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create_critic_network.m

+function criticNet = create_critic_network(inputsize,Actinputsize)
+obsPath = featureInputLayer(inputsize,Name="netOin");
+actPath = featureInputLayer(Actinputsize,Name="netAin");
+commonPath = [
+    concatenationLayer(1,2,Name="concat")
+    fullyConnectedLayer(20)
+    reluLayer
+    fullyConnectedLayer(10)
+    reluLayer
+    fullyConnectedLayer(1)
+    ];
+critic = layerGraph(obsPath);
+critic = addLayers(critic, actPath);
+critic = addLayers(critic, commonPath);
+critic = connectLayers(critic,"netOin","concat/in1");
+critic = connectLayers(critic,"netAin","concat/in2");
+criticNet = dlnetwork(critic);
+end
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