1.估值网络简介
在强化学习中，除了上节提到的策略网络（Policy Based）直接选择Action的方法，还有一种学习Action对应的期望值（Expected Utility）的方法，称为Q-Learning，和Plolicy Based方法一样， Q-Learning不依赖环境模型。在有限马尔科夫决策过程中（Markov Decision Process）中，Q-Learning被证明最终可以找到最优的策略。简单来说，将旧的Q-Learning函数，向着学习目标（当前获得的Reward加上下一步可获得的最大期望价值）按一个较小的学习速率学习，得到新的Q-Learning函数，这个就是Q-Learning的具体的思想，学习率决定了覆盖之前掌握信息的比例，通常设为一个比较小的值，如果设定的值比较大，那么覆盖之前的信息比较多，那么会造成整个网络的动荡。
我们用来学习Q-Learning的模型可以是神经网络，这样得到的模型即是估值网络。如果其中的神经网络比较深，那就是DQN。在DQN的使用中会有很多的Trick。第一个是在DQN中引入卷积层，第二个是Experience Replay，第三个Trick就是可以再使用一个DQN网络来辅助训练，第四个Trick，如果再分拆出target DQN的方法上更进一步，那就是Double DQN，第五个Trick是使用dual DQN。
2.GridWorld的任务代码实现
#coding:utf-8
#这里也是导入常用的依赖库
#为了直接能够在终端中运行代码，我还是把魔法命定注释掉了，具体的魔法命令的解释可以看上一个实战
import numpy as np
import random
import itertools
import scipy.misc
import matplotlib.pyplot as plt
import tensorflow as tf
import os
# %matplotlib inline
#先是创建环境内物体对象的class
class gameOb():
def __init__(self, coordinates, size, intensity, channel, reward, name):
self.x = coordinates[0]
self.y = coordinates[1]
self.size = size
self.intensity = intensity
self.channel = channel
self.reward = reward
self.name = name
#创建GridWorld环境的class
class gameEnv():
def __init__(self, size):
self.sizeX = size
self.sizeY = size
self.actions = 4
self.objects = []
a = self.reset()
plt.imshow(a, interpolation = "nearest")
#hero是用户控制的对象，4个goal的reward为1， 2个fire的reward为-1
def reset(self):
self.objects = []
hero = gameOb(self.newPosition(), 1, 1, 2, None, 'hero')
self.objects.append(hero)
goal = gameOb(self.newPosition(), 1, 1, 1, 1, 'goal')
self.objects.append(goal)
hole = gameOb(self.newPosition(), 1, 1, 0, -1, 'fire')
self.objects.append(hole)
goal2 = gameOb(self.newPosition(), 1, 1, 1, 1, 'goal')
self.objects.append(goal2)
hole2 = gameOb(self.newPosition(), 1, 1, 0, -1, 'fire')
self.objects.append(hole2)
goal3 = gameOb(self.newPosition(), 1, 1, 1, 1, 'goal')
self.objects.append(goal3)
goal4 = gameOb(self.newPosition(), 1, 1, 1, 1, 'goal')
self.objects.append(goal4)
state = self.renderEnv()
self.state = state
return state
#实现英雄角色移动的方向0，1， 2，3，分别代表下，上， 左，右
def moveChar(self, direction):
hero = self.objects[0]
heroX = hero.x
heroY = hero.y
if direction == 0 and hero.y >= 1:
hero.y -= 1
if direction == 1 and hero.y <= self.sizeY-2:
hero.y += 1
if direction == 2 and hero.x >= 1:
hero.x -= 1
if direction == 3 and hero.x <= self.sizeX - 2:
hero.x += 1
self.objects[0] = hero
#定义新的位置
def newPosition(self):
iterables = [range(self.sizeX), range(self.sizeY)]
points = []
for t in itertools.product(*iterables):
points.append(t)
currentPositions = []
for objectA in self.objects:
if (objectA.x, objectA.y) not in currentPositions:
currentPositions.append((objectA.x, objectA.y))
for pos in currentPositions:
points.remove(pos)
location = np.random.choice(range(len(points)), replace = False)
return points[location]
#定义checkGoal函数，用来检查hero是否触碰了goal或者fire
def checkGoal(self):
others = []
for obj in self.objects:
if obj.name == 'hero':
hero = obj
else:
others.append(obj)
for other in others:
if hero.x == other.x and hero.y == other.y:
self.objects.remove(other)
if other.reward == 1:
self.objects.append(gameOb(self.newPosition(), 1, 1, 1, 1, 'goal'))
else:
self.objects.append(gameOb(self.newPosition(), 1, 1, 0, -1, 'fire'))
return other.reward, False
return 0.0, False
#渲染图像尺寸
def renderEnv(self):
a = np.ones([self.sizeY+2, self.sizeX+2, 3])
a[1:-1, 1:-1, :] = 0
hero = None
for item in self.objects:
a[item.y+1: item.y + item.size + 1, item.x + 1 : item.x + item.size + 1, item.channel] = item.intensity
b = scipy.misc.imresize(a[:, :, 0], [84, 84, 1], interp = 'nearest')
c = scipy.misc.imresize(a[:, :, 1], [84, 84, 1], interp = 'nearest')
d = scipy.misc.imresize(a[:, :, 2], [84, 84, 1], interp = 'nearest')
a = np.stack([b, c, d], axis = 2)
return a
#定义执行的Action的方法
def step(self, action):
self.moveChar(action)
reward, done = self.checkGoal()
state = self.renderEnv()
return state, reward, done
#设置尺寸为5
env = gameEnv(size = 5)
#定义DQN（Deep Q-Network）网络
class Qnetwork():
def __init__(self, h_size):
self.scalarInput = tf.placeholder(shape = [None, 21168], dtype = tf.float32)
self.imageIn = tf.reshape(self.scalarInput, shape = [-1, 84, 84, 3])
self.conv1 = tf.contrib.layers.convolution2d(inputs = self.imageIn, num_outputs = 32, kernel_size = [8, 8], stride = [4, 4], padding = 'VALID', biases_initializer = None)
self.conv2 = tf.contrib.layers.convolution2d(inputs = self.conv1, num_outputs = 64, kernel_size = [4, 4], stride = [2, 2], padding = 'VALID', biases_initializer = None)
self.conv3 = tf.contrib.layers.convolution2d(inputs = self.conv2, num_outputs = 64, kernel_size = [3, 3], stride = [1, 1], padding = 'VALID', biases_initializer = None)
self.conv4 = tf.contrib.layers.convolution2d(inputs = self.conv3, num_outputs = 512, kernel_size = [7, 7], stride = [1, 1], padding = 'VALID', biases_initializer = None)
self.streamAC, self.streamVC = tf.split(self.conv4, 2, 3)
self.streamA = tf.contrib.layers.flatten(self.streamAC)
self.streamV = tf.contrib.layers.flatten(self.streamVC)
self.AW = tf.Variable(tf.random_normal([h_size // 2, env.actions]))
self.VW = tf.Variable(tf.random_normal([h_size // 2, 1]))
self.Adavantage = tf.matmul(self.streamA, self.AW)
self.Value = tf.matmul(self.streamV, self.VW)
self.Qout = self.Value + tf.subtract(self.Adavantage, tf.reduce_mean(self.Adavantage, reduction_indices = 1, keep_dims = True))
self.predict = tf.argmax(self.Qout, 1)
self.targetQ = tf.placeholder(shape = [None], dtype = tf.float32)
self.actions = tf.placeholder(shape = [None], dtype = tf.int32)
self.actions_onehot = tf.one_hot(self.actions, env.actions, dtype = tf.float32)
self.Q = tf.reduce_sum(tf.multiply(self.Qout, self.actions_onehot), reduction_indices = 1)
self.td_error = tf.square(self.targetQ - self.Q)
self.loss = tf.reduce_mean(self.td_error)
self.trainer = tf.train.AdamOptimizer(learning_rate = 0.0001)
self.UpdateModel = self.trainer.minimize(self.loss)
#实现Experience Replay策略
class experience_buffer():
def __init__(self, buffer_size = 50000):
self.buffer = []
self.buffer_size = buffer_size
def add(self, experience):
if len(self.buffer) + len(experience) >= self.buffer_size:
self.buffer[0: (len(experience) + len(self.buffer)) - self.buffer_size] = []
self.buffer.extend(experience)
def sample(self, size):
return np.reshape(np.array(random.sample(self.buffer, size)), [size, 5])
#把当前state扁平为1维向量的函数
def processState(states):
return np.reshape(states, [21168])
#更新模型参数
def updateTargetGraph(tfVars, tau):
total_vars = len(tfVars)
op_holder = []
for idx, var in enumerate(tfVars[0: total_vars // 2]):
op_holder.append(tfVars[idx + total_vars // 2].assign((var.value() * tau) + ((1 - tau) * tfVars[idx + total_vars // 2].value())))
return op_holder
def updateTarget(op_holder,sess):
for op in op_holder:
sess.run(op)
#设置一些训练参数
batch_size = 32
update_freq = 4
y = .99
startE = 1
endE = 0.1
anneling_steps = 10000.
num_episodes = 10000
pre_train_steps = 10000
max_epLength = 50
load_model = False
path = "./dqn"
h_size = 512
tau = 0.001
#初始化
mainQN = Qnetwork(h_size)
targetQN = Qnetwork(h_size)
init = tf.global_variables_initializer()
trainables = tf.trainable_variables()
targetOps = updateTargetGraph(trainables, tau)
myBuffer = experience_buffer()
e = startE
stepDrop = (startE - endE) / anneling_steps
rList = []
total_steps = 0
saver = tf.train.Saver()
if not os.path.exists(path):
os.makedirs(path)
#创建默认的session
with tf.Session() as sess:
if load_model == True:
print('Load Model...')
ckpt = tf.train.get_checkpoint_state(path)
saver.restore(sess, ckpt.model_checkpoint_path)
sess.run(init)
updateTarget(targetOps, sess)
for i in range(num_episodes + 1):
episodeBuffer = experience_buffer()
s = env.reset()
s = processState(s)
d = False
rAll = 0
j = 0
while j < max_epLength:
j += 1
if np.random.rand(1) < e or total_steps < pre_train_steps:
a = np.random.randint(0, 4)
else:
a = sess.run(mainQN.predict, feed_dict = {mainQN.scalarInput: [s]})[0]
s1, r, d = env.step(a)
s1 = processState(s1)
total_steps += 1
episodeBuffer.add(np.reshape(np.array([s, a, r, s1, d]), [1, 5]))
if total_steps > pre_train_steps:
if e > endE:
e -= stepDrop
if total_steps % (update_freq) == 0:
trainBatch = myBuffer.sample(batch_size)
A = sess.run(mainQN.predict, feed_dict = {mainQN.scalarInput: np.vstack(trainBatch[:, 3])})
Q = sess.run(targetQN.Qout, feed_dict = {targetQN.scalarInput: np.vstack(trainBatch[:, 3])})
doubleQ = Q[range(batch_size), A]
targetQ = trainBatch[:, 2] + y * doubleQ
_ = sess.run(mainQN.UpdateModel, feed_dict = {mainQN.scalarInput: np.vstack(trainBatch[:, 0]),
mainQN.targetQ: targetQ,
mainQN.actions:trainBatch[:, 1]})
updateTarget(targetOps, sess)
rAll += r
s = s1
if d == True:
break
myBuffer.add(episodeBuffer.buffer)
rList.append(rAll)
if i > 0 and i % 25 == 0:
print('episode', i, ', average reward of last 25 episode', np.mean(rList[-25:]))
if i > 0 and i % 1000 == 0:
saver.save(sess, path + '/model-' + str(i) + '.cptk')
print("Saved Model")
saver.save(sess, path + '/model-' + str(i) + '.cptk')
rMat = np.resize(np.array(rList), [len(rList) // 100, 100])
rMean = np.average(rMat, 1)
plt.plot(rMean)
这个还是要训练好久，不过还是蛮好玩的，如果可以用强化学习训练一个监督机器人，这样LZ就不会有拖延症啦O(∩_∩)O
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