阐述、总结【动手学强化学习】章节内容的学习情况，复现并理解代码。
文章目录
- 一、算法背景
- 1.1 算法目标
- 1.2 存在问题
- 1.3 解决方法
- 二、Actor-Critic算法
- 2.1 必要说明
- · 优势函数
- 2.2 伪代码
- · 算法流程简述
- 2.3 算法代码
- 2.4 运行结果
- · 结果分析
- 2.5 算法流程说明
- · 初始化参数
- · 初始化环境
- · 初始化网络
- · 采样episode
- · 价值更新
- · 策略更新
- 三、疑问
- 四、总结
一、算法背景
1.1 算法目标
给定“黑盒”环境，求解最优policy。
1.2 存在问题
前面介绍了DQN算法和REINFORCE算法，其中基于值函数的方法只学习一个价值函数，而基于策略的方法只学习一个策略函数。那么，一个很自然的问题是，有没有什么方法既学习价值函数，又学习策略函数呢？
1.3 解决方法
构建value_net网络进行价值函数的拟合，构建policy_net网络进行策略函数的拟合。
二、Actor-Critic算法
- 🌟算法类型
环境依赖：❌model-based ✅model-free
价值估计：✅non-incremental ❌incremental
价值表征：❌tabular representation ✅function representation
学习方式：✅on-policy ❌off-policy
策略表征：❌value-based ✅policy-based
· non-incremental：（采样一个完整的episode后才进行网络更新，而不是像TD采样一个(s,a,r,s’)就更新Q值）
· function representation：（value_net（critic）网络用于学习价值函数）
· on-policy：（采样episode和优化的policy都是policy_net(actor)）
· policy-based：（Actor-Critic 算法本质上是基于策略的算法，因为这一系列算法的目标都是优化一个带参数的策略，只是会额外学习价值函数，从而帮助策略函数更好地学习）
2.1 必要说明
· 优势函数
REINFORCE 通过蒙特卡洛采样的方法对策略梯度的估计是无偏的，但是方差非常大，在policy_net网络更新过程中，损失函数（交叉熵）的设定采用
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q_{\piθ}(s_t,a_t)
qπθ(st,at) 作为指导，该值是通过episode采样后蒙特卡洛法估计的。
在这个基础上，还可以使用其它函数作为指导，例如：
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A_{\piθ}(s_t,a_t)=q_{\piθ}(s_t,a_t)-v_{\piθ}(s_t)
Aπθ(st,at)=qπθ(st,at)−vπθ(st)
有贝尔曼公式中定义：
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{v_\pi(s)}_{a}=\sum_a{\pi(a|s)}_{a}{q_\pi(s,a)}
vπ(s)a=a∑π(a∣s)aqπ(s,a)
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vπθ(st)可看作为
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qπθ(st,at) 的加权平均，若某个q(s,a)优于v(s)，则代表这个q(s,a)肯定是在“平均线”以上的。我们将上式称之为“优势函数”。
❓ 为什么要引入优势函数？答：加入了baseline（基线），即 v π θ ( s t ) v_{\piθ}(s_t) vπθ(st) 后，可以使得训练结果方差更小。
又根据q(s,a)的定义，可将优势函数转换为：
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q_\pi(s,a)=\sum_rp(r|s,a)r+\gamma\sum_{s'}p(s'|s,a)v_\pi(s')=r+\gamma v(s')
qπ(s,a)=r∑p(r∣s,a)r+γs′∑p(s′∣s,a)vπ(s′)=r+γv(s′)
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A_{\piθ}(s_t,a_t)=r_t+\gamma v_{\pi_\theta}(s_{t+1})-v_{\pi_\theta}(s_t)
Aπθ(st,at)=rt+γvπθ(st+1)−vπθ(st)
而在actor-critic算法中，**通过训练value_net（critic）网络去估计
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vπθ(st)值。**从而采用优势函数去指导policy_net网络更新，即交叉熵的真值设定为优势函数。
2.2 伪代码
· 算法流程简述
①初始化网络：初始化value_net和policy_net网络模型。
②采样episode：设定周期数num_episodes，循环迭代采样episode，对于单个episode而言，根据policy_net获取当前state的action，再与环境交互env.step，获得(s,a,r,s’,done)样本，并直至terminal state（done为True），将样本存储在字典中。
③价值更新：计算TD_target，计算损失函数（均方误差），对value_net进行梯度清零+反向传播+参数更新。
④策略更新：计算TD_delta（优势函数），计算损失函数（交叉熵），对policy_net进行梯度清零+反向传播+参数更新。
⑤终止判断：根据已产生episode个数是否达到num_episodes，判断算法是否终止，并输出policy。
2.3 算法代码
import gym
import torch
import torch.nn.functional as F
import numpy as np
import matplotlib.pyplot as plt
import rl_utils
class PolicyNet(torch.nn.Module):
def __init__(self, state_dim, hidden_dim, action_dim):
super(PolicyNet, self).__init__()
self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
self.fc2 = torch.nn.Linear(hidden_dim, action_dim)
def forward(self, x):
x = F.relu(self.fc1(x))
return F.softmax(self.fc2(x), dim=1)
class PolicyNet(torch.nn.Module):
'''策略网络是4-128-2的，输入为state，输出为action的归一化概率'''
def __init__(self, state_dim, hidden_dim, action_dim):
super(PolicyNet, self).__init__()
self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
self.fc2 = torch.nn.Linear(hidden_dim, action_dim)
def forward(self, x):
x = F.relu(self.fc1(x))
return F.softmax(self.fc2(x), dim=1)
class ValueNet(torch.nn.Module):
'''价值网络是4-128-1的，输入为state，输出为state value：v(s)的估计值'''
def __init__(self, state_dim, hidden_dim):
super(ValueNet, self).__init__()
self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
self.fc2 = torch.nn.Linear(hidden_dim, 1)
def forward(self, x):
x = F.relu(self.fc1(x))
return self.fc2(x)
class ActorCritic:
def __init__(self, state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
gamma, device):
# 策略网络
self.actor = PolicyNet(state_dim, hidden_dim, action_dim).to(device)
self.critic = ValueNet(state_dim, hidden_dim).to(device) # 价值网络
# 策略网络优化器
self.actor_optimizer = torch.optim.Adam(self.actor.parameters(),
lr=actor_lr)
self.critic_optimizer = torch.optim.Adam(self.critic.parameters(),
lr=critic_lr) # 价值网络优化器
self.gamma = gamma
self.device = device
def take_action(self, state):
state = torch.tensor([state], dtype=torch.float).to(self.device)
probs = self.actor(state)
action_dist = torch.distributions.Categorical(probs)
action = action_dist.sample()
return action.item()
def update(self, transition_dict):
states = torch.tensor(transition_dict['states'],
dtype=torch.float).to(self.device)
actions = torch.tensor(transition_dict['actions']).view(-1, 1).to(
self.device)
rewards = torch.tensor(transition_dict['rewards'],
dtype=torch.float).view(-1, 1).to(self.device)
next_states = torch.tensor(transition_dict['next_states'],
dtype=torch.float).to(self.device)
dones = torch.tensor(transition_dict['dones'],
dtype=torch.float).view(-1, 1).to(self.device)
# 时序差分目标
td_target = rewards + self.gamma * self.critic(next_states) * (1 -
dones)
td_delta = td_target - self.critic(states) # 时序差分残差
log_probs = torch.log(self.actor(states).gather(1, actions))
actor_loss = torch.mean(-log_probs * td_delta.detach())
# 均方误差损失函数
critic_loss = torch.mean(
F.mse_loss(self.critic(states), td_target.detach()))
self.actor_optimizer.zero_grad()
self.critic_optimizer.zero_grad()
actor_loss.backward() # 计算策略网络的梯度
critic_loss.backward() # 计算价值网络的梯度
self.actor_optimizer.step() # 更新策略网络的参数
self.critic_optimizer.step() # 更新价值网络的参数
actor_lr = 1e-3
critic_lr = 1e-2
num_episodes = 1000
hidden_dim = 128
gamma = 0.98
device = torch.device("cuda") if torch.cuda.is_available() else torch.device(
"cpu")
env_name = 'CartPole-v0'
env = gym.make(env_name)
env.seed(0)
torch.manual_seed(0)
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.n
agent = ActorCritic(state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
gamma, device)
return_list = rl_utils.train_on_policy_agent(env, agent, num_episodes)
episodes_list = list(range(len(return_list)))
plt.plot(episodes_list, return_list)
plt.xlabel('Episodes')
plt.ylabel('Returns')
plt.title('Actor-Critic on {}'.format(env_name))
plt.show()
mv_return = rl_utils.moving_average(return_list, 9)
plt.plot(episodes_list, mv_return)
plt.xlabel('Episodes')
plt.ylabel('Returns')
plt.title('Actor-Critic on {}'.format(env_name))
plt.show()
2.4 运行结果
Iteration 0: 100%|██████████| 100/100 [00:01<00:00, 62.50it/s, episode=100, return=19.000]
Iteration 1: 100%|██████████| 100/100 [00:03<00:00, 32.51it/s, episode=200, return=58.600]
Iteration 2: 100%|██████████| 100/100 [00:04<00:00, 20.90it/s, episode=300, return=94.000]
Iteration 3: 100%|██████████| 100/100 [00:08<00:00, 11.72it/s, episode=400, return=187.100]
Iteration 4: 100%|██████████| 100/100 [00:10<00:00, 9.66it/s, episode=500, return=155.900]
Iteration 5: 100%|██████████| 100/100 [00:11<00:00, 8.53it/s, episode=600, return=196.000]
Iteration 6: 100%|██████████| 100/100 [00:12<00:00, 8.01it/s, episode=700, return=200.000]
Iteration 7: 100%|██████████| 100/100 [00:12<00:00, 7.82it/s, episode=800, return=200.000]
Iteration 8: 100%|██████████| 100/100 [00:14<00:00, 7.09it/s, episode=900, return=195.500]
Iteration 9: 100%|██████████| 100/100 [00:12<00:00, 8.16it/s, episode=1000, return=200.000]
· 结果分析
抖动情况相比 REINFORCE 算法有了一定程度的改进，这说明优势函数的引入减小了方差。
2.5 算法流程说明
· 初始化参数
actor_lr = 1e-3
critic_lr = 1e-2
num_episodes = 1000
hidden_dim = 128
gamma = 0.98
device = torch.device("cuda") if torch.cuda.is_available() else torch.device(
"cpu")
· 初始化环境
env_name = 'CartPole-v0'
env = gym.make(env_name)
env.seed(0)
torch.manual_seed(0)
· 初始化网络
state_dim = env.observation_space.shape[0]
action_dim = env.action_space.n
agent = ActorCritic(state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
gamma, device)
...
def __init__(self, state_dim, hidden_dim, action_dim, actor_lr, critic_lr,
gamma, device):
# 策略网络
self.actor = PolicyNet(state_dim, hidden_dim, action_dim).to(device)
self.critic = ValueNet(state_dim, hidden_dim).to(device) # 价值网络
# 策略网络优化器
self.actor_optimizer = torch.optim.Adam(self.actor.parameters(),
lr=actor_lr)
self.critic_optimizer = torch.optim.Adam(self.critic.parameters(),
lr=critic_lr) # 价值网络优化器
self.gamma = gamma
self.device = device
...
class PolicyNet(torch.nn.Module):
'''策略网络是4-128-2的，输入为state，输出为action的归一化概率'''
def __init__(self, state_dim, hidden_dim, action_dim):
super(PolicyNet, self).__init__()
self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
self.fc2 = torch.nn.Linear(hidden_dim, action_dim)
def forward(self, x):
x = F.relu(self.fc1(x))
return F.softmax(self.fc2(x), dim=1)
class ValueNet(torch.nn.Module):
'''价值网络是4-128-1的，输入为state，输出为state value：v(s)的估计值'''
def __init__(self, state_dim, hidden_dim):
super(ValueNet, self).__init__()
self.fc1 = torch.nn.Linear(state_dim, hidden_dim)
self.fc2 = torch.nn.Linear(hidden_dim, 1)
def forward(self, x):
x = F.relu(self.fc1(x))
return self.fc2(x)
policy_net（actor）设定为4-128-2的全连接层网络，输入为state=4维，输出为action概率=2维，其定义与REINFORCE算法中相同：
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y=softmax\left(fc_2\left(relu\left(fc_1\left(x\right)\right)\right)\right),x=states
y=softmax(fc2(relu(fc1(x)))),x=states
value_net（critic）设定为4-128-1的全连接层网络，输入维state=4维，输出为state value=1维，其定义与DQN算法中类似：
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y=fc_2(relu(fc_1(x))),x=states
y=fc2(relu(fc1(x))),x=states
两个网络均采用Adam作为优化器。
· 采样episode
return_list = rl_utils.train_on_policy_agent(env, agent, num_episodes)
...
for i_episode in range(int(num_episodes/10)):
episode_return = 0
transition_dict = {'states': [], 'actions': [], 'next_states': [], 'rewards': [], 'dones': []}
state = env.reset()
done = False
while not done:
action = agent.take_action(state)
next_state, reward, done, _ = env.step(action)
transition_dict['states'].append(state)
transition_dict['actions'].append(action)
transition_dict['next_states'].append(next_state)
transition_dict['rewards'].append(reward)
transition_dict['dones'].append(done)
state = next_state
episode_return += reward
return_list.append(episode_return)
...
def take_action(self, state):
state = torch.tensor([state], dtype=torch.float).to(self.device)
probs = self.actor(state)
action_dist = torch.distributions.Categorical(probs)
action = action_dist.sample()
return action.item()
①获取初始state：state = env.reset()
②根据policy_net的输出采取action：agent.take_action(state)
③与环境交互，得到(s,a,r,s’,done)：env.step(action)
④将样本添加至episode：transition_dict
⑤统计episode即时奖励累加值：episode_return += reward
· 价值更新
agent.update(transition_dict)
...
states = torch.tensor(transition_dict['states'],
dtype=torch.float).to(self.device)
actions = torch.tensor(transition_dict['actions']).view(-1, 1).to(
self.device)
rewards = torch.tensor(transition_dict['rewards'],
dtype=torch.float).view(-1, 1).to(self.device)
next_states = torch.tensor(transition_dict['next_states'],
dtype=torch.float).to(self.device)
dones = torch.tensor(transition_dict['dones'],
dtype=torch.float).view(-1, 1).to(self.device)
# 时序差分目标
td_target = rewards + self.gamma * self.critic(next_states) * (1 - dones)
# 均方误差损失函数
critic_loss = torch.mean(F.mse_loss(self.critic(states), td_target.detach()))
self.critic_optimizer.zero_grad()
...
critic_loss.backward() # 计算价值网络的梯度
...
self.critic_optimizer.step() # 更新价值网络的参数
①将采样完的单个episode转换为tensor张量
②计算TD_target：td_target = rewards + self.gamma * self.critic(next_states) * (1 - dones)
③计算损失函数（均方误差）：critic_loss = torch.mean(F.mse_loss(self.critic(states), td_target.detach()))
④value_net网络训练更新
· 策略更新
# 时序差分目标
td_target = rewards + self.gamma * self.critic(next_states) * (1 -dones)
td_delta = td_target - self.critic(states) # 时序差分残差
log_probs = torch.log(self.actor(states).gather(1, actions))
#交叉熵损失函数
actor_loss = torch.mean(-log_probs * td_delta.detach())
self.actor_optimizer.zero_grad()
...
actor_loss.backward() # 计算策略网络的梯度
...
self.actor_optimizer.step() # 更新策略网络的参数
①将采样完的单个episode转换为tensor张量
②计算优势函数：td_delta = td_target - self.critic(states)
③计算损失函数（交叉熵）：actor_loss = torch.mean(-log_probs * td_delta.detach())
④policy_net网络训练更新
三、疑问
暂无
四、总结
- Actor-Critic算法算是DQN与REINFORCE算法的结合，集成了值函数近似和策略梯度下降方法。
- ActorCritic 是囊括一系列算法的整体架构，目前很多高效的前沿算法都属于 Actor-Critic 算法
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