强化学习Actor Critic Method

import gym, os
from itertools import count
import paddle
import paddle.nn as nn
import paddle.optimizer as optim
import paddle.nn.functional as F
from paddle.distribution import Categorical

print(paddle.__version__)

device=paddle.get_device()
env=gym.make("CartPole-v0")  ### 或者 env = gym.make("CartPole-v0").unwrapped 开启无锁定环境训练

state_size=env.observation_space.shape[0]
action_size=env.action_space.n
lr = 0.001

class Actor(nn.Layer):
    def __init__(self,state_size,action_size):
        super(Actor,self).__init__()
        self.state_size=state_size
        self.action_size=action_size
        self.linear1=nn.Linear(self.state_size,128)
        self.linear2=nn.Linear(128,256)
        self.linear3=nn.Linear(256,self.action_size)

    def forward(self,state):
        output=F.relu(self.linear1(state))
        output=F.relu(self.linear2(output))
        output=self.linear3(output)
        distribution=Categorical(F.softmax(output,axis=-1))
        return distribution


class Critic(nn.Layer):
    def __init__(self,state_size,action_size):
        super(Critic, self).__init__()
        self.state_size=state_size
        self.action_size=action_size
        self.linear1=nn.Linear(self.state_size,128)
        self.linear2=nn.Linear(128,256)
        self.linear3=nn.Linear(256,1)

    def forward(self,state):
        output=F.relu(self.linear1(state))
        output=F.relu(self.linear2(output))
        value=self.linear3(output)
        return value

def compute_returns(next_value,rewards masks,gamma=0.99):
    R=next_value
    returns=[]
    for step in reversed(range(len(rewards))):
        R = rewards[step] + gamma * R * masks[step]
        returns.insert(0,R)
    return returns


def trainIters(actor,critic,n_iters):
    optimizerA=optim.Adam(lr,parameters=actor.parameters())
    optimizerC=optim.Adam(lr,parameters=critic.parameters())
    for iter in range(n_iters):
        state=env.reset()
        log_probs=[]
        values=[]
        rewards=[]
        masks=[]
        entropy=0
        env.reset()

        for i in count():
            state=paddle.to_tensor(state,dtype="float32",place=device)
            dist,value=actor(state),critic(state)

            action=dist.sample([1])
            next_state,reward,done,_=env.step(action.cpu().squeeze(0).numpy()) 

            log_prob=dist.log_prob(action);
            log_probs.append(log_prob)
            values.append(value)
            rewards.append(paddle.to_tensor([reward],dtype="float32",place=device))
            masks.append(paddle.to_tensor([1-done],dtype="float32",place=device))

            state=next_state

            if done:
                if iter % 10==0:
                    print('Iteration:{},Score:{}'.format(iter, i))
                break


        next_state=paddle.to_tensor(next_state,dtype="float32",place=device)
        next_value=critic(next_state)
        returns=compute_returns(next_value,rewards,masks)

        log_probs=paddle.concat(log_probs)
        returns=paddle.concat(returns).detach()
        values=paddle.concat(values)

        advantage=returns-values

        actor_loss=-(log_probs*advantage.detach()).mean()
        critic_loss=advantage.pow(2).mean()

        optimizerA.clear_grad()
        optimizerC.clear_grad()
        actor_loss.backward()
        critic_loss.backward()
        optimizerA.step()
        optimizerC.step()
    paddle.save(actor.state_dict(),'model/actor.pdparams')
    paddle.save(critic.state_dict(),'model/critic.pdparams')
    env.close()



if __name__=='__main__':
    if os.path.exists('model/actor.pdparams'):
        actor=Actor(state_size,action_size)
        model_state_dict=paddle.load('model/actor.pdparams')
        actor.set_state_dict(model_state_dict )
        print('Actor Model loaded')
    else:
        actor=Actor(state_size,action_size)
    if os.path.exists('model/critic.pdparams'):
        critic=Critic(state_size,action_size)
        model_state_dict=paddle.load('model/critic.pdparams')
        critic.set_state_dict(model_state_dict )
        print('Critic Model loaded')
    else:
        critic = Critic(state_size, action_size)
    trainIters(actor, critic, n_iters=201)

2.1.2
Iteration: 0, Score: 13
Iteration: 10, Score: 12
Iteration: 20, Score: 18
Iteration: 30, Score: 57
Iteration: 40, Score: 23
Iteration: 50, Score: 19
Iteration: 60, Score: 61
Iteration: 70, Score: 41
Iteration: 80, Score: 199
Iteration: 90, Score: 142
Iteration: 100, Score: 155
Iteration: 110, Score: 199
Iteration: 120, Score: 199
Iteration: 130, Score: 164
Iteration: 140, Score: 199
Iteration: 150, Score: 167
Iteration: 160, Score: 195
Iteration: 170, Score: 177
Iteration: 180, Score: 199
Iteration: 190, Score: 199
Iteration: 200, Score: 199