ChatGPT的强化学习部分介绍——PPO算法实战LunarLander-v2

PPO算法

近线策略优化算法（Proximal Policy Optimization Algorithms） 即属于AC框架下的算法，在采样策略梯度算法训练方法的同时，重复利用历史采样的数据进行网络参数更新，提升了策略梯度方法的学习效率。 PPO重要的突破就是在于对新旧新旧策略器参数进行了约束，希望新的策略网络和旧策略网络的越接近越好。 近线策略优化的意思就是：新策略网络要利用到旧策略网络采样的数据进行学习，不希望这两个策略相差特别大，否则就会学偏。PPO依然是openai在2017年提出来的，论文地址

PPO-clip的损失函数，其中损失包含三个部分：

• clip部分：加权采样后的优势值越好（可理解层价值网络的评分），同时采样通过clip防止新旧策略网络相差过大
• VF部分： 价值网络预测的价值和环境真是的回报值越接近越好
• S 部分：策略网络输出策略的熵值，越大越好，这个explore的思想，希望策略网络输出的动作分布概率不要太集中，提高了每个动作都有机会在环境中发生的可能。

实战部分

导入必要的包

%matplotlib inline
import matplotlib.pyplot as plt

from IPython import display

import numpy as np
import torch
import torch.nn as nn
import torch.optim as optim
import torch.nn.functional as F
from torch.distributions import Categorical
from tqdm.notebook import tqdm

准备环境

准备好openai开发的LunarLander-v2的游戏环境。

seed = 543
def fix(env, seed):
    env.action_space.seed(seed)
    torch.manual_seed(seed)
    np.random.seed(seed)
    random.seed(seed)
import gym
import random
env = gym.make('LunarLander-v2' ,render_mode='rgb_array')
fix(env, seed) # fix the environment Do not revise this !!!

下面是采用代码去输出 环境的 观测值，一个8维向量，动作是一个标量，4选一。

• 该环境共有 8 个观测值，分别是： 水平坐标 x； 垂直坐标 y； 水平速度； 垂直速度； 角度； 角速度； 腿1触地； 腿2触地；
• 可以采取四种离散的行动，分别是： 0 代表不采取任何行动 1.代表主引擎向左喷射 2 .代表主引擎向下喷射 3 .代表主引擎向右喷射
• 环境中的 reward 大致是这样计算： 小艇坠毁得到 -100 分； 小艇在黄旗帜之间成功着地则得 100~140 分； 喷射主引擎（向下喷火）每次 -0.3 分； 小艇最终完全静止则再得 100 分

随机动作玩5把

env.reset()

img = plt.imshow(env.render())

done = False
rewords = []
for i in range(5):
    env.reset()[0]
    img = plt.imshow(env.render())
    total_reward = 0
    done = False
    while not done:
        action = env.action_space.sample()
        observation, reward, done, _ , _= env.step(action)
        total_reward += reward
        img.set_data(env.render())
        display.display(plt.gcf())
        display.clear_output(wait=True)
    rewords.append(total_reward)

只有一把分数是正的，只有一次平安落地，小艇最终完全静止

搭建PPO agent

class Memory:
    def __init__(self):
        self.actions = []
        self.states = []
        self.logprobs = []
        self.rewards = []
        self.is_terminals = []

    def clear_memory(self):
        del self.actions[:]
        del self.states[:]
        del self.logprobs[:]
        del self.rewards[:]
        del self.is_terminals[:]

class ActorCriticDiscrete(nn.Module):
    def __init__(self, state_dim, action_dim, n_latent_var):
        super(ActorCriticDiscrete, self).__init__()

        # actor
        self.action_layer = nn.Sequential(
                nn.Linear(state_dim, 128),
                nn.ReLU(),
                nn.Linear(128, 64),
                nn.ReLU(),
                nn.Linear(64, action_dim),
                nn.Softmax(dim=-1)
                )

        # critic
        self.value_layer = nn.Sequential(
               nn.Linear(state_dim, 128),
               nn.ReLU(),
               nn.Linear(128, 64),
               nn.ReLU(),
               nn.Linear(64, 1)
               )

    def act(self, state, memory):
        state = torch.from_numpy(state).float()
        action_probs = self.action_layer(state)
        dist = Categorical(action_probs)
        action = dist.sample()

        memory.states.append(state)
        memory.actions.append(action)
        memory.logprobs.append(dist.log_prob(action))

        return action.item()

    def evaluate(self, state, action):
        action_probs = self.action_layer(state)
        dist = Categorical(action_probs)

        action_logprobs = dist.log_prob(action)
        dist_entropy = dist.entropy()

        state_value = self.value_layer(state)

        return action_logprobs, torch.squeeze(state_value), dist_entropy

class PPOAgent:
    def __init__(self, state_dim, action_dim, n_latent_var, lr, betas, gamma, K_epochs, eps_clip):
        self.lr = lr
        self.betas = betas
        self.gamma = gamma
        self.eps_clip = eps_clip
        self.K_epochs = K_epochs
        self.timestep = 0
        self.memory = Memory()

        self.policy = ActorCriticDiscrete(state_dim, action_dim, n_latent_var)
        self.optimizer = torch.optim.Adam(self.policy.parameters(), lr=lr, betas=betas)
        self.policy_old = ActorCriticDiscrete(state_dim, action_dim, n_latent_var)
        self.policy_old.load_state_dict(self.policy.state_dict())

        self.MseLoss = nn.MSELoss()

    def update(self):   
        # Monte Carlo estimate of state rewards:
        rewards = []
        discounted_reward = 0
        for reward, is_terminal in zip(reversed(self.memory.rewards), reversed(self.memory.is_terminals)):
            if is_terminal:
                discounted_reward = 0
            discounted_reward = reward + (self.gamma * discounted_reward)
            rewards.insert(0, discounted_reward)

        # Normalizing the rewards:
        rewards = torch.tensor(rewards, dtype=torch.float32)
        rewards = (rewards - rewards.mean()) / (rewards.std() + 1e-5)

        # convert list to tensor
        old_states = torch.stack(self.memory.states).detach()
        old_actions = torch.stack(self.memory.actions).detach()
        old_logprobs = torch.stack(self.memory.logprobs).detach()

        # Optimize policy for K epochs:
        for _ in range(self.K_epochs):
            # Evaluating old actions and values : 新策略 重用 旧样本进行训练 
            logprobs, state_values, dist_entropy = self.policy.evaluate(old_states, old_actions)

            # Finding the ratio (pi_theta / pi_theta__old): 
            ratios = torch.exp(logprobs - old_logprobs.detach())

            # Finding Surrogate Loss:计算优势值
            advantages = rewards - state_values.detach()
            surr1 = ratios * advantages ###  重要性采样的思想，确保新的策略函数和旧策略函数的分布差异不大
            surr2 = torch.clamp(ratios, 1-self.eps_clip, 1+self.eps_clip) * advantages ### 采样clip的方式过滤掉一些新旧策略相差较大的样本
            loss = -torch.min(surr1, surr2)  + 0.5*self.MseLoss(state_values, rewards) - 0.01*dist_entropy

            # take gradient step
            self.optimizer.zero_grad()
            loss.mean().backward()
            self.optimizer.step()

        # Copy new weights into old policy:
        self.policy_old.load_state_dict(self.policy.state_dict())

    def step(self, reward, done):
        self.timestep += 1 
        # Saving reward and is_terminal:
        self.memory.rewards.append(reward)
        self.memory.is_terminals.append(done)

        # update if its time
        if self.timestep % update_timestep == 0:
            self.update()
            self.memory.clear_memory()
            self.timstamp = 0

    def act(self, state):
        return self.policy_old.act(state, self.memory)

训练PPO agent

state_dim = 8 ### 游戏的状态是个8维向量
action_dim = 4 ### 游戏的输出有4个取值
n_latent_var = 256           # 神经元个数
update_timestep = 1200      # 每多少补跟新策略
lr = 0.002                  # learning rate
betas = (0.9, 0.999)
gamma = 0.99                # discount factor
K_epochs = 4                # update policy for K epochs
eps_clip = 0.2              # clip parameter for PPO  论文中表明0.2效果不错
random_seed = 1 

agent = PPOAgent(state_dim ,action_dim,n_latent_var,lr,betas,gamma,K_epochs,eps_clip)
# agent.network.train()  # Switch network into training mode 
EPISODE_PER_BATCH = 5  # update the  agent every 5 episode
NUM_BATCH = 200     # totally update the agent for 400 time


avg_total_rewards, avg_final_rewards = [], []

# prg_bar = tqdm(range(NUM_BATCH))
for i in range(NUM_BATCH):

    log_probs, rewards = [], []
    total_rewards, final_rewards = [], []
    values    = []
    masks     = []
    entropy = 0
    # collect trajectory
    for episode in range(EPISODE_PER_BATCH):
        ### 重开一把游戏
        state = env.reset()[0]
        total_reward, total_step = 0, 0
        seq_rewards = []
        for i in range(1000):  ###游戏未结束

            action = agent.act(state) ### 按照策略网络输出的概率随机采样一个动作
            next_state, reward, done, _, _ = env.step(action) ### 与环境state进行交互，输出reward 和 环境next_state
            state = next_state
            total_reward += reward
            total_step += 1     
            rewards.append(reward) ### 记录每一个动作的reward
            agent.step(reward, done)   
            if done:  ###游戏结束
                final_rewards.append(reward)
                total_rewards.append(total_reward)
                break

    print(f"rewards looks like ", np.shape(rewards))  
    if len(final_rewards)> 0 and len(total_rewards) > 0:
        avg_total_reward = sum(total_rewards) / len(total_rewards)
        avg_final_reward = sum(final_rewards) / len(final_rewards)
        avg_total_rewards.append(avg_total_reward)
        avg_final_rewards.append(avg_final_reward)

PPO agent在玩5把游戏

fix(env, seed)
agent.policy.eval() # set the network into evaluation mode
test_total_reward = []
for i in range(5):
    actions = []
    state = env.reset()[0]
    img = plt.imshow(env.render())
    total_reward = 0
    done = False
    while not done :
        action= agent.act(state)
        actions.append(action)
        state, reward, done, _, _ = env.step(action)
        total_reward += reward
        img.set_data(env.render())
        display.display(plt.gcf())
        display.clear_output(wait=True)
    test_total_reward.append(total_reward)

从下图可以看到，玩得比随机的时候要好很多，有三把都平安着地，小艇最终完全静止。

其中有3把得分超过200，证明ppo在300轮已经学到了如何玩这个游戏，比之前的随机agent要强了不少。

github 源码

参考

ChatGPT的强化学习部分介绍
基于人类反馈的强化学习(RLHF) 理论
Anaconda安装GYM &关于Box2D安装的相关问题
conda-forge / packages / box2d-py
jupyter Notebook 内核似乎挂掉了，它很快将自动重启