【百度AI-Studio】强化学习训练营（共六节课）——PaddlePaddle（自学笔记）（附代码）

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强化学习训练营入口链接
GYM官网
PARL代码链接

资料推荐

一、第一课强化学习(RL)初印象

• RL概述、入门路线
• 实践：环境搭建

1. 什么是强化学习

核心思想：智能体 agent在环境 environment中学习，根据环境的状态 state，执行动作 action，并根据环境的反馈 reward(奖励)来指导更好的动作。

2. 强化学习的应用

3. 强化学习与其他机器学习的关系

4. Agent学习的两种方案

5. RL的分类

6. 算法库&框架库

（1） RL编程实践：GYM

• Gym：仿真平台、python开源库、RL测试平台
• 官网： GYM官网
  
  
• 离散控制场景：一般使用 atari 环境评估
• 连续控制场景：一般使用 mujoco 环境游戏来评估

（2） RL agent→ environment 交互接口

gym 的核心接口是 environment 。提供以下几个核心方法：

1. reset()：重置环境的状态，回到初始环境，方便开始下一次训练。
2. step( action)：推进一个时间步长,返回四个值:
   ① observation( object)：对环境的一次观察;
   ② reward ( float)：奖励;
   ③ done ( boolean)：代表是否需要重置环境;
   ④ info (dct)：用于调试的诊段信息。
3. render()：重绘环境的一帧图像。
   
   代码路径：https://github.com/paddlepaddle/Parl/tree/develop/examples/tutorials

import gym

env = gym.make("Cliffwalking-v0")
obs = env.reset()
while true:
	action  = np.random.randint(0,4)
	oba, reward, done,   

（3） PARL介绍：快速搭建并行框架

7. 总结

8. pip安装问题

Tips1：Pip库安装常见问题:网络超时

• 解决办法1：使用清华源-i https://pypi.tuna.tsinghua.edu.cn/simple
• 解决办法2：https：/pypi.org/下载whl包或者源码包安装
  Tips2：Pip安装中断：某个依赖包安装失败，重新安装即可
  Tips3：独立的 Python环境： Conda

二、第二课：基于表格型方法求解RL

• MDP、状态价值、Q表格
• 实践：Sarsa、Q- learning

1. 强化学习MDP 四元组（S,A,P,R）

s：state 状态
a：action 动作
r：reward 奖励
p：probability 状态转移概率

如何描述环境：
P函数： probability function
R函数： reward function

2. 实践环境

悬崖问题(快速到达目的地)：

• 每走一步都有-1的惩罚，掉进悬崖会有-100的惩罚(并被拖回出发点)，直到到达目的地结束游戏

3. reward折扣因子y

Temporal Difference 时序差分(TD单步更新)

4. Sarsa——代码

On - Policy
st，at， rt+1, St+1

（1）∈- greed

# 根据输入观察值，采样输出的动作值，带探索
    def sample(self, obs):
        if np.random.uniform(0, 1) < (1.0 - self.epsilon):  #根据table的Q值选动作
            action = self.predict(obs)
        else:
            action = np.random.choice(self.act_n)  #有一定概率随机探索选取一个动作
        return action

    # 根据输入观察值，预测输出的动作值
    def predict(self, obs):
        Q_list = self.Q[obs, :]
        maxQ = np.max(Q_list)
        action_list = np.where(Q_list == maxQ)[0]  # maxQ可能对应多个action
        action = np.random.choice(action_list)
        return action

（2）Sarsa与环境交互代码，每一个Step都更新lean一下

def run_episode(env, agent, render=False):
    total_steps = 0  # 记录每个episode走了多少step
    total_reward = 0

    obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
    action = agent.sample(obs)  # 根据算法选择一个动作

    while True:
        next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
        next_action = agent.sample(next_obs)  # 根据算法选择一个动作
        # 训练 Sarsa 算法
        agent.learn(obs, action, reward, next_obs, next_action, done)

        action = next_action
        obs = next_obs  # 存储上一个观察值
        total_reward += reward
        total_steps += 1  # 计算step数
        if render:
            env.render()  #渲染新的一帧图形
        if done:
            break
    return total_reward, total_steps

（4）Sarsa Agent

===================================根据Q表格选动作============================================
class SarsaAgent(object):
    def __init__(self,
                 obs_n,
                 act_n,
                 learning_rate=0.01,
                 gamma=0.9,
                 e_greed=0.1):
        self.act_n = act_n  # 动作维度，有几个动作可选
        self.lr = learning_rate  # 学习率
        self.gamma = gamma  # reward的衰减率
        self.epsilon = e_greed  # 按一定概率随机选动作
        self.Q = np.zeros((obs_n, act_n))

    # 根据输入观察值，采样输出的动作值，带探索
    def sample(self, obs):
        if np.random.uniform(0, 1) < (1.0 - self.epsilon):  #根据table的Q值选动作
            action = self.predict(obs)
        else:
            action = np.random.choice(self.act_n)  #有一定概率随机探索选取一个动作
        return action

    # 根据输入观察值，预测输出的动作值
    def predict(self, obs):
        Q_list = self.Q[obs, :]
        maxQ = np.max(Q_list)
        action_list = np.where(Q_list == maxQ)[0]  # maxQ可能对应多个action
        action = np.random.choice(action_list)
        return action

==========================================更新Q-table===================================
	# 学习方法，也就是更新Q-table的方法
    def learn(self, obs, action, reward, next_obs, next_action, done):
        """ on-policy
            obs: 交互前的obs, s_t
            action: 本次交互选择的action, a_t
            reward: 本次动作获得的奖励r
            next_obs: 本次交互后的obs, s_t+1
            next_action: 根据当前Q表格, 针对next_obs会选择的动作, a_t+1
            done: episode是否结束
        """
        predict_Q = self.Q[obs, action]
        if done:
            target_Q = reward  # 没有下一个状态了
        else:
            target_Q = reward + self.gamma * self.Q[next_obs,
                                                    next_action]  # Sarsa
        self.Q[obs, action] += self.lr * (target_Q - predict_Q)  # 修正q

（5）Sarsa - train

import gym
from gridworld import CliffWalkingWapper, FrozenLakeWapper
from agent import SarsaAgent
import time


def run_episode(env, agent, render=False):
    total_steps = 0  # 记录每个episode走了多少step
    total_reward = 0

    obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
    action = agent.sample(obs)  # 根据算法选择一个动作

    while True:
        next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
        next_action = agent.sample(next_obs)  # 根据算法选择一个动作
        # 训练 Sarsa 算法
        agent.learn(obs, action, reward, next_obs, next_action, done)

        action = next_action
        obs = next_obs  # 存储上一个观察值
        total_reward += reward
        total_steps += 1  # 计算step数
        if render:
            env.render()  #渲染新的一帧图形
        if done:
            break
    return total_reward, total_steps


def test_episode(env, agent):
    total_reward = 0
    obs = env.reset()
    while True:
        action = agent.predict(obs)  # greedy
        next_obs, reward, done, _ = env.step(action)
        total_reward += reward
        obs = next_obs
        time.sleep(0.5)
        env.render()
        if done:
            print('test reward = %.1f' % (total_reward))
            break


def main():
    # env = gym.make("FrozenLake-v0", is_slippery=False)  # 0 left, 1 down, 2 right, 3 up
    # env = FrozenLakeWapper(env)

    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
    env = CliffWalkingWapper(env)

    agent = SarsaAgent(
        obs_n=env.observation_space.n,
        act_n=env.action_space.n,
        learning_rate=0.1,
        gamma=0.9,
        e_greed=0.1)

    is_render = False
    for episode in range(500):
        ep_reward, ep_steps = run_episode(env, agent, is_render)
        print('Episode %s: steps = %s , reward = %.1f' % (episode, ep_steps,
                                                          ep_reward))

        # 每隔20个episode渲染一下看看效果
        if episode % 20 == 0:
            is_render = True
        else:
            is_render = False
    # 训练结束，查看算法效果
    test_episode(env, agent)


if __name__ == "__main__":
    main()

5. Q-Learning——代码

off - policy

与Sarsa 区别

（1）Q- -learning与环境交互

def run_episode(env, agent, render=False):
    total_steps = 0  # 记录每个episode走了多少step
    total_reward = 0

    obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）

    while True:
        action = agent.sample(obs)  # 根据算法选择一个动作
        next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
        # 训练 Q-learning算法
        agent.learn(obs, action, reward, next_obs, done)

        obs = next_obs  # 存储上一个观察值
        total_reward += reward
        total_steps += 1  # 计算step数
        if render:
            env.render()  #渲染新的一帧图形
        if done:
            break
    return total_reward, total_steps

（2）Q-learning Agent

=============================①根据Q表格选动作=============================
class QLearningAgent(object):
    def __init__(self,
                 obs_n,
                 act_n,
                 learning_rate=0.01,
                 gamma=0.9,
                 e_greed=0.1):
        self.act_n = act_n  # 动作维度，有几个动作可选
        self.lr = learning_rate  # 学习率
        self.gamma = gamma  # reward的衰减率
        self.epsilon = e_greed  # 按一定概率随机选动作
        self.Q = np.zeros((obs_n, act_n))

    # 根据输入观察值，采样输出的动作值，带探索
    def sample(self, obs):
        if np.random.uniform(0, 1) < (1.0 - self.epsilon):  #根据table的Q值选动作
            action = self.predict(obs)
        else:
            action = np.random.choice(self.act_n)  #有一定概率随机探索选取一个动作
        return action

    # 根据输入观察值，预测输出的动作值
    def predict(self, obs):
        Q_list = self.Q[obs, :]
        maxQ = np.max(Q_list)
        action_list = np.where(Q_list == maxQ)[0]  # maxQ可能对应多个action
        action = np.random.choice(action_list)
        return action

========================更新Q表格=====================================
    # 学习方法，也就是更新Q-table的方法
    def learn(self, obs, action, reward, next_obs, done):
        """ off-policy
            obs: 交互前的obs, s_t
            action: 本次交互选择的action, a_t
            reward: 本次动作获得的奖励r
            next_obs: 本次交互后的obs, s_t+1
            done: episode是否结束
        """
        predict_Q = self.Q[obs, action]
        if done:
            target_Q = reward  # 没有下一个状态了
        else:
            target_Q = reward + self.gamma * np.max(
                self.Q[next_obs, :])  # Q-learning
        self.Q[obs, action] += self.lr * (target_Q - predict_Q)  # 修正q

（3）train

import gym
from gridworld import CliffWalkingWapper, FrozenLakeWapper
from agent import QLearningAgent
import time


def run_episode(env, agent, render=False):
    total_steps = 0  # 记录每个episode走了多少step
    total_reward = 0

    obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）

    while True:
        action = agent.sample(obs)  # 根据算法选择一个动作
        next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
        # 训练 Q-learning算法
        agent.learn(obs, action, reward, next_obs, done)

        obs = next_obs  # 存储上一个观察值
        total_reward += reward
        total_steps += 1  # 计算step数
        if render:
            env.render()  #渲染新的一帧图形
        if done:
            break
    return total_reward, total_steps


def test_episode(env, agent):
    total_reward = 0
    obs = env.reset()
    while True:
        action = agent.predict(obs)  # greedy
        next_obs, reward, done, _ = env.step(action)
        total_reward += reward
        obs = next_obs
        time.sleep(0.5)
        env.render()
        if done:
            print('test reward = %.1f' % (total_reward))
            break


def main():
    # env = gym.make("FrozenLake-v0", is_slippery=False)  # 0 left, 1 down, 2 right, 3 up
    # env = FrozenLakeWapper(env)

    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
    env = CliffWalkingWapper(env)

    agent = QLearningAgent(
        obs_n=env.observation_space.n,
        act_n=env.action_space.n,
        learning_rate=0.1,
        gamma=0.9,
        e_greed=0.1)

    is_render = False
    for episode in range(500):
        ep_reward, ep_steps = run_episode(env, agent, is_render)
        print('Episode %s: steps = %s , reward = %.1f' % (episode, ep_steps,
                                                          ep_reward))

        # 每隔20个episode渲染一下看看效果
        if episode % 20 == 0:
            is_render = True
        else:
            is_render = False
    # 训练结束，查看算法效果
    test_episode(env, agent)


if __name__ == "__main__":
    main()

6. On-policy vs Off-policy

☆On- policy策略：使用策略π学习,使用策略π与环境交互产生经验

• 由于需要兼顾探索，策略π并不稳定
  ☆ Of-policy策略(两个策略)：
• 目标策略：π
• 行为策略：μ
  ☆ 使用Off policy的好处：
• 目标策略π 用于学习最优策略
• 行为策略μ 更具有探索性,与环境交互产生经验轨迹

7. 总结

8. gridworld. py使用指南

第三课：基于神经网络方法求解RL

• 函数逼近方法
• 实践：DQN

1. 基础知识

（1）值函数近似

使用值函数近似的优点：

①仅需存储有限的参数
②状态泛化,相似的状态可以输出一样

表格方法的缺点：

①表格可能占用极大内存
②当表格极大时,查表效率低下

（2）DQN 与 Q-Learning 关系

Q-Learning：

DQN：

2. DQN 算法解析

（1）DQN两大创新点

用 append（）讲数据存入经验池，再用sample（）从经验池取出数据进行训练

经验回放——样本关联性

1. 打乱样本关联性
2. 提高样本利用率

固定Q目标

（2）DQN 流程图

3. DQN——代码

（1）model.py

import parl
from parl import layers  # 封装了 paddle.fluid.layers 的API

class Model(parl.Model):
    def __init__(self, act_dim):
        hid1_size = 128
        hid2_size = 128
        # 3层全连接网络
        self.fc1 = layers.fc(size=hid1_size, act='relu')
        self.fc2 = layers.fc(size=hid2_size, act='relu')
        self.fc3 = layers.fc(size=act_dim, act=None)

    def value(self, obs):
        h1 = self.fc1(obs)
        h2 = self.fc2(h1)
        Q = self.fc3(h2)
        return Q

（2）algorithm.py

import copy
import paddle.fluid as fluid
import parl
from parl import layers

class DQN(parl.Algorithm):
    def __init__(self, model, act_dim=None, gamma=None, lr=None):
        """ DQN algorithm
        
        Args:
            model (parl.Model): 定义Q函数的前向网络结构
            act_dim (int): action空间的维度，即有几个action
            gamma (float): reward的衰减因子
            lr (float): learning_rate，学习率.
        """
        self.model = model
        self.target_model = copy.deepcopy(model)

        assert isinstance(act_dim, int)
        assert isinstance(gamma, float)
        assert isinstance(lr, float)
        self.act_dim = act_dim
        self.gamma = gamma
        self.lr = lr

    def predict(self, obs):
        """ 使用self.model的value网络来获取 [Q(s,a1),Q(s,a2),...]
        """
        return self.model.value(obs)

    def learn(self, obs, action, reward, next_obs, terminal):
        """ 使用DQN算法更新self.model的value网络
        """

        # 从target_model中获取 max Q' 的值，用于计算target_Q
        next_pred_value = self.target_model.value(next_obs)
        best_v = layers.reduce_max(next_pred_value, dim=1)
        best_v.stop_gradient = True  # 阻止梯度传递
        terminal = layers.cast(terminal, dtype='float32')
        target = reward + (1.0 - terminal) * self.gamma * best_v

        pred_value = self.model.value(obs)  # 获取Q预测值
        # 将action转onehot向量，比如：3 => [0,0,0,1,0]
        action_onehot = layers.one_hot(action, self.act_dim)
        action_onehot = layers.cast(action_onehot, dtype='float32')
        # 下面一行是逐元素相乘，拿到action对应的 Q(s,a)
        # 比如：pred_value = [[2.3, 5.7, 1.2, 3.9, 1.4]], action_onehot = [[0,0,0,1,0]]
        #  ==> pred_action_value = [[3.9]]
        pred_action_value = layers.reduce_sum(
            layers.elementwise_mul(action_onehot, pred_value), dim=1)

        # 计算 Q(s,a) 与 target_Q的均方差，得到loss
        cost = layers.square_error_cost(pred_action_value, target)
        cost = layers.reduce_mean(cost)
        optimizer = fluid.optimizer.Adam(learning_rate=self.lr)  # 使用Adam优化器
        optimizer.minimize(cost)
        return cost

    def sync_target(self):
        """ 把 self.model 的模型参数值同步到 self.target_model
        """
        self.model.sync_weights_to(self.target_model)

注意：

 best_v.stop_gradient = True  # 阻止梯度传递

用到了target_model的值，但是target_model参数需要固定不动，这句话切断联系。

（3）agent.py

import numpy as np
import paddle.fluid as fluid
import parl
from parl import layers


class Agent(parl.Agent):
    def __init__(self,
                 algorithm,
                 obs_dim,
                 act_dim,
                 e_greed=0.1,
                 e_greed_decrement=0):
        assert isinstance(obs_dim, int)
        assert isinstance(act_dim, int)
        self.obs_dim = obs_dim
        self.act_dim = act_dim
        super(Agent, self).__init__(algorithm)

        self.global_step = 0
        self.update_target_steps = 200  # 每隔200个training steps再把model的参数复制到target_model中

        self.e_greed = e_greed  # 有一定概率随机选取动作，探索
        self.e_greed_decrement = e_greed_decrement  # 随着训练逐步收敛，探索的程度慢慢降低

    def build_program(self):
        self.pred_program = fluid.Program()
        self.learn_program = fluid.Program()

        with fluid.program_guard(self.pred_program):  # 搭建计算图用于 预测动作，定义输入输出变量
            obs = layers.data(
                name='obs', shape=[self.obs_dim], dtype='float32')
            self.value = self.alg.predict(obs)

        with fluid.program_guard(self.learn_program):  # 搭建计算图用于 更新Q网络，定义输入输出变量
            obs = layers.data(
                name='obs', shape=[self.obs_dim], dtype='float32')
            action = layers.data(name='act', shape=[1], dtype='int32')
            reward = layers.data(name='reward', shape=[], dtype='float32')
            next_obs = layers.data(
                name='next_obs', shape=[self.obs_dim], dtype='float32')
            terminal = layers.data(name='terminal', shape=[], dtype='bool')
            self.cost = self.alg.learn(obs, action, reward, next_obs, terminal)

    def sample(self, obs):
        sample = np.random.rand()  # 产生0~1之间的小数
        if sample < self.e_greed:
            act = np.random.randint(self.act_dim)  # 探索：每个动作都有概率被选择
        else:
            act = self.predict(obs)  # 选择最优动作
        self.e_greed = max(
            0.01, self.e_greed - self.e_greed_decrement)  # 随着训练逐步收敛，探索的程度慢慢降低
        return act

    def predict(self, obs):  # 选择最优动作
        obs = np.expand_dims(obs, axis=0)
        pred_Q = self.fluid_executor.run(
            self.pred_program,
            feed={'obs': obs.astype('float32')},
            fetch_list=[self.value])[0]
        pred_Q = np.squeeze(pred_Q, axis=0)
        act = np.argmax(pred_Q)  # 选择Q最大的下标，即对应的动作
        return act

    def learn(self, obs, act, reward, next_obs, terminal):
        # 每隔200个training steps同步一次model和target_model的参数
        if self.global_step % self.update_target_steps == 0:
            self.alg.sync_target()
        self.global_step += 1

        act = np.expand_dims(act, -1)
        feed = {
            'obs': obs.astype('float32'),
            'act': act.astype('int32'),
            'reward': reward,
            'next_obs': next_obs.astype('float32'),
            'terminal': terminal
        }
        cost = self.fluid_executor.run(
            self.learn_program, feed=feed, fetch_list=[self.cost])[0]  # 训练一次网络
        return cost

（4）replaymemory.py

import random
import collections
import numpy as np


class ReplayMemory(object):
    def __init__(self, max_size):
        self.buffer = collections.deque(maxlen=max_size)

    def append(self, exp):
        self.buffer.append(exp)

    def sample(self, batch_size):
        mini_batch = random.sample(self.buffer, batch_size)
        obs_batch, action_batch, reward_batch, next_obs_batch, done_batch = [], [], [], [], []

        for experience in mini_batch:
            s, a, r, s_p, done = experience
            obs_batch.append(s)
            action_batch.append(a)
            reward_batch.append(r)
            next_obs_batch.append(s_p)
            done_batch.append(done)

        return np.array(obs_batch).astype('float32'), \
            np.array(action_batch).astype('float32'), np.array(reward_batch).astype('float32'),\
            np.array(next_obs_batch).astype('float32'), np.array(done_batch).astype('float32')

    def __len__(self):
        return len(self.buffer)

（5）train.py

import os
import gym
import numpy as np
import parl
from parl.utils import logger  # 日志打印工具

from model import Model
from algorithm import DQN  # from parl.algorithms import DQN  # parl >= 1.3.1
from agent import Agent

from replay_memory import ReplayMemory

LEARN_FREQ = 5  # 训练频率，不需要每一个step都learn，攒一些新增经验后再learn，提高效率
MEMORY_SIZE = 20000  # replay memory的大小，越大越占用内存
MEMORY_WARMUP_SIZE = 200  # replay_memory 里需要预存一些经验数据，再从里面sample一个batch的经验让agent去learn
BATCH_SIZE = 32  # 每次给agent learn的数据数量，从replay memory随机里sample一批数据出来
LEARNING_RATE = 0.001  # 学习率
GAMMA = 0.99  # reward 的衰减因子，一般取 0.9 到 0.999 不等


# 训练一个episode
def run_episode(env, agent, rpm):
    total_reward = 0
    obs = env.reset()
    step = 0
    while True:
        step += 1
        action = agent.sample(obs)  # 采样动作，所有动作都有概率被尝试到
        next_obs, reward, done, _ = env.step(action)
        rpm.append((obs, action, reward, next_obs, done))

        # train model
        if (len(rpm) > MEMORY_WARMUP_SIZE) and (step % LEARN_FREQ == 0):
            (batch_obs, batch_action, batch_reward, batch_next_obs,
             batch_done) = rpm.sample(BATCH_SIZE)
            train_loss = agent.learn(batch_obs, batch_action, batch_reward,
                                     batch_next_obs,
                                     batch_done)  # s,a,r,s',done

        total_reward += reward
        obs = next_obs
        if done:
            break
    return total_reward


# 评估 agent, 跑 5 个episode，总reward求平均
def evaluate(env, agent, render=False):
    eval_reward = []
    for i in range(5):
        obs = env.reset()
        episode_reward = 0
        while True:
            action = agent.predict(obs)  # 预测动作，只选最优动作
            obs, reward, done, _ = env.step(action)
            episode_reward += reward
            if render:
                env.render()
            if done:
                break
        eval_reward.append(episode_reward)
    return np.mean(eval_reward)


def main():
    env = gym.make(
        'CartPole-v0'
    )  # CartPole-v0: expected reward > 180                MountainCar-v0 : expected reward > -120
    action_dim = env.action_space.n  # CartPole-v0: 2
    obs_shape = env.observation_space.shape  # CartPole-v0: (4,)

    rpm = ReplayMemory(MEMORY_SIZE)  # DQN的经验回放池

    # 根据parl框架构建agent
    model = Model(act_dim=action_dim)
    algorithm = DQN(model, act_dim=action_dim, gamma=GAMMA, lr=LEARNING_RATE)
    agent = Agent(
        algorithm,
        obs_dim=obs_shape[0],
        act_dim=action_dim,
        e_greed=0.1,  # 有一定概率随机选取动作，探索
        e_greed_decrement=1e-6)  # 随着训练逐步收敛，探索的程度慢慢降低

    # 加载模型
    # save_path = './dqn_model.ckpt'
    # agent.restore(save_path)

    # 先往经验池里存一些数据，避免最开始训练的时候样本丰富度不够
    while len(rpm) < MEMORY_WARMUP_SIZE:
        run_episode(env, agent, rpm)

    max_episode = 2000

    # start train
    episode = 0
    while episode < max_episode:  # 训练max_episode个回合，test部分不计算入episode数量
        # train part
        for i in range(0, 50):
            total_reward = run_episode(env, agent, rpm)
            episode += 1

        # test part
        eval_reward = evaluate(env, agent, render=True)  # render=True 查看显示效果
        logger.info('episode:{}    e_greed:{}   Test reward:{}'.format(
            episode, agent.e_greed, eval_reward))

    # 训练结束，保存模型
    save_path = './dqn_model.ckpt'
    agent.save(save_path)


if __name__ == '__main__':
    main()

4. 常用方法

（1）PARL常用AP

• 搭建好强化学习训练框架，快速复现，便于修改调试
• 实现常用 AP，避免重复造轮子
• agent. store()：保存模型
• agent. restore()：加载模型
• model. sync_weights_to()：把当前模型的参数同步到另一个模型去
• model. parameters()：返回一个list，包含模型所有参数的名称
• model. get_weights()：返回一个list，包含模型的所有参数
• model. set_ weights()：设置模型参数

（2）模型保存与加载

# 加载模型
    save_path = './dqn_model.ckpt'
    agent.restore(save_path)

# 训练结束，保存模型
    save_path = './dqn_model.ckpt'
    agent.save(save_path)

（3）打印日志

• parl. utils. logger：打印日志:涵盖时间、代码所在文件以及行数，方便记录训练时间

from parl.utils import logger  # 日志打印工具
logger.info('episode:{}    e_greed:{}   Test reward:{}'.format(
            episode, agent.e_greed, eval_reward))

5. 总结

第四课：基于策略梯度求解RL

• 策略近似、策略梯度
• 实践： Policy Gradient

1. Value-based vs policy-based

（1）Policy- based 直接表示策略

（2）随机策略

（3）随机策略—— softmax函数

Softmax将多个神经元的输出,映射到(0,1)区间内,可以看成概率来理解,可以输出不同动作的概率

（4）轨迹

（5）期望回报

（6）优化策略函数

（7）蒙特卡洛MC与时序差分TD

2. 流程图

PARL Policy gradient

3. PG——代码

（1）model.py

import parl
from parl import layers


class Model(parl.Model):
    def __init__(self, act_dim):
        act_dim = act_dim
        hid1_size = act_dim * 10

        self.fc1 = layers.fc(size=hid1_size, act='tanh')
        self.fc2 = layers.fc(size=act_dim, act='softmax')

    def forward(self, obs):  # 可直接用 model = Model(5); model(obs)调用
        out = self.fc1(obs)
        out = self.fc2(out)
        return out

（2）algorithm.py

import paddle.fluid as fluid
import parl
from parl import layers


class PolicyGradient(parl.Algorithm):
    def __init__(self, model, lr=None):
        """ Policy Gradient algorithm
        
        Args:
            model (parl.Model): policy的前向网络.
            lr (float): 学习率.
        """

        self.model = model
        assert isinstance(lr, float)
        self.lr = lr

    def predict(self, obs):
        """ 使用policy model预测输出的动作概率
        """
        return self.model(obs)

    def learn(self, obs, action, reward):
        """ 用policy gradient 算法更新policy model
        """
        act_prob = self.model(obs)  # 获取输出动作概率
        # log_prob = layers.cross_entropy(act_prob, action) # 交叉熵
        log_prob = layers.reduce_sum(
            -1.0 * layers.log(act_prob) * layers.one_hot(
                action, act_prob.shape[1]),
            dim=1)
        cost = log_prob * reward
        cost = layers.reduce_mean(cost)

        optimizer = fluid.optimizer.Adam(self.lr)
        optimizer.minimize(cost)
        return cost

（3）agent.py

import numpy as np
import paddle.fluid as fluid
import parl
from parl import layers


class Agent(parl.Agent):
    def __init__(self, algorithm, obs_dim, act_dim):
        self.obs_dim = obs_dim
        self.act_dim = act_dim
        super(Agent, self).__init__(algorithm)

    def build_program(self):
        self.pred_program = fluid.Program()
        self.learn_program = fluid.Program()

        with fluid.program_guard(self.pred_program):  # 搭建计算图用于 预测动作，定义输入输出变量
            obs = layers.data(
                name='obs', shape=[self.obs_dim], dtype='float32')
            self.act_prob = self.alg.predict(obs)

        with fluid.program_guard(
                self.learn_program):  # 搭建计算图用于 更新policy网络，定义输入输出变量
            obs = layers.data(
                name='obs', shape=[self.obs_dim], dtype='float32')
            act = layers.data(name='act', shape=[1], dtype='int64')
            reward = layers.data(name='reward', shape=[], dtype='float32')
            self.cost = self.alg.learn(obs, act, reward)

    def sample(self, obs):
        obs = np.expand_dims(obs, axis=0)  # 增加一维维度
        act_prob = self.fluid_executor.run(
            self.pred_program,
            feed={'obs': obs.astype('float32')},
            fetch_list=[self.act_prob])[0]
        act_prob = np.squeeze(act_prob, axis=0)  # 减少一维维度
        act = np.random.choice(range(self.act_dim), p=act_prob)  # 根据动作概率选取动作
        return act

    def predict(self, obs):
        obs = np.expand_dims(obs, axis=0)
        act_prob = self.fluid_executor.run(
            self.pred_program,
            feed={'obs': obs.astype('float32')},
            fetch_list=[self.act_prob])[0]
        act_prob = np.squeeze(act_prob, axis=0)
        act = np.argmax(act_prob)  # 根据动作概率选择概率最高的动作
        return act

    def learn(self, obs, act, reward):
        act = np.expand_dims(act, axis=-1)
        feed = {
            'obs': obs.astype('float32'),
            'act': act.astype('int64'),
            'reward': reward.astype('float32')
        }
        cost = self.fluid_executor.run(
            self.learn_program, feed=feed, fetch_list=[self.cost])[0]
        return cost

（4）train.py

import os
import gym
import numpy as np
import parl

from agent import Agent
from model import Model
from algorithm import PolicyGradient  # from parl.algorithms import PolicyGradient

from parl.utils import logger

LEARNING_RATE = 1e-3


# 训练一个episode
def run_episode(env, agent):
    obs_list, action_list, reward_list = [], [], []
    obs = env.reset()
    while True:
        obs_list.append(obs)
        action = agent.sample(obs)
        action_list.append(action)

        obs, reward, done, info = env.step(action)
        reward_list.append(reward)

        if done:
            break
    return obs_list, action_list, reward_list


# 评估 agent, 跑 5 个episode，总reward求平均
def evaluate(env, agent, render=False):
    eval_reward = []
    for i in range(5):
        obs = env.reset()
        episode_reward = 0
        while True:
            action = agent.predict(obs)
            obs, reward, isOver, _ = env.step(action)
            episode_reward += reward
            if render:
                env.render()
            if isOver:
                break
        eval_reward.append(episode_reward)
    return np.mean(eval_reward)


def calc_reward_to_go(reward_list, gamma=1.0):
    for i in range(len(reward_list) - 2, -1, -1):
        # G_i = r_i + γ·G_i+1
        reward_list[i] += gamma * reward_list[i + 1]  # Gt
    return np.array(reward_list)


def main():
    env = gym.make('CartPole-v0')
    # env = env.unwrapped # Cancel the minimum score limit
    obs_dim = env.observation_space.shape[0]
    act_dim = env.action_space.n
    logger.info('obs_dim {}, act_dim {}'.format(obs_dim, act_dim))

    # 根据parl框架构建agent
    model = Model(act_dim=act_dim)
    alg = PolicyGradient(model, lr=LEARNING_RATE)
    agent = Agent(alg, obs_dim=obs_dim, act_dim=act_dim)

    # 加载模型
    # if os.path.exists('./model.ckpt'):
    #     agent.restore('./model.ckpt')
    #     run_episode(env, agent, train_or_test='test', render=True)
    #     exit()

    for i in range(1000):
        obs_list, action_list, reward_list = run_episode(env, agent)
        if i % 10 == 0:
            logger.info("Episode {}, Reward Sum {}.".format(
                i, sum(reward_list)))

        batch_obs = np.array(obs_list)
        batch_action = np.array(action_list)
        batch_reward = calc_reward_to_go(reward_list)

        agent.learn(batch_obs, batch_action, batch_reward)
        if (i + 1) % 100 == 0:
            total_reward = evaluate(env, agent, render=True)
            logger.info('Test reward: {}'.format(total_reward))

    # save the parameters to ./model.ckpt
    agent.save('./model.ckpt')


if __name__ == '__main__':
    main()

4. 总结

公式推导：

第五课：连续动作空间上求解RL

• 实践：DDPG

1. 离散动作VS连续动作

2. DDPG( Deep Deterministic Policy Gradient）

（1）DDPG结构

（2） DQN——>DDPG

• DDPG是DQN的扩展版本,可以扩展到连续控制动作空间

（3）Actor- Critic 结构 (评论家-演员)

（4）目标网络 target network+经验回放 ReplayMemory

3. PARL DDPG

4. DDPG——代码

（1）model.py

import paddle.fluid as fluid
import parl
from parl import layers


class Model(parl.Model):
    def __init__(self, act_dim):
        self.actor_model = ActorModel(act_dim)
        self.critic_model = CriticModel()

    def policy(self, obs):
        return self.actor_model.policy(obs)

    def value(self, obs, act):
        return self.critic_model.value(obs, act)

    def get_actor_params(self):
        return self.actor_model.parameters()        # 返回一个list，包含模型所有参数的名称


class ActorModel(parl.Model):
    def __init__(self, act_dim):
        hid_size = 100

        self.fc1 = layers.fc(size=hid_size, act='relu')
        self.fc2 = layers.fc(size=act_dim, act='tanh')

    def policy(self, obs):
        hid = self.fc1(obs)
        means = self.fc2(hid)
        return means


class CriticModel(parl.Model):
    def __init__(self):
        hid_size = 100

        self.fc1 = layers.fc(size=hid_size, act='relu')
        self.fc2 = layers.fc(size=1, act=None)

    def value(self, obs, act):
        concat = layers.concat([obs, act], axis=1)
        hid = self.fc1(concat)
        Q = self.fc2(hid)
        Q = layers.squeeze(Q, axes=[1])
        return Q

（2）algorithm.py

Target network参数软更新

import parl
from parl import layers
from copy import deepcopy
from paddle import fluid


class DDPG(parl.Algorithm):
    def __init__(self,
                 model,
                 gamma=None,
                 tau=None,
                 actor_lr=None,
                 critic_lr=None):
        """  DDPG algorithm
        
        Args:
            model (parl.Model): actor and critic 的前向网络.
                                model 必须实现 get_actor_params() 方法.
            gamma (float): reward的衰减因子.
            tau (float): self.target_model 跟 self.model 同步参数 的 软更新参数
            actor_lr (float): actor 的学习率
            critic_lr (float): critic 的学习率
        """
        assert isinstance(gamma, float)
        assert isinstance(tau, float)
        assert isinstance(actor_lr, float)
        assert isinstance(critic_lr, float)
        self.gamma = gamma
        self.tau = tau
        self.actor_lr = actor_lr
        self.critic_lr = critic_lr

        self.model = model
        self.target_model = deepcopy(model)

    def predict(self, obs):
        """ 使用 self.model 的 actor model 来预测动作
        """
        return self.model.policy(obs)

    def learn(self, obs, action, reward, next_obs, terminal):
        """ 用DDPG算法更新 actor 和 critic
        """
        actor_cost = self._actor_learn(obs)
        critic_cost = self._critic_learn(obs, action, reward, next_obs,
                                         terminal)
        return actor_cost, critic_cost

    def _actor_learn(self, obs):
        action = self.model.policy(obs)
        Q = self.model.value(obs, action)
        cost = layers.reduce_mean(-1.0 * Q)                                         # actor的cost实际使用了critic来计算，但必须只更新自己的参数
        optimizer = fluid.optimizer.AdamOptimizer(self.actor_lr)
        optimizer.minimize(cost, parameter_list=self.model.get_actor_params())      # 只更新actor网络的参数
        return cost

    def _critic_learn(self, obs, action, reward, next_obs, terminal):
        next_action = self.target_model.policy(next_obs)
        next_Q = self.target_model.value(next_obs, next_action)

        terminal = layers.cast(terminal, dtype='float32')
        target_Q = reward + (1.0 - terminal) * self.gamma * next_Q
        target_Q.stop_gradient = True       # 阻止optimizer优化cost时更新target网络的参数

        Q = self.model.value(obs, action)
        cost = layers.square_error_cost(Q, target_Q)
        cost = layers.reduce_mean(cost)
        optimizer = fluid.optimizer.AdamOptimizer(self.critic_lr)
        optimizer.minimize(cost)
        return cost

    def sync_target(self, decay=None, share_vars_parallel_executor=None):
        """ self.target_model从self.model复制参数过来，若decay不为None,则是软更新
        """
        if decay is None:
            decay = 1.0 - self.tau
        self.model.sync_weights_to(
            self.target_model,
            decay=decay,
            share_vars_parallel_executor=share_vars_parallel_executor)

（3）train.py

import gym
import numpy as np
import parl
from parl.utils import logger

from agent import Agent
from model import Model
from algorithm import DDPG  # from parl.algorithms import DDPG
from env import ContinuousCartPoleEnv
from replay_memory import ReplayMemory

ACTOR_LR = 1e-3  # Actor网络的 learning rate
CRITIC_LR = 1e-3  # Critic网络的 learning rate
GAMMA = 0.99  # reward 的衰减因子
TAU = 0.001  # 软更新的系数
MEMORY_SIZE = int(1e4)  # 经验池大小
MEMORY_WARMUP_SIZE = MEMORY_SIZE // 20  # 预存一部分经验之后再开始训练
BATCH_SIZE = 128
REWARD_SCALE = 0.1  # reward 缩放系数
NOISE = 0.05  # 动作噪声方差
TRAIN_EPISODE = 6e3  # 训练的总episode数


# 训练一个episode
def run_episode(agent, env, rpm):
    obs = env.reset()
    total_reward = 0
    steps = 0
    allCost = []  # 1个episode = ?次训练的critic_cost
    while True:
        steps += 1
        batch_obs = np.expand_dims(obs, axis=0)
        action = agent.predict(batch_obs.astype('float32'))

        # 增加探索扰动（高斯噪声）, 输出限制在 [-1.0, 1.0] 范围内
        action = np.clip(np.random.normal(action, NOISE), -1.0, 1.0)

        next_obs, reward, done, info = env.step(action)

        action = [action]  # 方便存入replaymemory
        rpm.append((obs, action, REWARD_SCALE * reward, next_obs, done))

        if len(rpm) > MEMORY_WARMUP_SIZE and (steps % 5) == 0:
            (batch_obs, batch_action, batch_reward, batch_next_obs, batch_done) = rpm.sample(BATCH_SIZE)
            critic_cost = agent.learn(batch_obs, batch_action, batch_reward, batch_next_obs, batch_done)
            allCost.append(critic_cost)

        obs = next_obs
        total_reward += reward

        if done or steps >= 200:
            break
    return total_reward, allCost


# 评估 agent, 跑 5 个episode，总reward求平均
def evaluate(env, agent, render=False):
    eval_reward = []
    for i in range(5):
        obs = env.reset()
        total_reward = 0
        steps = 0
        while True:
            batch_obs = np.expand_dims(obs, axis=0)
            action = agent.predict(batch_obs.astype('float32'))
            action = np.clip(action, -1.0, 1.0)

            steps += 1
            next_obs, reward, done, info = env.step(action)

            obs = next_obs
            total_reward += reward

            if render:
                env.render()
            if done or steps >= 200:
                break
        eval_reward.append(total_reward)
    return np.mean(eval_reward)


def main():
    env = ContinuousCartPoleEnv()

    obs_dim = env.observation_space.shape[0]
    act_dim = env.action_space.shape[0]

    record = {'cost': []}

    print("obs_dim:", obs_dim," act_dim:", act_dim)

    # 使用PARL框架创建agent
    model = Model(act_dim)
    algorithm = DDPG(
        model, gamma=GAMMA, tau=TAU, actor_lr=ACTOR_LR, critic_lr=CRITIC_LR)
    agent = Agent(algorithm, obs_dim, act_dim)

    # 创建经验池
    rpm = ReplayMemory(MEMORY_SIZE)
    # 往经验池中预存数据
    while len(rpm) < MEMORY_WARMUP_SIZE:
        run_episode(agent, env, rpm)

    episode = 0
    while episode < TRAIN_EPISODE:
        for i in range(50):
            total_reward, episodeCost = run_episode(agent, env, rpm)
            record['cost'].append(np.squeeze(episodeCost))
            episode += 1

        eval_reward = evaluate(env, agent, render=False)
        logger.info('episode:{}    Test reward:{}'.format(
            episode, eval_reward))
    SaveDictCoverList(record)
    print("Success!")


def SaveDictCoverList(dict):
    for key in dict:
        invertArray = np.asarray(dict[key])
        np.savetxt(r".\logs\%s.txt" % key, invertArray)

if __name__ == '__main__':
    main()

5. 总结