Q-learning简介
- Q-learning也是采用Q表格的方式存储Q值(状态动作价值),决策部分与Sarsa是一样的,采用ε-greedy方式增加探索。
- Q-learning跟Sarsa不一样的地方是更新Q表格的方式。
- Sarsa是on-policy的更新方式,先做出动作再更新。
- Q-learning是off-policy的更新方式,更新learn()时无需获取下一步实际做出的动作next_action,并假设下一步动作是取最大Q值的动作。
Q-learning的更新公式:
悬崖问题
找到绕过悬崖通往终端的最短路径(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,如下图所示。
源程序
# Step1 导入依赖
import gym
import numpy as np
import time
import matplotlib.pyplot as plt
# Step2 定义Agent
class SarsaAgent(object):
def __init__(self, obs_n, act_n, lr, gamma, epsilon):
self.obs_n = obs_n
self.act_n = act_n
self.lr = lr
self.gamma = gamma
self.epsilon = epsilon
self.Q_table = np.zeros((obs_n, act_n))
def sample(self, obs):
"""
根据输入观察值,采样输出的动作值,带探索
:param obs:当前state
:return: 下一个动作
"""
action = 0
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
def predict(self, obs):
'''
根据输入观察值,预测输出的动作值
:param obs:当前state
:return:预测的动作
'''
Q_list = self.Q_table[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
def learn(self, obs, act, reward, next_obs, done):
'''
on-policy
:param obs:交互前的obs, s_t
:param act:本次交互选择的action, a_t
:param reward:本次动作获得的奖励r
:param next_obs:本次交互后的obs, s_t+1
:param next_act:根据当前Q表格, 针对next_obs会选择的动作, a_t+1
:param done:episode是否结束
:return:null
'''
predict_Q = self.Q_table[obs, act]
if done:
target_Q = reward # 没有下一个状态了
else:
target_Q = reward + self.gamma * np.max(self.Q_table[next_obs]) # Q-learning
self.Q_table[obs, act] = self.lr * (target_Q - predict_Q) # 修正q
# 保存Q表格数据到文件
def save(self):
npy_file = './q_table.npy'
np.save(npy_file, self.Q_table)
print(npy_file + ' saved.')
# 从文件中读取Q值到Q表格中
def restore(self, npy_file='./q_table.npy'):
self.Q_table = np.load(npy_file)
print(npy_file + ' loaded.')
# Step3 Training && Test(训练&&测试)
def train_episode(env, agent, render=False):
total_reward = 0
total_steps = 0 # 记录每个episode走了多少step
obs = env.reset()
act = agent.sample(obs)
while True:
next_obs, reward, done, _ = env.step(act) # 与环境进行一个交互
next_act = agent.sample(next_obs) # 根据算法选择一个动作
# 训练Sarsa算法
agent.learn(obs, act, reward, next_obs, done)
act = next_act
obs = next_obs # 存储上一个观察值
total_reward += reward
total_steps += 1
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
total_steps = 0 # 记录每个episode走了多少step
obs = env.reset()
while True:
action = agent.predict(obs) # greedy
next_obs, reward, done, _ = env.step(action)
total_reward += reward
total_steps += 1
obs = next_obs
# time.sleep(0.5)
# env.render()
if done:
break
return total_reward, total_steps
# Step4 创建环境和Agent,启动训练
# 使用gym创建悬崖环境
env = gym.make("CliffWalking-v0") # 0 up, 1 right, 2 down, 3 left
# 创建一个agent实例,输入超参数
agent = SarsaAgent(
obs_n=env.observation_space.n,
act_n=env.action_space.n,
lr=0.1,
gamma=0.9,
epsilon=0.1
)
# 训练1000个episode,打印每个episode的分数
total_reward_list = []
for episode in range(1000):
ep_reward, ep_steps = train_episode(env, agent, False)
total_reward_list.append(ep_reward)
if episode % 50 == 0:
print('Episode %s: steps = %s , reward = %.1f' % (episode, ep_steps, ep_reward))
print("Train end.")
def show_reward(total_reward):
N = len(total_reward)
x = np.linspace(0, N, 1000)
plt.plot(x, total_reward, 'b-', lw=1, ms=5)
plt.show()
show_reward(total_reward_list)
# 全部训练结束,查看算法效果
test_reward, test_steps = test_episode(env, agent)
print('test steps = %.1f , reward = %.1f' % (test_steps, test_reward))
实验结果
训练1000个episode的奖励情况如下图:
训练和测试时的step和reward:
Episode 0: steps = 765 , reward = -1458.0
Episode 50: steps = 33 , reward = -33.0
Episode 100: steps = 17 , reward = -17.0
Episode 150: steps = 31 , reward = -130.0
Episode 200: steps = 21 , reward = -120.0
Episode 250: steps = 26 , reward = -26.0
Episode 300: steps = 20 , reward = -20.0
Episode 350: steps = 24 , reward = -123.0
Episode 400: steps = 32 , reward = -32.0
Episode 450: steps = 22 , reward = -22.0
Episode 500: steps = 23 , reward = -23.0
Episode 550: steps = 31 , reward = -31.0
Episode 600: steps = 27 , reward = -126.0
Episode 650: steps = 17 , reward = -17.0
Episode 700: steps = 34 , reward = -34.0
Episode 750: steps = 24 , reward = -24.0
Episode 800: steps = 29 , reward = -29.0
Episode 850: steps = 19 , reward = -19.0
Episode 900: steps = 26 , reward = -26.0
Episode 950: steps = 21 , reward = -21.0
Train end.
test steps = 19.0 , reward = -19.0
Process finished with exit code 0