def decode()

in agents/bc_kl.py [0:0]

• 6 lines of code
• 2 McCabe index (conditional complexity)

    def decode(self, state, z=None):
        # When sampling from the VAE, the latent vector is clipped to [-0.5, 0.5]
        if z is None:
            z = torch.randn((state.shape[0], self.latent_dim)).to(self.device).clamp(-0.5, 0.5)

        a = F.relu(self.d1(torch.cat([state, z], 1)))
        a = F.relu(self.d2(a))
        return self.max_action * torch.tanh(self.d3(a))