keras-ddpg

import os
import time

import numpy as np

import gym
import tensorflow as tf
from keras.models import Sequential, Model
from keras.layers import Dense, Dropout, Input
from keras.layers.merge import Add, Concatenate
from keras.optimizers import Adam
import keras.backend as K

import random
from collections import deque

def stack_samples(samples):
    array = np.array(samples)
    s_ts = np.stack(array[:,0]).reshape((array.shape[0],-1))
    actions = np.stack(array[:,1]).reshape((array.shape[0],-1))
    rewards = np.stack(array[:,2]).reshape((array.shape[0],-1))
    s_ts1 = np.stack(array[:,3]).reshape((array.shape[0],-1))
    dones = np.stack(array[:,4]).reshape((array.shape[0],-1))
    return s_ts, actions, rewards, s_ts1, dones

class Agent(object):
    def __init__(self,sess):
        self.sess = sess
        self.epsilon = 0.9
        self.gamma = 0.99
        self.epsilon_decay = 0.99995
        self.tau = 0.01
        self.memory = deque(maxlen=4000)

        self.actor_state_input, self.actor_model = self.create_actor_model()
        _, self.target_actor_model = self.create_actor_model()
        self.actor_critic_grad = tf.placeholder(tf.float32,[None,1])
        actor_model_w