129 lines
4.6 KiB
Python
129 lines
4.6 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: 2020-06-11 20:58:21
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@LastEditor: John
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LastEditTime: 2021-09-16 01:31:33
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@Discription:
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@Environment: python 3.7.7
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'''
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import sys,os
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curr_path = os.path.dirname(os.path.abspath(__file__)) # 当前文件所在绝对路径
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parent_path = os.path.dirname(curr_path) # 父路径
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sys.path.append(parent_path) # 添加父路径到系统路径sys.path
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import datetime
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import gym
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import torch
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from DDPG.env import NormalizedActions, OUNoise
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from DDPG.agent import DDPG
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from common.utils import save_results,make_dir
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from common.plot import plot_rewards, plot_rewards_cn
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curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # 获取当前时间
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class DDPGConfig:
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def __init__(self):
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self.algo = 'DDPG' # 算法名称
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self.env = 'Pendulum-v0' # 环境名称
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self.result_path = curr_path+"/outputs/" + self.env + \
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'/'+curr_time+'/results/' # 保存结果的路径
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self.model_path = curr_path+"/outputs/" + self.env + \
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'/'+curr_time+'/models/' # 保存模型的路径
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self.train_eps = 300 # 训练的回合数
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self.eval_eps = 50 # 测试的回合数
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self.gamma = 0.99 # 折扣因子
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self.critic_lr = 1e-3 # 评论家网络的学习率
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self.actor_lr = 1e-4 # 演员网络的学习率
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self.memory_capacity = 8000
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self.batch_size = 128
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self.target_update = 2
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self.hidden_dim = 256
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self.soft_tau = 1e-2 # 软更新参数
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self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
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def env_agent_config(cfg,seed=1):
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env = NormalizedActions(gym.make(cfg.env))
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env.seed(seed) # 随机种子
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state_dim = env.observation_space.shape[0]
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action_dim = env.action_space.shape[0]
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agent = DDPG(state_dim,action_dim,cfg)
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return env,agent
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def train(cfg, env, agent):
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print('开始训练！')
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print(f'环境：{cfg.env}，算法：{cfg.algo}，设备：{cfg.device}')
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ou_noise = OUNoise(env.action_space) # 动作噪声
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rewards = [] # 记录奖励
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ma_rewards = [] # 记录滑动平均奖励
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for i_ep in range(cfg.train_eps):
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state = env.reset()
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ou_noise.reset()
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done = False
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ep_reward = 0
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i_step = 0
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while not done:
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i_step += 1
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action = agent.choose_action(state)
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action = ou_noise.get_action(action, i_step)
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next_state, reward, done, _ = env.step(action)
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ep_reward += reward
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agent.memory.push(state, action, reward, next_state, done)
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agent.update()
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state = next_state
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if (i_ep+1)%10 == 0:
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print('回合：{}/{}，奖励：{:.2f}'.format(i_ep+1, cfg.train_eps, ep_reward))
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rewards.append(ep_reward)
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if ma_rewards:
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ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)
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else:
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ma_rewards.append(ep_reward)
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print('完成训练！')
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return rewards, ma_rewards
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def eval(cfg, env, agent):
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print('开始测试！')
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print(f'环境：{cfg.env}, 算法：{cfg.algo}, 设备：{cfg.device}')
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rewards = [] # 记录奖励
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ma_rewards = [] # 记录滑动平均奖励
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for i_ep in range(cfg.eval_eps):
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state = env.reset()
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done = False
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ep_reward = 0
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i_step = 0
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while not done:
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i_step += 1
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action = agent.choose_action(state)
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next_state, reward, done, _ = env.step(action)
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ep_reward += reward
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state = next_state
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print('回合：{}/{}, 奖励：{}'.format(i_ep+1, cfg.train_eps, ep_reward))
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rewards.append(ep_reward)
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if ma_rewards:
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ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)
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else:
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ma_rewards.append(ep_reward)
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print('完成测试！')
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return rewards, ma_rewards
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if __name__ == "__main__":
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cfg = DDPGConfig()
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# 训练
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env,agent = env_agent_config(cfg,seed=1)
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rewards, ma_rewards = train(cfg, env, agent)
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make_dir(cfg.result_path, cfg.model_path)
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agent.save(path=cfg.model_path)
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save_results(rewards, ma_rewards, tag='train', path=cfg.result_path)
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plot_rewards_cn(rewards, ma_rewards, tag="train", env = cfg.env, algo=cfg.algo, path=cfg.result_path)
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# 测试
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env,agent = env_agent_config(cfg,seed=10)
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agent.load(path=cfg.model_path)
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rewards,ma_rewards = eval(cfg,env,agent)
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save_results(rewards,ma_rewards,tag = 'eval',path = cfg.result_path)
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plot_rewards_cn(rewards,ma_rewards,tag = "eval",env = cfg.env,algo = cfg.algo,path=cfg.result_path)
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