56 lines
2.0 KiB
Python
56 lines
2.0 KiB
Python
#!/usr/bin/env python
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# coding=utf-8
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'''
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@Author: John
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@Email: johnjim0816@gmail.com
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@Date: 2020-06-10 15:28:30
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@LastEditor: John
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LastEditTime: 2021-09-16 00:52:30
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@Discription:
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@Environment: python 3.7.7
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'''
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import gym
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import numpy as np
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class NormalizedActions(gym.ActionWrapper):
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''' 将action范围重定在[0.1]之间
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'''
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def action(self, action):
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low_bound = self.action_space.low
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upper_bound = self.action_space.high
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action = low_bound + (action + 1.0) * 0.5 * (upper_bound - low_bound)
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action = np.clip(action, low_bound, upper_bound)
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return action
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def reverse_action(self, action):
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low_bound = self.action_space.low
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upper_bound = self.action_space.high
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action = 2 * (action - low_bound) / (upper_bound - low_bound) - 1
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action = np.clip(action, low_bound, upper_bound)
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return action
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class OUNoise(object):
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'''Ornstein–Uhlenbeck噪声
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'''
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def __init__(self, action_space, mu=0.0, theta=0.15, max_sigma=0.3, min_sigma=0.3, decay_period=100000):
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self.mu = mu # OU噪声的参数
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self.theta = theta # OU噪声的参数
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self.sigma = max_sigma # OU噪声的参数
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self.max_sigma = max_sigma
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self.min_sigma = min_sigma
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self.decay_period = decay_period
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self.n_actions = action_space.shape[0]
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self.low = action_space.low
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self.high = action_space.high
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self.reset()
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def reset(self):
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self.obs = np.ones(self.n_actions) * self.mu
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def evolve_obs(self):
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x = self.obs
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dx = self.theta * (self.mu - x) + self.sigma * np.random.randn(self.n_actions)
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self.obs = x + dx
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return self.obs
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def get_action(self, action, t=0):
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ou_obs = self.evolve_obs()
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self.sigma = self.max_sigma - (self.max_sigma - self.min_sigma) * min(1.0, t / self.decay_period) # sigma会逐渐衰减
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return np.clip(action + ou_obs, self.low, self.high) # 动作加上噪声后进行剪切 |