def get_critic_params(self):
        '''
            Method that returns generator that contains all the parameters from
            critic, cnn_stem (optional), and rnn_stem (optional)
        '''
        params = self.critic.parameters()
        if self.if_pixel_input:
            params = itertools.chain(params, self.cnn_stem.parameters())
        if self.rnn_config.if_rnn_policy:
            params = itertools.chain(params, self.rnn_stem.parameters())
        return params

            Method that returns generator that contains all the parameters from
            critic, cnn_stem (optional), and rnn_stem (optional)
        
surreal/model/ppo_net.py