update

codes/Q-learning/README.md

@@ -0,0 +1,19 @@
+## CliffWalking-v0环境简介
+
+悬崖寻路问题（CliffWalking）是指在一个4 x 12的网格中，智能体以网格的左下角位置为起点，以网格的下角位置为终点，目标是移动智能体到达终点位置，智能体每次可以在上、下、左、右这4个方向中移动一步，每移动一步会得到-1单位的奖励。
+
+<img src="assets/image-20201007211441036.png" alt="image-20201007211441036" style="zoom:50%;" />
+
+如图，红色部分表示悬崖，数字代表智能体能够观测到的位置信息，即observation，总共会有0-47等48个不同的值，智能体再移动中会有以下限制：
+
+* 智能体不能移出网格，如果智能体想执行某个动作移出网格，那么这一步智能体不会移动，但是这个操作依然会得到-1单位的奖励
+
+* 如果智能体“掉入悬崖” ，会立即回到起点位置，并得到-100单位的奖励
+
+* 当智能体移动到终点时，该回合结束，该回合总奖励为各步奖励之和
+
+实际的仿真界面如下：
+
+<img src="assets/image-20201007211858925.png" alt="image-20201007211858925" style="zoom:50%;" />
+
+由于从起点到终点最少需要13步，每步得到-1的reward，因此最佳训练算法下，每个episode下reward总和应该为-13。

codes/Q-learning/agent.py

@@ -1,3 +1,14 @@
+#!/usr/bin/env python
+# coding=utf-8
+'''
+Author: John
+Email: johnjim0816@gmail.com
+Date: 2020-09-11 23:03:00
+LastEditor: John
+LastEditTime: 2020-10-07 20:48:29
+Discription: 
+Environment: 
+'''
 #   Copyright (c) 2020 PaddlePaddle Authors. All Rights Reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,64 +23,72 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# -*- coding: utf-8 -*-
 
 import numpy as np
+import math
 
-
+class QLearning(object):
-class QLearningAgent(object):
     def __init__(self,
-                 obs_n,
+                 obs_dim,
-                 act_n,
+                 action_dim,
                  learning_rate=0.01,
                  gamma=0.9,
-                 e_greed=0.1):
+                 epsilon_start=0.9,epsilon_end=0.1,epsilon_decay=200):
-        self.act_n = act_n  # 动作维度，有几个动作可选
+        self.action_dim = action_dim  # 动作维度，有几个动作可选
         self.lr = learning_rate  # 学习率
-        self.gamma = gamma  # reward的衰减率
+        self.gamma = gamma  # reward 的衰减率
-        self.epsilon = e_greed  # 按一定概率随机选动作
+        self.epsilon = 0  # 按一定概率随机选动作，即 e-greedy 策略, 并且epsilon逐渐衰减
-        self.Q = np.zeros((obs_n, act_n))
+        self.sample_count = 0 #  epsilon随训练的也就是采样次数逐渐衰减，所以需要计数
+        self.epsilon_start = epsilon_start
+        self.epsilon_end = epsilon_end
+        self.epsilon_decay= epsilon_decay
+        self.Q_table = np.zeros((obs_dim, action_dim)) # Q表
 
-    # 根据输入观察值，采样输出的动作值，带探索
     def sample(self, obs):
-        if np.random.uniform(0, 1) < (1.0 - self.epsilon):  #根据table的Q值选动作
+        '''根据输入观测值，采样输出的动作值，带探索，训练模型时使用
+        '''
+        self.sample_count += 1
+        self.epsilon = self.epsilon_end + (self.epsilon_start - self.epsilon_end) * \
+            math.exp(-1. * self.sample_count / self.epsilon_decay)
+        if np.random.uniform(0, 1) > self.epsilon:  # 随机选取0-1之间的值，如果大于epsilon就按照贪心策略选取action，否则随机选取
             action = self.predict(obs)
         else:
-            action = np.random.choice(self.act_n)  #有一定概率随机探索选取一个动作
+            action = np.random.choice(self.action_dim)  #有一定概率随机探索选取一个动作
         return action
-
-    # 根据输入观察值，预测输出的动作值
     def predict(self, obs):
-        Q_list = self.Q[obs, :]
+        '''根据输入观测值，采样输出的动作值，带探索，测试模型时使用
-        maxQ = np.max(Q_list)
+        '''
-        action_list = np.where(Q_list == maxQ)[0]  # maxQ可能对应多个action
+        Q_list = self.Q_table[obs, :]
-        action = np.random.choice(action_list)
+        Q_max = np.max(Q_list)
+        action_list = np.where(Q_list == Q_max)[0]  
+        action = np.random.choice(action_list) # Q_max可能对应多个 action ，可以随机抽取一个
         return action
 
-    # 学习方法，也就是更新Q-table的方法
     def learn(self, obs, action, reward, next_obs, done):
-        """ off-policy
+        '''学习方法(off-policy)，也就是更新Q-table的方法
-            obs: 交互前的obs, s_t
+        Args:
-            action: 本次交互选择的action, a_t
+            obs [type]: 交互前的obs, s_t
-            reward: 本次动作获得的奖励r
+            action [type]: 本次交互选择的action, a_t
-            next_obs: 本次交互后的obs, s_t+1
+            reward [type]: 本次动作获得的奖励r
-            done: episode是否结束
+            next_obs [type]: 本次交互后的obs, s_t+1
-        """
+            done function:  episode是否结束
-        predict_Q = self.Q[obs, action]
+        '''
+        Q_predict = self.Q_table[obs, action]
         if done:
-            target_Q = reward  # 没有下一个状态了
+            Q_target = reward  # 没有下一个状态了
         else:
-            target_Q = reward + self.gamma * np.max(
+            Q_target = reward + self.gamma * np.max(
-                self.Q[next_obs, :])  # Q-learning
+                self.Q_table[next_obs, :])  # Q_table-learning
-        self.Q[obs, action] += self.lr * (target_Q - predict_Q)  # 修正q
+        self.Q_table[obs, action] += self.lr * (Q_target - Q_predict)  # 修正q
 
-    # 把 Q表格 的数据保存到文件中
     def save(self):
-        npy_file = './q_table.npy'
+        '''把 Q表格 的数据保存到文件中
-        np.save(npy_file, self.Q)
+        '''
+        npy_file = './Q_table.npy'
+        np.save(npy_file, self.Q_table)
         print(npy_file + ' saved.')
-
+    def load(self, npy_file='./Q_table.npy'):
-    # 从文件中读取数据到 Q表格
+        '''从文件中读取数据到 Q表格
-    def restore(self, npy_file='./q_table.npy'):
+        '''
-        self.Q = np.load(npy_file)
+        self.Q_table = np.load(npy_file)
-        print(npy_file + ' loaded.')
+        print(npy_file + 'loaded.')

codes/Q-learning/main.py

@@ -0,0 +1,155 @@
+#!/usr/bin/env python
+# coding=utf-8
+'''
+Author: John
+Email: johnjim0816@gmail.com
+Date: 2020-09-11 23:03:00
+LastEditor: John
+LastEditTime: 2020-10-07 21:05:33
+Discription: 
+Environment: 
+'''
+#   Copyright (c) 2020 PaddlePaddle Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+
+import gym
+from gridworld import CliffWalkingWapper, FrozenLakeWapper
+from agent import QLearning
+import os
+import numpy as np
+import argparse
+import time
+import matplotlib.pyplot as plt
+def get_args():
+    '''训练的模型参数
+    '''
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--gamma", default=0.9,
+                        type=float, help="reward 的衰减率") 
+    parser.add_argument("--epsilon_start", default=0.9,
+                        type=float,help="e-greedy策略中初始epsilon")  
+    parser.add_argument("--epsilon_end", default=0.1, type=float,help="e-greedy策略中的结束epsilon")
+    parser.add_argument("--epsilon_decay", default=200, type=float,help="e-greedy策略中epsilon的衰减率")
+    parser.add_argument("--policy_lr", default=0.1, type=float,help="学习率")
+    parser.add_argument("--max_episodes", default=500, type=int,help="训练的最大episode数目") 
+
+    config = parser.parse_args()
+
+    return config
+
+def train(cfg):
+    # env = gym.make("FrozenLake-v0", is_slippery=False)  # 0 left, 1 down, 2 right, 3 up
+    # env = FrozenLakeWapper(env)
+    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
+    env = CliffWalkingWapper(env)
+    agent = QLearning(
+        obs_dim=env.observation_space.n,
+        action_dim=env.action_space.n,
+        learning_rate=cfg.policy_lr,
+        gamma=cfg.gamma,
+        epsilon_start=cfg.epsilon_start,epsilon_end=cfg.epsilon_end,epsilon_decay=cfg.epsilon_decay)
+    render = False # 是否打开GUI画面
+    rewards = [] # 记录所有episode的reward
+    MA_rewards = []  # 记录滑动平均的reward
+    steps = []# 记录所有episode的steps
+    for i_episode in range(1,cfg.max_episodes+1):
+        ep_reward = 0 # 记录每个episode的reward
+        ep_steps = 0 # 记录每个episode走了多少step
+        obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
+        while True:
+            action = agent.sample(obs)  # 根据算法选择一个动作
+            next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
+            # 训练 Q-learning算法
+            agent.learn(obs, action, reward, next_obs, done)  # 不需要下一步的action
+
+            obs = next_obs  # 存储上一个观察值
+            ep_reward += reward
+            ep_steps += 1  # 计算step数
+            if render:
+                env.render()  #渲染新的一帧图形
+            if done:
+                break
+        steps.append(ep_steps)
+        rewards.append(ep_reward)
+        # 计算滑动平均的reward
+        if i_episode == 1:
+            MA_rewards.append(ep_reward)
+        else:
+            MA_rewards.append(
+                0.9*MA_rewards[-1]+0.1*ep_reward) 
+        print('Episode %s: steps = %s , reward = %.1f, explore = %.2f' % (i_episode, ep_steps,
+                                                          ep_reward,agent.epsilon))                                 
+        # 每隔20个episode渲染一下看看效果
+        if i_episode % 20 == 0:
+            render = True
+        else:
+            render = False
+    agent.save() # 训练结束，保存模型
+
+    output_path = os.path.dirname(__file__)+"/result/"
+    # 检测是否存在文件夹
+    if not os.path.exists(output_path):
+        os.mkdir(output_path)
+    np.save(output_path+"rewards_train.npy", rewards)
+    np.save(output_path+"MA_rewards_train.npy", MA_rewards)
+    np.save(output_path+"steps_train.npy", steps)
+
+def test(cfg):
+
+    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
+    env = CliffWalkingWapper(env)
+    agent = QLearning(
+        obs_dim=env.observation_space.n,
+        action_dim=env.action_space.n,
+        learning_rate=cfg.policy_lr,
+        gamma=cfg.gamma,
+        epsilon_start=cfg.epsilon_start,epsilon_end=cfg.epsilon_end,epsilon_decay=cfg.epsilon_decay)
+    agent.load() # 导入保存的模型
+    rewards = [] # 记录所有episode的reward
+    MA_rewards = []  # 记录滑动平均的reward
+    steps = []# 记录所有episode的steps
+    for i_episode in range(1,10+1):
+        ep_reward = 0 # 记录每个episode的reward
+        ep_steps = 0 # 记录每个episode走了多少step
+        obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
+        while True:
+            action = agent.predict(obs)  # 根据算法选择一个动作
+            next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
+            obs = next_obs  # 存储上一个观察值
+            time.sleep(0.5)
+            env.render()
+            ep_reward += reward
+            ep_steps += 1  # 计算step数
+            if done:
+                break
+        steps.append(ep_steps)
+        rewards.append(ep_reward)
+        # 计算滑动平均的reward
+        if i_episode == 1:
+            MA_rewards.append(ep_reward)
+        else:
+            MA_rewards.append(
+                0.9*MA_rewards[-1]+0.1*ep_reward) 
+        print('Episode %s: steps = %s , reward = %.1f' % (i_episode, ep_steps, ep_reward))
+    plt.plot(MA_rewards)
+    plt.show()   
+def main():
+    cfg = get_args()
+    # train(cfg)
+    test(cfg)
+
+if __name__ == "__main__":
+    main()

codes/Q-learning/plot.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+# coding=utf-8
+'''
+Author: John
+Email: johnjim0816@gmail.com
+Date: 2020-10-07 20:57:11
+LastEditor: John
+LastEditTime: 2020-10-07 21:00:29
+Discription: 
+Environment: 
+'''
+import matplotlib.pyplot as plt
+import seaborn as sns
+import numpy as np
+import os 
+
+def plot(item,ylabel='rewards'):
+    sns.set()
+    plt.figure()
+    plt.plot(np.arange(len(item)), item)
+    plt.title(ylabel+' of Q-learning') 
+    plt.ylabel(ylabel)
+    plt.xlabel('episodes')
+    plt.savefig(os.path.dirname(__file__)+"/result/"+ylabel+".png")
+    plt.show()
+
+if __name__ == "__main__":
+
+    output_path = os.path.dirname(__file__)+"/result/"
+    rewards=np.load(output_path+"rewards_train.npy", )
+    MA_rewards=np.load(output_path+"MA_rewards_train.npy")
+    steps = np.load(output_path+"steps_train.npy")
+    plot(rewards)
+    plot(MA_rewards,ylabel='moving_average_rewards')
+    plot(steps,ylabel='steps')

codes/Q-learning/train.py

@@ -1,90 +0,0 @@
-#   Copyright (c) 2020 PaddlePaddle Authors. All Rights Reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# -*- coding: utf-8 -*-
-
-import gym
-from gridworld import CliffWalkingWapper, FrozenLakeWapper
-from agent import QLearningAgent
-import time
-
-
-def run_episode(env, agent, render=False):
-    total_steps = 0  # 记录每个episode走了多少step
-    total_reward = 0
-
-    obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
-
-    while True:
-        action = agent.sample(obs)  # 根据算法选择一个动作
-        next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
-        # 训练 Q-learning算法
-        agent.learn(obs, action, reward, next_obs, done)  # 不需要下一步的action
-
-        obs = next_obs  # 存储上一个观察值
-        total_reward += reward
-        total_steps += 1  # 计算step数
-        if render:
-            env.render()  #渲染新的一帧图形
-        if done:
-            break
-    return total_reward, total_steps
-
-
-def test_episode(env, agent):
-    total_reward = 0
-    obs = env.reset()
-    while True:
-        action = agent.predict(obs)  # greedy
-        next_obs, reward, done, _ = env.step(action)
-        total_reward += reward
-        obs = next_obs
-        time.sleep(0.5)
-        env.render()
-        if done:
-            print('test reward = %.1f' % (total_reward))
-            break
-
-
-def main():
-    # env = gym.make("FrozenLake-v0", is_slippery=False)  # 0 left, 1 down, 2 right, 3 up
-    # env = FrozenLakeWapper(env)
-
-    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
-    env = CliffWalkingWapper(env)
-
-    agent = QLearningAgent(
-        obs_n=env.observation_space.n,
-        act_n=env.action_space.n,
-        learning_rate=0.1,
-        gamma=0.9,
-        e_greed=0.1)
-
-    is_render = False
-    for episode in range(500):
-        ep_reward, ep_steps = run_episode(env, agent, is_render)
-        print('Episode %s: steps = %s , reward = %.1f' % (episode, ep_steps,
-                                                          ep_reward))
-
-        # 每隔20个episode渲染一下看看效果
-        if episode % 20 == 0:
-            is_render = True
-        else:
-            is_render = False
-    # 训练结束，查看算法效果
-    test_episode(env, agent)
-
-
-if __name__ == "__main__":
-    main()

codes/dqn/dqn.py

@@ -5,7 +5,7 @@
 @Email: johnjim0816@gmail.com
 @Date: 2020-06-12 00:50:49
 @LastEditor: John
-LastEditTime: 2020-08-22 15:44:31
+LastEditTime: 2020-10-07 17:32:18
 @Discription: 
 @Environment: python 3.7.7
 '''
@@ -30,7 +30,7 @@ class DQN:
         self.n_actions = n_actions  # 总的动作个数
         self.device = device  # 设备，cpu或gpu等
         self.gamma = gamma
-        # e-greedy策略相关参数
+        # e-greedy 策略相关参数
         self.epsilon = 0
         self.epsilon_start = epsilon_start
         self.epsilon_end = epsilon_end

codes/dqn/plot.py

@@ -5,12 +5,11 @@
 @Email: johnjim0816@gmail.com
 @Date: 2020-06-11 16:30:09
 @LastEditor: John
-LastEditTime: 2020-08-20 16:34:34
+LastEditTime: 2020-10-07 20:57:22
 @Discription: 
 @Environment: python 3.7.7
 '''
 import matplotlib.pyplot as plt
-import pandas as pd
 import seaborn as sns
 import numpy as np
 import os 

codes/snake/README.md

@@ -2,7 +2,7 @@
 
 贪吃蛇是一个起源于1976年的街机游戏 Blockade，玩家控制蛇上下左右吃到食物并将身体增长，吃到食物后移动速度逐渐加快，直到碰到墙体或者蛇的身体算游戏结束。
 
-![image-20200901202636603](img/image-20200901202636603.png)
+![image-20200901202636603](assets/image-20200901202636603.png)
 
 如图，本次任务整个游戏版面大小为560X560，绿色部分就是我们的智能体贪吃蛇，红色方块就是食物，墙位于四周，一旦食物被吃掉，会在下一个随机位置刷出新的食物。蛇的每一节以及食物的大小为40X40，除开墙体(厚度也为40)，蛇可以活动的范围为480X480，也就是12X12的栅格。环境的状态等信息如下：
 

codes/snake/snake_env.py

@@ -99,11 +99,13 @@ class SnakeEnv:
         self.render = True
             
 class Snake:
+    ''' 定义贪吃蛇的类
+    '''
     def __init__(self, snake_head_x, snake_head_y, food_x, food_y):
-        self.init_snake_head_x = snake_head_x
+        # 初始化蛇头的位置
-        self.init_snake_head_y = snake_head_y
+        self.init_snake_head_x, self.init_snake_head_y = snake_head_x, snake_head_y
-        self.init_food_x = food_x
+        # 初始化食物的位置
-        self.init_food_y = food_y
+        self.init_food_x, self.init_food_y = food_x, food_y
         self.reset()
 
     def reset(self):

docs/chapter3/README.md

@@ -0,0 +1,100 @@
+# 使用Q-learning解决悬崖寻路问题
+
+## CliffWalking-v0环境简介
+
+悬崖寻路问题（CliffWalking）是指在一个4 x 12的网格中，智能体以网格的左下角位置为起点，以网格的下角位置为终点，目标是移动智能体到达终点位置，智能体每次可以在上、下、左、右这4个方向中移动一步，每移动一步会得到-1单位的奖励。
+
+<img src="../../codes/Q-learning/assets/image-20201007211441036.png" alt="image-20201007211441036" style="zoom:50%;" />
+
+如图，红色部分表示悬崖，数字代表智能体能够观测到的位置信息，即observation，总共会有0-47等48个不同的值，智能体再移动中会有以下限制：
+
+* 智能体不能移出网格，如果智能体想执行某个动作移出网格，那么这一步智能体不会移动，但是这个操作依然会得到-1单位的奖励
+
+* 如果智能体“掉入悬崖” ，会立即回到起点位置，并得到-100单位的奖励
+
+* 当智能体移动到终点时，该回合结束，该回合总奖励为各步奖励之和
+
+实际的仿真界面如下：
+
+<img src="../../codes/Q-learning/assets/image-20201007211858925.png" alt="image-20201007211858925" style="zoom:50%;" />
+
+**由于从起点到终点最少需要13步，每步得到-1的reward，因此最佳训练算法下，每个episode下reward总和应该为-13**。
+
+
+
+## RL基本训练接口
+
+```python
+    env = gym.make("CliffWalking-v0")  # 0 up, 1 right, 2 down, 3 left
+    env = CliffWalkingWapper(env)
+    agent = QLearning(
+        obs_dim=env.observation_space.n,
+        action_dim=env.action_space.n,
+        learning_rate=cfg.policy_lr,
+        gamma=cfg.gamma,
+        epsilon_start=cfg.epsilon_start,epsilon_end=cfg.epsilon_end,epsilon_decay=cfg.epsilon_decay)
+    render = False # 是否打开GUI画面
+    rewards = [] # 记录所有episode的reward
+    MA_rewards = []  # 记录滑动平均的reward
+    steps = []# 记录所有episode的steps
+    for i_episode in range(1,cfg.max_episodes+1):
+        ep_reward = 0 # 记录每个episode的reward
+        ep_steps = 0 # 记录每个episode走了多少step
+        obs = env.reset()  # 重置环境, 重新开一局（即开始新的一个episode）
+        while True:
+            action = agent.sample(obs)  # 根据算法选择一个动作
+            next_obs, reward, done, _ = env.step(action)  # 与环境进行一个交互
+            # 训练 Q-learning算法
+            agent.learn(obs, action, reward, next_obs, done)  # 不需要下一步的action
+
+            obs = next_obs  # 存储上一个观察值
+            ep_reward += reward
+            ep_steps += 1  # 计算step数
+            if render:
+                env.render()  #渲染新的一帧图形
+            if done:
+                break
+        steps.append(ep_steps)
+        rewards.append(ep_reward)
+        # 计算滑动平均的reward
+        if i_episode == 1:
+            MA_rewards.append(ep_reward)
+        else:
+            MA_rewards.append(
+                0.9*MA_rewards[-1]+0.1*ep_reward) 
+        print('Episode %s: steps = %s , reward = %.1f, explore = %.2f' % (i_episode, ep_steps,
+                                                          ep_reward,agent.epsilon))                                 
+        # 每隔20个episode渲染一下看看效果
+        if i_episode % 20 == 0:
+            render = True
+        else:
+            render = False
+    agent.save() # 训练结束，保存模型
+```
+
+## 任务要求
+
+训练并绘制reward以及滑动平均后的reward随epiosde的变化曲线图并记录超参数写成报告，图示如下：
+
+![rewards](assets/rewards.png)
+
+![moving_average_rewards](assets/moving_average_rewards.png)
+
+### 代码清单
+
+**main.py**：保存强化学习基本接口，以及相应的超参数，可使用argparse
+
+**model.py**：保存神经网络，比如全链接网络
+
+**agent.py**: 保存算法模型，主要包含predict(预测动作)和learn两个函数
+
+**plot.py**：保存相关绘制函数
+
+
+
+## 备注
+
+* 注意 e-greedy 策略的使用，以及相应的参数epsilon如何衰减
+* 训练模型和测试模型的时候选择动作有一些不同，训练时采取e-greedy策略，而测试时直接选取Q值最大对应的动作，所以算法在动作选择的时候会包括sample(训练时的动作采样)和predict(测试时的动作选择)
+
+* Q值最大对应的动作可能不止一个，此时可以随机选择一个输出结果