TD3算法和DDPG算法比较优缺点

TD3算法和DDPG算法的比较优缺点如下：

优点：
1. TD3算法相对于DDPG算法来说更加稳定，能够更快地收敛。
2. TD3算法引入了目标策略平滑正则化，可以减少过拟合的情况。
3. TD3算法在训练过程中使用了三个神经网络，可以更好地估计Q值函数。

缺点：
1. TD3算法相对于DDPG算法来说更加复杂，需要更多的计算资源。
2. TD3算法在某些情况下可能会出现低估Q值的情况。
3. TD3算法对于超参数的选择比较敏感，需要进行更加细致的调参。

下面是一个使用TD3算法解决连续控制问题的例子：

import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
from torch.autograd import Variable

# 定义Actor网络
class Actor(nn.Module):
    def __init__(self, state_dim, action_dim, max_action):
        super(Actor, self).__init__()
        self.layer1 = nn.Linear(state_dim,400)
        self.layer2 = nn.Linear(400, 300)
        self.layer3 = nn.Linear(300, action_dim)
        self.max_action = max_action

    def forward(self, state):
        x = F.relu(self.layer1(state))
        x = F.relu(self.layer2(x))
        x = self.max_action * torch.tanh(self.layer3(x))
        return x

# 定义Critic网络
class Critic(nn.Module):
    def __init__(self, state_dim, action_dim):
        super(Critic, self).__init__()
        self.layer1 = nn.Linear(state_dim + action_dim, 400)
        self.layer2 = nn.Linear(400, 300)
        self.layer3 = nn.Linear(300, 1)

    def forward(self, state, action):
        x = torch.cat([state, action], 1)
        x = F.relu(self.layer1(x))
        x = F.relu(self.layer2(x))
        x = self.layer3(x)
        return x

# 定义TD3算法
class TD3(object):
    def __init__(self, state_dim, action_dim, max_action):
        self.actor = Actor(state_dim, action_dim, max_action)
        self.actor_target = Actor(state_dim, action_dim, max_action)
        self.actor_target.load_state_dict(self.actor.state_dict())
        self.actor_optimizer = optim.Adam(self.actor.parameters(), lr=0.001)

        self.critic1 = Critic(state_dim, action_dim)
        self.critic1_target = Critic(state_dim, action_dim)
        self.critic1_target.load_state_dict(self.critic1.state_dict())
        self.critic1_optimizer = optim.Adam(self.critic1.parameters(), lr=0.001)

        self.critic2 = Critic(state_dim, action_dim)
        self.critic2_target = Critic(state_dim, action_dim)
        self.critic2_target.load_state_dict(self.critic2.state_dict())
        self.critic2_optimizer = optim.Adam(self.critic2.parameters(), lr=0.001)

        self.max_action = max_action

    def select_action(self, state):
        state = torch.FloatTensor(state.reshape(1, -1))
        return self.actor(state).cpu().data.numpy().flatten()

    def train(self, replay_buffer, iterations, batch_size=100, discount=0.99, tau=0.005, policy_noise=0.2, noise_clip=0.5, policy_freq=2):
        for it in range(iterations):
            # 从缓存中随机采样一批数据
            batch_states, batch_next_states, batch_actions, batch_rewards, batch_dones = replay_buffer.sample(batch_size)
            state = torch.FloatTensor(batch_states)
            next_state = torch.FloatTensor(batch_next_states)
            action = torch.FloatTensor(batch_actions)
            reward = torch.FloatTensor(batch_rewards.reshape((batch_size, 1)))
            done = torch.FloatTensor(batch_dones.reshape((batch_size, 1)))

            # 计算目标Q值
            with torch.no_grad():
                noise = (torch.randn_like(action) * policy_noise).clamp(-noise_clip, noise_clip)
                next_action = (self.actor_target(next_state) + noise).clamp(-self.max_action, self.max_action)
                target_Q1 = self.critic1_target(next_state, next_action)
                target_Q2 = self.critic2_target(next_state, next_action)
                target_Q = torch.min(target_Q1, target_Q2)
                target_Q = reward + ((1 - done) * discount * target_Q)

            # 更新Critic1网络
            current_Q1 = self.critic1(state, action)
            loss_Q1 = F.mse_loss(current_Q1, target_Q)
            self.critic1_optimizer.zero_grad()
            loss_Q1.backward()
            self.critic1_optimizer.step()

            # 更新Critic2网络
            current_Q2 = self.critic2(state, action)
            loss_Q2 = F.mse_loss(current_Q2, target_Q)
            self.critic2_optimizer.zero_grad()
            loss_Q2.backward()
            self.critic2_optimizer.step()

            # 延迟更新Actor网络和目标网络
            if it % policy_freq == 0:
                # 更新Actor网络
                actor_loss = -self.critic1(state, self.actor(state)).mean()
                self.actor_optimizer.zero_grad()
                actor_loss.backward()
                self.actor_optimizer.step()

                # 更新目标网络
                for param, target_param in zip(self.actor.parameters(), self.actor_target.parameters()):
                    target_param.data.copy_(tau * param.data + (1 - tau) * target_param.data)

                for param, target_param in zip(self.critic1.parameters(), self.critic1_target.parameters()):
                    target_param.data.copy_(tau * param.data + (1 - tau) * target_param.data)

                for param, target_param in zip(self.critic2.parameters(), self.critic2_target.parameters()):
                    target_param.data.copy_(tau * param.data + (1 - tau) * target_param.data)

    def save(self, filename):
        torch.save(self.actor.state_dict(), filename + "_actor")
        torch.save(self.critic1.state_dict(), filename + "_critic1")
        torch.save(self.critic2.state_dict(), filename + "_critic2")

    def load(self, filename):
        self.actor.load_state_dict(torch.load(filename + "_actor"))
        self.actor_target.load_state_dict(torch.load(filename + "_actor"))
        self.critic1.load_state_dict(torch.load(filename + "_critic1"))
        self.critic1_target.load_state_dict(torch.load(filename + "_critic1"))
        self.critic2.load_state_dict(torch.load(filename + "_critic2"))
        self.critic2_target.load_state_dict(torch.load(filename + "_critic2"))

# 创建环境
env = gym.make('Pendulum-v0')
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.shape[0]
max_action = float(env.action_space.high[0])

# 创建TD3算法对象
td3 = TD3(state_dim, action_dim, max_action)

# 定义缓存大小和训练次数
replay_buffer = ReplayBuffer()
replay_buffer_size = 1000000
replay_buffer.init(replay_buffer_size, state_dim, action_dim)
iterations = 100000

# 训练TD3算法
state, done = env.reset(), False
episode_reward = 0
episode_timesteps = 0
episode_num = 0
for t in range(iterations):
    episode_timesteps += 1

    # 选择动作并执行
    action = td3.select_action(state)
    next_state, reward, done, _ = env.step(action)
    replay_buffer.add(state, next_state, action, reward, done)

    state = next_state
    episode_reward += reward

    # 如果缓存中的数据足够，就开始训练
    if replay_buffer.size() > 1000:
        td3.train(replay_buffer, 100)

    # 如果一个episode结束，就输出信息
    if done:
        print("Total Timesteps: {} Episode Num: {} Episode Timesteps: {} Reward: {}".format(t+1, episode_num+1, episode_timesteps, episode_reward))
        state, done = env.reset(), False
        episode_reward = 0
        episode_timesteps = 0
        episode_num += 1

# 保存模型
td3.save("td3_pendulum")

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