【零基础强化学习】100行代码跑通基于DDPG的倒立摆实验

更多代码： Gitee主页：https://gitee.com/GZHzzz
博客主页： CSDN：https://blog.csdn.net/gzhzzaa

写在前面

• 作为一个新手，写这个强化学习-基础知识专栏是想和大家分享一下自己强化学习的学习历程，希望大家互相交流一起进步！😁在我的gitee收集了强化学习经典论文：强化学习经典论文，搭建了基于pytorch的典型智能体模型，大家一起多篇多交流，互相学习啊！😊
  

show me code, no bb

import torch
import torch.nn as nn
import torch.nn.functional as F
import numpy as np
import gym
import time

#####################  hyper parameters  ####################
EPISODES = 200
EP_STEPS = 200
LR_ACTOR = 0.001
LR_CRITIC = 0.002
GAMMA = 0.9
TAU = 0.01
MEMORY_CAPACITY = 10000
BATCH_SIZE = 32
RENDER = False
ENV_NAME = 'Pendulum-v1'

########################## DDPG Framework ######################
class ActorNet(nn.Module): # define the network structure for actor and critic
    def __init__(self, s_dim, a_dim):
        super(ActorNet, self).__init__()
        self.fc1 = nn.Linear(s_dim, 30)
        self.fc1.weight.data.normal_(0, 0.1) # initialization of FC1
        self.out = nn.Linear(30, a_dim)
        self.out.weight.data.normal_(0, 0.1) # initilizaiton of OUT
    def forward(self, x):
        x = self.fc1(x)
        x = F.relu(x)
        x = self.out(x)
        x = torch.tanh(x)
        actions = x * 2 # for the game "Pendulum-v0", action range is [-2, 2]
        return actions

class CriticNet(nn.Module):
    def __init__(self, s_dim, a_dim):
        super(CriticNet, self).__init__()
        self.fcs = nn.Linear(s_dim, 30)
        self.fcs.weight.data.normal_(0, 0.1)
        self.fca = nn.Linear(a_dim, 30)
        self.fca.weight.data.normal_(0, 0.1)
        self.out = nn.Linear(30, 1)
        self.out.weight.data.normal_(0, 0.1)
    def forward(self, s, a):
        x = self.fcs(s)
        y = self.fca(a)
        actions_value = self.out(F.relu(x+y))
        return actions_value
    
class DDPG(object):
    def __init__(self, a_dim, s_dim, a_bound):
        self.a_dim, self.s_dim, self.a_bound = a_dim, s_dim, a_bound
        self.memory = np.zeros((MEMORY_CAPACITY, s_dim * 2 + a_dim + 1), dtype=np.float32)
        self.pointer = 0 # serves as updating the memory data 
        # Create the 4 network objects
        self.actor_eval = ActorNet(s_dim, a_dim)
        self.actor_target = ActorNet(s_dim, a_dim)
        self.critic_eval = CriticNet(s_dim, a_dim)
        self.critic_target = CriticNet(s_dim, a_dim)
        # create 2 optimizers for actor and critic
        self.actor_optimizer = torch.optim.Adam(self.actor_eval.parameters(), lr=LR_ACTOR)
        self.critic_optimizer = torch.optim.Adam(self.critic_eval.parameters(), lr=LR_CRITIC)
        # Define the loss function for critic network update
        self.loss_func = nn.MSELoss()
    def store_transition(self, s, a, r, s_): # how to store the episodic data to buffer
        transition = np.hstack((s, a, [r], s_))
        index = self.pointer % MEMORY_CAPACITY # replace the old data with new data 
        self.memory[index, :] = transition
        self.pointer += 1
    
    def choose_action(self, s):
        # print(s)
        s = torch.unsqueeze(torch.FloatTensor(s), 0)
        return self.actor_eval(s)[0].detach()
    
    def learn(self):
        # softly update the target networks
        for x in self.actor_target.state_dict().keys():
            eval('self.actor_target.' + x + '.data.mul_((1-TAU))')
            eval('self.actor_target.' + x + '.data.add_(TAU*self.actor_eval.' + x + '.data)')
        for x in self.critic_target.state_dict().keys():
            eval('self.critic_target.' + x + '.data.mul_((1-TAU))')
            eval('self.critic_target.' + x + '.data.add_(TAU*self.critic_eval.' + x + '.data)')           
        # sample from buffer a mini-batch data
        indices = np.random.choice(MEMORY_CAPACITY, size=BATCH_SIZE)
        batch_trans = self.memory[indices, :]
        # extract data from mini-batch of transitions including s, a, r, s_
        batch_s = torch.FloatTensor(batch_trans[:, :self.s_dim])
        batch_a = torch.FloatTensor(batch_trans[:, self.s_dim:self.s_dim + self.a_dim])
        batch_r = torch.FloatTensor(batch_trans[:, -self.s_dim - 1: -self.s_dim])
        batch_s_ = torch.FloatTensor(batch_trans[:, -self.s_dim:])
        # make action and evaluate its action values
        a = self.actor_eval(batch_s)
        q = self.critic_eval(batch_s, a)
        actor_loss = -torch.mean(q)
        # optimize the loss of actor network
        self.actor_optimizer.zero_grad()
        actor_loss.backward()
        self.actor_optimizer.step()
        
        # compute the target Q value using the information of next state
        a_target = self.actor_target(batch_s_)
        q_tmp = self.critic_target(batch_s_, a_target)
        q_target = batch_r + GAMMA * q_tmp
        # compute the current q value and the loss
        q_eval = self.critic_eval(batch_s, batch_a)
        td_error = self.loss_func(q_target, q_eval)
        # optimize the loss of critic network
        self.critic_optimizer.zero_grad()
        td_error.backward()
        self.critic_optimizer.step()
        
############################### Training ######################################
# Define the env in gym
env = gym.make(ENV_NAME)
env = env.unwrapped
env.seed(1)
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_bound = env.action_space.high
a_low_bound = env.action_space.low

ddpg = DDPG(a_dim, s_dim, a_bound)
var = 3 # the controller of exploration which will decay during training process
t1 = time.time()
for i in range(EPISODES):
    s = env.reset()
    ep_r = 0
    for j in range(EP_STEPS):
        if RENDER: env.render()
        # add explorative noise to action
        a = ddpg.choose_action(s)
        a = np.clip(np.random.normal(a, var), a_low_bound, a_bound)
        s_, r, done, info = env.step(a)
        ddpg.store_transition(s, a, r / 10, s_) # store the transition to memory
        
        if ddpg.pointer > MEMORY_CAPACITY:
            var *= 0.9995 # decay the exploration controller factor
            ddpg.learn()
            
        s = s_
        ep_r += r
        if j == EP_STEPS - 1:
            print('Episode: ', i, ' Reward: %i' % (ep_r), 'Explore: %.2f' % var)
            if ep_r > -300 : RENDER = True
            break
print('Running time: ', time.time() - t1)

• 代码全部亲自跑过，你懂的！😝

结果展示

写在最后

十年磨剑，与君共勉！
更多代码：Gitee主页：https://gitee.com/GZHzzz
博客主页：CSDN：https://blog.csdn.net/gzhzzaa

• Fighting!😎

基于pytorch的经典模型：基于pytorch的典型智能体模型
强化学习经典论文：强化学习经典论文

while True:
	Go life

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