动手学强化学习 第10章-Actor-Critic 算法 训练代码

基于 

Hands-on-RL/第10章-Actor-Critic算法.ipynb at main · boyu-ai/Hands-on-RL · GitHub

理论 Actor-Critic 算法

修改了警告和报错

运行环境

Debian GNU/Linux 12
Python 3.9.19
torch 2.0.1
gym 0.26.2

运行代码

Actor-Critic.py

#!/usr/bin/env python

import gym
import torch
import torch.nn.functional as F
import numpy as np
import matplotlib.pyplot as plt
import rl_utils

class PolicyNet(torch.nn.Module):
    def __init__(self, state_dim, hidden_dim, action_dim):
        super(PolicyNet, self).__init__()
        self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
        self.fc2 = torch.nn.Linear(hidden_dim, action_dim)

    def forward(self, x):
        x = F.relu(self.fc1(x))
        return F.softmax(self.fc2(x), dim=1)

class ValueNet(torch.nn.Module):
    def __init__(self, state_dim, hidden_dim):
        super(ValueNet, self).__init__()
        self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
        self.fc2 = torch.nn.Linear(hidden_dim, 1)

    def forward(self, x):
        x = F.relu(self.fc1(x))
        return self.fc2(x)

class ActorCritic:
    def __init__(self, state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
                 gamma, device):
        # 策略网络
        self.actor = PolicyNet(state_dim, hidden_dim, action_dim).to(device)
        self.critic = ValueNet(state_dim, hidden_dim).to(device)  # 价值网络
        # 策略网络优化器
        self.actor_optimizer = torch.optim.Adam(self.actor.parameters(),
                                                lr=actor_lr)
        self.critic_optimizer = torch.optim.Adam(self.critic.parameters(),
                                                 lr=critic_lr)  # 价值网络优化器
        self.gamma = gamma
        self.device = device

    def take_action(self, state):
        state = torch.tensor(np.array([state]), dtype=torch.float).to(self.device)
        probs = self.actor(state)
        action_dist = torch.distributions.Categorical(probs)
        action = action_dist.sample()
        return action.item()

    def update(self, transition_dict):
        states = torch.tensor(np.array(transition_dict['states']),
                              dtype=torch.float).to(self.device)
        actions = torch.tensor(transition_dict['actions']).view(-1, 1).to(
            self.device)
        rewards = torch.tensor(transition_dict['rewards'],
                               dtype=torch.float).view(-1, 1).to(self.device)
        next_states = torch.tensor(np.array(transition_dict['next_states']),
                                   dtype=torch.float).to(self.device)
        dones = torch.tensor(transition_dict['dones'],
                             dtype=torch.float).view(-1, 1).to(self.device)

        # 时序差分目标
        td_target = rewards + self.gamma * self.critic(next_states) * (1 -
                                                                       dones)
        td_delta = td_target - self.critic(states)  # 时序差分误差
        log_probs = torch.log(self.actor(states).gather(1, actions))
        actor_loss = torch.mean(-log_probs * td_delta.detach())
        # 均方误差损失函数
        critic_loss = torch.mean(
            F.mse_loss(self.critic(states), td_target.detach()))
        self.actor_optimizer.zero_grad()
        self.critic_optimizer.zero_grad()
        actor_loss.backward()  # 计算策略网络的梯度
        critic_loss.backward()  # 计算价值网络的梯度
        self.actor_optimizer.step()  # 更新策略网络的参数
        self.critic_optimizer.step()  # 更新价值网络的参数

actor_lr = 1e-3
critic_lr = 1e-2
num_episodes = 1000
hidden_dim = 128
gamma = 0.98
device = torch.device("cuda") if torch.cuda.is_available() else torch.device(
    "cpu")

env_name = 'CartPole-v1'
env = gym.make(env_name)
env.reset(seed=0)
torch.manual_seed(0)
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.n
agent = ActorCritic(state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
                    gamma, device)

return_list = rl_utils.train_on_policy_agent(env, agent, num_episodes)

episodes_list = list(range(len(return_list)))
plt.plot(episodes_list, return_list)
plt.xlabel('Episodes')
plt.ylabel('Returns')
plt.title('Actor-Critic on {}'.format(env_name))
plt.show()

mv_return = rl_utils.moving_average(return_list, 9)
plt.plot(episodes_list, mv_return)
plt.xlabel('Episodes')
plt.ylabel('Returns')
plt.title('Actor-Critic on {}'.format(env_name))
plt.show()

rl_utils.py

from tqdm import tqdm
import numpy as np
import torch
import collections
import random

class ReplayBuffer:
    def __init__(self, capacity):
        self.buffer = collections.deque(maxlen=capacity) 

    def add(self, state, action, reward, next_state, done): 
        self.buffer.append((state, action, reward, next_state, done)) 

    def sample(self, batch_size): 
        transitions = random.sample(self.buffer, batch_size)
        state, action, reward, next_state, done = zip(*transitions)
        return np.array(state), action, reward, np.array(next_state), done 

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

def moving_average(a, window_size):
    cumulative_sum = np.cumsum(np.insert(a, 0, 0)) 
    middle = (cumulative_sum[window_size:] - cumulative_sum[:-window_size]) / window_size
    r = np.arange(1, window_size-1, 2)
    begin = np.cumsum(a[:window_size-1])[::2] / r
    end = (np.cumsum(a[:-window_size:-1])[::2] / r)[::-1]
    return np.concatenate((begin, middle, end))

def train_on_policy_agent(env, agent, num_episodes):
    return_list = []
    for i in range(10):
        with tqdm(total=int(num_episodes/10), desc='Iteration %d' % i) as pbar:
            for i_episode in range(int(num_episodes/10)):
                episode_return = 0
                transition_dict = {'states': [], 'actions': [], 'next_states': [], 'rewards': [], 'dones': []}
                state = env.reset()[0]
                done = False
                while not done:
                    action = agent.take_action(state)
                    next_state, reward, done, _, __ = env.step(action)
                    transition_dict['states'].append(state)
                    transition_dict['actions'].append(action)
                    transition_dict['next_states'].append(next_state)
                    transition_dict['rewards'].append(reward)
                    transition_dict['dones'].append(done)
                    state = next_state
                    episode_return += reward
                return_list.append(episode_return)
                agent.update(transition_dict)
                if (i_episode+1) % 10 == 0:
                    pbar.set_postfix({'episode': '%d' % (num_episodes/10 * i + i_episode+1), 'return': '%.3f' % np.mean(return_list[-10:])})
                pbar.update(1)
    return return_list

def train_off_policy_agent(env, agent, num_episodes, replay_buffer, minimal_size, batch_size):
    return_list = []
    for i in range(10):
        with tqdm(total=int(num_episodes/10), desc='Iteration %d' % i) as pbar:
            for i_episode in range(int(num_episodes/10)):
                episode_return = 0
                state = env.reset()
                done = False
                while not done:
                    action = agent.take_action(state)
                    next_state, reward, done, _ = env.step(action)
                    replay_buffer.add(state, action, reward, next_state, done)
                    state = next_state
                    episode_return += reward
                    if replay_buffer.size() > minimal_size:
                        b_s, b_a, b_r, b_ns, b_d = replay_buffer.sample(batch_size)
                        transition_dict = {'states': b_s, 'actions': b_a, 'next_states': b_ns, 'rewards': b_r, 'dones': b_d}
                        agent.update(transition_dict)
                return_list.append(episode_return)
                if (i_episode+1) % 10 == 0:
                    pbar.set_postfix({'episode': '%d' % (num_episodes/10 * i + i_episode+1), 'return': '%.3f' % np.mean(return_list[-10:])})
                pbar.update(1)
    return return_list


def compute_advantage(gamma, lmbda, td_delta):
    td_delta = td_delta.detach().numpy()
    advantage_list = []
    advantage = 0.0
    for delta in td_delta[::-1]:
        advantage = gamma * lmbda * advantage + delta
        advantage_list.append(advantage)
    advantage_list.reverse()
    return torch.tensor(advantage_list, dtype=torch.float)