zip(self.agents, actions)
时间: 2024-04-03 17:36:30 浏览: 15
这是一段 Python 代码中使用了 zip 函数。zip 函数用于将多个可迭代对象按照索引位置进行配对,返回一个元组构成的迭代器。在这里,zip 函数将 self.agents 和 actions 这两个可迭代对象按照索引位置进行配对,生成一个新的可迭代对象,这个对象中的每个元素都是一个二元组,其中第一个元素来自 self.agents,第二个元素来自 actions。这个可迭代对象可以用于迭代执行某些操作,比如对每个元素进行处理等。
相关问题
如何使用gym 库中的仿真环境设计规则,设计了一个长 300m,宽 3.5 m 的单向双车道,其中包含5辆车,每辆车为一个智能体,每个智能体的状态空间为车辆的位置和速度,动作空间为车辆的加速度,奖励函数为R,终止条件为目标换道车辆到达换道终点,帮我设计满足上述要求的策略为LSTM的A3C算法代码
以下是使用gym库中的仿真环境设计规则,设计一个长300m,宽3.5m的单向双车道,每辆车为一个智能体,每个智能体的状态空间为车辆的位置和速度,动作空间为车辆的加速度,奖励函数为R,终止条件为目标换道车辆到达换道终点,并且使用LSTM的A3C算法的代码:
```python
import gym
from gym import spaces
import numpy as np
class DoubleLaneEnv(gym.Env):
"""
A double lane environment with 5 vehicles.
"""
def __init__(self):
self.length = 300 # length of the road
self.width = 3.5 # width of the road
self.num_agents = 5 # number of vehicles
self.observation_space = spaces.Box(low=0, high=self.length, shape=(2*self.num_agents,))
self.action_space = spaces.Box(low=-10, high=10, shape=(self.num_agents,))
self.goal = self.length # goal position
self.reward_range = (-np.inf, np.inf)
self.reset()
def reset(self):
self.agents = []
for i in range(self.num_agents):
agent_pos = np.random.uniform(low=0, high=self.length)
agent_vel = np.random.uniform(low=0, high=30)
self.agents.append({'pos': agent_pos, 'vel': agent_vel})
self.current_agent = 0
self.obs = np.array([agent['pos'] for agent in self.agents] + [agent['vel'] for agent in self.agents])
self.done = False
self.reward = 0
return self.obs
def step(self, action):
if self.done:
return self.obs, self.reward, self.done, {}
agent = self.agents[self.current_agent]
agent_vel = agent['vel']
agent_pos = agent['pos'] + agent_vel + action
# check if the agent has reached the goal
if agent_pos >= self.goal:
self.done = True
self.reward = 1.0
return self.obs, self.reward, self.done, {}
# check for collisions
for other_agent in self.agents:
if other_agent['pos'] == agent_pos and other_agent['vel'] == agent_vel:
self.done = True
self.reward = -1.0
return self.obs, self.reward, self.done, {}
# update the position and velocity of the agent
agent['pos'] = agent_pos
agent['vel'] = agent_vel
# update the observation
self.obs = np.array([agent['pos'] for agent in self.agents] + [agent['vel'] for agent in self.agents])
# calculate the reward
self.reward = 0
if agent_pos >= self.goal:
self.reward = 1.0
elif agent_pos >= self.width:
self.reward = 0.1
else:
self.reward = -0.1
# move to the next agent
self.current_agent = (self.current_agent + 1) % self.num_agents
return self.obs, self.reward, self.done, {}
class LSTM_A3C:
def __init__(self, env, n_steps=5, n_hidden=32, lr=0.0001, gamma=0.99):
self.env = env
self.obs_shape = env.observation_space.shape
self.action_shape = env.action_space.shape
self.n_hidden = n_hidden
self.lr = lr
self.gamma = gamma
self.n_steps = n_steps
self.actor = self.build_network()
self.critic = self.build_network()
self.optimizer = tf.optimizers.Adam(lr)
self.states = []
self.actions = []
self.rewards = []
self.values = []
self.episode_reward = 0
def build_network(self):
model = tf.keras.models.Sequential()
model.add(tf.keras.layers.LSTM(self.n_hidden))
model.add(tf.keras.layers.Dense(self.action_shape[0], activation='softmax'))
return model
def act(self, state):
state = state.reshape(1, -1)
probabilities = self.actor.predict(state)[0]
action = np.random.choice(range(self.action_shape[0]), p=probabilities)
return action, probabilities
def remember(self, state, action, reward, value):
self.states.append(state)
self.actions.append(action)
self.rewards.append(reward)
self.values.append(value)
def learn(self):
# calculate discounted rewards
discounted_rewards = np.zeros_like(self.rewards)
running_reward = 0
for t in reversed(range(len(self.rewards))):
running_reward = running_reward * self.gamma + self.rewards[t]
discounted_rewards[t] = running_reward
# convert to tensors
states = np.array(self.states)
actions = np.array(self.actions)
discounted_rewards = np.array(discounted_rewards)
values = np.array(self.values)
# calculate advantages
advantages = discounted_rewards - values
# calculate actor and critic losses
with tf.GradientTape() as tape:
logits = self.actor(states)
action_masks = tf.one_hot(actions, self.action_shape[0])
log_probs = tf.reduce_sum(action_masks * tf.math.log(logits), axis=1)
actor_loss = -tf.reduce_mean(log_probs * advantages)
value_preds = self.critic(states)
critic_loss = tf.reduce_mean(tf.math.square(discounted_rewards - value_preds))
total_loss = actor_loss + critic_loss
# calculate gradients and update weights
gradients = tape.gradient(total_loss, self.actor.trainable_variables + self.critic.trainable_variables)
self.optimizer.apply_gradients(zip(gradients, self.actor.trainable_variables + self.critic.trainable_variables))
# reset memory
self.states = []
self.actions = []
self.rewards = []
self.values = []
def train(self, n_episodes=1000):
for episode in range(n_episodes):
state = self.env.reset()
for t in range(self.n_steps):
action, probs = self.act(state)
next_state, reward, done, _ = self.env.step(action)
value = self.critic.predict(state.reshape(1, -1))[0]
self.remember(state, action, reward, value)
self.episode_reward += reward
state = next_state
if done or t == self.n_steps-1:
self.learn()
break
print('Episode: {}, Reward: {:.2f}'.format(episode+1, self.episode_reward))
self.episode_reward = 0
def test(self, n_episodes=10):
for episode in range(n_episodes):
state = self.env.reset()
done = False
while not done:
action, probs = self.act(state)
next_state, reward, done, _ = self.env.step(action)
state = next_state
self.episode_reward += reward
print('Episode: {}, Reward: {:.2f}'.format(episode+1, self.episode_reward))
self.episode_reward = 0
```
这个代码中,我们首先定义了一个名为 `DoubleLaneEnv` 的类,该类继承了 `gym.Env` 类,并定义了仿真环境的状态空间、动作空间和奖励函数等。然后,我们定义了一个名为 `LSTM_A3C` 的类,该类实现了LSTM的A3C算法,并使用 `DoubleLaneEnv` 类创建了一个仿真环境。最后,我们在 `train()` 和 `test()` 方法中训练和测试模型。
多智能体编队actor-critic pytorch代码
以下是一个基于PyTorch的多智能体编队Actor-Critic算法的实现:
```python
import torch
import torch.nn as nn
import torch.optim as optim
import numpy as np
import random
class Actor(nn.Module):
def __init__(self, state_dim, action_dim, hidden_dim):
super(Actor, self).__init__()
self.fc1 = nn.Linear(state_dim, hidden_dim)
self.fc2 = nn.Linear(hidden_dim, hidden_dim)
self.fc3 = nn.Linear(hidden_dim, action_dim)
self.relu = nn.ReLU()
self.softmax = nn.Softmax(dim=-1)
def forward(self, x):
x = self.fc1(x)
x = self.relu(x)
x = self.fc2(x)
x = self.relu(x)
x = self.fc3(x)
x = self.softmax(x)
return x
class Critic(nn.Module):
def __init__(self, state_dim, hidden_dim):
super(Critic, self).__init__()
self.fc1 = nn.Linear(state_dim, hidden_dim)
self.fc2 = nn.Linear(hidden_dim, hidden_dim)
self.fc3 = nn.Linear(hidden_dim, 1)
self.relu = nn.ReLU()
def forward(self, x):
x = self.fc1(x)
x = self.relu(x)
x = self.fc2(x)
x = self.relu(x)
x = self.fc3(x)
return x
class Agent():
def __init__(self, state_dim, action_dim, hidden_dim, lr):
self.actor = Actor(state_dim, action_dim, hidden_dim)
self.critic = Critic(state_dim, hidden_dim)
self.actor_optimizer = optim.Adam(self.actor.parameters(), lr=lr)
self.critic_optimizer = optim.Adam(self.critic.parameters(), lr=lr)
self.gamma = 0.99
self.log_probs = []
self.rewards = []
self.states = []
def select_action(self, state):
state = torch.FloatTensor(state)
action_probs = self.actor(state)
action_probs = action_probs.detach().numpy()
action = np.random.choice(len(action_probs), p=action_probs)
self.log_probs.append(torch.log(action_probs[action]))
return action
def update(self):
R = 0
returns = []
for r in self.rewards[::-1]:
R = r + self.gamma * R
returns.insert(0, R)
returns = torch.FloatTensor(returns)
log_probs = torch.stack(self.log_probs)
actor_loss = (-log_probs * returns).mean()
self.actor_optimizer.zero_grad()
actor_loss.backward()
self.actor_optimizer.step()
values = self.critic(torch.FloatTensor(self.states)).squeeze()
critic_loss = nn.MSELoss()(values, returns)
self.critic_optimizer.zero_grad()
critic_loss.backward()
self.critic_optimizer.step()
self.log_probs = []
self.rewards = []
self.states = []
class MultiAgent():
def __init__(self, num_agents, state_dim, action_dim, hidden_dim, lr):
self.num_agents = num_agents
self.agents = [Agent(state_dim, action_dim, hidden_dim, lr) for _ in range(num_agents)]
def select_actions(self, states):
return [agent.select_action(state) for agent, state in zip(self.agents, states)]
def step(self, rewards, next_states):
for agent, reward, next_state in zip(self.agents, rewards, next_states):
agent.rewards.append(reward)
agent.states.append(next_state)
if len(self.agents[0].rewards) % 128 == 0:
for agent in self.agents:
agent.update()
def save_models(self):
for i, agent in enumerate(self.agents):
torch.save(agent.actor.state_dict(), f'actor_{i}.pt')
torch.save(agent.critic.state_dict(), f'critic_{i}.pt')
def load_models(self):
for i, agent in enumerate(self.agents):
agent.actor.load_state_dict(torch.load(f'actor_{i}.pt'))
agent.critic.load_state_dict(torch.load(f'critic_{i}.pt'))
def train(num_agents, state_dim, action_dim, hidden_dim, lr, max_episodes, max_steps):
env = None # 环境初始化
agent = MultiAgent(num_agents, state_dim, action_dim, hidden_dim, lr)
for episode in range(max_episodes):
states = env.reset() # 状态初始化
episode_reward = 0
for step in range(max_steps):
actions = agent.select_actions(states)
next_states, rewards, dones, _ = env.step(actions) # 执行动作
agent.step(rewards, next_states) # 更新策略
states = next_states
episode_reward += sum(rewards)
if all(dones):
break
print(f'Episode {episode}: reward {episode_reward}')
agent.save_models()
train(num_agents=2, state_dim=4, action_dim=2, hidden_dim=64, lr=0.001, max_episodes=100, max_steps=200)
```
其中,Actor和Critic分别是Actor和Critic网络的实现,Agent是单个智能体的实现,MultiAgent是多智能体的实现,train是训练函数的实现。在训练函数中,可以根据具体的环境和任务进行相应的修改和调整。