请采用python基于Tensorflow架构提供包括1个actor网络,2个V Critic网络(1个V Critic网络,1个Target V Critic网络),2个Q Critic网络的基于最大熵的SAC版本的强化学习算法代码
时间: 2024-03-06 18:50:04 浏览: 32
抱歉,我并不是一个可以实际编写代码的AI,我只能提供一些基本的代码框架和思路供参考。
首先,需要导入Tensorflow库和其他必要的库:
```python
import tensorflow as tf
import numpy as np
import gym
from tensorflow.keras.layers import Input, Dense, concatenate
from tensorflow.keras.models import Model
from tensorflow.keras.optimizers import Adam
from tensorflow.keras import backend as K
from collections import deque
```
然后,我们需要定义一些常量和超参数:
```python
GAMMA = 0.99
LR = 0.0001
BATCH_SIZE = 128
MEMORY_SIZE = 1000000
MEMORY_WARMUP_SIZE = 10000
TAU = 0.005
ENTROPY_WEIGHT = 0.2
TARGET_ENTROPY = -2.0
```
接下来,我们需要定义一个记忆库类来存储我们的经验:
```python
class Memory():
def __init__(self, memory_size):
self.memory_size = memory_size
self.memory = deque(maxlen=memory_size)
def add(self, state, action, reward, next_state, done):
self.memory.append((state, action, reward, next_state, done))
def sample(self, batch_size):
batch = np.random.permutation(len(self.memory))[:batch_size]
states, actions, rewards, next_states, dones = [], [], [], [], []
for i in batch:
state, action, reward, next_state, done = self.memory[i]
states.append(state)
actions.append(action)
rewards.append(reward)
next_states.append(next_state)
dones.append(done)
return np.array(states), np.array(actions), np.array(rewards), np.array(next_states), np.array(dones)
def __len__(self):
return len(self.memory)
```
然后,我们需要定义一个神经网络类来构建我们的Actor和Critic网络:
```python
class NeuralNetwork():
def __init__(self, state_shape, action_shape, lr):
self.state_shape = state_shape
self.action_shape = action_shape
self.lr = lr
def build_actor(self):
state_input = Input(self.state_shape)
x = Dense(256, activation='relu')(state_input)
x = Dense(256, activation='relu')(x)
x = Dense(self.action_shape[0], activation='tanh')(x)
action_output = Lambda(lambda x: x * 2)(x)
model = Model(state_input, action_output)
model.compile(loss='mse', optimizer=Adam(lr=self.lr))
return model
def build_critic(self):
state_input = Input(self.state_shape)
action_input = Input(self.action_shape)
x = concatenate([state_input, action_input])
x = Dense(256, activation='relu')(x)
x = Dense(256, activation='relu')(x)
value_output = Dense(1)(x)
model = Model([state_input, action_input], value_output)
model.compile(loss='mse', optimizer=Adam(lr=self.lr))
return model
```
接下来,我们需要定义一个Soft Actor-Critic类来实现我们的算法:
```python
class SAC():
def __init__(self, env):
self.env = env
self.state_shape = env.observation_space.shape
self.action_shape = env.action_space.shape
self.action_bounds = env.action_space.high[0]
self.memory = Memory(MEMORY_SIZE)
self.actor = NeuralNetwork(self.state_shape, self.action_shape, LR).build_actor()
self.v_critic = NeuralNetwork(self.state_shape, self.action_shape, LR).build_critic()
self.target_v_critic = NeuralNetwork(self.state_shape, self.action_shape, LR).build_critic()
self.q_critic_1 = NeuralNetwork(self.state_shape, self.action_shape, LR).build_critic()
self.q_critic_2 = NeuralNetwork(self.state_shape, self.action_shape, LR).build_critic()
def choose_action(self, state):
state = state[np.newaxis, :]
action = self.actor.predict(state)[0]
noise = np.random.normal(0, self.action_bounds * 0.1, size=self.action_shape)
action = np.clip(action + noise, -self.action_bounds, self.action_bounds)
return action
def train(self):
if len(self.memory) < MEMORY_WARMUP_SIZE:
return
states, actions, rewards, next_states, dones = self.memory.sample(BATCH_SIZE)
next_actions = self.actor.predict(next_states)
target_v = self.target_v_critic.predict([next_states, next_actions])
target_q = rewards + GAMMA * target_v * (1 - dones)
self.q_critic_1.fit([states, actions], target_q, verbose=0)
self.q_critic_2.fit([states, actions], target_q, verbose=0)
actions = tf.convert_to_tensor(self.actor.predict(states))
actions = tf.clip_by_value(actions, -self.action_bounds, self.action_bounds)
q1 = self.q_critic_1([states, actions])
q2 = self.q_critic_2([states, actions])
v = self.v_critic.predict(states)
v_target = tf.reduce_min([q1, q2], axis=0) - ENTROPY_WEIGHT * self.actor_entropy(states)
v_loss = tf.reduce_mean(tf.square(v - v_target))
self.v_critic.fit(states, v_target, verbose=0)
with tf.GradientTape() as tape:
new_actions = self.actor(states)
entropy = self.actor_entropy(states)
q1 = self.q_critic_1([states, new_actions])
q2 = self.q_critic_2([states, new_actions])
q = tf.reduce_min([q1, q2], axis=0)
actor_loss = tf.reduce_mean(entropy - q)
actor_grad = tape.gradient(actor_loss, self.actor.trainable_variables)
self.actor.optimizer.apply_gradients(zip(actor_grad, self.actor.trainable_variables))
for t, e in zip(self.target_v_critic.trainable_variables, self.v_critic.trainable_variables):
t.assign(t * (1 - TAU) + e * TAU)
def actor_entropy(self, states):
actions = self.actor(states)
log_probs = -0.5 * tf.reduce_sum(tf.square((actions - self.actor(states)) / self.action_bounds), axis=1)
log_probs -= 0.5 * tf.cast(tf.size(actions), tf.float32) * np.log(2 * np.pi)
return tf.reduce_mean(log_probs)
def train_loop(self, episodes):
for i in range(episodes):
state = self.env.reset()
total_reward = 0
done = False
while not done:
action = self.choose_action(state)
next_state, reward, done, _ = self.env.step(action)
self.memory.add(state, action, reward, next_state, done)
state = next_state
total_reward += reward
self.train()
print("Episode: {}, Total Reward: {}".format(i, total_reward))
```
最后,我们可以创建一个SAC对象并开始训练:
```python
env = gym.make('Pendulum-v0')
sac = SAC(env)
sac.train_loop(1000)
```
这样,就完成了基于Tensorflow架构的SAC算法代码的编写。需要注意的是,由于不同的环境和任务有不同的超参数和网络结构要求,以上代码仅供参考,具体实现需要根据实际情况进行调整。
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