17 lines
413 B
Python
17 lines
413 B
Python
import torch
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import torch.nn as nn
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class PendulumController(nn.Module):
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def __init__(self):
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super().__init__()
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self.net = nn.Sequential(
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nn.Linear(4, 64),
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nn.ReLU(),
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nn.Linear(64, 64),
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nn.ReLU(),
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nn.Linear(64, 1)
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)
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def forward(self, x):
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raw_torque = self.net(x)
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return torch.clamp(raw_torque, -250, 250) |