import tensorflow as tf


            self.e_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Critic/eval_net')
            self.t_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Critic/target_net')

        with tf.variable_scope('target_q'):
            self.target_q = R + self.gamma * self.q_

        with tf.variable_scope('abs_TD'):
