diff --git a/models.py b/models.py
new file mode 100644
index 0000000..47324a3
--- /dev/null
+++ b/models.py
@@ -0,0 +1,159 @@
+import torch
+import torch.nn as nn
+import torch.nn.functional as f
+from torch.distributions import Categorical
+
+device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+class Encoder(nn.Module):
+    def __init__(self, channels, encoded_state_size):
+        super(Encoder, self).__init__()
+        self.channels = channels
+        self.encoded_state_size = encoded_state_size
+
+        self.feature_encoder = nn.Sequential(
+            nn.Conv2d(in_channels=self.channels, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Flatten(),
+            nn.Linear(in_features=32*4*4, out_features=self.encoded_state_size),  
+        ).to(device)
+
+    def forward(self, state):
+        if state.dim() == 3:
+            state = state.unsqueeze(0)
+        state = self.feature_encoder(state)
+        return state
+
+
+class InverseModel(nn.Module):
+    def __init__(self, encoded_state_size, action_size=2):
+        super(InverseModel, self).__init__()
+        self.encoded_state_size = encoded_state_size
+        self.action_size = action_size
+
+        self.model = nn.Sequential(
+            nn.Linear(in_features=self.encoded_state_size*2, out_features=256),
+            nn.LeakyReLU(),
+            nn.Linear(in_features=256, out_features=self.action_size),
+            nn.Softmax(dim=-1)
+        ).to(device)
+
+    def forward(self, encoded_state, next_encoded_state):
+        encoded_states = torch.cat((encoded_state, next_encoded_state), dim=-1)
+        actions = Categorical(self.model(encoded_states))
+        return actions
+    
+    def _init_weights(self):
+        for m in self.modules():
+            if isinstance(m, nn.Linear):
+                nn.init.xavier_uniform_(m.weight)
+                nn.init.zeros_(m.bias)
+
+
+class ForwardModel(nn.Module):
+    def __init__(self, encoded_state_size, action_size):
+        super(ForwardModel, self).__init__()
+        self.encoded_state_size = encoded_state_size
+        self.action_size = action_size
+
+        self.model = nn.Sequential(
+            nn.Linear(in_features=self.encoded_state_size+self.action_size, out_features=256),
+            nn.LeakyReLU(),
+            nn.Linear(in_features=256, out_features=self.encoded_state_size),
+        ).to(device)
+
+    def forward(self, state, action):
+        state = torch.cat((state, action), dim=-1)
+        return self.model(state)
+    
+    def _init_weights(self):
+        for m in self.modules():
+            if isinstance(m, nn.Linear):
+                nn.init.xavier_uniform_(m.weight)
+                nn.init.zeros_(m.bias)
+
+
+class Actor(nn.Module):
+    def __init__(self,encoded_state_size, action_size, state_size=4):
+        super(Actor, self).__init__()
+        self.channels = state_size
+        self.encoded_state_size = encoded_state_size
+        self.action_size = action_size
+
+        self.feature_encoder = nn.Sequential(
+            nn.Conv2d(in_channels=self.channels, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Flatten(),
+            nn.Linear(in_features=32*4*4, out_features=self.encoded_state_size),  
+        ).to(device)
+
+    def actor(self,state):
+        policy = nn.Sequential(
+            nn.Linear(in_features=self.encoded_state_size , out_features=256),
+            nn.LeakyReLU(),
+            nn.Linear(in_features=256, out_features=self.action_size),
+            nn.Softmax(dim=-1)
+        ).to(device)
+        return policy(state)
+
+    def forward(self, state):
+        state = self.feature_encoder(state)
+        policy = self.actor(state)
+        actions = Categorical(policy)
+        return actions
+
+    def _init_weights(self):
+        for m in self.modules():
+            if isinstance(m, nn.Linear):
+                nn.init.xavier_uniform_(m.weight)
+                nn.init.zeros_(m.bias)
+
+class Critic(nn.Module):
+    def __init__(self, encoded_state_size, state_size=4):
+        super(Critic, self).__init__()
+        self.channels = state_size
+        self.encoded_state_size = encoded_state_size
+
+        self.feature_encoder = nn.Sequential(
+            nn.Conv2d(in_channels=self.channels, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Conv2d(in_channels=32, out_channels=32, kernel_size=3, stride=2),
+            nn.LeakyReLU(),
+            nn.Flatten(),
+            nn.Linear(in_features=32*4*4, out_features=self.encoded_state_size),  
+        ).to(device)
+
+    def critic(self,state):
+        value = nn.Sequential(
+            nn.Linear(in_features=self.encoded_state_size , out_features=256),
+            nn.LeakyReLU(),
+            nn.Linear(in_features=256, out_features=1),
+        ).to(device)
+        return value(state)
+
+    def forward(self, state):
+        state = self.feature_encoder(state)
+        value = self.critic(state)
+        return value
+
+    def _init_weights(self):
+        for m in self.modules():
+            if isinstance(m, nn.Linear):
+                nn.init.xavier_uniform_(m.weight)
+                nn.init.zeros_(m.bias)
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