请采用python以Tensorflow为架构编写《Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor》版本的SAC强化学习算法代码

以下是基于Tensorflow的《Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor》版本的SAC强化学习算法的Python代码：

import tensorflow as tf
import numpy as np
import gym


# Create actor network
class Actor(tf.keras.Model):
    def __init__(self, state_dim, action_dim, max_action):
        super(Actor, self).__init__()
        self.layer1 = tf.keras.layers.Dense(256, activation='relu')
        self.layer2 = tf.keras.layers.Dense(256, activation='relu')
        self.mu_layer = tf.keras.layers.Dense(action_dim, activation='tanh')
        self.sigma_layer = tf.keras.layers.Dense(action_dim, activation='softplus')
        self.max_action = max_action

    def call(self, state):
        x = self.layer1(state)
        x = self.layer2(x)
        mu = self.mu_layer(x) * self.max_action
        sigma = self.sigma_layer(x) + 1e-4
        return mu, sigma


# Create two critic networks
class Critic(tf.keras.Model):
    def __init__(self, state_dim, action_dim):
        super(Critic, self).__init__()
        self.layer1 = tf.keras.layers.Dense(256, activation='relu')
        self.layer2 = tf.keras.layers.Dense(256, activation='relu')
        self.layer3 = tf.keras.layers.Dense(1, activation=None)

    def call(self, state, action):
        x = tf.concat([state, action], axis=1)
        x = self.layer1(x)
        x = self.layer2(x)
        x = self.layer3(x)
        return x


# Create Soft Actor-Critic (SAC) Agent
class SACAgent:
    def __init__(self, state_dim, action_dim, max_action):
        self.actor = Actor(state_dim, action_dim, max_action)
        self.critic1 = Critic(state_dim, action_dim)
        self.critic2 = Critic(state_dim, action_dim)
        self.target_critic1 = Critic(state_dim, action_dim)
        self.target_critic2 = Critic(state_dim, action_dim)
        self.max_action = max_action
        self.alpha = tf.Variable(0.1, dtype=tf.float32, name='alpha')
        self.gamma = 0.99
        self.tau = 0.005
        self.optimizer_actor = tf.keras.optimizers.Adam(learning_rate=3e-4)
        self.optimizer_critic1 = tf.keras.optimizers.Adam(learning_rate=3e-4)
        self.optimizer_critic2 = tf.keras.optimizers.Adam(learning_rate=3e-4)

    def get_action(self, state):
        state = np.expand_dims(state, axis=0)
        mu, sigma = self.actor(state)
        dist = tfp.distributions.Normal(mu, sigma)
        action = tf.squeeze(dist.sample(1), axis=0)
        return action.numpy()

    def update(self, replay_buffer, batch_size):
        states, actions, rewards, next_states, dones = replay_buffer.sample(batch_size)
        with tf.GradientTape(persistent=True) as tape:
            # Compute actor loss
            mu, sigma = self.actor(states)
            dist = tfp.distributions.Normal(mu, sigma)
            log_pi = dist.log_prob(actions)
            q1 = self.critic1(states, actions)
            q2 = self.critic2(states, actions)
            q_min = tf.minimum(q1, q2)
            alpha_loss = -tf.reduce_mean(self.alpha * (log_pi + self.target_entropy))
            actor_loss = -tf.reduce_mean(tf.exp(self.alpha) * log_pi * q_min)
            # Compute critic loss
            next_mu, next_sigma = self.actor(next_states)
            next_dist = tfp.distributions.Normal(next_mu, next_sigma)
            next_actions = tf.clip_by_value(next_dist.sample(1), -self.max_action, self.max_action)
            target_q1 = self.target_critic1(next_states, next_actions)
            target_q2 = self.target_critic2(next_states, next_actions)
            target_q = tf.minimum(target_q1, target_q2)
            target_q = rewards + self.gamma * (1.0 - dones) * (target_q - tf.exp(self.alpha) * next_dist.entropy())
            q1_loss = tf.reduce_mean(tf.square(q1 - target_q))
            q2_loss = tf.reduce_mean(tf.square(q2 - target_q))
            critic_loss = q1_loss + q2_loss + alpha_loss
        # Compute gradients and update weights
        actor_grads = tape.gradient(actor_loss, self.actor.trainable_variables)
        critic1_grads = tape.gradient(critic_loss, self.critic1.trainable_variables)
        critic2_grads = tape.gradient(critic_loss, self.critic2.trainable_variables)
        self.optimizer_actor.apply_gradients(zip(actor_grads, self.actor.trainable_variables))
        self.optimizer_critic1.apply_gradients(zip(critic1_grads, self.critic1.trainable_variables))
        self.optimizer_critic2.apply_gradients(zip(critic2_grads, self.critic2.trainable_variables))
        # Update target networks
        for w, w_target in zip(self.critic1.weights, self.target_critic1.weights):
            w_target.assign(self.tau * w + (1 - self.tau) * w_target)
        for w, w_target in zip(self.critic2.weights, self.target_critic2.weights):
            w_target.assign(self.tau * w + (1 - self.tau) * w_target)
        # Update alpha
        alpha_grad = tape.gradient(alpha_loss, self.alpha)
        self.alpha.assign_add(1e-4 * alpha_grad)

    def save(self, filename):
        self.actor.save_weights(filename + '_actor')
        self.critic1.save_weights(filename + '_critic1')
        self.critic2.save_weights(filename + '_critic2')

    def load(self, filename):
        self.actor.load_weights(filename + '_actor')
        self.critic1.load_weights(filename + '_critic1')
        self.critic2.load_weights(filename + '_critic2')


# Create replay buffer
class ReplayBuffer:
    def __init__(self, max_size):
        self.max_size = max_size
        self.buffer = []
        self.position = 0

    def add(self, state, action, reward, next_state, done):
        if len(self.buffer) < self.max_size:
            self.buffer.append(None)
        self.buffer[self.position] = (state, action, reward, next_state, done)
        self.position = (self.position + 1) % self.max_size

    def sample(self, batch_size):
        indices = np.random.choice(len(self.buffer), batch_size, replace=False)
        states, actions, rewards, next_states, dones = [], [], [], [], []
        for idx in indices:
            state, action, reward, next_state, done = self.buffer[idx]
            states.append(np.array(state, copy=False))
            actions.append(np.array(action, copy=False))
            rewards.append(reward)
            next_states.append(np.array(next_state, copy=False))
            dones.append(done)
        return np.array(states), np.array(actions), np.array(rewards, dtype=np.float32), np.array(next_states), np.array(dones, dtype=np.uint8)


# Create environment and agent
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])
agent = SACAgent(state_dim, action_dim, max_action)
replay_buffer = ReplayBuffer(1000000)

# Train agent
max_episodes = 1000
max_steps = 500
batch_size = 256
update_interval = 1
target_entropy = -action_dim
for episode in range(max_episodes):
    state = env.reset()
    total_reward = 0
    for step in range(max_steps):
        action = agent.get_action(state)
        next_state, reward, done, _ = env.step(action)
        replay_buffer.add(state, action, reward, next_state, done)
        if len(replay_buffer.buffer) > batch_size:
            agent.update(replay_buffer, batch_size)
        state = next_state
        total_reward += reward
        if done:
            break
    print("Episode:", episode, "Total Reward:", total_reward)

请注意，以上代码仅供参考，并且需要根据具体环境和参数进行调整和完善。