RL

Reinforcement learning

• 记录强化学习自学的相关东西
  • github pag https://scchy.github.io/RL
• 强化学习实践的项目
• 强化学习的框架 在 src 目录下

框架简介

目录

src
├── requestment.txt
├── RLAlgo
│   ├── _base_net.py
│   ├── DDPG.py
│   ├── DQN.py
│   ├── grad_ana.py
│   ├── PPO2_old.py
│   ├── PPO2.py
│   ├── PPO.py
│   ├── __pycache__
│   ├── SAC.py
│   └── TD3.py
├── RLUtils
│   ├── config.py
│   ├── env_wrapper.py
│   ├── __init__.py
│   ├── memory.py
│   ├── __pycache__
│   ├── state_util.py
│   └── trainer.py
├── setup.py
├── test
│   ├── border_detector.py
│   ├── test_ddpg.py
│   ├── test_dqn.py
│   ├── test_env_explore.ipynb
│   ├── README.md
│   ├── test_models
│   ├── test_ppo_atari.py
│   ├── test_ppo_new.py
│   ├── test_ppo.py
│   ├── test_sac.py
│   └── test_TD3.py
└── TODO.md

环境要求

核心包

package	version
python版本	Python 3.10
torch	2.1.1
torchvision	0.16.1
gymnasium	0.29.1

运行示例

import gymnasium as gym
import torch
from RLAlgo.PPO2 import PPO2
from RLUtils import train_on_policy, random_play, play, Config, gym_env_desc

env_name = 'Hopper-v4'
gym_env_desc(env_name)
path_ = os.path.dirname(__file__) 
env = gym.make(
    env_name, 
    exclude_current_positions_from_observation=True,
    # healthy_reward=0
)
cfg = Config(
    env, 
    # 环境参数
    save_path=os.path.join(path_, "test_models" ,'PPO_Hopper-v4_test2'), 
    seed=42,
    # 网络参数
    actor_hidden_layers_dim=[256, 256, 256],
    critic_hidden_layers_dim=[256, 256, 256],
    # agent参数
    actor_lr=1.5e-4,
    critic_lr=5.5e-4,
    gamma=0.99,
    # 训练参数
    num_episode=12500,
    off_buffer_size=512,
    off_minimal_size=510,
    max_episode_steps=500,
    PPO_kwargs={
        'lmbda': 0.9,
        'eps': 0.25,
        'k_epochs': 4, 
        'sgd_batch_size': 128,
        'minibatch_size': 12, 
        'actor_bound': 1,
        'dist_type': 'beta'
    }
)
agent = PPO2(
    state_dim=cfg.state_dim,
    actor_hidden_layers_dim=cfg.actor_hidden_layers_dim,
    critic_hidden_layers_dim=cfg.critic_hidden_layers_dim,
    action_dim=cfg.action_dim,
    actor_lr=cfg.actor_lr,
    critic_lr=cfg.critic_lr,
    gamma=cfg.gamma,
    PPO_kwargs=cfg.PPO_kwargs,
    device=cfg.device,
    reward_func=None
)

agent.train()
train_on_policy(env, agent, cfg, wandb_flag=False, train_without_seed=True, test_ep_freq=1000, 
                online_collect_nums=cfg.off_buffer_size,
                test_episode_count=5)
agent.load_model(cfg.save_path)
agent.eval()
env_ = gym.make(env_name, 
                exclude_current_positions_from_observation=True,
                # render_mode='human'
                )
play(env_, agent, cfg, episode_count=3, play_without_seed=True, render=False)

训练结果展示

环境与描述	参数函数链接	效果
[ Hopper-v4 ](state: (11,),action: (3,)(连续 <-1.0 -> 1.0>))	Hopper_v4_ppo2_test
[ Humanoid-v4 ](state: (376,),action: (17,)(连续 <-0.4 -> 0.4>))	Humanoid_v4_ppo2_test
[ ALE/DemonAttack-v5 ](state: (210, 160, 3),action: 6(离散 ))	DemonAttack_v5_ppo2_test
[ ALE/AirRaid-v5 ](state: (250, 160, 3),action: 6(离散 ))	AirRaid_v5_ppo2_test
[ ALE/Alien-v5 ](state: (210, 160, 3),action: 18(离散 ))	Alien_v5_ppo2_test
[ Walker2d-v4 ](state: (17,),action: (6,)(连续 <-1.0 -> 1.0>))	Walker2d_v4_ppo2_test
[ HumanoidStandup-v4 ](state: (376,),action: (17,)(连续 <-0.4 -> 0.4>))	HumanoidStandup_v4_ppo2_test
[ CartPole-v1 ](state: (4,),action: 2(离散))	duelingDQN: dqn_test
[ MountainCar-v0 ](state: (2,),action: 3(离散 ))	duelingDQN: dqn_test
[ Acrobot-v1 ](state: (6,),action: 3(离散 ))	duelingDQN: Acrobot_dqn_test
[ LunarLander-v2 ](state: (8,),action: 4(离散 ))	duelingDQN: LunarLander_dqn_test
[ ALE/DemonAttack-v5 ](state: (210, 160, 3),action: 6(离散 ))	doubleDQN: DemonAttack_v5_dqn_new_test
[ BipedalWalker-v3 ](state: (24,),action: (4,)(连续 <-1.0 -> 1.0>))	BipedalWalker_ddpg_test
[ BipedalWalkerHardcore-v3 ](state: (24,),action: (4,)(连续 <-1.0 -> 1.0>))	BipedalWalkerHardcore_TD3_test
[ Reacher-v4 ](state: (11,),action: (2,)(连续 <-1.0 -> 1.0>))	sac_Reacher_v4_test
[ Pusher-v4 ](state: (23,),action: (7,)(连续 <-2.0 -> 2.0>))	sac_Pusher_v4_test
[ CarRacing-v2 ](state: (96, 96, 3),action: (3,)(连续 <-1.0 -> 1.0>))	CarRacing_TD3_test
[ InvertedPendulum-v4 ](state: (4,),action: (1,)(连续 <-3.0 -> 3.0>))	InvertedPendulum_TD3_test
[ HalfCheetah-v4 ](state: (17,),action: (6,)(连续 <-1.0 -> 1.0>))	HalfCheetah_v4_ppo_test