DDPG算法实现multiple particle env的‘simple’ scenario

最新推荐文章于 2024-12-29 08:00:00 发布

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最新推荐文章于 2024-12-29 08:00:00 发布 · 1.2k 阅读

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本文介绍了如何使用DDPG算法在multi particle envs（MPE）的simple环境中实现单智能体的navigation任务。文章指出，DDPG是AC算法的改进版，结合了目标网络以确保收敛，并能输出连续动作。代码参考了莫烦的强化学习教程，作者认为对算法的深入理解和环境的熟悉是解决问题的关键。

simple简介：

simple是multi particle envs（mpe）中最简单的一个环境，旨在测试算法和熟悉环境，我在mpe中使用DDPG算法完成了单智能体的navigation的功能。

DDPG算法是基于AC算法的改进版本，加入了target网络保证收敛，同时可以输出连续动作，具体不再赘述，不懂可以去看莫烦老师的强化学习教程

下面看代码

# -*- coding: utf-8 -*-
"""
Created on Tue Feb 26 09:17:43 2019

@author: Jack Lee
"""
from make_env import make_env
import tensorflow as tf
import numpy as np
import os
import shutil


np.random.seed(1)
tf.set_random_seed(1)

MAX_EPISODES = 600
MAX_EP_STEPS = 200
LR_A = 1e-3  # learning rate for actor
LR_C = 1e-3  # learning rate for critic
GAMMA = 0.9  # reward discount
REPLACE_ITER_A = 1100
REPLACE_ITER_C = 1000
MEMORY_CAPACITY = 5000
BATCH_SIZE = 16
VAR_MIN = 0.1
RENDER = True
LOAD = False
MODE = ['easy', 'hard']
n_model = 1


env = make_env('simple')
STATE_DIM = 4
ACTION_DIM = 2
ACTION_BOUND = [-0.2, 0.2]


with tf.name_scope('S'):
    S = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s')
with tf.name_scope('R'):
    R = tf.placeholder(tf.float32, [None, 1], name='r')
with tf.name_scope('S_'):
    S_ = tf.placeholder(tf.float32, shape=[None, STATE_DIM], name='s_')


def Act225(a):
    a = a[np.newaxis, :]
    a = [[0, a[0][0], 0, a[0][1], 0]]
    return a
    
def Act522(a):
    a = [i for i in a[0] if i is not 0]
    return [a]
    
    
    
class Actor(object):
    def __init__(self, sess, action_dim, action_bound, learning_rate, t_replace_iter):
        self.sess = sess
        self.a_dim = action_dim
        self.action_bound = action_bound
        self.lr = learning_rate
        self.t_replace_iter = t_replace_iter
        self.t_replace_counter = 0

        with tf.variable_scope('Actor'):
            # input s, output a
            self.a = self._build_net(S, scope='eval_net', trainable=True)

            # input s_, output a, get a_ for critic
            self.a_ = self._build_net(S_, scope='target_net', trainable=False)

        self.e_params = tf.get_collection(tf.GraphKeys.GLOBAL_VARIABLES, scope='Actor/eval_net')

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