Law & Order (Episode 118)

The Taelon scientist Rho-ha (Kari Matchett) was going to stand trial for murder in Washington, the first time a Companion was subjected to a human court of law. Rho-ha had allowed himself to be transfused with DNA from Army Captain Lucas Johnson in a biological experiment. (see episode #114 Pandora's Box)

The Taelon was accused of murdering Major Raymond McIntire, Johnson's commanding officer, when the soldier confronted Rho-ha in Johnson's hospital room. Rho-ha's secret experiment hadn't been revealed to the public, so Da'an (Leni Parker) appointed William Boone (Kevin Kilner) and Agent Ron Sandoval (Von Flores) as Rho-ha's lawyers. Another complication for the Companions was that the prosecutor for the case was New York District Attorney Joshua Doors (William De Vry), the estranged son of Resistance leader Jonathan Doors (David Hemblen). Joshua Doors told reporters at the outset of Rho-ha's trial that he would seek the death penalty.

Boone and Sandoval made a shaky defense team. Boone wanted better legal counsel for Rho-ha, but Sandoval insisted there was too much sensitive information at stake to involve a non-Implant. Unbeknownst to Boone and Sandoval, there was a real security risk. Travis Perkins (Diego Chambers) was a delusional Companion supporter and was determined to kill anyone who threatened Rho-ha's life. Behind the scenes, the Taelon Synod instructed Da'an that if Rho-ha received a prison sentence he must die anyway, since he knew too much and posed too great a security risk to the Taelon's presence on Earth since he was no longer part of the Taelon Commonality.

Sandoval told Rho-ha their strategy would be self-defense, since McIntire attacked Rho-ha in the hospital room first. Boone wanted to reveal the DNA experiment as proof that Rho-ha wasn't responsible for his actions because he was temporarily insane, reacting to events as a human would, in a total rage. But Sandoval vetoed the idea. Rho-ha had undergone procedures to remove the DNA from his system, but he admitted he was not entirely rid of Captain Johnson's hatred and rage.

On the first day of the trial, the Taelon Zo'or (Anita La Selva) ordered Sandoval to place him on the jury. Sandoval succeeded, but Joshua Doors had his own ace up his sleeve.

Lili Marquette (Lisa Howard), a partial witness to the murder, was ready to testify for the prosecution. When Lili and Joshua discussed strategy, they experienced a surprising undercurrent of attraction and Joshua decided to confide in Lili about his troubled relationship with his father. Once on the stand, Lili bolstered Joshua's case, though Boone diminished her testimony through cross-examination. When Rho-ha took the stand, Joshua confronted him about the secret DNA experiment and Rho-ha become enraged and lunged for Joshua, threatening to kill him. The entire courtroom saw Captain Johnson's features ripple across Rho-ha's contorted face. When court recessed, the psychopath Perkins, enraged at Joshua's treatment of Rho-ha, attempted a suicide bombing to kill the prosecutor. But Perkins was foiled because Joshua was inaccessible, surrounded by reporters and his bodyguard Willie (Walker Boone).

The entire world was talking about the Taelon's secret DNA experiments and the revelation works in Rho-ha's favor, since the consensus on the jury was that he wasn't responsible for his actions. The jury was ready to acquit him when Zo'or made his own revelations to seal Rho-ha's fate. He told the jury members that Taelons are impervious to bullets and, reverting to his blue energy state, showed them that Taelons cannot be shot to death. The jury now believed that Rho-ha was never in any real danger and reversed their decision, sentencing the Taelon to death. Outside the courthouse, Joshua discussed the verdict with reporters when Perkins reappeared. He grabbed Joshua, ready to detonate his explosives, but Boone fired his skrill, blasting Joshua out of harm's way. Perkins set off the detonator, killing himself and Joshua's bodyguard.

Joshua met with Boone again in court to respond to Boone's motion that the death penalty be set aside. In a last attempt to save Rho-ha's life, Boone argued that the death penalty could only be applied to human verdicts and defendants since humanity doesn't have the right to decide to kill an alien whom they know so little about. Boone succeeded in delaying the sentence, but the aliens had already decided their own path of justice. In a Taelon ceremony, Rho-ha released his life energies, an act of altruism the Taelons not only understand, but expect.

 
<think>好的,我现在需要处理用户关于强化学习中“episode reward”的定义和实现的问题。首先,我需要确保自己正确理解相关概念,并参考用户提供的资料来构建回答。 根据用户提供的引用,特别是引用[4],里面提到即时奖励和回报(return)的区别。即时奖励是执行动作后的立即反馈,而回报是回合中所有奖励的累积总和,是优化的目标。这里提到的“回报”应该对应英文中的“return”,而用户问的是“episode reward”,可能指的是整个回合的总奖励,也就是“return”。需要确认术语是否一致。 接下来,用户还提到了引用[3],其中讨论了信用分配问题,即确定哪些之前的动作导致了奖励。这可能与如何计算和分配episode reward中的各个奖励有关,尤其是在时间步骤较长的情况下。 定义部分,需要明确episode reward的定义,即在一个episode(从初始状态到终止状态的完整序列)中所有即时奖励的总和。可能还需要区分“episode reward”和“return”是否同义,或者是否有折扣因子应用。根据引用[4],回报是累积总和,可能考虑折扣,而用户的问题可能希望明确是否有折扣,或者是否只是简单相加。 实现方面,可能需要说明在代码中如何累加每个步骤的奖励。例如,在强化学习训练循环中,每个episode开始时将总奖励重置为0,然后在每个步骤累加即时奖励。如果有折扣,还需要应用折扣因子。 此外,用户提供的引用[1]提到了奖励、回报和值函数的区别,这可能帮助区分episode reward与其他概念。例如,值函数是期望回报,而episode reward是实际获得的回报总和。 需要考虑用户可能的混淆点,比如episode reward是否包含折扣,或者如何在实际算法中计算。同时,引用[3]中的信用分配问题可能影响如何设计算法来优化episode reward,例如使用策略梯度方法时需要考虑长期回报。 在生成相关问题的时候,需要围绕episode reward的相关概念,比如与step reward的区别、折扣因子的影响、实现时的代码结构,以及信用分配问题如何影响episode reward的使用。 现在,我需要整理这些思路,确保定义准确,引用正确,并给出清晰的实现示例。同时,检查是否有遗漏的关键点,比如是否区分了有限时域和无限时域的情况,或者是否在非折扣情况下讨论。 例如,在实现部分,可以展示一个简单的Python循环,在每个episode中累加奖励。同时,可能需要解释折扣因子gamma的作用,以及如何在代码中体现。但用户的问题可能更关注定义和基本实现,所以需要保持示例简洁。 最后,确保回答结构清晰,分点明确,引用标记正确,并生成相关问题帮助用户进一步学习。</think>### Episode Reward 的定义与实现 在强化学习中,**episode reward**(回合回报)指智能体在一个完整回合(episode)中获得的**所有即时奖励的累积总和**。它是评估智能体在单个回合中整体表现的核心指标,也是优化策略的直接目标[^4]。 #### 核心概念 1. **即时奖励(Immediate Reward)** 智能体在每一步执行动作后,环境反馈的瞬时奖励值,记为$r_t$。例如,在游戏中击中目标可能获得+10奖励。 2. **Episode Reward** 从回合开始到终止(如游戏胜利或失败),所有即时奖励的总和。计算公式为: $$ R = \sum_{t=0}^{T} r_t $$ 其中$T$为回合终止的时间步。若考虑折扣因子$\gamma$(平衡即时与未来奖励),则称为**折扣回报**: $$ R = \sum_{t=0}^{T} \gamma^t r_t $$ [^1][^4] 3. **与值函数的区别** 值函数(如$V(s)$)是**期望回报**,表示从状态$s$出发的长期预期收益;而episode reward是实际执行一个回合后获得的**具体数值**,用于训练时更新策略。 --- #### 实现方式 以游戏训练为例,实现episode reward的典型步骤如下: 1. **初始化累计变量** 每个回合开始时,将累计奖励`episode_reward`重置为0。 ```python episode_reward = 0 ``` 2. **循环执行动作并累加奖励** 在回合的每一步中,执行动作后获取即时奖励并累加: ```python state = env.reset() done = False while not done: action = agent.select_action(state) # 策略选择动作 next_state, reward, done, _ = env.step(action) episode_reward += reward # 累加即时奖励 state = next_state ``` 3. **策略优化** 使用回合结束后的`episode_reward`更新策略(如策略梯度方法): ```python # 假设使用蒙特卡洛策略梯度 optimizer.zero_grad() loss = -torch.log(probabilities) * episode_reward # 损失函数设计 loss.backward() optimizer.step() ``` --- #### 关键挑战 - **信用分配问题**:若回合后期获得高奖励,需确定哪些早期动作对此有贡献[^3]。 - **稀疏奖励**:若奖励仅在回合结束时给出(如围棋胜利),需通过值函数估计或稀疏奖励处理方法解决。 --- ### 相关问题 1. **如何通过折扣因子平衡即时与未来奖励?** 2. **信用分配问题如何影响深度强化学习的训练效率?** 3. **在稀疏奖励场景下,有哪些方法可以优化episode reward?** 4. **蒙特卡洛方法与时序差分方法在计算episode reward时有和区别?** : The difference between the reward, return, and value function : While the idea is quite intuitive, in practice there are numerous challenges... [^4]: 此外,需要区分即时奖励和回报...
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