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中国十二冶金建设有限公司网站,想做视频,网站设计大公司,wordpress标题关键词描述理论基础#xff1a;注意#xff1a;1. get_policy_by_state_value_net() 是额外写的一个基于Q的贪心策略#xff0c;不属于QAC算法#xff0c;得到的策略不一定是最优的#xff0c;与get_policy_by_policy_net表现一致是偶然现象。2. 图片中的伪代码并没有说要生成多条ep…理论基础注意1. get_policy_by_state_value_net() 是额外写的一个基于Q的贪心策略不属于QAC算法得到的策略不一定是最优的与get_policy_by_policy_net表现一致是偶然现象。2. 图片中的伪代码并没有说要生成多条episode但这个为了保证每个(s,a)pair都能被访问到会生成多条episode。代码可运行import numpy as np import torch from torch import nn from env import GridWorldEnv from utils import drow_policy class QAC(object): def __init__(self, env: GridWorldEnv, gamma0.9, lr_actor1e-2, lr_critic1e-2): self.env env self.action_space_size self.env.num_actions self.state_space_size self.env.num_states self.gamma gamma self.pnet nn.Sequential( # policy_net nn.Linear(2, 16), # s - Π(a|s) nn.ReLU(), nn.Linear(16, self.action_space_size) ) self.qnet nn.Sequential( # q_value_net nn.Linear(2, 16), # s - q[s,a] nn.ReLU(), nn.Linear(16, self.action_space_size) ) self.value_optimizer torch.optim.Adam(self.qnet.parameters(), lrlr_critic) self.policy_optimizer torch.optim.Adam(self.pnet.parameters(), lrlr_actor) self.policy np.zeros((self.state_space_size, self.action_space_size)) self.q_value np.zeros((self.state_space_size, self.action_space_size)) def decode_state(self, state): :param state: int :return: 归一化后的元组 i state // self.env.size j state % self.env.size return torch.tensor((i / (self.env.size - 1), j / (self.env.size - 1)), dtypetorch.float32) def generate_action(self, state): :param state: tuple :return: int,float logits self.pnet(state) action_probs torch.softmax(logits, dim0) # π(a|s,θ) action_dist torch.distributions.Categorical(action_probs) # 按分布采样 action action_dist.sample() log_prob action_dist.log_prob(action) # In π(a|s,θ) 注意传入的是索引会自动做log(action_probs[action_index]) return action.item(), log_prob def solve(self, num_episodes200): for _ in range(num_episodes): state_int self.env.reset() state self.decode_state(state_int) done False while not done: action, log_prob self.generate_action(state) # a_t,s_t,In π(a_t|s_t,θ) next_state_int, reward, done self.env.step(state_int, action) # s_t1,r_t1 next_state self.decode_state(next_state_int) if not done: next_action, _ self.generate_action(next_state) # a_t1 else: next_action, action_prob None, None # Critic (value update) qvalue self.qnet(state)[action] # q(s_t,a_t) if done: td_target torch.tensor(reward, dtypetorch.float32) else: with torch.no_grad(): # semi gradient qvalue_next self.qnet(next_state)[next_action] # q(s_t1,a_t1) td_target torch.tensor(reward, dtypetorch.float32) self.gamma * qvalue_next delta td_target - qvalue # TD error self.value_optimizer.zero_grad() critic_loss 0.5 * delta.pow(2) critic_loss.backward() self.value_optimizer.step() # Actor (policy update) qvalue qvalue.detach() # 避免梯度污染 self.policy_optimizer.zero_grad() actor_loss -log_prob * qvalue actor_loss.backward() self.policy_optimizer.step() state_int next_state_int state next_state def get_policy_by_policy_net(self): for s in range(self.state_space_size): if s in self.env.terminal: self.policy[s,4]1 break s_t self.decode_state(s) logits self.pnet(s_t) action_probs torch.softmax(logits, dim0) atorch.argmax(action_probs) self.policy[s,a]1 return self.policy def get_policy_by_state_value_net(self): for s in range(self.state_space_size): if s in self.env.terminal: self.policy[s,4]1 break a np.argmax(self.q_value[s]) self.policy[s, a] 1 return self.policy def get_qvalues(self): for s in range(self.state_space_size): s_t self.decode_state(s) logits self.qnet(s_t).detach().numpy() # q(s,a)表示在状态s执行动作a后未来所有折扣回报的期望值不要取softmax然后取最大 self.q_value[s, :] logits return self.q_value if __name__ __main__: env GridWorldEnv( size5, forbidden[(1, 2), (3, 3)], terminal[(4, 4)], r_boundary-1, r_other-0.04, r_terminal1, r_forbidden-1, r_stay-0.1 ) # 注意samples要大一点否则每个state被访问到的概率很小 vi QAC(envenv) vi.solve(num_episodes200) print(\n state value: ) print(vi.get_qvalues()) print(\n get policy by policy net:) drow_policy(vi.get_policy_by_policy_net(), env) print(\n get policy by state value net:) drow_policy(vi.get_policy_by_state_value_net(), env)运行结果1. 表现一致终点状态不是 . 是因为没有特殊处理其他代码保持不变。由于表现一致的情况很少因此不再继续展示特殊处理后的输出2. 表现不一致