Boosted reinforcement learning for robotics

self.dense1 = tf.keras.layers.Dense(256, kernel_regularizer=tf.keras.regularizers.l2(0.001))
self.lrelu1 = tf.keras.layers.LeakyReLU()
self.dropout1 = tf.keras.layers.Dropout(0.5)
self.dense2 = tf.keras.layers.Dense(256, kernel_regularizer=tf.keras.regularizers.l2(0.001))
self.lrelu2 = tf.keras.layers.LeakyReLU()
self.dropout2 = tf.keras.layers.Dropout(0.5)

self.attention = tf.keras.layers.Attention(256)

self.softmax = tf.keras.layers.Dense(num_actions, activation='softmax')