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johnjim0816
2021-09-16 15:35:40 +08:00
parent 5085040330
commit 34fcebc4b8
31 changed files with 434 additions and 137 deletions
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17
codes/DDPG/env.py
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@@ -5,7 +5,7 @@
@Email: johnjim0816@gmail.com
@Date: 2020-06-10 15:28:30
@LastEditor: John
LastEditTime: 2021-03-19 19:56:46
LastEditTime: 2021-09-16 00:52:30
@Discription:
@Environment: python 3.7.7
'''
@@ -32,12 +32,12 @@ class NormalizedActions(gym.ActionWrapper):
return action
class OUNoise(object):
'''Ornstein–Uhlenbeck
'''Ornstein–Uhlenbeck噪声
'''
def __init__(self, action_space, mu=0.0, theta=0.15, max_sigma=0.3, min_sigma=0.3, decay_period=100000):
self.mu = mu
self.theta = theta
self.sigma = max_sigma
self.mu = mu # OU噪声的参数
self.theta = theta # OU噪声的参数
self.sigma = max_sigma # OU噪声的参数
self.max_sigma = max_sigma
self.min_sigma = min_sigma
self.decay_period = decay_period
@@ -45,17 +45,14 @@ class OUNoise(object):
self.low = action_space.low
self.high = action_space.high
self.reset()
def reset(self):
self.obs = np.ones(self.action_dim) * self.mu
def evolve_obs(self):
x = self.obs
dx = self.theta * (self.mu - x) + self.sigma * np.random.randn(self.action_dim)
self.obs = x + dx
return self.obs
def get_action(self, action, t=0):
ou_obs = self.evolve_obs()
self.sigma = self.max_sigma - (self.max_sigma - self.min_sigma) * min(1.0, t / self.decay_period)
return np.clip(action + ou_obs, self.low, self.high)
self.sigma = self.max_sigma - (self.max_sigma - self.min_sigma) * min(1.0, t / self.decay_period) # sigma会逐渐衰减
return np.clip(action + ou_obs, self.low, self.high) # 动作加上噪声后进行剪切