Q_Learning和Sarsa的算法如图所示:
对比算法可知,Q_Learning在到达状态s`后,
首先查询Q表,得到使该状态s`条件下Q值最大的动作a`,根据Q(s`, a`)计算Q现实,
随后,通过Q现实和Q估计更新Q表
在下一步执行过程中,该动作a`未必被选择
Sarsa在到达状态s`后,根据贪心策略,选择动作a`,根据Q(s`, a`)计算Q现实,
随后,通过Q现实和Q估计更新Q表
在下一步执行过程中,该动作a`需要被执行
具体代码如下:
import numpy as np
import pandas as pd
class RL(object):
def __init__(self, action_space, learning_rate=0.01, reward_decay=0.9,
e_greedy=0.9):
self.actions = action_space # a list
self.lr = learning_rate
self.gamma = reward_decay
self.epsilon = e_greedy
self.q_table = pd.DataFrame(columns=self.actions, dtype=np.float64)
def check_state_exist(self, state):
if state not in self.q_table.index:
# append new state to q table
self.q_table = self.q_table.append(
pd.Series(
[0]*len(self.actions),
index=self.q_table.columns,
name=state,
)
)
def choose_action(self, observation):
self.check_state_exist(observation)
# action selection
if np.random.rand() < self.epsilon:
# choose best action
state_action = self.q_table.loc[observation, :]
# some actions may have the same value, randomly choose on in these
# actions
action = np.random.choice(state_action[state_action ==
np.max(state_action)].index)
else:
# choose random action
action = np.random.choice(self.actions)
return action
def learn(self, *args):
pass
# off-policy
class QLearningTable(RL):
def __init__(self, actions, learning_rate=0.01, reward_decay=0.9, e_greedy=0.9):
super(QLearningTable, self).__init__(actions, learning_rate, reward_decay,
e_greedy)
def learn(self, s, a, r, s_):
self.check_state_exist(s_)
q_predict = self.q_table.loc[s, a]
if s_ != 'terminal':
q_target = r + self.gamma * self.q_table.loc[s_, :].max()
# next state is not terminal
else:
q_target = r # next state is terminal
self.q_table.loc[s, a] += self.lr * (q_target - q_predict) # update
# on-policy
class SarsaTable(RL):
def __init__(self, actions, learning_rate=0.01, reward_decay=0.9, e_greedy=0.9):
super(SarsaTable, self).__init__(actions, learning_rate, reward_decay,
e_greedy)
def learn(self, s, a, r, s_, a_):
self.check_state_exist(s_)
q_predict = self.q_table.loc[s, a]
if s_ != 'terminal':
q_target = r + self.gamma * self.q_table.loc[s_, a_]
# next state is not terminal
else:
q_target = r # next state is terminal
self.q_table.loc[s, a] += self.lr * (q_target - q_predict) # update
from maze_env import Maze
from RL_brain import SarsaTable
def update():
for episode in range(100):
# initial observation
observation = env.reset()
# RL choose action based on observation
action = RL.choose_action(str(observation))
while True:
# fresh env
env.render()
# RL take action and get next observation and reward
observation_, reward, done = env.step(action)
# RL choose action based on next observation
action_ = RL.choose_action(str(observation_))
# RL learn from this transition (s, a, r, s, a) ==> Sarsa
RL.learn(str(observation), action, reward, str(observation_), action_)
# swap observation and action
observation = observation_
action = action_
# break while loop when end of this episode
if done:
break
# end of game
print('game over')
env.destroy()
if __name__ == "__main__":
env = Maze()
RL = SarsaTable(actions=list(range(env.n_actions)))
env.after(100, update)
env.mainloop()