141 lines
5.7 KiB
Python
141 lines
5.7 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: 2022-06-09 19:05:20
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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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os.environ['KMP_DUPLICATE_LIB_OK']='True'
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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 env import NormalizedActions,OUNoise
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from ddpg import DDPG
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from common.utils import save_results,make_dir
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from common.utils import plot_rewards
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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 Config:
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'''超参数
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'''
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def __init__(self):
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################################## 环境超参数 ###################################
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self.algo_name = 'DDPG' # 算法名称
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self.env_name = 'Pendulum-v1' # 环境名称，gym新版本（约0.21.0之后）中Pendulum-v0改为Pendulum-v1
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self.device = torch.device(
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"cuda" if torch.cuda.is_available() else "cpu") # 检测GPUgjgjlkhfsf风刀霜的撒发十
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self.seed = 10 # 随机种子，置0则不设置随机种子
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self.train_eps = 300 # 训练的回合数
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self.test_eps = 20 # 测试的回合数
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################################################################################
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################################## 算法超参数 ###################################
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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 # 经验回放的容量
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self.batch_size = 128 # mini-batch SGD中的批量大小
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self.target_update = 2 # 目标网络的更新频率
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self.hidden_dim = 256 # 网络隐藏层维度
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self.soft_tau = 1e-2 # 软更新参数
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################################################################################
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################################# 保存结果相关参数 ################################
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self.result_path = curr_path + "/outputs/" + self.env_name + \
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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_name + \
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'/' + curr_time + '/models/' # 保存模型的路径
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self.save = True # 是否保存图片
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################################################################################
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def env_agent_config(cfg,seed=1):
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env = NormalizedActions(gym.make(cfg.env_name)) # 装饰action噪声
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env.seed(seed) # 随机种子
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n_states = env.observation_space.shape[0]
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n_actions = env.action_space.shape[0]
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agent = DDPG(n_states,n_actions,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_name}，算法：{cfg.algo_name}，设备：{cfg.device}')
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ou_noise = OUNoise(env.action_space) # 动作噪声
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rewards = [] # 记录所有回合的奖励
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ma_rewards = [] # 记录所有回合的滑动平均奖励
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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 test(cfg, env, agent):
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print('开始测试！')
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print(f'环境：{cfg.env_name}, 算法：{cfg.algo_name}, 设备：{cfg.device}')
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rewards = [] # 记录所有回合的奖励
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ma_rewards = [] # 记录所有回合的滑动平均奖励
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for i_ep in range(cfg.test_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(f"回合：{i_ep+1}/{cfg.test_eps}，奖励：{ep_reward:.1f}")
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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 = Config()
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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(rewards, ma_rewards, cfg, tag="train") # 画出结果
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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 = test(cfg,env,agent)
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save_results(rewards,ma_rewards,tag = 'test',path = cfg.result_path)
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plot_rewards(rewards, ma_rewards, cfg, tag="test") # 画出结果
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