dict={network.image: observation[None, :,  :,  :]})
	weights, bias = get_weights_bias(params)

	action = np.zeros(_NUM_ACTIONS)
	prediction = np.matmul(np.squeeze(embedding), weights) + bias
	prediction = np.tanh(prediction)

	action[0] = prediction[0]
	if prediction[1] < 0:
		action[1] = np.abs(prediction[1])
		action[2] = 0
	else:
		action[2] = prediction[1]
		action[1] = 0

	return action