def forward(self, observations):
        """ Calculate model outputs """
        input_data = self.input_block(observations)

        policy_base_output = self.policy_backbone(input_data)
        value_base_output = self.value_backbone(input_data)

        action_output = self.action_head(policy_base_output)
        value_output = self.value_head(value_base_output)

        return action_output, value_output