import tensorflow as tf

                                      init_scale=np.sqrt(2)))
            c3 = tf.nn.relu(self.conv(c2,
                                      'c3',
                                      nf=64,
                                      rf=3,
                                      stride=1,
                                      init_scale=np.sqrt(2)))
            nh = np.prod([v.value for v in c3.get_shape()[1:]])
            h3 = tf.reshape(c3, [-1, nh])
            pre_s = tf.nn.relu(self.fc(h3,
                                       'fc1',
                                       nh=512,
                                       init_scale=np.sqrt(2)))
            l1 = tf.layers.dense(inputs=pre_s,
                                 units=200,  # number of hidden units
                                 activation=tf.nn.relu,
                                 name='l1',
                                 trainable=trainable
                                 )
            mu = 2 * tf.layers.dense(inputs=l1,
                                     units=action_dim,  # number of hidden units
                                     activation=tf.nn.tanh,
                                     name='mu',
                                     trainable=trainable
                                     )
            sigma = tf.layers.dense(inputs=l1,
