soft actor critic tensorflow1.x code

以下是一个使用TensorFlow 1.x实现Soft Actor-Critic（SAC）算法的代码示例：

import tensorflow as tf
import numpy as np
import gym

# Hyperparameters
gamma = 0.99
tau = 0.005
hidden_sizes = [256, 256]
batch_size = 100
buffer_size = 10000
learning_rate = 0.0003
alpha = 0.2
target_entropy = -1.0

# Create the replay buffer
class ReplayBuffer:
    def __init__(self, obs_dim, act_dim, size):
        self.obs_buf = np.zeros((size, obs_dim), dtype=np.float32)
        self.act_buf = np.zeros((size, act_dim), dtype=np.float32)
        self.rew_buf = np.zeros(size, dtype=np.float32)
        self.next_obs_buf = np.zeros((size, obs_dim), dtype=np.float32)
        self.done_buf = np.zeros(size, dtype=np.float32)
        self.ptr, self.size, self.max_size = 0, 0, size

    def store(self, obs, act, rew, next_obs, done):
        self.obs_buf[self.ptr] = obs
        self.act_buf[self.ptr] = act
        self.rew_buf[self.ptr] = rew
        self.next_obs_buf[self.ptr] = next_obs
        self.done_buf[self.ptr] = done
        self.ptr = (self.ptr+1) % self.max_size
        self.size = min(self.size+1, self.max_size)

    def sample_batch(self, batch_size=batch_size):
        idxs = np.random.randint(0, self.size, size=batch_size)
        return dict(obs=self.obs_buf[idxs],
                    act=self.act_buf[idxs],
                    rew=self.rew_buf[idxs],
                    next_obs=self.next_obs_buf[idxs],
                    done=self.done_buf[idxs])

# Create the actor and critic networks
class MLP(tf.keras.Model):
    def __init__(self, sizes, activation=tf.nn.relu, output_activation=None):
        super(MLP, self).__init__()
        self.layers_ = []
        for i, size in enumerate(sizes[:-1]):
            layer = tf.keras.layers.Dense(units=size, activation=activation)
            self.layers_.append(layer)
        self.layers_.append(tf.keras.layers.Dense(units=sizes[-1], activation=output_activation))

    def call(self, inputs):
        x = inputs
        for layer in self.layers_:
            x = layer(x)
        return x

class ActorCritic(tf.keras.Model):
    def __init__(self, obs_dim, act_dim, hidden_sizes, activation=tf.nn.relu, output_activation=None):
        super(ActorCritic, self).__init__()
        self.q1 = MLP(hidden_sizes + [1], activation, output_activation)
        self.q2 = MLP(hidden_sizes + [1], activation, output_activation)
        self.v = MLP(hidden_sizes + [1], activation, output_activation)
        self.pi = MLP(hidden_sizes + [act_dim], activation, tf.nn.tanh)

    def call(self, obs, act=None):
        q1 = self.q1(tf.concat([obs, act], axis=-1))
        q2 = self.q2(tf.concat([obs, act], axis=-1))
        v = self.v(obs)
        pi = self.pi(obs)
        return q1, q2, v, pi

    def act(self, obs):
        pi = self.pi(obs)
        return pi.numpy()

# Create the SAC agent
class SAC:
    def __init__(self, obs_dim, act_dim, hidden_sizes, buffer_size, batch_size, learning_rate, alpha, gamma, tau, target_entropy):
        self.q_optimizer = tf.keras.optimizers.Adam(learning_rate=learning_rate)
        self.v_optimizer = tf.keras.optimizers.Adam(learning_rate=learning_rate)
        self.pi_optimizer = tf.keras.optimizers.Adam(learning_rate=learning_rate)
        self.replay_buffer = ReplayBuffer(obs_dim=obs_dim, act_dim=act_dim, size=buffer_size)
        self.batch_size = batch_size
        self.alpha = alpha
        self.gamma = gamma
        self.tau = tau
        self.target_entropy = target_entropy
        self.obs_dim = obs_dim
        self.act_dim = act_dim
        self.hidden_sizes = hidden_sizes
        self.actor_critic = ActorCritic(obs_dim, act_dim, hidden_sizes)

    def update(self, data):
        obs = data['obs']
        act = data['act']
        rew = data['rew']
        next_obs = data['next_obs']
        done = data['done']

        with tf.GradientTape(persistent=True) as tape:
            q1, q2, v, pi = self.actor_critic(obs, act)
            _, _, _, next_pi = self.actor_critic(next_obs)

            v_target = self.target_v(next_obs, next_pi)
            q_target = rew + self.gamma * (1 - done) * v_target

            q1_loss = tf.reduce_mean(tf.square(q1 - q_target))
            q2_loss = tf.reduce_mean(tf.square(q2 - q_target))
            v_loss = tf.reduce_mean(tf.square(v - v_target))

            pi_loss = tf.reduce_mean(self.alpha * pi.log_prob(act) - q1)

            alpha_loss = tf.reduce_mean(-self.alpha * (self.target_entropy - pi.entropy()))

        q1_grads = tape.gradient(q1_loss, self.actor_critic.q1.trainable_variables)
        self.q_optimizer.apply_gradients(zip(q1_grads, self.actor_critic.q1.trainable_variables))

        q2_grads = tape.gradient(q2_loss, self.actor_critic.q2.trainable_variables)
        self.q_optimizer.apply_gradients(zip(q2_grads, self.actor_critic.q2.trainable_variables))

        v_grads = tape.gradient(v_loss, self.actor_critic.v.trainable_variables)
        self.v_optimizer.apply_gradients(zip(v_grads, self.actor_critic.v.trainable_variables))

        pi_grads = tape.gradient(pi_loss, self.actor_critic.pi.trainable_variables)
        self.pi_optimizer.apply_gradients(zip(pi_grads, self.actor_critic.pi.trainable_variables))

        alpha_grads = tape.gradient(alpha_loss, [self.alpha])
        self.alpha = tf.clip_by_value(self.alpha - learning_rate * alpha_grads[0], 0, 1)

        del tape

    def target_v(self, obs, pi):
        q1, q2, _, _ = self.actor_critic(obs, pi)
        q = tf.minimum(q1, q2)
        v_target = tf.reduce_mean(q - self.alpha * pi.entropy())
        return v_target

    def train(self):
        data = self.replay_buffer.sample_batch(self.batch_size)
        self.update(data)

    def store(self, obs, act, rew, next_obs, done):
        self.replay_buffer.store(obs, act, rew, next_obs, done)

    def act(self, obs):
        return self.actor_critic.act(obs)

    def save(self, save_path):
        self.actor_critic.save_weights(save_path)

    def load(self, load_path):
        self.actor_critic.load_weights(load_path)

# Train the SAC agent on the gym environment
env = gym.make('Pendulum-v0')
obs_dim = env.observation_space.shape[0]
act_dim = env.action_space.shape[0]
sac = SAC(obs_dim, act_dim, hidden_sizes, buffer_size, batch_size, learning_rate, alpha, gamma, tau, target_entropy)

for i in range(1000):
    obs = env.reset()
    total_reward = 0
    done = False

    while not done:
        act = sac.act(obs.reshape(1, -1))
        next_obs, rew, done, _ = env.step(act[0])

        sac.store(obs, act, rew, next_obs, done)
        sac.train()

        obs = next_obs
        total_reward += rew

    print('Epoch: {}, Total Reward: {:.2f}'.format(i, total_reward))

sac.save('sac_model')

请注意，这只是一个基本的实现示例，其中有许多可以进行改进和优化的方面。