hi every body
i want to impliment LSTM layers in state path of my critic network
my code is :
obsInfo = rlNumericSpec([42 1]);
obsInfo.Name = 'observation';
actInfo = rlNumericSpec([6 1]);
actInfo.Name = 'action';
actInfo.UpperLimit =0.01*ones(6,1);
actInfo.LowerLimit =-0.01*ones(6,1);
numObs=prod(obsInfo.Dimension) ;
numAcs=prod(actInfo.Dimension) ;
numHiddenUnits=100;
statePath = [sequenceInputLayer(numObs)
lstmLayer(numHiddenUnits,'OutputMode','sequence')
fullyConnectedLayer(500,'Name','CriticStateFC1')
reluLayer('Name', 'CriticStateRelu1')
fullyConnectedLayer(450,'Name','CriticStateFC2')
reluLayer('Name', 'CriticStateRelu2')
fullyConnectedLayer(300,'Name','CriticStateFC3')
reluLayer('Name', 'CriticStateRelu3')
fullyConnectedLayer(250,'Name','CriticStateFC4')
reluLayer('Name', 'CriticStateRelu4')
fullyConnectedLayer(200,'Name','CriticStateFC5')
reluLayer('Name', 'CriticStateRelu5')
fullyConnectedLayer(100,'Name','CriticStateFC6')
reluLayer('Name', 'CriticStateRelu6')
fullyConnectedLayer(50,'Name','CriticStateFC7')
reluLayer('Name', 'CriticStateRelu7')
fullyConnectedLayer(25,'Name','CriticStateFC8')
];
actionPath = [
sequenceInputLayer(numAcs)
fullyConnectedLayer(300,'Name','CriticActionFC1')
reluLayer('Name', 'CriticActionRelu1')
fullyConnectedLayer(250,'Name','CriticActionFC2')
reluLayer('Name', 'CriticActionRelu2')
fullyConnectedLayer(200,'Name','CriticActionFC3')
reluLayer('Name', 'CriticActionRelu3')
fullyConnectedLayer(100,'Name','CriticActionFC4')
reluLayer('Name', 'CriticActionRelu4')
fullyConnectedLayer(50,'Name','CriticActionFC5')
reluLayer('Name', 'CriticActionRelu5')
fullyConnectedLayer(25,'Name','CriticActionFC6')];
commonPath = [
concatenationLayer(1,2,Name='concat')
reluLayer('Name','CriticCommonRelu')
fullyConnectedLayer(512,'Name','CriticCommon1')
reluLayer('Name','CriticCommonRelu2')
fullyConnectedLayer(300,'Name','CriticCommon2')
reluLayer('Name','CriticCommonRelu3')
fullyConnectedLayer(1,'Name','CriticOutput')];
criticOpts =rlOptimizerOptions(LearnRate=1e-04,GradientThreshold=inf,...
L2RegularizationFactor=0.0001,Optimizer="adam");
criticNetwork = layerGraph();
criticNetwork = addLayers(criticNetwork,statePath);
criticNetwork = addLayers(criticNetwork,actionPath);
criticNetwork = addLayers(criticNetwork,commonPath);
criticNetwork = connectLayers(criticNetwork,'CriticStateFC8','concat/in1');
criticNetwork = connectLayers(criticNetwork,'CriticActionFC6','concat/in2');
criticNetwork = dlnetwork(criticNetwork);
analyzeNetwork(criticNetwork)
critic = rlQValueFunction(criticNetwork,obsInfo,actInfo,...
ObservationInputNames='observation',ActionInputNames='action',UseDevice="gpu");
when i run above code i received this error
"Error using rlQValueFunction
Model input sizes must match the dimensions specified in the corresponding observation
and action info specifications." please help me
