更新蘑菇书附书代码
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johnjim0816
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notebooks/PolicyGradient.ipynb
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202
notebooks/PolicyGradient.ipynb
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{
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"cells": [
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"## 1. 定义算法\n",
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"\n",
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"最基础的策略梯度算法就是REINFORCE算法，又称作Monte-Carlo Policy Gradient算法。我们策略优化的目标如下：\n",
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"\n",
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"$$\n",
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"J_{\\theta}= \\Psi_{\\pi} \\nabla_\\theta \\log \\pi_\\theta\\left(a_t \\mid s_t\\right)\n",
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"$$\n",
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"\n",
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"其中$\\Psi_{\\pi}$在REINFORCE算法中表示衰减的回报(具体公式见伪代码)，也可以用优势来估计，也就是我们熟知的A3C算法，这个在后面包括GAE算法中都会讲到。\n",
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"\n",
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"### 1.1. 策略函数设计\n",
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"\n",
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"既然策略梯度是直接对策略函数进行梯度计算，那么策略函数如何设计呢？一般来讲有两种设计方式，一个是softmax函数，另外一个是高斯分布$\\mathbb{N}\\left(\\phi(\\mathbb{s})^{\\mathbb{\\pi}} \\theta, \\sigma^2\\right)$，前者用于离散动作空间，后者多用于连续动作空间。\n",
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"\n",
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"softmax函数可以表示为：\n",
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"$$\n",
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"\\pi_\\theta(s, a)=\\frac{e^{\\phi(s, a)^{T_\\theta}}}{\\sum_b e^{\\phi(s, b)^{T^T}}}\n",
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"$$\n",
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"对应的梯度为：\n",
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"$$\n",
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"\\nabla_\\theta \\log \\pi_\\theta(s, a)=\\phi(s, a)-\\mathbb{E}_{\\pi_\\theta}[\\phi(s,)\n",
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"$$\n",
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"高斯分布对应的梯度为：\n",
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"$$\n",
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"\\nabla_\\theta \\log \\pi_\\theta(s, a)=\\frac{\\left(a-\\phi(s)^T \\theta\\right) \\phi(s)}{\\sigma^2}\n",
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"$$\n",
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"但是对于一些特殊的情况，例如在本次演示中动作维度=2且为离散空间，这个时候可以用伯努利分布来实现，这种方式其实是不推荐的，这里给大家做演示也是为了展现一些特殊情况，启发大家一些思考，例如Bernoulli，Binomial，Gaussian分布之间的关系。简单说来，Binomial分布，$n = 1$时就是Bernoulli分布，$n \\rightarrow \\infty$时就是Gaussian分布。\n",
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"\n",
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"\n"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### 1.2. 模型设计\n",
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"\n",
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"前面讲到，尽管本次演示是离散空间，但是由于动作维度等于2，此时就可以用特殊的高斯分布来表示策略函数，即伯努利分布。伯努利的分布实际上是用一个概率作为输入，然后从中采样动作，伯努利采样出来的动作只可能是0或1，就像投掷出硬币的正反面。在这种情况下，我们的策略模型就需要在MLP的基础上，将状态作为输入，将动作作为倒数第二层输出，并在最后一层增加激活函数来输出对应动作的概率。不清楚激活函数作用的同学可以再看一遍深度学习相关的知识，简单来说其作用就是增加神经网络的非线性。既然需要输出对应动作的概率，那么输出的值需要处于0-1之间，此时sigmoid函数刚好满足我们的需求，实现代码参考如下。"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import torch\n",
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"import torch.nn as nn\n",
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"import torch.nn.functional as F\n",
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"class PGNet(nn.Module):\n",
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" def __init__(self, input_dim,output_dim,hidden_dim=128):\n",
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" \"\"\" 初始化q网络，为全连接网络\n",
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" input_dim: 输入的特征数即环境的状态维度\n",
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" output_dim: 输出的动作维度\n",
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" \"\"\"\n",
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" super(PGNet, self).__init__()\n",
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" self.fc1 = nn.Linear(input_dim, hidden_dim) # 输入层\n",
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" self.fc2 = nn.Linear(hidden_dim,hidden_dim) # 隐藏层\n",
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" self.fc3 = nn.Linear(hidden_dim, output_dim) # 输出层\n",
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" def forward(self, x):\n",
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" x = F.relu(self.fc1(x))\n",
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" x = F.relu(self.fc2(x))\n",
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" x = torch.sigmoid(self.fc3(x))\n",
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" return x"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### 1.3. 更新函数设计\n",
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"\n",
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"前面提到我们的优化目标也就是策略梯度算法的损失函数如下：\n",
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"$$\n",
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"J_{\\theta}= \\Psi_{\\pi} \\nabla_\\theta \\log \\pi_\\theta\\left(a_t \\mid s_t\\right)\n",
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"$$\n",
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"\n",
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"我们需要拆开成两个部分$\\Psi_{\\pi}$和$\\nabla_\\theta \\log \\pi_\\theta\\left(a_t \\mid s_t\\right)$分开计算，首先看值函数部分$\\Psi_{\\pi}$，在REINFORCE算法中值函数是从当前时刻开始的衰减回报，如下：\n",
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"$$\n",
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"G \\leftarrow \\sum_{k=t+1}^{T} \\gamma^{k-1} r_{k}\n",
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"$$\n",
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"\n",
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"这个实际用代码来实现的时候可能有点绕，我们可以倒过来看，在同一回合下，我们的终止时刻是$T$，那么对应的回报$G_T=\\gamma^{T-1}r_T$，而对应的$G_{T-1}=\\gamma^{T-2}r_{T-1}+\\gamma^{T-1}r_T$，在这里代码中我们使用了一个动态规划的技巧，如下：\n",
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"```python\n",
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"running_add = running_add * self.gamma + reward_pool[i] # running_add初始值为0\n",
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"```\n",
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"这个公式也是倒过来循环的，第一次的值等于：\n",
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"$$\n",
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"running\\_add = r_T\n",
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"$$\n",
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"第二次的值则等于：\n",
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"$$\n",
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"running\\_add = r_T*\\gamma+r_{T-1}\n",
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"$$\n",
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"第三次的值等于：\n",
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"$$\n",
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"running\\_add = (r_T*\\gamma+r_{T-1})*\\gamma+r_{T-2} = r_T*\\gamma^2+r_{T-1}*\\gamma+r_{T-2}\n",
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"$$\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import torch\n",
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"from torch.distributions import Bernoulli\n",
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"from torch.autograd import Variable\n",
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"import numpy as np\n",
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"\n",
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"class PolicyGradient:\n",
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" \n",
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" def __init__(self, model,memory,cfg):\n",
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" self.gamma = cfg['gamma']\n",
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" self.device = torch.device(cfg['device']) \n",
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" self.memory = memory\n",
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" self.policy_net = model.to(self.device)\n",
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" self.optimizer = torch.optim.RMSprop(self.policy_net.parameters(), lr=cfg['lr'])\n",
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"\n",
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" def sample_action(self,state):\n",
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"\n",
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" state = torch.from_numpy(state).float()\n",
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" state = Variable(state)\n",
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" probs = self.policy_net(state)\n",
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" m = Bernoulli(probs) # 伯努利分布\n",
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" action = m.sample()\n",
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" \n",
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" action = action.data.numpy().astype(int)[0] # 转为标量\n",
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" return action\n",
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" def predict_action(self,state):\n",
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"\n",
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" state = torch.from_numpy(state).float()\n",
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" state = Variable(state)\n",
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" probs = self.policy_net(state)\n",
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" m = Bernoulli(probs) # 伯努利分布\n",
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" action = m.sample()\n",
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" action = action.data.numpy().astype(int)[0] # 转为标量\n",
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" return action\n",
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" \n",
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" def update(self):\n",
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" state_pool,action_pool,reward_pool= self.memory.sample()\n",
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" state_pool,action_pool,reward_pool = list(state_pool),list(action_pool),list(reward_pool)\n",
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" # Discount reward\n",
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" running_add = 0\n",
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" for i in reversed(range(len(reward_pool))):\n",
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" if reward_pool[i] == 0:\n",
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" running_add = 0\n",
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" else:\n",
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" running_add = running_add * self.gamma + reward_pool[i]\n",
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" reward_pool[i] = running_add\n",
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"\n",
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" # Normalize reward\n",
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" reward_mean = np.mean(reward_pool)\n",
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" reward_std = np.std(reward_pool)\n",
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" for i in range(len(reward_pool)):\n",
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" reward_pool[i] = (reward_pool[i] - reward_mean) / reward_std\n",
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"\n",
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" # Gradient Desent\n",
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" self.optimizer.zero_grad()\n",
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"\n",
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" for i in range(len(reward_pool)):\n",
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" state = state_pool[i]\n",
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" action = Variable(torch.FloatTensor([action_pool[i]]))\n",
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" reward = reward_pool[i]\n",
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" state = Variable(torch.from_numpy(state).float())\n",
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" probs = self.policy_net(state)\n",
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" m = Bernoulli(probs)\n",
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" loss = -m.log_prob(action) * reward # Negtive score function x reward\n",
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" # print(loss)\n",
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" loss.backward()\n",
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" self.optimizer.step()\n",
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" self.memory.clear()"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3.7.13 ('easyrl')",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"name": "python",
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"version": "3.7.13"
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},
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"orig_nbformat": 4,
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"vscode": {
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"interpreter": {
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"hash": "8994a120d39b6e6a2ecc94b4007f5314b68aa69fc88a7f00edf21be39b41f49c"
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"nbformat": 4,
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"nbformat_minor": 2
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}
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