好的,D4PG是一种基于Actor-Critic框架的深度强化学习算法,下面是一个简单的D4PG代码实现:
```python
import torch
import torch.nn as nn
import torch.optim as optim
import torch.nn.functional as F
import numpy as np
import random
from collections import deque
# Hyperparameters
BATCH_SIZE = 64
GAMMA = 0.99
TAU = 0.001
LR_ACTOR = 0.0001
LR_CRITIC = 0.001
BUFFER_SIZE = 1000000
MIN_BUFFER_SIZE = 10000
UPDATE_EVERY = 5
N_STEP = 3
N_EPISODES = 1000
MAX_STEPS = 1000
DEVICE = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
class Actor(nn.Module):
def __init__(self, state_dim, action_dim, max_action):
super(Actor, self).__init__()
self.fc1 = nn.Linear(state_dim, 256)
self.fc2 = nn.Linear(256, 256)
self.fc3 = nn.Linear(256, action_dim)
self.max_action = max_action
def forward(self, state):
x = F.relu(self.fc1(state))
x = F.relu(self.fc2(x))
x = self.max_action * torch.tanh(self.fc3(x))
return x
class Critic(nn.Module):
def __init__(self, state_dim, action_dim):
super(Critic, self).__init__()
self.fc1 = nn.Linear(state_dim + action_dim, 256)
self.fc2 = nn.Linear(256, 256)
self.fc3 = nn.Linear(256, 1)
def forward(self, state, action):
x = torch.cat([state, action], 1)
x = F.relu(self.fc1(x))
x = F.relu(self.fc2(x))
x = self.fc3(x)
return x
class ReplayBuffer:
def __init__(self, buffer_size):
self.buffer_size = buffer_size
self.memory = deque(maxlen=buffer_size)
self.n_step_buffer = deque(maxlen=N_STEP)
self.gamma = GAMMA
def add(self, state, action, reward, next_state, done):
self.n_step_buffer.append((state, action, reward, next_state, done))
if len(self.n_step_buffer) == N_STEP:
state, action, _, _, done = self.n_step_buffer[0]
_, _, _, next_state, _ = self.n_step_buffer[-1]
n_reward = sum([self.gamma**i * self.n_step_buffer[i][2] for i in range(N_STEP)])
self.memory.append((state, action, n_reward, next_state, done))
if done:
while len(self.n_step_buffer) > 1:
state, action, _, _, _ = self.n_step_buffer.popleft()
_, _, _, next_state, _ = self.n_step_buffer[-1]
n_reward = sum([self.gamma**i * self.n_step_buffer[i][2] for i in range(len(self.n_step_buffer))])
self.memory.append((state, action, n_reward, next_state, done))
self.n_step_buffer.clear()
def sample(self, batch_size):
batch = random.sample(self.memory, batch_size)
state, action, reward, next_state, done = zip(*batch)
return np.array(state), np.array(action), np.array(reward), np.array(next_state), np.array(done)
def __len__(self):
return len(self.memory)
class D4PG:
def __init__(self, state_dim, action_dim, max_action):
self.actor = Actor(state_dim, action_dim, max_action).to(DEVICE)
self.critic = Critic(state_dim, action_dim).to(DEVICE)
self.target_actor = Actor(state_dim, action_dim, max_action).to(DEVICE)
self.target_critic = Critic(state_dim, action_dim).to(DEVICE)
self.target_actor.load_state_dict(self.actor.state_dict())
self.target_critic.load_state_dict(self.critic.state_dict())
self.actor_optimizer = optim.Adam(self.actor.parameters(), lr=LR_ACTOR)
self.critic_optimizer = optim.Adam(self.critic.parameters(), lr=LR_CRITIC)
self.replay_buffer = ReplayBuffer(BUFFER_SIZE)
def act(self, state):
state = torch.FloatTensor(state.reshape(1, -1)).to(DEVICE)
action = self.actor(state).cpu().data.numpy().flatten()
return action
def update(self):
if len(self.replay_buffer) < MIN_BUFFER_SIZE:
return
state, action, reward, next_state, done = self.replay_buffer.sample(BATCH_SIZE)
state = torch.FloatTensor(state).to(DEVICE)
action = torch.FloatTensor(action).to(DEVICE)
reward = torch.FloatTensor(reward).unsqueeze(1).to(DEVICE)
next_state = torch.FloatTensor(next_state).to(DEVICE)
done = torch.FloatTensor(np.float32(done)).unsqueeze(1).to(DEVICE)
# Update critic
with torch.no_grad():
target_actions = self.target_actor(next_state)
target_values = self.target_critic(next_state, target_actions)
y = reward + (1 - done) * GAMMA * target_values
values = self.critic(state, action)
critic_loss = F.mse_loss(y, values)
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
# Update actor
actions = self.actor(state)
actor_loss = -self.critic(state, actions).mean()
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
# Update target networks
for target_param, param in zip(self.target_critic.parameters(), self.critic.parameters()):
target_param.data.copy_(TAU * param.data + (1 - TAU) * target_param.data)
for target_param, param in zip(self.target_actor.parameters(), self.actor.parameters()):
target_param.data.copy_(TAU * param.data + (1 - TAU) * target_param.data)
def train(self, env):
for episode in range(N_EPISODES):
state = env.reset()
total_reward = 0
for t in range(MAX_STEPS):
action = self.act(state)
next_state, reward, done, _ = env.step(action)
total_reward += reward
self.replay_buffer.add(state, action, reward, next_state, done)
state = next_state
if len(self.replay_buffer) >= MIN_BUFFER_SIZE and t % UPDATE_EVERY == 0:
for _ in range(UPDATE_EVERY):
self.update()
if done:
break
print("Episode: {}, Total Reward: {}".format(episode, total_reward))
```
这个代码实现了一个D4PG算法,包括Actor/Critic网络、Replay Buffer、更新等部分。你可以使用它来训练你的强化学习模型。