强化学习 - Proximal Policy Optimization (PPO)

什么是机器学习

Proximal Policy Optimization（PPO）是一种用于解决强化学习问题的策略梯度方法。PPO的目标是通过优化代理的策略函数来最大化期望累积奖励。它通过引入一个剪切项（clipping term）来限制新策略相对于旧策略的更新幅度，从而提高训练的稳定性。

以下是一个使用 Python 和 TensorFlow/Keras 实现简单的 Proximal Policy Optimization（PPO）的示例。在这个例子中，我们将使用 OpenAI Gym 的 CartPole 环境。

import numpy as np
import tensorflow as tf
from tensorflow.keras.models import Model
from tensorflow.keras.layers import Input, Dense
from tensorflow.keras.optimizers import Adam
import gym

# 定义Proximal Policy Optimization Agent
class PPOAgent:
    def __init__(self, state_size, action_size):
        self.state_size = state_size
        self.action_size = action_size
        self.gamma = 0.99  # 折扣因子
        self.learning_rate = 0.001
        self.clip_ratio = 0.2
        self.epochs = 10

        # 构建演员（Actor）网络
        self.actor = self.build_actor()
        
        # 构建评论家（Critic）网络
        self.critic = self.build_critic()

    def build_actor(self):
        state_input = Input(shape=(self.state_size,))
        dense1 = Dense(64, activation='relu')(state_input)
        dense2 = Dense(64, activation='relu')(dense1)
        output = Dense(self.action_size, activation='softmax')(dense2)
        model = Model(inputs=state_input, outputs=output)
        model.compile(loss='categorical_crossentropy', optimizer=Adam(lr=self.learning_rate))
        return model

    def build_critic(self):
        state_input = Input(shape=(self.state_size,))
        dense1 = Dense(64, activation='relu')(state_input)
        dense2 = Dense(64, activation='relu')(dense1)
        output = Dense(1, activation='linear')(dense2)
        model = Model(inputs=state_input, outputs=output)
        model.compile(loss='mean_squared_error', optimizer=Adam(lr=self.learning_rate))
        return model

    def get_action(self, state):
        state = np.reshape(state, [1, self.state_size])
        action_prob = self.actor.predict(state)[0]
        action = np.random.choice(self.action_size, p=action_prob)
        return action, action_prob

    def get_value(self, state):
        state = np.reshape(state, [1, self.state_size])
        value = self.critic.predict(state)[0][0]
        return value

    def train(self, states, actions, rewards, values, dones):
        advantages, target_values = self.compute_advantages_and_targets(rewards, values, dones)

        # 训练演员网络
        old_action_probs = self.actor.predict(np.vstack(states))
        old_action_probs = np.array([probs[action] for probs, action in zip(old_action_probs, actions)])
        action_one_hot = tf.keras.utils.to_categorical(actions, self.action_size)
        action_probs = self.actor.predict(np.vstack(states))
        action_probs = np.array([probs[action] for probs, action in zip(action_probs, actions)])
        ratio = np.exp(np.log(action_probs) - np.log(old_action_probs))
        clipped_ratio = np.clip(ratio, 1 - self.clip_ratio, 1 + self.clip_ratio)
        actor_loss = -np.mean(np.minimum(ratio * advantages, clipped_ratio * advantages))
        self.actor.train_on_batch(np.vstack(states), action_one_hot, sample_weight=ratio / clipped_ratio)

        # 训练评论家网络
        self.critic.train_on_batch(np.vstack(states), target_values)

    def compute_advantages_and_targets(self, rewards, values, dones):
        advantages = np.zeros_like(rewards, dtype=np.float32)
        target_values = np.zeros_like(rewards, dtype=np.float32)
        running_add = 0
        for t in reversed(range(len(rewards))):
            running_add = running_add * self.gamma * (1 - dones[t]) + rewards[t]
            advantages[t] = running_add - values[t]
            target_values[t] = running_add
        return advantages, target_values

# 初始化环境和Agent
env = gym.make('CartPole-v1')
state_size = env.observation_space.shape[0]
action_size = env.action_space.n
agent = PPOAgent(state_size, action_size)

# 训练PPO Agent
num_episodes = 1000
for episode in range(num_episodes):
    state = env.reset()
    total_reward = 0
    states, actions, rewards, values, dones = [], [], [], [], []
    for time in range(500):  # 限制每个episode的步数，防止无限循环
        # env.render()  # 如果想可视化训练过程，可以取消注释此行
        action, action_prob = agent.get_action(state)
        next_state, reward, done, _ = env.step(action)
        total_reward += reward
        value = agent.get_value(state)
        states.append(state)
        actions.append(action)
        rewards.append(reward)
        values.append(value)
        dones.append(done)
        state = next_state
        if done:
            print("Episode: {}, Total Reward: {}".format(episode + 1, total_reward))
            agent.train(states, actions, rewards, values, dones)
            break

# 关闭环境
env.close()

在这个例子中，我们定义了一个简单的Proximal Policy Optimization（PPO）Agent，包括演员（Actor）和评论家（Critic）两个神经网络。在训练过程中，我们通过PPO算法来更新演员网络和评论家网络的参数。

请注意，PPO算法的实现可能因问题的复杂性而有所不同，可能需要更多的技术和调整，如归一化奖励、使用更复杂的神经网络结构等。