基于LSTM的DDPG实现

这两天实在不想动这个东西，想了想还是毕业要紧。
稍微跟自己搭的环境结合了一下，对于高维的状态输入可以完成训练（但效果没测试，至少跑通了），并且加入了batch训练的过程，根据伯克利课程说明，加入batch的话会让训练方差减小，提升系统的稳定性。但是因为memory那块使用list做的所以取batch的时候过程相当绕（我发现我现在写python代码还是摆脱不了java的影子啊），希望有大佬给我点建议。

最近看了一些大佬的DDPG的实现（其实都是基于莫凡大佬的那个版本），结合我自己的毕设问题，发现只是用普通的全连接网络好像不太稳定，表现也不好，于是尝试了一下试着用一直对序列数据有强大处理能力的lstm来试试（虽然这个已经有人做过了），自己手动实现了一下基于lstm的ddpg，希望各位大佬指导指导。

import torch
import torch.nn as nn
import torch.optim as optim
import numpy as np
from Env_2_DDPG import Environment

date_count = 5
date_dim = 6
hide_dim = 10
hide_dim_lstm = 100
gamma = 0.8
lr_miu = 0.01
lr_Q = 0.02
tau = 0.01
trans_num = 10
batch_size = 4
MAX_EPISODES = 10
MAX_EP_STEPS = 500
memory_size = 10


class My_loss(nn.Module):
    def __init__(self):
        super().__init__()

    def forward(self, x):
        return torch.mean(-x)


class A_net(nn.Module):
    def __init__(self):
        super(A_net, self).__init__()
        self.state_dim = date_dim*date_count
        self.net = nn.LSTM(date_dim, hide_dim_lstm)
        self.reg = nn.Linear(date_count*hide_dim_lstm, 1)

    def forward(self, state):
        state = torch.Tensor(state)
        # state = torch.unsqueeze(state, 0)
        x, _ = self.net(state)
        s, b, h = x.shape
        x = x.view(s, b*h)
        x = self.reg(x)
        x = x.view(s, -1)
        return x


class C_net(nn.Module):
    def __init__(self):
        super(C_net, self).__init__()
        self.state_dim = date_count*date_dim
        self.net = nn.LSTM(date_dim, hide_dim_lstm)
        self.lstm_res = nn.Linear(date_count*hide_dim_lstm, date_count)
        self.action_net = nn.Linear(1, date_count)
        self.reg = nn.Linear(date_count, 1)

    def forward(self, state, action):
        state = torch.Tensor(state)
        x1, _ = self.net(state)
        x2 = self.action_net(action)
        s, b, h = x1.shape
        x1 = x1.view(s, b*h)
        x1 = self.lstm_res(x1)
        x = self.reg(x1+x2)
        x = x.view(s, -1)
        return x


class ddpg_lstm(nn.Module):
    def __init__(self):
        super(ddpg_lstm, self).__init__()
        self.miu_net = A_net()
        self.miu_pie = A_net()
        self.Q_net = C_net()
        self.Q_pie = C_net()
        self.optim_miu = optim.SGD(self.miu_net.parameters(), lr=lr_miu, momentum=0.5)
        self.optim_Q = optim.Adam(self.Q_net.parameters(), lr=lr_Q)
        self.loss_Q = nn.MSELoss()
        self.memory = list()
        self.index = 0

    def learn(self, tra):
        s = torch.Tensor(tra[0])
        s = s.reshape(batch_size, date_count, date_dim)
        r = torch.Tensor(tra[1])
        a = torch.Tensor(tra[2])
        s_ = torch.Tensor(tra[3])
        s_ = s_.reshape(batch_size, date_count, date_dim)
        a_ = self.miu_pie(s_)
        y = r + gamma*self.Q_pie(s_, a_)
        # a = torch.Tensor(np.array([a]))
        q = self.Q_net(s, a)

        self.optim_Q.zero_grad()
        q_loss = self.loss_Q(y, q)
        q_loss.backward(retain_graph=True)
        self.optim_Q.step()

        self.optim_miu.zero_grad()
        _miu_loss = My_loss()
        miu_loss = _miu_loss(q)
        miu_loss.backward()
        self.optim_miu.step()

    def soft_update(self):
        self.miu_pie.net.weight.data = tau*self.miu_net.net.weight.data + (1-tau)*self.miu_pie.net.weight.data
        self.miu_pie.reg.weight.data = tau*self.miu_net.reg.weight.data + (1-tau)*self.miu_pie.reg.weight.data
        self.Q_pie.net.weight.data = tau*self.Q_net.net.weight.data + (1-tau)*self.Q_pie.net.weight.data
        self.Q_pie.action_net.weight.data = tau*self.Q_net.action_net.weight.data + (1-tau)*self.Q_pie.action_net.weight.data
        self.Q_pie.reg.weight.data = tau*self.Q_net.reg.weight.data + (1-tau)*self.Q_pie.reg.weight.data

        # for x in self.miu_net.state_dict().keys():
        #     eval('self.miu_net.' + x + '.data.mul_((1-TAU))')
        #     eval('self.miu_net.' + 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)')

    def store_trans(self, s, r, a, s_):
        temp = list()
        temp.append(s)
        temp.append(r)
        temp.append(a)
        temp.append(s_)
        self.memory.append(temp)
        self.index += 1
        if self.index > trans_num:
            del self.memory[0]

    def train_model(self):
        batch = np.random.choice(memory_size, batch_size)
        bs = np.zeros((batch_size, date_count*date_dim))
        br = np.zeros((batch_size, 1))
        ba = np.zeros((batch_size, 1))
        bs_ = np.zeros((batch_size, date_count*date_dim))
        index_ = 0
        for item in batch:
            bs[index_] = (np.array(self.memory[item][0])).reshape(date_dim*date_count)
            br[index_] = self.memory[item][1]
            ba[index_] = self.memory[item][2]
            bs_[index_] = (np.array(self.memory[item][3])).reshape(date_dim*date_count)
            index_ += 1
            # self.learn(self.memory[item])
        self.learn([bs, br, ba, bs_])
        print('over')
        # self.learn(tra)
            # self.learn()

    def next_action(self, state):
        action = self.miu_net(state)
        return action.detach()


ddpg = ddpg_lstm()
env = Environment()


def train():
    for i in range(MAX_EPISODES):
        # if i > 50:
        #      print(i)
        s = env.reset()
        ep_reward = 0
        for j in range(MAX_EP_STEPS):
            a = ddpg.next_action(s)
            s_, r = env.step(a)
            ddpg.store_trans(s, a, r/10, s_)
            if ddpg.index > memory_size:
                ddpg.train_model()
            s = s_
            ep_reward += r
        if i % 1 == 0 and i > 0:
            print('Episode:', i, ' Reward: %i' % int(ep_reward))
    torch.save(ddpg, 'ddpg2.pt')

需要注意的是我这个没有对数据进行处理，主要针对的是单个数据，还没有针对batch数据，因此在数据送入lstm模型之前手动加了个torch.unsqueeze()强行扩展一个维度。
目前程序处在能跑通的阶段，后续有时间的话继续更新吧。